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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if ENABLED(PRUSA_MMU2)
-
- #include "mmu2.h"
- #include "../../lcd/menu/menu_mmu2.h"
-
- MMU2 mmu2;
-
- #include "../../gcode/gcode.h"
- #include "../../lcd/ultralcd.h"
- #include "../../libs/buzzer.h"
- #include "../../libs/nozzle.h"
- #include "../../module/temperature.h"
- #include "../../module/planner.h"
- #include "../../module/stepper/indirection.h"
- #include "../../MarlinCore.h"
-
- #if ENABLED(HOST_PROMPT_SUPPORT)
- #include "../../feature/host_actions.h"
- #endif
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../../lcd/extui/ui_api.h"
- #endif
-
- #define DEBUG_OUT ENABLED(MMU2_DEBUG)
- #include "../../core/debug_out.h"
-
- #define MMU_TODELAY 100
- #define MMU_TIMEOUT 10
- #define MMU_CMD_TIMEOUT 45000UL // 45s timeout for mmu commands (except P0)
- #define MMU_P0_TIMEOUT 3000UL // Timeout for P0 command: 3seconds
-
- #define MMU2_COMMAND(S) tx_str_P(PSTR(S "\n"))
-
- #if ENABLED(MMU_EXTRUDER_SENSOR)
- uint8_t mmu_idl_sens = 0;
- static bool mmu_loading_flag = false;
- #endif
-
- #define MMU_CMD_NONE 0
- #define MMU_CMD_T0 0x10
- #define MMU_CMD_T1 0x11
- #define MMU_CMD_T2 0x12
- #define MMU_CMD_T3 0x13
- #define MMU_CMD_T4 0x14
- #define MMU_CMD_L0 0x20
- #define MMU_CMD_L1 0x21
- #define MMU_CMD_L2 0x22
- #define MMU_CMD_L3 0x23
- #define MMU_CMD_L4 0x24
- #define MMU_CMD_C0 0x30
- #define MMU_CMD_U0 0x40
- #define MMU_CMD_E0 0x50
- #define MMU_CMD_E1 0x51
- #define MMU_CMD_E2 0x52
- #define MMU_CMD_E3 0x53
- #define MMU_CMD_E4 0x54
- #define MMU_CMD_R0 0x60
- #define MMU_CMD_F0 0x70
- #define MMU_CMD_F1 0x71
- #define MMU_CMD_F2 0x72
- #define MMU_CMD_F3 0x73
- #define MMU_CMD_F4 0x74
-
- #define MMU_REQUIRED_FW_BUILDNR TERN(MMU2_MODE_12V, 132, 126)
-
- #define MMU2_NO_TOOL 99
- #define MMU_BAUD 115200
-
- #define mmuSerial MMU2_SERIAL
-
- bool MMU2::enabled, MMU2::ready, MMU2::mmu_print_saved;
- #if ENABLED(PRUSA_MMU2_S_MODE)
- bool MMU2::mmu2s_triggered;
- #endif
- uint8_t MMU2::cmd, MMU2::cmd_arg, MMU2::last_cmd, MMU2::extruder;
- int8_t MMU2::state = 0;
- volatile int8_t MMU2::finda = 1;
- volatile bool MMU2::finda_runout_valid;
- int16_t MMU2::version = -1, MMU2::buildnr = -1;
- millis_t MMU2::prev_request, MMU2::prev_P0_request;
- char MMU2::rx_buffer[MMU_RX_SIZE], MMU2::tx_buffer[MMU_TX_SIZE];
-
- #if BOTH(HAS_LCD_MENU, MMU2_MENUS)
-
- struct E_Step {
- float extrude; //!< extrude distance in mm
- feedRate_t feedRate; //!< feed rate in mm/s
- };
-
- static constexpr E_Step
- ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE }
- , load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE }
- #if ENABLED(PRUSA_MMU2_S_MODE)
- , can_load_sequence[] PROGMEM = { MMU2_CAN_LOAD_SEQUENCE }
- , can_load_increment_sequence[] PROGMEM = { MMU2_CAN_LOAD_INCREMENT_SEQUENCE }
- #endif
- ;
-
- #endif // MMU2_MENUS
-
- MMU2::MMU2() {
- rx_buffer[0] = '\0';
- }
-
- void MMU2::init() {
-
- set_runout_valid(false);
-
- #if PIN_EXISTS(MMU2_RST)
- // TODO use macros for this
- WRITE(MMU2_RST_PIN, HIGH);
- SET_OUTPUT(MMU2_RST_PIN);
- #endif
-
- mmuSerial.begin(MMU_BAUD);
- extruder = MMU2_NO_TOOL;
-
- safe_delay(10);
- reset();
- rx_buffer[0] = '\0';
- state = -1;
- }
-
- void MMU2::reset() {
- DEBUG_ECHOLNPGM("MMU <= reset");
-
- #if PIN_EXISTS(MMU2_RST)
- WRITE(MMU2_RST_PIN, LOW);
- safe_delay(20);
- WRITE(MMU2_RST_PIN, HIGH);
- #else
- MMU2_COMMAND("X0"); // Send soft reset
- #endif
- }
-
- uint8_t MMU2::get_current_tool() {
- return extruder == MMU2_NO_TOOL ? -1 : extruder;
- }
-
- #if EITHER(PRUSA_MMU2_S_MODE, MMU_EXTRUDER_SENSOR)
- #define FILAMENT_PRESENT() (READ(FIL_RUNOUT_PIN) != FIL_RUNOUT_STATE)
- #endif
-
- void MMU2::mmu_loop() {
-
- switch (state) {
-
- case 0: break;
-
- case -1:
- if (rx_start()) {
- DEBUG_ECHOLNPGM("MMU => 'start'");
- DEBUG_ECHOLNPGM("MMU <= 'S1'");
-
- MMU2_COMMAND("S1"); // Read Version
- state = -2;
- }
- else if (millis() > 3000000) {
- SERIAL_ECHOLNPGM("MMU not responding - DISABLED");
- state = 0;
- }
- break;
-
- case -2:
- if (rx_ok()) {
- sscanf(rx_buffer, "%uok\n", &version);
-
- DEBUG_ECHOLNPAIR("MMU => ", version, "\nMMU <= 'S2'");
-
- MMU2_COMMAND("S2"); // Read Build Number
- state = -3;
- }
- break;
-
- case -3:
- if (rx_ok()) {
- sscanf(rx_buffer, "%uok\n", &buildnr);
-
- DEBUG_ECHOLNPAIR("MMU => ", buildnr);
-
- check_version();
-
- #if ENABLED(MMU2_MODE_12V)
- DEBUG_ECHOLNPGM("MMU <= 'M1'");
-
- MMU2_COMMAND("M1"); // Stealth Mode
- state = -5;
-
- #else
- DEBUG_ECHOLNPGM("MMU <= 'P0'");
-
- MMU2_COMMAND("P0"); // Read FINDA
- state = -4;
- #endif
- }
- break;
-
- #if ENABLED(MMU2_MODE_12V)
- case -5:
- // response to M1
- if (rx_ok()) {
- DEBUG_ECHOLNPGM("MMU => ok");
-
- DEBUG_ECHOLNPGM("MMU <= 'P0'");
-
- MMU2_COMMAND("P0"); // Read FINDA
- state = -4;
- }
- break;
- #endif
-
- case -4:
- if (rx_ok()) {
- sscanf(rx_buffer, "%hhuok\n", &finda);
-
- DEBUG_ECHOLNPAIR("MMU => ", finda, "\nMMU - ENABLED");
-
- enabled = true;
- state = 1;
- TERN_(PRUSA_MMU2_S_MODE, mmu2s_triggered = false);
- }
- break;
-
- case 1:
- if (cmd) {
- if (WITHIN(cmd, MMU_CMD_T0, MMU_CMD_T4)) {
- // tool change
- int filament = cmd - MMU_CMD_T0;
- DEBUG_ECHOLNPAIR("MMU <= T", filament);
- tx_printf_P(PSTR("T%d\n"), filament);
- TERN_(MMU_EXTRUDER_SENSOR, mmu_idl_sens = 1); // enable idler sensor, if any
- state = 3; // wait for response
- }
- else if (WITHIN(cmd, MMU_CMD_L0, MMU_CMD_L4)) {
- // load
- int filament = cmd - MMU_CMD_L0;
- DEBUG_ECHOLNPAIR("MMU <= L", filament);
- tx_printf_P(PSTR("L%d\n"), filament);
- state = 3; // wait for response
- }
- else if (cmd == MMU_CMD_C0) {
- // continue loading
- DEBUG_ECHOLNPGM("MMU <= 'C0'");
- MMU2_COMMAND("C0");
- state = 3; // wait for response
- }
- else if (cmd == MMU_CMD_U0) {
- // unload current
- DEBUG_ECHOLNPGM("MMU <= 'U0'");
-
- MMU2_COMMAND("U0");
- state = 3; // wait for response
- }
- else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E4)) {
- // eject filament
- int filament = cmd - MMU_CMD_E0;
- DEBUG_ECHOLNPAIR("MMU <= E", filament);
- tx_printf_P(PSTR("E%d\n"), filament);
- state = 3; // wait for response
- }
- else if (cmd == MMU_CMD_R0) {
- // recover after eject
- DEBUG_ECHOLNPGM("MMU <= 'R0'");
- MMU2_COMMAND("R0");
- state = 3; // wait for response
- }
- else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F4)) {
- // filament type
- int filament = cmd - MMU_CMD_F0;
- DEBUG_ECHOPAIR("MMU <= F", filament, " ");
- DEBUG_ECHO_F(cmd_arg, DEC);
- DEBUG_EOL();
- tx_printf_P(PSTR("F%d %d\n"), filament, cmd_arg);
- state = 3; // wait for response
- }
-
- last_cmd = cmd;
- cmd = MMU_CMD_NONE;
- }
- else if (ELAPSED(millis(), prev_P0_request + 300)) {
- MMU2_COMMAND("P0"); // Read FINDA
- state = 2; // wait for response
- }
-
- TERN_(PRUSA_MMU2_S_MODE, check_filament());
- break;
-
- case 2: // response to command P0
- if (rx_ok()) {
- sscanf(rx_buffer, "%hhuok\n", &finda);
-
- // This is super annoying. Only activate if necessary
- // if (finda_runout_valid) DEBUG_ECHOLNPAIR_F("MMU <= 'P0'\nMMU => ", finda, 6);
-
- if (!finda && finda_runout_valid) filament_runout();
- if (cmd == 0) ready = true;
- state = 1;
- }
- else if (ELAPSED(millis(), prev_request + MMU_P0_TIMEOUT)) // Resend request after timeout (3s)
- state = 1;
-
- TERN_(PRUSA_MMU2_S_MODE, check_filament());
- break;
-
- case 3: // response to mmu commands
- #if ENABLED(MMU_EXTRUDER_SENSOR)
- if (mmu_idl_sens) {
- if (FILAMENT_PRESENT() && mmu_loading_flag) {
- DEBUG_ECHOLNPGM("MMU <= 'A'");
- MMU2_COMMAND("A"); // send 'abort' request
- mmu_idl_sens = 0;
- DEBUG_ECHOLNPGM("MMU IDLER_SENSOR = 0 - ABORT");
- }
- }
- #endif
-
- if (rx_ok()) {
- // Response to C0 mmu command in PRUSA_MMU2_S_MODE
- bool can_reset = true;
- #if ENABLED(PRUSA_MMU2_S_MODE)
- if (!mmu2s_triggered && last_cmd == MMU_CMD_C0) {
- can_reset = false;
- // MMU ok received but filament sensor not triggered, retrying...
- DEBUG_ECHOLNPGM("MMU => 'ok' (filament not present in gears)");
- DEBUG_ECHOLNPGM("MMU <= 'C0' (keep trying)");
- MMU2_COMMAND("C0");
- }
- #endif
- if (can_reset) {
- DEBUG_ECHOLNPGM("MMU => 'ok'");
- ready = true;
- state = 1;
- last_cmd = MMU_CMD_NONE;
- }
- }
- else if (ELAPSED(millis(), prev_request + MMU_CMD_TIMEOUT)) {
- // resend request after timeout
- if (last_cmd) {
- DEBUG_ECHOLNPGM("MMU retry");
- cmd = last_cmd;
- last_cmd = MMU_CMD_NONE;
- }
- state = 1;
- }
- TERN_(PRUSA_MMU2_S_MODE, check_filament());
- break;
- }
- }
-
- /**
- * Check if MMU was started
- */
- bool MMU2::rx_start() {
- // check for start message
- if (rx_str_P(PSTR("start\n"))) {
- prev_P0_request = millis();
- return true;
- }
- return false;
- }
-
- /**
- * Check if the data received ends with the given string.
- */
- bool MMU2::rx_str_P(const char* str) {
- uint8_t i = strlen(rx_buffer);
-
- while (mmuSerial.available()) {
- rx_buffer[i++] = mmuSerial.read();
- rx_buffer[i] = '\0';
-
- if (i == sizeof(rx_buffer) - 1) {
- DEBUG_ECHOLNPGM("rx buffer overrun");
- break;
- }
- }
-
- uint8_t len = strlen_P(str);
-
- if (i < len) return false;
-
- str += len;
-
- while (len--) {
- char c0 = pgm_read_byte(str--), c1 = rx_buffer[i--];
- if (c0 == c1) continue;
- if (c0 == '\r' && c1 == '\n') continue; // match cr as lf
- if (c0 == '\n' && c1 == '\r') continue; // match lf as cr
- return false;
- }
- return true;
- }
-
- /**
- * Transfer data to MMU, no argument
- */
- void MMU2::tx_str_P(const char* str) {
- clear_rx_buffer();
- uint8_t len = strlen_P(str);
- LOOP_L_N(i, len) mmuSerial.write(pgm_read_byte(str++));
- rx_buffer[0] = '\0';
- prev_request = millis();
- }
-
- /**
- * Transfer data to MMU, single argument
- */
- void MMU2::tx_printf_P(const char* format, int argument = -1) {
- clear_rx_buffer();
- uint8_t len = sprintf_P(tx_buffer, format, argument);
- LOOP_L_N(i, len) mmuSerial.write(tx_buffer[i]);
- rx_buffer[0] = '\0';
- prev_request = millis();
- }
-
- /**
- * Transfer data to MMU, two arguments
- */
- void MMU2::tx_printf_P(const char* format, int argument1, int argument2) {
- clear_rx_buffer();
- uint8_t len = sprintf_P(tx_buffer, format, argument1, argument2);
- LOOP_L_N(i, len) mmuSerial.write(tx_buffer[i]);
- rx_buffer[0] = '\0';
- prev_request = millis();
- }
-
- /**
- * Empty the rx buffer
- */
- void MMU2::clear_rx_buffer() {
- while (mmuSerial.available()) mmuSerial.read();
- rx_buffer[0] = '\0';
- }
-
- /**
- * Check if we received 'ok' from MMU
- */
- bool MMU2::rx_ok() {
- if (rx_str_P(PSTR("ok\n"))) {
- prev_P0_request = millis();
- return true;
- }
- return false;
- }
-
- /**
- * Check if MMU has compatible firmware
- */
- void MMU2::check_version() {
- if (buildnr < MMU_REQUIRED_FW_BUILDNR) {
- SERIAL_ERROR_MSG("Invalid MMU2 firmware. Version >= " STRINGIFY(MMU_REQUIRED_FW_BUILDNR) " required.");
- kill(GET_TEXT(MSG_KILL_MMU2_FIRMWARE));
- }
- }
-
- static void mmu2_not_responding() {
- LCD_MESSAGEPGM(MSG_MMU2_NOT_RESPONDING);
- BUZZ(100, 659);
- BUZZ(200, 698);
- BUZZ(100, 659);
- BUZZ(300, 440);
- BUZZ(100, 659);
- }
-
- #if ENABLED(PRUSA_MMU2_S_MODE)
-
- bool MMU2::load_to_gears() {
- command(MMU_CMD_C0);
- manage_response(true, true);
- LOOP_L_N(i, MMU2_C0_RETRY) { // Keep loading until filament reaches gears
- if (mmu2s_triggered) break;
- command(MMU_CMD_C0);
- manage_response(true, true);
- check_filament();
- }
- const bool success = mmu2s_triggered && can_load();
- if (!success) mmu2_not_responding();
- return success;
- }
-
- /**
- * Handle tool change
- */
- void MMU2::tool_change(const uint8_t index) {
-
- if (!enabled) return;
-
- set_runout_valid(false);
-
- if (index != extruder) {
-
- DISABLE_AXIS_E0();
- ui.status_printf_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
-
- command(MMU_CMD_T0 + index);
- manage_response(true, true);
-
- if (load_to_gears()) {
- extruder = index; // filament change is finished
- active_extruder = 0;
- ENABLE_AXIS_E0();
- SERIAL_ECHO_START();
- SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(extruder));
- }
- ui.reset_status();
- }
-
- set_runout_valid(true);
- }
-
- /**
- * Handle special T?/Tx/Tc commands
- *
- * T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
- * Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
- * Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
- */
- void MMU2::tool_change(const char* special) {
-
- if (!enabled) return;
-
- #if ENABLED(MMU2_MENUS)
-
- set_runout_valid(false);
-
- switch (*special) {
- case '?': {
- uint8_t index = mmu2_choose_filament();
- while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
- load_filament_to_nozzle(index);
- } break;
-
- case 'x': {
- planner.synchronize();
- uint8_t index = mmu2_choose_filament();
- DISABLE_AXIS_E0();
- command(MMU_CMD_T0 + index);
- manage_response(true, true);
-
- if (load_to_gears()) {
- mmu_loop();
- ENABLE_AXIS_E0();
- extruder = index;
- active_extruder = 0;
- }
- } break;
-
- case 'c': {
- while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
- execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
- } break;
- }
-
- set_runout_valid(true);
-
- #endif // MMU2_MENUS
- }
-
- #elif ENABLED(MMU_EXTRUDER_SENSOR)
-
- /**
- * Handle tool change
- */
- void MMU2::tool_change(const uint8_t index) {
- if (!enabled) return;
-
- set_runout_valid(false);
-
- if (index != extruder) {
- DISABLE_AXIS_E0();
- if (FILAMENT_PRESENT()) {
- DEBUG_ECHOLNPGM("Unloading\n");
- mmu_loading_flag = false;
- command(MMU_CMD_U0);
- manage_response(true, true);
- }
- ui.status_printf_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
- mmu_loading_flag = true;
- command(MMU_CMD_T0 + index);
- manage_response(true, true);
- mmu_continue_loading();
- command(MMU_CMD_C0);
- extruder = index;
- active_extruder = 0;
-
- ENABLE_AXIS_E0();
- SERIAL_ECHO_START();
- SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(extruder));
-
- ui.reset_status();
- }
-
- set_runout_valid(true);
- }
-
- /**
- * Handle special T?/Tx/Tc commands
- *
- * T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
- * Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
- * Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
- */
- void MMU2::tool_change(const char* special) {
- if (!enabled) return;
-
- #if ENABLED(MMU2_MENUS)
-
- set_runout_valid(false);
-
- switch (*special) {
- case '?': {
- DEBUG_ECHOLNPGM("case ?\n");
- uint8_t index = mmu2_choose_filament();
- while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
- load_filament_to_nozzle(index);
- } break;
-
- case 'x': {
- DEBUG_ECHOLNPGM("case x\n");
- planner.synchronize();
- uint8_t index = mmu2_choose_filament();
- DISABLE_AXIS_E0();
- command(MMU_CMD_T0 + index);
- manage_response(true, true);
- mmu_continue_loading();
- command(MMU_CMD_C0);
- mmu_loop();
-
- ENABLE_AXIS_E0();
- extruder = index;
- active_extruder = 0;
- } break;
-
- case 'c': {
- DEBUG_ECHOLNPGM("case c\n");
- while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
- execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
- } break;
- }
-
- set_runout_valid(true);
-
- #endif // MMU2_MENUS
- }
-
- void MMU2::mmu_continue_loading() {
- for (uint8_t i = 0; i < MMU_LOADING_ATTEMPTS_NR; i++) {
- DEBUG_ECHOLNPAIR("Additional load attempt #", i);
- if (FILAMENT_PRESENT()) break;
- command(MMU_CMD_C0);
- manage_response(true, true);
- }
- if (!FILAMENT_PRESENT()) {
- DEBUG_ECHOLNPGM("Filament never reached sensor, runout");
- filament_runout();
- }
- mmu_idl_sens = 0;
- }
-
- #elif DISABLED(MMU_EXTRUDER_SENSOR) && DISABLED(PRUSA_MMU2_S_MODE)
-
- /**
- * Handle tool change
- */
- void MMU2::tool_change(const uint8_t index) {
- if (!enabled) return;
-
- set_runout_valid(false);
-
- if (index != extruder) {
- DISABLE_AXIS_E0();
- ui.status_printf_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
- command(MMU_CMD_T0 + index);
- manage_response(true, true);
- command(MMU_CMD_C0);
- extruder = index; //filament change is finished
- active_extruder = 0;
- ENABLE_AXIS_E0();
- SERIAL_ECHO_START();
- SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(extruder));
- ui.reset_status();
- }
-
- set_runout_valid(true);
- }
-
- /**
- * Handle special T?/Tx/Tc commands
- *
- * T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
- * Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
- * Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
- */
- void MMU2::tool_change(const char* special) {
- if (!enabled) return;
-
- #if ENABLED(MMU2_MENUS)
-
- set_runout_valid(false);
-
- switch (*special) {
- case '?': {
- DEBUG_ECHOLNPGM("case ?\n");
- uint8_t index = mmu2_choose_filament();
- while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
- load_filament_to_nozzle(index);
- } break;
-
- case 'x': {
- DEBUG_ECHOLNPGM("case x\n");
- planner.synchronize();
- uint8_t index = mmu2_choose_filament();
- DISABLE_AXIS_E0();
- command(MMU_CMD_T0 + index);
- manage_response(true, true);
- command(MMU_CMD_C0);
- mmu_loop();
-
- ENABLE_AXIS_E0();
- extruder = index;
- active_extruder = 0;
- } break;
-
- case 'c': {
- DEBUG_ECHOLNPGM("case c\n");
- while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
- execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
- } break;
- }
-
- set_runout_valid(true);
-
- #endif
- }
-
- #endif // MMU_EXTRUDER_SENSOR
-
- /**
- * Set next command
- */
- void MMU2::command(const uint8_t mmu_cmd) {
- if (!enabled) return;
- cmd = mmu_cmd;
- ready = false;
- }
-
- /**
- * Wait for response from MMU
- */
- bool MMU2::get_response() {
- while (cmd != MMU_CMD_NONE) idle();
-
- while (!ready) {
- idle();
- if (state != 3) break;
- }
-
- const bool ret = ready;
- ready = false;
-
- return ret;
- }
-
- /**
- * Wait for response and deal with timeout if nexcessary
- */
- void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
-
- constexpr xyz_pos_t park_point = NOZZLE_PARK_POINT;
- bool response = false;
- mmu_print_saved = false;
- xyz_pos_t resume_position;
- int16_t resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
-
- KEEPALIVE_STATE(PAUSED_FOR_USER);
-
- while (!response) {
-
- response = get_response(); // wait for "ok" from mmu
-
- if (!response) { // No "ok" was received in reserved time frame, user will fix the issue on mmu unit
- if (!mmu_print_saved) { // First occurrence. Save current position, park print head, disable nozzle heater.
-
- planner.synchronize();
-
- mmu_print_saved = true;
-
- SERIAL_ECHOLNPGM("MMU not responding");
-
- resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
- resume_position = current_position;
-
- if (move_axes && all_axes_homed())
- nozzle.park(0, park_point /*= NOZZLE_PARK_POINT*/);
-
- if (turn_off_nozzle) thermalManager.setTargetHotend(0, active_extruder);
-
- mmu2_not_responding();
- }
- }
- else if (mmu_print_saved) {
- SERIAL_ECHOLNPGM("MMU starts responding\n");
-
- if (turn_off_nozzle && resume_hotend_temp) {
- thermalManager.setTargetHotend(resume_hotend_temp, active_extruder);
- LCD_MESSAGEPGM(MSG_HEATING);
- BUZZ(200, 40);
-
- while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(1000);
- }
-
- if (move_axes && all_axes_homed()) {
- LCD_MESSAGEPGM(MSG_MMU2_RESUMING);
- BUZZ(198, 404); BUZZ(4, 0); BUZZ(198, 404);
-
- // Move XY to starting position, then Z
- do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
-
- // Move Z_AXIS to saved position
- do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
- }
- else {
- BUZZ(198, 404); BUZZ(4, 0); BUZZ(198, 404);
- LCD_MESSAGEPGM(MSG_MMU2_RESUMING);
- }
- }
- }
- }
-
- void MMU2::set_filament_type(const uint8_t index, const uint8_t filamentType) {
- if (!enabled) return;
-
- cmd_arg = filamentType;
- command(MMU_CMD_F0 + index);
-
- manage_response(true, true);
- }
-
- void MMU2::filament_runout() {
- queue.inject_P(PSTR(MMU2_FILAMENT_RUNOUT_SCRIPT));
- planner.synchronize();
- }
-
- #if ENABLED(PRUSA_MMU2_S_MODE)
-
- void MMU2::check_filament() {
- const bool present = FILAMENT_PRESENT();
- if (cmd == MMU_CMD_NONE && last_cmd == MMU_CMD_C0) {
- if (present && !mmu2s_triggered) {
- DEBUG_ECHOLNPGM("MMU <= 'A'");
- tx_str_P(PSTR("A\n"));
- }
- // Slowly spin the extruder during C0
- else {
- while (planner.movesplanned() < 3) {
- current_position.e += 0.25;
- line_to_current_position(MMM_TO_MMS(120));
- }
- }
- }
- mmu2s_triggered = present;
- }
-
- bool MMU2::can_load() {
- execute_extruder_sequence((const E_Step *)can_load_sequence, COUNT(can_load_sequence));
-
- int filament_detected_count = 0;
- const int steps = (MMU2_CAN_LOAD_RETRACT) / (MMU2_CAN_LOAD_INCREMENT);
- DEBUG_ECHOLNPGM("MMU can_load:");
- LOOP_L_N(i, steps) {
- execute_extruder_sequence((const E_Step *)can_load_increment_sequence, COUNT(can_load_increment_sequence));
- check_filament(); // Don't trust the idle function
- DEBUG_CHAR(mmu2s_triggered ? 'O' : 'o');
- if (mmu2s_triggered) ++filament_detected_count;
- }
-
- if (filament_detected_count <= steps - (MMU2_CAN_LOAD_DEVIATION) / (MMU2_CAN_LOAD_INCREMENT)) {
- DEBUG_ECHOLNPGM(" failed.");
- return false;
- }
-
- DEBUG_ECHOLNPGM(" succeeded.");
- return true;
- }
- #endif
-
- #if BOTH(HAS_LCD_MENU, MMU2_MENUS)
-
- // Load filament into MMU2
- void MMU2::load_filament(const uint8_t index) {
- if (!enabled) return;
- command(MMU_CMD_L0 + index);
- manage_response(false, false);
- BUZZ(200, 404);
- }
-
- /**
- * Switch material and load to nozzle
- */
- bool MMU2::load_filament_to_nozzle(const uint8_t index) {
-
- if (!enabled) return false;
-
- if (thermalManager.tooColdToExtrude(active_extruder)) {
- BUZZ(200, 404);
- LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
- return false;
- }
-
- command(MMU_CMD_T0 + index);
- manage_response(true, true);
-
- const bool success = load_to_gears();
- if (success) {
- mmu_loop();
- extruder = index;
- active_extruder = 0;
- load_to_nozzle();
- BUZZ(200, 404);
- }
- return success;
- }
-
- /**
- * Load filament to nozzle of multimaterial printer
- *
- * This function is used only only after T? (user select filament) and M600 (change filament).
- * It is not used after T0 .. T4 command (select filament), in such case, gcode is responsible for loading
- * filament to nozzle.
- */
- void MMU2::load_to_nozzle() {
- if (!enabled) return;
- execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
- }
-
- bool MMU2::eject_filament(const uint8_t index, const bool recover) {
-
- if (!enabled) return false;
-
- if (thermalManager.tooColdToExtrude(active_extruder)) {
- BUZZ(200, 404);
- LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
- return false;
- }
-
- LCD_MESSAGEPGM(MSG_MMU2_EJECTING_FILAMENT);
-
- ENABLE_AXIS_E0();
- current_position.e -= MMU2_FILAMENTCHANGE_EJECT_FEED;
- line_to_current_position(2500 / 60);
- planner.synchronize();
- command(MMU_CMD_E0 + index);
- manage_response(false, false);
-
- if (recover) {
- LCD_MESSAGEPGM(MSG_MMU2_EJECT_RECOVER);
- BUZZ(200, 404);
- TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_USER_CONTINUE, PSTR("MMU2 Eject Recover"), CONTINUE_STR));
- TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired_P(PSTR("MMU2 Eject Recover")));
- wait_for_user_response();
- BUZZ(200, 404);
- BUZZ(200, 404);
-
- command(MMU_CMD_R0);
- manage_response(false, false);
- }
-
- ui.reset_status();
-
- // no active tool
- extruder = MMU2_NO_TOOL;
-
- set_runout_valid(false);
-
- BUZZ(200, 404);
-
- DISABLE_AXIS_E0();
-
- return true;
- }
-
- /**
- * Unload from hotend and retract to MMU
- */
- bool MMU2::unload() {
-
- if (!enabled) return false;
-
- if (thermalManager.tooColdToExtrude(active_extruder)) {
- BUZZ(200, 404);
- LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
- return false;
- }
-
- filament_ramming();
-
- command(MMU_CMD_U0);
- manage_response(false, true);
-
- BUZZ(200, 404);
-
- // no active tool
- extruder = MMU2_NO_TOOL;
-
- set_runout_valid(false);
-
- return true;
- }
-
- /**
- * Unload sequence to optimize shape of the tip of the unloaded filament
- */
- void MMU2::filament_ramming() {
- execute_extruder_sequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step));
- }
-
- void MMU2::execute_extruder_sequence(const E_Step * sequence, int steps) {
-
- planner.synchronize();
- ENABLE_AXIS_E0();
-
- const E_Step* step = sequence;
-
- LOOP_L_N(i, steps) {
- const float es = pgm_read_float(&(step->extrude));
- const feedRate_t fr_mm_m = pgm_read_float(&(step->feedRate));
-
- DEBUG_ECHO_START();
- DEBUG_ECHOLNPAIR("E step ", es, "/", fr_mm_m);
-
- current_position.e += es;
- line_to_current_position(MMM_TO_MMS(fr_mm_m));
- planner.synchronize();
-
- step++;
- }
-
- DISABLE_AXIS_E0();
- }
-
- #endif // HAS_LCD_MENU && MMU2_MENUS
-
- #endif // PRUSA_MMU2
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