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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2019 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 <http://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 "../../Marlin.h"
-
- #if ENABLED(HOST_PROMPT_SUPPORT)
- #include "../../feature/host_actions.h"
- #endif
-
- #define MMU_TODELAY 100
- #define MMU_TIMEOUT 10
- #define MMU_CMD_TIMEOUT 60000ul //5min timeout for mmu commands (except P0)
- #define MMU_P0_TIMEOUT 3000ul //timeout for P0 command: 3seconds
-
- #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
-
- #if ENABLED(MMU2_MODE_12V)
- #define MMU_REQUIRED_FW_BUILDNR 132
- #else
- #define MMU_REQUIRED_FW_BUILDNR 126
- #endif
-
- #define MMU2_NO_TOOL 99
- #define MMU_BAUD 115200
-
- #define mmuSerial MMU2_SERIAL
-
- bool MMU2::enabled, MMU2::ready, MMU2::mmu_print_saved;
- 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::findaRunoutValid;
- int16_t MMU2::version = -1, MMU2::buildnr = -1;
- millis_t MMU2::last_request, MMU2::next_P0_request;
- char MMU2::rx_buffer[16], MMU2::tx_buffer[16];
-
- #if HAS_LCD_MENU && ENABLED(MMU2_MENUS)
-
- struct E_Step {
- float extrude; //!< extrude distance in mm
- float feedRate; //!< feed rate in mm/s
- };
-
- static constexpr E_Step ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE };
- static constexpr E_Step loadToNozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE };
-
- #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() {
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU <= reset");
- #endif
-
- #if PIN_EXISTS(MMU2_RST)
- WRITE(MMU2_RST_PIN, LOW);
- safe_delay(20);
- WRITE(MMU2_RST_PIN, HIGH);
- #else
- tx_str_P(PSTR("X0\n")); // Send soft reset
- #endif
- }
-
- uint8_t MMU2::getCurrentTool() {
- return extruder == MMU2_NO_TOOL ? -1 : extruder;
- }
-
- void MMU2::mmuLoop() {
-
- switch (state) {
-
- case 0: break;
-
- case -1:
- if (rx_start()) {
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU => 'start'");
- SERIAL_ECHOLNPGM("MMU <= 'S1'");
- #endif
-
- // send "read version" request
- tx_str_P(PSTR("S1\n"));
-
- 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);
-
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPAIR("MMU => ", version, "\nMMU <= 'S2'");
- #endif
-
- tx_str_P(PSTR("S2\n")); // read build number
- state = -3;
- }
- break;
-
- case -3:
- if (rx_ok()) {
- sscanf(rx_buffer, "%uok\n", &buildnr);
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPAIR("MMU => ", buildnr);
- #endif
-
- checkVersion();
-
- #if ENABLED(MMU2_MODE_12V)
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU <= 'M1'");
- #endif
-
- tx_str_P(PSTR("M1\n")); // switch to stealth mode
- state = -5;
-
- #else
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU <= 'P0'");
- #endif
-
- tx_str_P(PSTR("P0\n")); // read finda
- state = -4;
- #endif
- }
- break;
-
- case -5:
- // response to M1
- if (rx_ok()) {
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU => ok");
- #endif
-
- checkVersion();
-
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU <= 'P0'");
- #endif
-
- tx_str_P(PSTR("P0\n")); // read finda
- state = -4;
- }
- break;
-
- case -4:
- if (rx_ok()) {
- sscanf(rx_buffer, "%hhuok\n", &finda);
-
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPAIR("MMU => ", finda, "\nMMU - ENABLED");
- #endif
-
- enabled = true;
- state = 1;
- }
- break;
-
- case 1:
- if (cmd) {
- if (WITHIN(cmd, MMU_CMD_T0, MMU_CMD_T4)) {
- // tool change
- int filament = cmd - MMU_CMD_T0;
-
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPAIR("MMU <= T", filament);
- #endif
-
- tx_printf_P(PSTR("T%d\n"), filament);
- state = 3; // wait for response
- }
- else if (WITHIN(cmd, MMU_CMD_L0, MMU_CMD_L4)) {
- // load
- int filament = cmd - MMU_CMD_L0;
-
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPAIR("MMU <= L", filament);
- #endif
-
- tx_printf_P(PSTR("L%d\n"), filament);
- state = 3; // wait for response
- }
- else if (cmd == MMU_CMD_C0) {
- // continue loading
-
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU <= 'C0'");
- #endif
-
- tx_str_P(PSTR("C0\n"));
- state = 3; // wait for response
- }
- else if (cmd == MMU_CMD_U0) {
- // unload current
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU <= 'U0'");
- #endif
-
- tx_str_P(PSTR("U0\n"));
- state = 3; // wait for response
- }
- else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E4)) {
- // eject filament
- int filament = cmd - MMU_CMD_E0;
-
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPAIR("MMU <= E", filament);
- #endif
- tx_printf_P(PSTR("E%d\n"), filament);
- state = 3; // wait for response
- }
- else if (cmd == MMU_CMD_R0) {
- // recover after eject
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU <= 'R0'");
- #endif
-
- tx_str_P(PSTR("R0\n"));
- state = 3; // wait for response
- }
- else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F4)) {
- // filament type
- int filament = cmd - MMU_CMD_F0;
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOPAIR("MMU <= F", filament, " ");
- SERIAL_ECHO_F(cmd_arg, DEC);
- SERIAL_ECHOPGM("\n");
- #endif
-
- 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(), next_P0_request)) {
- // read FINDA
- tx_str_P(PSTR("P0\n"));
- state = 2; // wait for response
- }
- break;
-
- case 2: // response to command P0
- if (rx_ok()) {
- sscanf(rx_buffer, "%hhuok\n", &finda);
-
- #if ENABLED(MMU2_DEBUG)
- // This is super annoying. Only activate if necessary
- /*
- if (findaRunoutValid) {
- SERIAL_ECHOLNPGM("MMU <= 'P0'");
- SERIAL_ECHOPGM("MMU => ");
- SERIAL_ECHO_F(finda, DEC);
- SERIAL_ECHOPGM("\n");
- }
- */
- #endif
-
- state = 1;
-
- if (cmd == 0) ready = true;
-
- if (!finda && findaRunoutValid) filamentRunout();
- }
- else if (ELAPSED(millis(), last_request + MMU_P0_TIMEOUT)) // Resend request after timeout (30s)
- state = 1;
-
- break;
-
- case 3: // response to mmu commands
- if (rx_ok()) {
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU => 'ok'");
- #endif
-
- ready = true;
- state = 1;
- last_cmd = MMU_CMD_NONE;
- }
- else if (ELAPSED(millis(), last_request + MMU_CMD_TIMEOUT)) {
- // resend request after timeout
- if (last_cmd) {
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("MMU retry");
- #endif
-
- cmd = last_cmd;
- last_cmd = MMU_CMD_NONE;
- }
- state = 1;
- }
- break;
- }
- }
-
-
- /**
- * Check if MMU was started
- */
- bool MMU2::rx_start() {
- // check for start message
- if (rx_str_P(PSTR("start\n"))) {
- next_P0_request = millis() + 300;
- 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) {
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHOLNPGM("rx buffer overrun");
- #endif
-
- 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);
- for (uint8_t i = 0; i < len; i++) mmuSerial.write(pgm_read_byte(str++));
- rx_buffer[0] = '\0';
- last_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);
- for (uint8_t i = 0; i < len; i++) mmuSerial.write(tx_buffer[i]);
- rx_buffer[0] = '\0';
- last_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);
- for (uint8_t i = 0; i < len; i++) mmuSerial.write(tx_buffer[i]);
- rx_buffer[0] = '\0';
- last_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"))) {
- next_P0_request = millis() + 300;
- return true;
- }
- return false;
- }
-
-
- /**
- * Check if MMU has compatible firmware
- */
- void MMU2::checkVersion() {
- if (buildnr < MMU_REQUIRED_FW_BUILDNR) {
- SERIAL_ERROR_START();
- SERIAL_ECHOPGM("MMU2 firmware version invalid. Required version >= ");
- SERIAL_ECHOLN(MMU_REQUIRED_FW_BUILDNR);
- kill(MSG_MMU2_WRONG_FIRMWARE);
- }
- }
-
-
- /**
- * Handle tool change
- */
- void MMU2::toolChange(uint8_t index) {
-
- if (!enabled) return;
-
- set_runout_valid(false);
-
- if (index != extruder) {
-
- KEEPALIVE_STATE(IN_HANDLER);
- disable_E0();
- ui.status_printf_P(0, PSTR(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
-
- command(MMU_CMD_T0 + index);
-
- manageResponse(true, true);
- KEEPALIVE_STATE(IN_HANDLER);
-
- command(MMU_CMD_C0);
- extruder = index; //filament change is finished
- active_extruder = 0;
-
- enable_E0();
-
- SERIAL_ECHO_START();
- SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, int(extruder));
-
- ui.reset_status();
- KEEPALIVE_STATE(NOT_BUSY);
- }
-
- 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::toolChange(const char* special) {
-
- if (!enabled) return;
-
- #if ENABLED(MMU2_MENUS)
-
- set_runout_valid(false);
- KEEPALIVE_STATE(IN_HANDLER);
-
- switch (*special) {
- case '?': {
- uint8_t index = mmu2_chooseFilament();
- while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
- loadFilamentToNozzle(index);
- } break;
-
- case 'x': {
- planner.synchronize();
- uint8_t index = mmu2_chooseFilament();
- disable_E0();
- command(MMU_CMD_T0 + index);
- manageResponse(true, true);
- command(MMU_CMD_C0);
- mmuLoop();
-
- enable_E0();
- extruder = index;
- active_extruder = 0;
- } break;
-
- case 'c': {
- while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
- executeExtruderSequence((const E_Step *)loadToNozzle_sequence, COUNT(loadToNozzle_sequence));
- } break;
- }
-
- KEEPALIVE_STATE(NOT_BUSY);
-
- set_runout_valid(true);
-
- #endif
- }
-
-
- /**
- * 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::getResponse(void) {
- 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::manageResponse(bool move_axes, bool turn_off_nozzle) {
-
- bool response = false;
- mmu_print_saved = false;
- point_t park_point = NOZZLE_PARK_POINT;
- float resume_position[XYZE];
- int16_t resume_hotend_temp;
-
- while (!response) {
-
- response = getResponse(); //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 occurence, we are saving current position, park print head in certain position and disable nozzle heater
-
- planner.synchronize();
-
- mmu_print_saved = true;
-
- SERIAL_ECHOLNPGM("MMU not responding");
-
- resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
- COPY(resume_position, current_position);
-
- if (move_axes && all_axes_homed())
- Nozzle::park(2, park_point /*= NOZZLE_PARK_POINT*/);
-
- if (turn_off_nozzle) thermalManager.setTargetHotend(0, active_extruder);
-
- LCD_MESSAGEPGM(MSG_MMU2_NOT_RESPONDING);
- BUZZ(100, 659);
- BUZZ(200, 698);
- BUZZ(100, 659);
- BUZZ(300, 440);
- BUZZ(100, 659);
-
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- }
- }
- else if (mmu_print_saved) {
- SERIAL_ECHOLNPGM("MMU starts responding\n");
- KEEPALIVE_STATE(IN_HANDLER);
-
- 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(200, 404);
- BUZZ(200, 404);
-
- // Move XY to starting position, then Z
- do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], NOZZLE_PARK_XY_FEEDRATE);
-
- // Move Z_AXIS to saved position
- do_blocking_move_to_z(resume_position[Z_AXIS], NOZZLE_PARK_Z_FEEDRATE);
- }
- else {
- BUZZ(200, 404);
- BUZZ(200, 404);
- LCD_MESSAGEPGM(MSG_MMU2_RESUMING);
- }
- }
- }
- }
-
- void MMU2::setFilamentType(uint8_t index, uint8_t filamentType) {
- if (!enabled) return;
-
- KEEPALIVE_STATE(IN_HANDLER);
-
- cmd_arg = filamentType;
- command(MMU_CMD_F0 + index);
-
- manageResponse(true, true);
-
- KEEPALIVE_STATE(NOT_BUSY);
- }
-
- void MMU2::filamentRunout() {
- enqueue_and_echo_commands_P(PSTR(MMU2_FILAMENT_RUNOUT_SCRIPT));
- planner.synchronize();
- }
-
- #if HAS_LCD_MENU && ENABLED(MMU2_MENUS)
-
- // Load filament into MMU2
- void MMU2::loadFilament(uint8_t index) {
- if (!enabled) return;
- command(MMU_CMD_L0 + index);
- manageResponse(false, false);
- BUZZ(200, 404);
- }
-
- /**
- *
- * Switch material and load to nozzle
- *
- */
- bool MMU2::loadFilamentToNozzle(uint8_t index) {
-
- if (!enabled) return false;
-
- if (thermalManager.tooColdToExtrude(active_extruder)) {
- BUZZ(200, 404);
- LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
- return false;
- }
- else {
- KEEPALIVE_STATE(IN_HANDLER);
-
- command(MMU_CMD_T0 + index);
- manageResponse(true, true);
- command(MMU_CMD_C0);
- mmuLoop();
-
- extruder = index;
- active_extruder = 0;
-
- loadToNozzle();
-
- BUZZ(200, 404);
-
- KEEPALIVE_STATE(NOT_BUSY);
- return true;
- }
- }
-
- /**
- *
- * 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::loadToNozzle() {
- if (!enabled) return;
- executeExtruderSequence((const E_Step *)loadToNozzle_sequence, COUNT(loadToNozzle_sequence));
- }
-
- bool MMU2::ejectFilament(uint8_t index, bool recover) {
-
- if (!enabled) return false;
-
- if (thermalManager.tooColdToExtrude(active_extruder)) {
- BUZZ(200, 404);
- LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
- return false;
- }
-
- KEEPALIVE_STATE(IN_HANDLER);
- LCD_MESSAGEPGM(MSG_MMU2_EJECTING_FILAMENT);
- const bool saved_e_relative_mode = gcode.axis_relative_modes[E_AXIS];
- gcode.axis_relative_modes[E_AXIS] = true;
-
- enable_E0();
- current_position[E_AXIS] -= MMU2_FILAMENTCHANGE_EJECT_FEED;
- planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
- planner.synchronize();
- command(MMU_CMD_E0 + index);
- manageResponse(false, false);
-
- if (recover) {
- LCD_MESSAGEPGM(MSG_MMU2_EJECT_RECOVER);
- BUZZ(200, 404);
- wait_for_user = true;
- #if ENABLED(HOST_PROMPT_SUPPORT)
- host_prompt_do(PROMPT_USER_CONTINUE, PSTR("MMU2 Eject Recover"), PSTR("Continue"));
- #endif
- while (wait_for_user) idle();
- BUZZ(200, 404);
- BUZZ(200, 404);
-
- command(MMU_CMD_R0);
- manageResponse(false, false);
- }
-
- ui.reset_status();
-
- // no active tool
- extruder = MMU2_NO_TOOL;
-
- set_runout_valid(false);
-
- BUZZ(200, 404);
-
- KEEPALIVE_STATE(NOT_BUSY);
-
- gcode.axis_relative_modes[E_AXIS] = saved_e_relative_mode;
-
- disable_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;
- }
-
- KEEPALIVE_STATE(IN_HANDLER);
-
- filamentRamming();
-
- command(MMU_CMD_U0);
- manageResponse(false, true);
-
- BUZZ(200, 404);
-
- // no active tool
- extruder = MMU2_NO_TOOL;
-
- set_runout_valid(false);
-
- KEEPALIVE_STATE(NOT_BUSY);
-
- return true;
- }
-
- /**
- * Unload sequence to optimize shape of the tip of the unloaded filament
- */
- void MMU2::filamentRamming() {
- executeExtruderSequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step));
- }
-
- void MMU2::executeExtruderSequence(const E_Step * sequence, int steps) {
-
- planner.synchronize();
- enable_E0();
-
- const bool saved_e_relative_mode = gcode.axis_relative_modes[E_AXIS];
- gcode.axis_relative_modes[E_AXIS] = true;
-
- const E_Step* step = sequence;
-
- for (uint8_t i = 0; i < steps; i++) {
- const float es = pgm_read_float(&(step->extrude)),
- fr = pgm_read_float(&(step->feedRate));
-
- #if ENABLED(MMU2_DEBUG)
- SERIAL_ECHO_START();
- SERIAL_ECHOPAIR("E step ", es);
- SERIAL_CHAR('/');
- SERIAL_ECHOLN(fr);
- #endif
-
- current_position[E_AXIS] += es;
- planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
- current_position[E_AXIS], MMM_TO_MMS(fr), active_extruder);
- planner.synchronize();
-
- step++;
- }
-
- gcode.axis_relative_modes[E_AXIS] = saved_e_relative_mode;
-
- disable_E0();
- }
-
- #endif // HAS_LCD_MENU && MMU2_MENUS
-
- #endif // PRUSA_MMU2
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