Classes
class	AutoReportFeatures

Enumerations
enum	MeshLevelingState { MeshReport , MeshStart , MeshNext , MeshSet }

Functions
static void	print_time_remaining_init ()

static void	wait_for_heater (long codenum, uint8_t extruder)

static void	gcode_G28 (bool home_x_axis, bool home_y_axis, bool home_z_axis)

static void	gcode_M105 ()

static void	temp_compensation_start ()

static void	temp_compensation_apply ()

static uint8_t	get_PRUSA_SN (char *SN)

void	serial_echopair_P (const char *s_P, float v)

void	serial_echopair_P (const char *s_P, double v)

void	serial_echopair_P (const char *s_P, unsigned long v)

void	serialprintPGM (const char *str)

void	serialprintlnPGM (const char *str)

int	freeMemory ()

void	setup_killpin ()

void	setup_homepin (void)

void	setup_photpin ()

void	setup_powerhold ()

void	suicide ()

void	servo_init ()

bool	__attribute__ ((noinline)) printJobOngoing()

bool	printingIsPaused ()

void	debug_printer_states ()
	debug printer states More...

bool	check_fsensor ()

void	crashdet_stop_and_save_print ()

void	crashdet_restore_print_and_continue ()

void	crashdet_fmt_error (char *buf, uint8_t mask)

void	crashdet_detected (uint8_t mask)

void	crashdet_recover ()

void	crashdet_cancel ()
	Crash detection cancels the print.

void	failstats_reset_print ()

void	watchdogEarlyDisable (void)

void	softReset (void)

static void	factory_reset_stats ()

static void	factory_reset (char level)

int	uart_putchar (char c, FILE *)

void	lcd_splash ()

void	factory_reset ()

void	show_fw_version_warnings ()

static void	check_if_fw_is_on_right_printer ()
	try to check if firmware is on right type of printer

uint8_t	check_printer_version ()

void	update_sec_lang_from_external_flash ()

uint8_t	lang_xflash_enum_codes (uint16_t *codes)

void	list_sec_lang_from_external_flash ()

static void	fw_crash_init ()

static void	fw_kill_init ()

static void	xflash_err_msg ()

void	setup ()

static void	crash_and_burn (dump_crash_reason reason)

	ISR (WDT_vect)

	ISR (BADISR_vect)

void	stack_error ()

void	host_autoreport ()

void	host_keepalive ()

void	loop ()

	DEFINE_PGM_READ_ANY (float, float)

	DEFINE_PGM_READ_ANY (signed char, byte)

	XYZ_CONSTS_FROM_CONFIG (float, base_min_pos, MIN_POS)

	XYZ_CONSTS_FROM_CONFIG (float, base_max_pos, MAX_POS)

	XYZ_CONSTS_FROM_CONFIG (float, base_home_pos, HOME_POS)

	XYZ_CONSTS_FROM_CONFIG (float, max_length, MAX_LENGTH)

	XYZ_CONSTS_FROM_CONFIG (float, home_retract_mm, HOME_RETRACT_MM)

	XYZ_CONSTS_FROM_CONFIG (signed char, home_dir, HOME_DIR)

static void	axis_is_at_home (uint8_t axis)

static int	setup_for_endstop_move (bool enable_endstops_now=true)

static void	clean_up_after_endstop_move (int original_feedmultiply)

static void	set_bed_level_equation_lsq (double *plane_equation_coefficients)

static void	set_bed_level_equation_3pts (float z_at_pt_1, float z_at_pt_2, float z_at_pt_3)

static void	run_z_probe ()

static void	do_blocking_move_to (float x, float y, float z)

static void	do_blocking_move_relative (float offset_x, float offset_y, float offset_z)

static float	probe_pt (float x, float y, float z_before)
	Probe bed height at position (x,y), returns the measured z value.

void	gcode_M900 ()

bool	check_commands ()

float	raise_z (float delta)
	Safely move Z-axis by distance delta (mm) More...

void	raise_z_above (float target)

bool	calibrate_z_auto ()

void	check_Z_crash (void)

void	homeaxis (uint8_t axis, uint8_t cnt, uint8_t *pstep) void homeaxis(uint8_t axis

	if ((axis==X_AXIS)?HOMEAXIS_DO(X):(axis==Y_AXIS)?HOMEAXIS_DO(Y):0)

else	if ((axis==Z_AXIS)?HOMEAXIS_DO(Z):0)

	enable_endstops (endstops_enabled)

void	home_xy ()

void	refresh_cmd_timeout (void)

void	retract (bool retracting, bool swapretract=false)

void	change_power_mode_live (uint8_t mode)

void	force_high_power_mode (bool start_high_power_section)

static void	gcode_G28 (bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl) static void gcode_G28(bool home_x_axis

	SERIAL_ECHOPGM ("G28, initial ")

	print_world_coordinates ()

	print_physical_coordinates ()

	if (home_all_axes) home_x

plan_bed_level_matrix	set_to_identity ()

	world2machine_revert_to_uncorrected ()
	Set calibration matrix to identity and update current position with absolute position. More...

	if (home_z) babystep_undo() = cs.zprobe_zoffset

	set_destination_to_current ()

	if (home_x &&home_y)

	if (home_x)

	if (home_y)

	if (home_x_axis &&home_x_value !=0) current_position[X_AXIS]

	if (home_y_axis &&home_y_value !=0) current_position[Y_AXIS]

	if (home_z_axis &&home_z_value !=0) current_position[Z_AXIS]

	plan_set_position_curposXYZE ()

	clean_up_after_endstop_move (l_feedmultiply)

	endstops_hit_on_purpose ()

	world2machine_initialize ()
	Read and apply validated calibration data from EEPROM.

	world2machine_update_current ()
	Update current position after switching to corrected coordinates. More...

	if (home_x_axis\|\|home_y_axis\|\|without_mbl\|\|home_z_axis)

	prusa_statistics (20)

	st_synchronize ()

	SERIAL_ECHOPGM ("G28, final ")

	print_mesh_bed_leveling_table ()

static void	gcode_G80 ()

static void	gcode_G81_M420 ()

Variables
CardReader	card

float	default_retraction = DEFAULT_RETRACTION

uint8_t	axis_relative_modes = 0

int	feedmultiply =100

int	extrudemultiply =100

bool	homing_flag = false

bool	did_pause_print

LongTimer	safetyTimer

static LongTimer	crashDetTimer

bool	mesh_bed_leveling_flag = false

uint32_t	total_filament_used

HeatingStatus	heating_status

int	fan_edge_counter [2]

int	fan_speed [2]

float	extruder_multiplier [EXTRUDERS]

float	current_position [NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 }

float	min_pos [3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }

float	max_pos [3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }

bool	axis_known_position [3] = {false, false, false}

static float	pause_position [3] = { X_PAUSE_POS, Y_PAUSE_POS, Z_PAUSE_LIFT }

uint8_t	fanSpeed = 0
	Print fan speed, ranges from 0 to 255.

uint8_t	newFanSpeed = 0

bool	retracted [EXTRUDERS]

bool	retracted_swap [EXTRUDERS]

float	retract_length_swap = RETRACT_LENGTH_SWAP

float	retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP

static bool	temp_compensation_retracted = false

bool	powersupply = false

static bool	cancel_heatup = false

int8_t	busy_state = NOT_BUSY

static long	prev_busy_signal_ms = -1

static uint8_t	host_keepalive_interval = HOST_KEEPALIVE_INTERVAL

const char errormagic[]	PROGMEM = "Error:"

float	saved_start_position [NUM_AXIS] = {SAVED_START_POSITION_UNSET, 0, 0, 0}

uint16_t	saved_segment_idx = 0

bool	isPartialBackupAvailable

uint8_t	print_percent_done_normal = PRINT_PERCENT_DONE_INIT

uint8_t	print_percent_done_silent = PRINT_PERCENT_DONE_INIT

uint16_t	print_time_remaining_normal = PRINT_TIME_REMAINING_INIT

uint16_t	print_time_remaining_silent = PRINT_TIME_REMAINING_INIT

uint16_t	print_time_to_change_normal = PRINT_TIME_REMAINING_INIT

uint16_t	print_time_to_change_silent = PRINT_TIME_REMAINING_INIT

uint32_t	IP_address = 0

const char	axis_codes [NUM_AXIS] = {'X', 'Y', 'Z', 'E'}

float	destination [NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0}

static float	offset [2] = {0.0, 0.0}

float	feedrate = 1500.0

static float	saved_feedrate

static LongTimer	previous_millis_cmd

static uint32_t	max_inactive_time = 0

static uint32_t	stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l

static uint32_t	safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS601000ul

ShortTimer	usb_timer

bool	Stopped =false

bool	processing_tcode

Servo	servos [NUM_SERVOS]

static bool	target_direction

static uint32_t	chdkHigh = 0

static bool	chdkActive = false

static bool	uvlo_auto_recovery_ready = false

static int	saved_feedmultiply_mm = 100

uint8_t	temp

uint8_t	fans

uint8_t	pos

uint8_t	ar4

uint8_t	ar5

uint8_t	ar6

uint8_t	ar7

AutoReportFeatures	autoReportFeatures

static uint16_t	gcode_in_progress = 0

static uint16_t	mcode_in_progress = 0

	C

unsigned int	__heap_start

void *	__brkval

bool	fans_check_enabled = true

static FILE	_uartout

void uint8_t	cnt

static void long	home_x_value

static void long bool	home_y_axis

static void long bool long	home_y_value

static void long bool long bool	home_z_axis

static void long bool long bool long	home_z_value

static void long bool long bool long bool	without_mbl

bool	home_x = home_x_axis

bool	home_y = home_y_axis

bool	home_z = home_z_axis

bool	home_all_axes = home_x == home_y && home_x == home_z

uint8_t	mbl_was_active = mbl.active

mbl	active = 0

int	l_feedmultiply = setup_for_endstop_move()

RAM save/restore printing
bool	saved_printing = false
	Print is paused and saved in RAM.

uint32_t	saved_sdpos = 0
	SD card position, or line number in case of USB printing.

uint8_t	saved_printing_type = PowerPanic::PRINT_TYPE_NONE

float	saved_pos [NUM_AXIS] = { X_COORD_INVALID, 0, 0, 0 }

uint16_t	saved_feedrate2 = 0
	Default feedrate (truncated from float)

static int	saved_feedmultiply2 = 0

uint16_t	saved_extruder_temperature
	Active extruder temperature.

uint8_t	saved_bed_temperature
	Bed temperature.

bool	saved_extruder_relative_mode

uint8_t	saved_fan_speed = 0
	Print fan speed, ranges from 0 to 255. More...

Function Documentation

◆ check_fsensor()

bool check_fsensor ( )

Beware - mcode_in_progress is set as soon as the command gets really processed, which is not the same as posting the M600 command into the command queue There can be a considerable lag between posting M600 and its real processing which might result in posting multiple M600's into the command queue Instead, the fsensor uses another state variable :( , which is set to true, when the M600 command is enqued and is reset to false when the fsensor returns into its filament runout finished handler I'd normally change this macro, but who knows what would happen in the MMU :)

◆ clean_up_after_endstop_move()

static void clean_up_after_endstop_move ( int original_feedmultiply )

static

Parameters

original_feedmultiply feedmultiply to restore

◆ debug_printer_states()

void debug_printer_states ( )

This outputs a lot over serial and should be only used

when debugging LCD menus
or other functions related to these states To reduce the output feel free to comment out the lines you aren't troubleshooting.

◆ gcode_M900()

void gcode_M900 ( )

inline

M900: Set and/or Get advance K factor

K<factor> Set advance K factor

◆ host_autoreport()

void host_autoreport ( )

Output autoreport values according to features requested in M155

◆ host_keepalive()

void host_keepalive ( )

Output a "busy" message at regular intervals while the machine is not accepting commands.

◆ raise_z()

float raise_z ( float delta )

Parameters

delta travel distance in mm

Returns: The actual travel distance in mm. Endstop may limit the requested move.

◆ setup_for_endstop_move()

static int setup_for_endstop_move ( bool enable_endstops_now = true )

static

Returns: original feedmultiply

◆ world2machine_revert_to_uncorrected()

world2machine_revert_to_uncorrected ( )

Wait for the motors to stop and then update the current position with the absolute values.

◆ world2machine_update_current()

world2machine_update_current ( )

When switching from absolute to corrected coordinates, this will get the absolute coordinates from the servos, applies the inverse world2machine transformation and stores the result into current_position[x,y].

Variable Documentation

◆ C

C

extern

Initial value:

{

extern unsigned int __bss_end

◆ cnt

void uint8_t cnt

Initial value:

{

bool endstops_enabled = enable_endstops(true)

◆ extruder_multiplier

float extruder_multiplier[EXTRUDERS]

Initial value:

= {1.0
  #if EXTRUDERS > 1
    , 1.0
    #if EXTRUDERS > 2
      , 1.0
    #endif
  #endif
}

◆ retracted

bool retracted[EXTRUDERS]

Initial value:

={false
    #if EXTRUDERS > 1
    , false
     #if EXTRUDERS > 2
      , false
     #endif
  #endif
  }

◆ retracted_swap

bool retracted_swap[EXTRUDERS]

Initial value:

={false
    #if EXTRUDERS > 1
    , false
     #if EXTRUDERS > 2
      , false
     #endif
  #endif
  }

◆ saved_fan_speed

uint8_t saved_fan_speed = 0

Print fan speed

◆ without_mbl

void long bool long bool long bool without_mbl

Initial value:

{
    
    st_synchronize()

Classes

Enumerations

Functions

Variables

Function Documentation

◆ check_fsensor()

◆ clean_up_after_endstop_move()

◆ debug_printer_states()

◆ gcode_M900()

◆ host_autoreport()

◆ host_keepalive()

◆ raise_z()

◆ setup_for_endstop_move()

◆ world2machine_revert_to_uncorrected()

◆ world2machine_update_current()

Variable Documentation

◆ C

◆ cnt

◆ extruder_multiplier

◆ retracted

◆ retracted_swap

◆ saved_fan_speed

◆ without_mbl