1655 lines
47 KiB
C++
1655 lines
47 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* About Marlin
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*
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* This firmware is a mashup between Sprinter and grbl.
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* - https://github.com/kliment/Sprinter
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* - https://github.com/grbl/grbl
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*/
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#include "MarlinCore.h"
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#include "HAL/shared/Delay.h"
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#include "HAL/shared/esp_wifi.h"
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#include "HAL/shared/cpu_exception/exception_hook.h"
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#ifdef ARDUINO
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#include <pins_arduino.h>
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#endif
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#include <math.h>
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#include "core/utility.h"
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#include "module/motion.h"
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#include "module/planner.h"
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#include "module/endstops.h"
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#include "module/temperature.h"
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#include "module/settings.h"
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#include "module/printcounter.h" // PrintCounter or Stopwatch
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#include "module/stepper.h"
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#include "module/stepper/indirection.h"
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#include "gcode/gcode.h"
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#include "gcode/parser.h"
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#include "gcode/queue.h"
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#include "feature/pause.h"
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#include "sd/cardreader.h"
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#include "lcd/marlinui.h"
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#if HAS_TOUCH_BUTTONS
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#include "lcd/touch/touch_buttons.h"
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#endif
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#if HAS_TFT_LVGL_UI
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#include "lcd/extui/mks_ui/tft_lvgl_configuration.h"
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#include "lcd/extui/mks_ui/draw_ui.h"
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#include "lcd/extui/mks_ui/mks_hardware.h"
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#include <lvgl.h>
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#endif
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#if HAS_DWIN_E3V2
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#include "lcd/e3v2/common/encoder.h"
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#if ENABLED(DWIN_CREALITY_LCD)
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#include "lcd/e3v2/creality/dwin.h"
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#elif ENABLED(DWIN_LCD_PROUI)
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#include "lcd/e3v2/proui/dwin.h"
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#elif ENABLED(DWIN_CREALITY_LCD_JYERSUI)
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#include "lcd/e3v2/jyersui/dwin.h"
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#endif
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#endif
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#if HAS_ETHERNET
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#include "feature/ethernet.h"
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#endif
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#if ENABLED(IIC_BL24CXX_EEPROM)
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#include "libs/BL24CXX.h"
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#endif
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#if ENABLED(DIRECT_STEPPING)
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#include "feature/direct_stepping.h"
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#endif
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#if ENABLED(HOST_ACTION_COMMANDS)
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#include "feature/host_actions.h"
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#endif
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#if USE_BEEPER
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#include "libs/buzzer.h"
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#endif
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#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
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#include "feature/closedloop.h"
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#endif
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#if HAS_MOTOR_CURRENT_I2C
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#include "feature/digipot/digipot.h"
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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#include "feature/mixing.h"
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#endif
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#if ENABLED(MAX7219_DEBUG)
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#include "feature/max7219.h"
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#endif
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#if HAS_COLOR_LEDS
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#include "feature/leds/leds.h"
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#endif
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#if ENABLED(BLTOUCH)
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#include "feature/bltouch.h"
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#endif
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#if ENABLED(POLL_JOG)
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#include "feature/joystick.h"
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#endif
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#if HAS_SERVOS
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#include "module/servo.h"
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#endif
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#if HAS_MOTOR_CURRENT_DAC
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#include "feature/dac/stepper_dac.h"
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#endif
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#if ENABLED(EXPERIMENTAL_I2CBUS)
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#include "feature/twibus.h"
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#endif
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#if ENABLED(I2C_POSITION_ENCODERS)
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#include "feature/encoder_i2c.h"
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#endif
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#if (HAS_TRINAMIC_CONFIG || HAS_TMC_SPI) && DISABLED(PSU_DEFAULT_OFF)
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#include "feature/tmc_util.h"
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#endif
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#if HAS_CUTTER
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#include "feature/spindle_laser.h"
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#endif
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#if ENABLED(SDSUPPORT)
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CardReader card;
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#endif
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#if ENABLED(G38_PROBE_TARGET)
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uint8_t G38_move; // = 0
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bool G38_did_trigger; // = false
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#endif
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#if ENABLED(DELTA)
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#include "module/delta.h"
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#elif ENABLED(POLARGRAPH)
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#include "module/polargraph.h"
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#elif IS_SCARA
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#include "module/scara.h"
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#endif
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#if HAS_LEVELING
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#include "feature/bedlevel/bedlevel.h"
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#endif
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#if ENABLED(GCODE_REPEAT_MARKERS)
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#include "feature/repeat.h"
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#endif
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#if ENABLED(POWER_LOSS_RECOVERY)
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#include "feature/powerloss.h"
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#endif
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#if ENABLED(CANCEL_OBJECTS)
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#include "feature/cancel_object.h"
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#endif
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#if HAS_FILAMENT_SENSOR
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#include "feature/runout.h"
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#endif
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#if EITHER(PROBE_TARE, HAS_Z_SERVO_PROBE)
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#include "module/probe.h"
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#endif
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#if ENABLED(HOTEND_IDLE_TIMEOUT)
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#include "feature/hotend_idle.h"
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#endif
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#if ENABLED(TEMP_STAT_LEDS)
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#include "feature/leds/tempstat.h"
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#endif
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#if ENABLED(CASE_LIGHT_ENABLE)
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#include "feature/caselight.h"
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#endif
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#if HAS_FANMUX
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#include "feature/fanmux.h"
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#endif
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#include "module/tool_change.h"
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#if HAS_FANCHECK
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#include "feature/fancheck.h"
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#endif
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#if ENABLED(USE_CONTROLLER_FAN)
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#include "feature/controllerfan.h"
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#endif
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#if HAS_PRUSA_MMU1
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#include "feature/mmu/mmu.h"
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#endif
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#if HAS_PRUSA_MMU2
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#include "feature/mmu/mmu2.h"
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#endif
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#if HAS_L64XX
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#include "libs/L64XX/L64XX_Marlin.h"
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#endif
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#if ENABLED(PASSWORD_FEATURE)
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#include "feature/password/password.h"
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#endif
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#if ENABLED(DGUS_LCD_UI_MKS)
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#include "lcd/extui/dgus/DGUSScreenHandler.h"
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#endif
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#if HAS_DRIVER_SAFE_POWER_PROTECT
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#include "feature/stepper_driver_safety.h"
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#endif
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#if ENABLED(PSU_CONTROL)
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#include "feature/power.h"
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#endif
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#if ENABLED(EASYTHREED_UI)
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#include "feature/easythreed_ui.h"
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#endif
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PGMSTR(M112_KILL_STR, "M112 Shutdown");
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MarlinState marlin_state = MF_INITIALIZING;
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// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
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bool wait_for_heatup = true;
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// For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
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#if HAS_RESUME_CONTINUE
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bool wait_for_user; // = false;
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void wait_for_user_response(millis_t ms/*=0*/, const bool no_sleep/*=false*/) {
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UNUSED(no_sleep);
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KEEPALIVE_STATE(PAUSED_FOR_USER);
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wait_for_user = true;
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if (ms) ms += millis(); // expire time
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while (wait_for_user && !(ms && ELAPSED(millis(), ms)))
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idle(TERN_(ADVANCED_PAUSE_FEATURE, no_sleep));
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wait_for_user = false;
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}
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#endif
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/**
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* ***************************************************************************
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* ******************************** FUNCTIONS ********************************
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* ***************************************************************************
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*/
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/**
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* Stepper Reset (RigidBoard, et.al.)
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*/
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#if HAS_STEPPER_RESET
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void disableStepperDrivers() { OUT_WRITE(STEPPER_RESET_PIN, LOW); } // Drive down to keep motor driver chips in reset
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void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // Set to input, allowing pullups to pull the pin high
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#endif
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/**
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* Sensitive pin test for M42, M226
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*/
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#include "pins/sensitive_pins.h"
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wnarrowing"
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#ifndef RUNTIME_ONLY_ANALOG_TO_DIGITAL
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template <pin_t ...D>
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constexpr pin_t OnlyPins<_SP_END, D...>::table[sizeof...(D)];
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#endif
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bool pin_is_protected(const pin_t pin) {
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#ifdef RUNTIME_ONLY_ANALOG_TO_DIGITAL
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static const pin_t sensitive_pins[] PROGMEM = { SENSITIVE_PINS };
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const size_t pincount = COUNT(sensitive_pins);
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#else
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static constexpr size_t pincount = OnlyPins<SENSITIVE_PINS>::size;
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static const pin_t (&sensitive_pins)[pincount] PROGMEM = OnlyPins<SENSITIVE_PINS>::table;
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#endif
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LOOP_L_N(i, pincount) {
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const pin_t * const pptr = &sensitive_pins[i];
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if (pin == (sizeof(pin_t) == 2 ? (pin_t)pgm_read_word(pptr) : (pin_t)pgm_read_byte(pptr))) return true;
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}
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return false;
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}
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#pragma GCC diagnostic pop
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/**
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* A Print Job exists when the timer is running or SD is printing
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*/
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bool printJobOngoing() { return print_job_timer.isRunning() || IS_SD_PRINTING(); }
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/**
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* Printing is active when a job is underway but not paused
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*/
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bool printingIsActive() { return !did_pause_print && printJobOngoing(); }
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/**
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* Printing is paused according to SD or host indicators
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*/
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bool printingIsPaused() {
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return did_pause_print || print_job_timer.isPaused() || IS_SD_PAUSED();
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}
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void startOrResumeJob() {
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if (!printingIsPaused()) {
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TERN_(GCODE_REPEAT_MARKERS, repeat.reset());
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TERN_(CANCEL_OBJECTS, cancelable.reset());
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TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator = 0);
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#if BOTH(LCD_SET_PROGRESS_MANUALLY, USE_M73_REMAINING_TIME)
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ui.reset_remaining_time();
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#endif
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}
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print_job_timer.start();
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}
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#if ENABLED(SDSUPPORT)
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inline void abortSDPrinting() {
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IF_DISABLED(NO_SD_AUTOSTART, card.autofile_cancel());
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card.abortFilePrintNow(TERN_(SD_RESORT, true));
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queue.clear();
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quickstop_stepper();
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print_job_timer.abort();
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IF_DISABLED(SD_ABORT_NO_COOLDOWN, thermalManager.disable_all_heaters());
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TERN(HAS_CUTTER, cutter.kill(), thermalManager.zero_fan_speeds()); // Full cutter shutdown including ISR control
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wait_for_heatup = false;
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TERN_(POWER_LOSS_RECOVERY, recovery.purge());
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#ifdef EVENT_GCODE_SD_ABORT
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queue.inject(F(EVENT_GCODE_SD_ABORT));
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#endif
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TERN_(PASSWORD_AFTER_SD_PRINT_ABORT, password.lock_machine());
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}
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inline void finishSDPrinting() {
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if (queue.enqueue_one(F("M1001"))) { // Keep trying until it gets queued
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marlin_state = MF_RUNNING; // Signal to stop trying
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TERN_(PASSWORD_AFTER_SD_PRINT_END, password.lock_machine());
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TERN_(DGUS_LCD_UI_MKS, ScreenHandler.SDPrintingFinished());
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}
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}
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#endif // SDSUPPORT
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/**
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* Minimal management of Marlin's core activities:
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* - Keep the command buffer full
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* - Check for maximum inactive time between commands
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* - Check for maximum inactive time between stepper commands
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* - Check if CHDK_PIN needs to go LOW
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* - Check for KILL button held down
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* - Check for HOME button held down
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* - Check for CUSTOM USER button held down
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* - Check if cooling fan needs to be switched on
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* - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
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* - Pulse FET_SAFETY_PIN if it exists
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*/
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inline void manage_inactivity(const bool no_stepper_sleep=false) {
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queue.get_available_commands();
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const millis_t ms = millis();
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// Prevent steppers timing-out
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const bool do_reset_timeout = no_stepper_sleep
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|| TERN0(PAUSE_PARK_NO_STEPPER_TIMEOUT, did_pause_print);
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// Reset both the M18/M84 activity timeout and the M85 max 'kill' timeout
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if (do_reset_timeout) gcode.reset_stepper_timeout(ms);
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if (gcode.stepper_max_timed_out(ms)) {
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SERIAL_ERROR_MSG(STR_KILL_INACTIVE_TIME, parser.command_ptr);
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kill();
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}
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// M18 / M84 : Handle steppers inactive time timeout
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if (gcode.stepper_inactive_time) {
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static bool already_shutdown_steppers; // = false
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// Any moves in the planner? Resets both the M18/M84
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// activity timeout and the M85 max 'kill' timeout
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if (planner.has_blocks_queued())
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gcode.reset_stepper_timeout(ms);
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else if (!do_reset_timeout && gcode.stepper_inactive_timeout()) {
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if (!already_shutdown_steppers) {
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already_shutdown_steppers = true; // L6470 SPI will consume 99% of free time without this
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// Individual axes will be disabled if configured
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TERN_(DISABLE_INACTIVE_X, stepper.disable_axis(X_AXIS));
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TERN_(DISABLE_INACTIVE_Y, stepper.disable_axis(Y_AXIS));
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TERN_(DISABLE_INACTIVE_Z, stepper.disable_axis(Z_AXIS));
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TERN_(DISABLE_INACTIVE_I, stepper.disable_axis(I_AXIS));
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TERN_(DISABLE_INACTIVE_J, stepper.disable_axis(J_AXIS));
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TERN_(DISABLE_INACTIVE_K, stepper.disable_axis(K_AXIS));
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TERN_(DISABLE_INACTIVE_E, stepper.disable_e_steppers());
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TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled());
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}
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}
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else
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already_shutdown_steppers = false;
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}
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#if ENABLED(PHOTO_GCODE) && PIN_EXISTS(CHDK)
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// Check if CHDK should be set to LOW (after M240 set it HIGH)
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extern millis_t chdk_timeout;
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if (chdk_timeout && ELAPSED(ms, chdk_timeout)) {
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chdk_timeout = 0;
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WRITE(CHDK_PIN, LOW);
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}
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#endif
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#if HAS_KILL
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// Check if the kill button was pressed and wait just in case it was an accidental
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// key kill key press
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// -------------------------------------------------------------------------------
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static int killCount = 0; // make the inactivity button a bit less responsive
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const int KILL_DELAY = 750;
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if (kill_state())
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killCount++;
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else if (killCount > 0)
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killCount--;
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// Exceeded threshold and we can confirm that it was not accidental
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// KILL the machine
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// ----------------------------------------------------------------
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if (killCount >= KILL_DELAY) {
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SERIAL_ERROR_MSG(STR_KILL_BUTTON);
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kill();
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}
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#endif
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#if HAS_FREEZE_PIN
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Stepper::frozen = !READ(FREEZE_PIN);
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#endif
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#if HAS_HOME
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// Handle a standalone HOME button
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constexpr millis_t HOME_DEBOUNCE_DELAY = 1000UL;
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static millis_t next_home_key_ms; // = 0
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if (!IS_SD_PRINTING() && !READ(HOME_PIN)) { // HOME_PIN goes LOW when pressed
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if (ELAPSED(ms, next_home_key_ms)) {
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next_home_key_ms = ms + HOME_DEBOUNCE_DELAY;
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LCD_MESSAGE(MSG_AUTO_HOME);
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queue.inject_P(G28_STR);
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}
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}
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#endif
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#if ENABLED(CUSTOM_USER_BUTTONS)
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// Handle a custom user button if defined
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const bool printer_not_busy = !printingIsActive();
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#define HAS_CUSTOM_USER_BUTTON(N) (PIN_EXISTS(BUTTON##N) && defined(BUTTON##N##_HIT_STATE) && defined(BUTTON##N##_GCODE))
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#define HAS_BETTER_USER_BUTTON(N) HAS_CUSTOM_USER_BUTTON(N) && defined(BUTTON##N##_DESC)
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#define _CHECK_CUSTOM_USER_BUTTON(N, CODE) do{ \
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constexpr millis_t CUB_DEBOUNCE_DELAY_##N = 250UL; \
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static millis_t next_cub_ms_##N; \
|
|
if (BUTTON##N##_HIT_STATE == READ(BUTTON##N##_PIN) \
|
|
&& (ENABLED(BUTTON##N##_WHEN_PRINTING) || printer_not_busy)) { \
|
|
if (ELAPSED(ms, next_cub_ms_##N)) { \
|
|
next_cub_ms_##N = ms + CUB_DEBOUNCE_DELAY_##N; \
|
|
CODE; \
|
|
queue.inject(F(BUTTON##N##_GCODE)); \
|
|
TERN_(HAS_MARLINUI_MENU, ui.quick_feedback()); \
|
|
} \
|
|
} \
|
|
}while(0)
|
|
|
|
#define CHECK_CUSTOM_USER_BUTTON(N) _CHECK_CUSTOM_USER_BUTTON(N, NOOP)
|
|
#define CHECK_BETTER_USER_BUTTON(N) _CHECK_CUSTOM_USER_BUTTON(N, if (strlen(BUTTON##N##_DESC)) LCD_MESSAGE_F(BUTTON##N##_DESC))
|
|
|
|
#if HAS_BETTER_USER_BUTTON(1)
|
|
CHECK_BETTER_USER_BUTTON(1);
|
|
#elif HAS_CUSTOM_USER_BUTTON(1)
|
|
CHECK_CUSTOM_USER_BUTTON(1);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(2)
|
|
CHECK_BETTER_USER_BUTTON(2);
|
|
#elif HAS_CUSTOM_USER_BUTTON(2)
|
|
CHECK_CUSTOM_USER_BUTTON(2);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(3)
|
|
CHECK_BETTER_USER_BUTTON(3);
|
|
#elif HAS_CUSTOM_USER_BUTTON(3)
|
|
CHECK_CUSTOM_USER_BUTTON(3);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(4)
|
|
CHECK_BETTER_USER_BUTTON(4);
|
|
#elif HAS_CUSTOM_USER_BUTTON(4)
|
|
CHECK_CUSTOM_USER_BUTTON(4);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(5)
|
|
CHECK_BETTER_USER_BUTTON(5);
|
|
#elif HAS_CUSTOM_USER_BUTTON(5)
|
|
CHECK_CUSTOM_USER_BUTTON(5);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(6)
|
|
CHECK_BETTER_USER_BUTTON(6);
|
|
#elif HAS_CUSTOM_USER_BUTTON(6)
|
|
CHECK_CUSTOM_USER_BUTTON(6);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(7)
|
|
CHECK_BETTER_USER_BUTTON(7);
|
|
#elif HAS_CUSTOM_USER_BUTTON(7)
|
|
CHECK_CUSTOM_USER_BUTTON(7);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(8)
|
|
CHECK_BETTER_USER_BUTTON(8);
|
|
#elif HAS_CUSTOM_USER_BUTTON(8)
|
|
CHECK_CUSTOM_USER_BUTTON(8);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(9)
|
|
CHECK_BETTER_USER_BUTTON(9);
|
|
#elif HAS_CUSTOM_USER_BUTTON(9)
|
|
CHECK_CUSTOM_USER_BUTTON(9);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(10)
|
|
CHECK_BETTER_USER_BUTTON(10);
|
|
#elif HAS_CUSTOM_USER_BUTTON(10)
|
|
CHECK_CUSTOM_USER_BUTTON(10);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(11)
|
|
CHECK_BETTER_USER_BUTTON(11);
|
|
#elif HAS_CUSTOM_USER_BUTTON(11)
|
|
CHECK_CUSTOM_USER_BUTTON(11);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(12)
|
|
CHECK_BETTER_USER_BUTTON(12);
|
|
#elif HAS_CUSTOM_USER_BUTTON(12)
|
|
CHECK_CUSTOM_USER_BUTTON(12);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(13)
|
|
CHECK_BETTER_USER_BUTTON(13);
|
|
#elif HAS_CUSTOM_USER_BUTTON(13)
|
|
CHECK_CUSTOM_USER_BUTTON(13);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(14)
|
|
CHECK_BETTER_USER_BUTTON(14);
|
|
#elif HAS_CUSTOM_USER_BUTTON(14)
|
|
CHECK_CUSTOM_USER_BUTTON(14);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(15)
|
|
CHECK_BETTER_USER_BUTTON(15);
|
|
#elif HAS_CUSTOM_USER_BUTTON(15)
|
|
CHECK_CUSTOM_USER_BUTTON(15);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(16)
|
|
CHECK_BETTER_USER_BUTTON(16);
|
|
#elif HAS_CUSTOM_USER_BUTTON(16)
|
|
CHECK_CUSTOM_USER_BUTTON(16);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(17)
|
|
CHECK_BETTER_USER_BUTTON(17);
|
|
#elif HAS_CUSTOM_USER_BUTTON(17)
|
|
CHECK_CUSTOM_USER_BUTTON(17);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(18)
|
|
CHECK_BETTER_USER_BUTTON(18);
|
|
#elif HAS_CUSTOM_USER_BUTTON(18)
|
|
CHECK_CUSTOM_USER_BUTTON(18);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(19)
|
|
CHECK_BETTER_USER_BUTTON(19);
|
|
#elif HAS_CUSTOM_USER_BUTTON(19)
|
|
CHECK_CUSTOM_USER_BUTTON(19);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(20)
|
|
CHECK_BETTER_USER_BUTTON(20);
|
|
#elif HAS_CUSTOM_USER_BUTTON(20)
|
|
CHECK_CUSTOM_USER_BUTTON(20);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(21)
|
|
CHECK_BETTER_USER_BUTTON(21);
|
|
#elif HAS_CUSTOM_USER_BUTTON(21)
|
|
CHECK_CUSTOM_USER_BUTTON(21);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(22)
|
|
CHECK_BETTER_USER_BUTTON(22);
|
|
#elif HAS_CUSTOM_USER_BUTTON(22)
|
|
CHECK_CUSTOM_USER_BUTTON(22);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(23)
|
|
CHECK_BETTER_USER_BUTTON(23);
|
|
#elif HAS_CUSTOM_USER_BUTTON(23)
|
|
CHECK_CUSTOM_USER_BUTTON(23);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(24)
|
|
CHECK_BETTER_USER_BUTTON(24);
|
|
#elif HAS_CUSTOM_USER_BUTTON(24)
|
|
CHECK_CUSTOM_USER_BUTTON(24);
|
|
#endif
|
|
#if HAS_BETTER_USER_BUTTON(25)
|
|
CHECK_BETTER_USER_BUTTON(25);
|
|
#elif HAS_CUSTOM_USER_BUTTON(25)
|
|
CHECK_CUSTOM_USER_BUTTON(25);
|
|
#endif
|
|
#endif
|
|
|
|
TERN_(EASYTHREED_UI, easythreed_ui.run());
|
|
|
|
TERN_(USE_CONTROLLER_FAN, controllerFan.update()); // Check if fan should be turned on to cool stepper drivers down
|
|
|
|
TERN_(AUTO_POWER_CONTROL, powerManager.check(!ui.on_status_screen() || printJobOngoing() || printingIsPaused()));
|
|
|
|
TERN_(HOTEND_IDLE_TIMEOUT, hotend_idle.check());
|
|
|
|
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
|
|
if (thermalManager.degHotend(active_extruder) > (EXTRUDER_RUNOUT_MINTEMP)
|
|
&& ELAPSED(ms, gcode.previous_move_ms + SEC_TO_MS(EXTRUDER_RUNOUT_SECONDS))
|
|
&& !planner.has_blocks_queued()
|
|
) {
|
|
#if ENABLED(SWITCHING_EXTRUDER)
|
|
bool oldstatus;
|
|
switch (active_extruder) {
|
|
default: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 0); stepper.ENABLE_EXTRUDER(0); break;
|
|
#if E_STEPPERS > 1
|
|
case 2: case 3: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 1); stepper.ENABLE_EXTRUDER(1); break;
|
|
#if E_STEPPERS > 2
|
|
case 4: case 5: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 2); stepper.ENABLE_EXTRUDER(2); break;
|
|
#if E_STEPPERS > 3
|
|
case 6: case 7: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 3); stepper.ENABLE_EXTRUDER(3); break;
|
|
#endif // E_STEPPERS > 3
|
|
#endif // E_STEPPERS > 2
|
|
#endif // E_STEPPERS > 1
|
|
}
|
|
#else // !SWITCHING_EXTRUDER
|
|
bool oldstatus;
|
|
switch (active_extruder) {
|
|
default:
|
|
#define _CASE_EN(N) case N: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, N); stepper.ENABLE_EXTRUDER(N); break;
|
|
REPEAT(E_STEPPERS, _CASE_EN);
|
|
}
|
|
#endif
|
|
|
|
const float olde = current_position.e;
|
|
current_position.e += EXTRUDER_RUNOUT_EXTRUDE;
|
|
line_to_current_position(MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED));
|
|
current_position.e = olde;
|
|
planner.set_e_position_mm(olde);
|
|
planner.synchronize();
|
|
|
|
#if ENABLED(SWITCHING_EXTRUDER)
|
|
switch (active_extruder) {
|
|
default: if (oldstatus) stepper.ENABLE_EXTRUDER(0); else stepper.DISABLE_EXTRUDER(0); break;
|
|
#if E_STEPPERS > 1
|
|
case 2: case 3: if (oldstatus) stepper.ENABLE_EXTRUDER(1); else stepper.DISABLE_EXTRUDER(1); break;
|
|
#if E_STEPPERS > 2
|
|
case 4: case 5: if (oldstatus) stepper.ENABLE_EXTRUDER(2); else stepper.DISABLE_EXTRUDER(2); break;
|
|
#endif // E_STEPPERS > 2
|
|
#endif // E_STEPPERS > 1
|
|
}
|
|
#else // !SWITCHING_EXTRUDER
|
|
switch (active_extruder) {
|
|
#define _CASE_RESTORE(N) case N: if (oldstatus) stepper.ENABLE_EXTRUDER(N); else stepper.DISABLE_EXTRUDER(N); break;
|
|
REPEAT(E_STEPPERS, _CASE_RESTORE);
|
|
}
|
|
#endif // !SWITCHING_EXTRUDER
|
|
|
|
gcode.reset_stepper_timeout(ms);
|
|
}
|
|
#endif // EXTRUDER_RUNOUT_PREVENT
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE)
|
|
// handle delayed move timeout
|
|
if (delayed_move_time && ELAPSED(ms, delayed_move_time) && IsRunning()) {
|
|
// travel moves have been received so enact them
|
|
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
|
|
destination = current_position;
|
|
prepare_line_to_destination();
|
|
planner.synchronize();
|
|
}
|
|
#endif
|
|
|
|
TERN_(TEMP_STAT_LEDS, handle_status_leds());
|
|
|
|
TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers());
|
|
|
|
TERN_(MONITOR_L6470_DRIVER_STATUS, L64xxManager.monitor_driver());
|
|
|
|
// Limit check_axes_activity frequency to 10Hz
|
|
static millis_t next_check_axes_ms = 0;
|
|
if (ELAPSED(ms, next_check_axes_ms)) {
|
|
planner.check_axes_activity();
|
|
next_check_axes_ms = ms + 100UL;
|
|
}
|
|
|
|
#if PIN_EXISTS(FET_SAFETY)
|
|
static millis_t FET_next;
|
|
if (ELAPSED(ms, FET_next)) {
|
|
FET_next = ms + FET_SAFETY_DELAY; // 2µs pulse every FET_SAFETY_DELAY mS
|
|
OUT_WRITE(FET_SAFETY_PIN, !FET_SAFETY_INVERTED);
|
|
DELAY_US(2);
|
|
WRITE(FET_SAFETY_PIN, FET_SAFETY_INVERTED);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Standard idle routine keeps the machine alive:
|
|
* - Core Marlin activities
|
|
* - Manage heaters (and Watchdog)
|
|
* - Max7219 heartbeat, animation, etc.
|
|
*
|
|
* Only after setup() is complete:
|
|
* - Handle filament runout sensors
|
|
* - Run HAL idle tasks
|
|
* - Handle Power-Loss Recovery
|
|
* - Run StallGuard endstop checks
|
|
* - Handle SD Card insert / remove
|
|
* - Handle USB Flash Drive insert / remove
|
|
* - Announce Host Keepalive state (if any)
|
|
* - Update the Print Job Timer state
|
|
* - Update the Beeper queue
|
|
* - Read Buttons and Update the LCD
|
|
* - Run i2c Position Encoders
|
|
* - Auto-report Temperatures / SD Status
|
|
* - Update the Průša MMU2
|
|
* - Handle Joystick jogging
|
|
*/
|
|
void idle(bool no_stepper_sleep/*=false*/) {
|
|
#if ENABLED(MARLIN_DEV_MODE)
|
|
static uint16_t idle_depth = 0;
|
|
if (++idle_depth > 5) SERIAL_ECHOLNPGM("idle() call depth: ", idle_depth);
|
|
#endif
|
|
|
|
// Core Marlin activities
|
|
manage_inactivity(no_stepper_sleep);
|
|
|
|
// Manage Heaters (and Watchdog)
|
|
thermalManager.manage_heater();
|
|
|
|
// Max7219 heartbeat, animation, etc
|
|
TERN_(MAX7219_DEBUG, max7219.idle_tasks());
|
|
|
|
// Return if setup() isn't completed
|
|
if (marlin_state == MF_INITIALIZING) goto IDLE_DONE;
|
|
|
|
// TODO: Still causing errors
|
|
(void)check_tool_sensor_stats(active_extruder, true);
|
|
|
|
// Handle filament runout sensors
|
|
#if HAS_FILAMENT_SENSOR
|
|
if (TERN1(HAS_PRUSA_MMU2, !mmu2.enabled()))
|
|
runout.run();
|
|
#endif
|
|
|
|
// Run HAL idle tasks
|
|
hal.idletask();
|
|
|
|
// Check network connection
|
|
TERN_(HAS_ETHERNET, ethernet.check());
|
|
|
|
// Handle Power-Loss Recovery
|
|
#if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS)
|
|
if (IS_SD_PRINTING()) recovery.outage();
|
|
#endif
|
|
|
|
// Run StallGuard endstop checks
|
|
#if ENABLED(SPI_ENDSTOPS)
|
|
if (endstops.tmc_spi_homing.any && TERN1(IMPROVE_HOMING_RELIABILITY, ELAPSED(millis(), sg_guard_period)))
|
|
LOOP_L_N(i, 4) if (endstops.tmc_spi_homing_check()) break; // Read SGT 4 times per idle loop
|
|
#endif
|
|
|
|
// Handle SD Card insert / remove
|
|
TERN_(SDSUPPORT, card.manage_media());
|
|
|
|
// Handle USB Flash Drive insert / remove
|
|
TERN_(USB_FLASH_DRIVE_SUPPORT, card.diskIODriver()->idle());
|
|
|
|
// Announce Host Keepalive state (if any)
|
|
TERN_(HOST_KEEPALIVE_FEATURE, gcode.host_keepalive());
|
|
|
|
// Update the Print Job Timer state
|
|
TERN_(PRINTCOUNTER, print_job_timer.tick());
|
|
|
|
// Update the Beeper queue
|
|
TERN_(USE_BEEPER, buzzer.tick());
|
|
|
|
// Handle UI input / draw events
|
|
TERN(DWIN_CREALITY_LCD, DWIN_Update(), ui.update());
|
|
|
|
// Run i2c Position Encoders
|
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
|
{
|
|
static millis_t i2cpem_next_update_ms;
|
|
if (planner.has_blocks_queued()) {
|
|
const millis_t ms = millis();
|
|
if (ELAPSED(ms, i2cpem_next_update_ms)) {
|
|
I2CPEM.update();
|
|
i2cpem_next_update_ms = ms + I2CPE_MIN_UPD_TIME_MS;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// Auto-report Temperatures / SD Status
|
|
#if HAS_AUTO_REPORTING
|
|
if (!gcode.autoreport_paused) {
|
|
TERN_(AUTO_REPORT_TEMPERATURES, thermalManager.auto_reporter.tick());
|
|
TERN_(AUTO_REPORT_FANS, fan_check.auto_reporter.tick());
|
|
TERN_(AUTO_REPORT_SD_STATUS, card.auto_reporter.tick());
|
|
TERN_(AUTO_REPORT_POSITION, position_auto_reporter.tick());
|
|
TERN_(BUFFER_MONITORING, queue.auto_report_buffer_statistics());
|
|
}
|
|
#endif
|
|
|
|
// Update the Průša MMU2
|
|
TERN_(HAS_PRUSA_MMU2, mmu2.mmu_loop());
|
|
|
|
// Handle Joystick jogging
|
|
TERN_(POLL_JOG, joystick.inject_jog_moves());
|
|
|
|
// Direct Stepping
|
|
TERN_(DIRECT_STEPPING, page_manager.write_responses());
|
|
|
|
// Update the LVGL interface
|
|
TERN_(HAS_TFT_LVGL_UI, LV_TASK_HANDLER());
|
|
|
|
IDLE_DONE:
|
|
TERN_(MARLIN_DEV_MODE, idle_depth--);
|
|
return;
|
|
}
|
|
|
|
/**
|
|
* Kill all activity and lock the machine.
|
|
* After this the machine will need to be reset.
|
|
*/
|
|
void kill(FSTR_P const lcd_error/*=nullptr*/, FSTR_P const lcd_component/*=nullptr*/, const bool steppers_off/*=false*/) {
|
|
thermalManager.disable_all_heaters();
|
|
|
|
TERN_(HAS_CUTTER, cutter.kill()); // Full cutter shutdown including ISR control
|
|
|
|
// Echo the LCD message to serial for extra context
|
|
if (lcd_error) { SERIAL_ECHO_START(); SERIAL_ECHOLNF(lcd_error); }
|
|
|
|
#if EITHER(HAS_DISPLAY, DWIN_LCD_PROUI)
|
|
ui.kill_screen(lcd_error ?: GET_TEXT_F(MSG_KILLED), lcd_component ?: FPSTR(NUL_STR));
|
|
#else
|
|
UNUSED(lcd_error); UNUSED(lcd_component);
|
|
#endif
|
|
|
|
TERN_(HAS_TFT_LVGL_UI, lv_draw_error_message(lcd_error));
|
|
|
|
// "Error:Printer halted. kill() called!"
|
|
SERIAL_ERROR_MSG(STR_ERR_KILLED);
|
|
|
|
#ifdef ACTION_ON_KILL
|
|
hostui.kill();
|
|
#endif
|
|
|
|
minkill(steppers_off);
|
|
}
|
|
|
|
void minkill(const bool steppers_off/*=false*/) {
|
|
|
|
// Wait a short time (allows messages to get out before shutting down.
|
|
for (int i = 1000; i--;) DELAY_US(600);
|
|
|
|
cli(); // Stop interrupts
|
|
|
|
// Wait to ensure all interrupts stopped
|
|
for (int i = 1000; i--;) DELAY_US(250);
|
|
|
|
// Reiterate heaters off
|
|
thermalManager.disable_all_heaters();
|
|
|
|
TERN_(HAS_CUTTER, cutter.kill()); // Reiterate cutter shutdown
|
|
|
|
// Power off all steppers (for M112) or just the E steppers
|
|
steppers_off ? stepper.disable_all_steppers() : stepper.disable_e_steppers();
|
|
|
|
TERN_(PSU_CONTROL, powerManager.power_off());
|
|
|
|
TERN_(HAS_SUICIDE, suicide());
|
|
|
|
#if EITHER(HAS_KILL, SOFT_RESET_ON_KILL)
|
|
|
|
// Wait for both KILL and ENC to be released
|
|
while (TERN0(HAS_KILL, kill_state()) || TERN0(SOFT_RESET_ON_KILL, ui.button_pressed()))
|
|
watchdog_refresh();
|
|
|
|
// Wait for either KILL or ENC to be pressed again
|
|
while (TERN1(HAS_KILL, !kill_state()) && TERN1(SOFT_RESET_ON_KILL, !ui.button_pressed()))
|
|
watchdog_refresh();
|
|
|
|
// Reboot the board
|
|
hal.reboot();
|
|
|
|
#else
|
|
|
|
for (;;) watchdog_refresh(); // Wait for RESET button or power-cycle
|
|
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Turn off heaters and stop the print in progress
|
|
* After a stop the machine may be resumed with M999
|
|
*/
|
|
void stop() {
|
|
thermalManager.disable_all_heaters(); // 'unpause' taken care of in here
|
|
|
|
print_job_timer.stop();
|
|
|
|
#if EITHER(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE)
|
|
thermalManager.set_fans_paused(false); // Un-pause fans for safety
|
|
#endif
|
|
|
|
if (!IsStopped()) {
|
|
SERIAL_ERROR_MSG(STR_ERR_STOPPED);
|
|
LCD_MESSAGE(MSG_STOPPED);
|
|
safe_delay(350); // allow enough time for messages to get out before stopping
|
|
marlin_state = MF_STOPPED;
|
|
}
|
|
}
|
|
|
|
inline void tmc_standby_setup() {
|
|
#if PIN_EXISTS(X_STDBY)
|
|
SET_INPUT_PULLDOWN(X_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(X2_STDBY)
|
|
SET_INPUT_PULLDOWN(X2_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(Y_STDBY)
|
|
SET_INPUT_PULLDOWN(Y_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(Y2_STDBY)
|
|
SET_INPUT_PULLDOWN(Y2_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(Z_STDBY)
|
|
SET_INPUT_PULLDOWN(Z_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(Z2_STDBY)
|
|
SET_INPUT_PULLDOWN(Z2_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(Z3_STDBY)
|
|
SET_INPUT_PULLDOWN(Z3_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(Z4_STDBY)
|
|
SET_INPUT_PULLDOWN(Z4_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(I_STDBY)
|
|
SET_INPUT_PULLDOWN(I_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(J_STDBY)
|
|
SET_INPUT_PULLDOWN(J_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(K_STDBY)
|
|
SET_INPUT_PULLDOWN(K_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(E0_STDBY)
|
|
SET_INPUT_PULLDOWN(E0_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(E1_STDBY)
|
|
SET_INPUT_PULLDOWN(E1_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(E2_STDBY)
|
|
SET_INPUT_PULLDOWN(E2_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(E3_STDBY)
|
|
SET_INPUT_PULLDOWN(E3_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(E4_STDBY)
|
|
SET_INPUT_PULLDOWN(E4_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(E5_STDBY)
|
|
SET_INPUT_PULLDOWN(E5_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(E6_STDBY)
|
|
SET_INPUT_PULLDOWN(E6_STDBY_PIN);
|
|
#endif
|
|
#if PIN_EXISTS(E7_STDBY)
|
|
SET_INPUT_PULLDOWN(E7_STDBY_PIN);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Marlin Firmware entry-point. Abandon Hope All Ye Who Enter Here.
|
|
* Setup before the program loop:
|
|
*
|
|
* - Call any special pre-init set for the board
|
|
* - Put TMC drivers into Low Power Standby mode
|
|
* - Init the serial ports (so setup can be debugged)
|
|
* - Set up the kill and suicide pins
|
|
* - Prepare (disable) board JTAG and Debug ports
|
|
* - Init serial for a connected MKS TFT with WiFi
|
|
* - Install Marlin custom Exception Handlers, if set.
|
|
* - Init Marlin's HAL interfaces (for SPI, i2c, etc.)
|
|
* - Init some optional hardware and features:
|
|
* • MAX Thermocouple pins
|
|
* • Duet Smart Effector
|
|
* • Filament Runout Sensor
|
|
* • TMC220x Stepper Drivers (Serial)
|
|
* • PSU control
|
|
* • Power-loss Recovery
|
|
* • L64XX Stepper Drivers (SPI)
|
|
* • Stepper Driver Reset: DISABLE
|
|
* • TMC Stepper Drivers (SPI)
|
|
* • Run hal.init_board() for additional pins setup
|
|
* • ESP WiFi
|
|
* - Get the Reset Reason and report it
|
|
* - Print startup messages and diagnostics
|
|
* - Calibrate the HAL DELAY for precise timing
|
|
* - Init the buzzer, possibly a custom timer
|
|
* - Init more optional hardware:
|
|
* • Color LED illumination
|
|
* • Neopixel illumination
|
|
* • Controller Fan
|
|
* • Creality DWIN LCD (show boot image)
|
|
* • Tare the Probe if possible
|
|
* - Mount the (most likely external) SD Card
|
|
* - Load settings from EEPROM (or use defaults)
|
|
* - Init the Ethernet Port
|
|
* - Init Touch Buttons (for emulated DOGLCD)
|
|
* - Adjust the (certainly wrong) current position by the home offset
|
|
* - Init the Planner::position (steps) based on current (native) position
|
|
* - Initialize more managers and peripherals:
|
|
* • Temperatures
|
|
* • Print Job Timer
|
|
* • Endstops and Endstop Interrupts
|
|
* • Stepper ISR - Kind of Important!
|
|
* • Servos
|
|
* • Servo-based Probe
|
|
* • Photograph Pin
|
|
* • Laser/Spindle tool Power / PWM
|
|
* • Coolant Control
|
|
* • Bed Probe
|
|
* • Stepper Driver Reset: ENABLE
|
|
* • Digipot I2C - Stepper driver current control
|
|
* • Stepper DAC - Stepper driver current control
|
|
* • Solenoid (probe, or for other use)
|
|
* • Home Pin
|
|
* • Custom User Buttons
|
|
* • Red/Blue Status LEDs
|
|
* • Case Light
|
|
* • Prusa MMU filament changer
|
|
* • Fan Multiplexer
|
|
* • Mixing Extruder
|
|
* • BLTouch Probe
|
|
* • I2C Position Encoders
|
|
* • Custom I2C Bus handlers
|
|
* • Enhanced tools or extruders:
|
|
* • Switching Extruder
|
|
* • Switching Nozzle
|
|
* • Parking Extruder
|
|
* • Magnetic Parking Extruder
|
|
* • Switching Toolhead
|
|
* • Electromagnetic Switching Toolhead
|
|
* • Watchdog Timer - Also Kind of Important!
|
|
* • Closed Loop Controller
|
|
* - Run Startup Commands, if defined
|
|
* - Tell host to close Host Prompts
|
|
* - Test Trinamic driver connections
|
|
* - Init Prusa MMU2 filament changer
|
|
* - Init and test BL24Cxx EEPROM
|
|
* - Init Creality DWIN encoder, show faux progress bar
|
|
* - Reset Status Message / Show Service Messages
|
|
* - Init MAX7219 LED Matrix
|
|
* - Init Direct Stepping (Klipper-style motion control)
|
|
* - Init TFT LVGL UI (with 3D Graphics)
|
|
* - Apply Password Lock - Hold for Authentication
|
|
* - Open Touch Screen Calibration screen, if not calibrated
|
|
* - Set Marlin to RUNNING State
|
|
*/
|
|
void setup() {
|
|
#ifdef FASTIO_INIT
|
|
FASTIO_INIT();
|
|
#endif
|
|
|
|
#ifdef BOARD_PREINIT
|
|
BOARD_PREINIT(); // Low-level init (before serial init)
|
|
#endif
|
|
|
|
tmc_standby_setup(); // TMC Low Power Standby pins must be set early or they're not usable
|
|
|
|
// Check startup - does nothing if bootloader sets MCUSR to 0
|
|
const byte mcu = hal.get_reset_source();
|
|
hal.clear_reset_source();
|
|
|
|
#if ENABLED(MARLIN_DEV_MODE)
|
|
auto log_current_ms = [&](PGM_P const msg) {
|
|
SERIAL_ECHO_START();
|
|
SERIAL_CHAR('['); SERIAL_ECHO(millis()); SERIAL_ECHOPGM("] ");
|
|
SERIAL_ECHOLNPGM_P(msg);
|
|
};
|
|
#define SETUP_LOG(M) log_current_ms(PSTR(M))
|
|
#else
|
|
#define SETUP_LOG(...) NOOP
|
|
#endif
|
|
#define SETUP_RUN(C) do{ SETUP_LOG(STRINGIFY(C)); C; }while(0)
|
|
|
|
MYSERIAL1.begin(BAUDRATE);
|
|
millis_t serial_connect_timeout = millis() + 1000UL;
|
|
while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
|
|
|
|
#if HAS_MULTI_SERIAL && !HAS_ETHERNET
|
|
#ifndef BAUDRATE_2
|
|
#define BAUDRATE_2 BAUDRATE
|
|
#endif
|
|
MYSERIAL2.begin(BAUDRATE_2);
|
|
serial_connect_timeout = millis() + 1000UL;
|
|
while (!MYSERIAL2.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
|
|
#ifdef SERIAL_PORT_3
|
|
#ifndef BAUDRATE_3
|
|
#define BAUDRATE_3 BAUDRATE
|
|
#endif
|
|
MYSERIAL3.begin(BAUDRATE_3);
|
|
serial_connect_timeout = millis() + 1000UL;
|
|
while (!MYSERIAL3.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
|
|
#endif
|
|
#endif
|
|
SERIAL_ECHOLNPGM("start");
|
|
|
|
// Set up these pins early to prevent suicide
|
|
#if HAS_KILL
|
|
SETUP_LOG("KILL_PIN");
|
|
#if KILL_PIN_STATE
|
|
SET_INPUT_PULLDOWN(KILL_PIN);
|
|
#else
|
|
SET_INPUT_PULLUP(KILL_PIN);
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_FREEZE_PIN
|
|
SETUP_LOG("FREEZE_PIN");
|
|
SET_INPUT_PULLUP(FREEZE_PIN);
|
|
#endif
|
|
|
|
#if HAS_SUICIDE
|
|
SETUP_LOG("SUICIDE_PIN");
|
|
OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_STATE);
|
|
#endif
|
|
|
|
#ifdef JTAGSWD_RESET
|
|
SETUP_LOG("JTAGSWD_RESET");
|
|
JTAGSWD_RESET();
|
|
#endif
|
|
|
|
// Disable any hardware debug to free up pins for IO
|
|
#if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
|
|
delay(10);
|
|
SETUP_LOG("JTAGSWD_DISABLE");
|
|
JTAGSWD_DISABLE();
|
|
#elif ENABLED(DISABLE_JTAG) && defined(JTAG_DISABLE)
|
|
delay(10);
|
|
SETUP_LOG("JTAG_DISABLE");
|
|
JTAG_DISABLE();
|
|
#endif
|
|
|
|
TERN_(DYNAMIC_VECTORTABLE, hook_cpu_exceptions()); // If supported, install Marlin exception handlers at runtime
|
|
|
|
SETUP_RUN(hal.init());
|
|
|
|
// Init and disable SPI thermocouples; this is still needed
|
|
#if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0))
|
|
OUT_WRITE(TEMP_0_CS_PIN, HIGH); // Disable
|
|
#endif
|
|
#if TEMP_SENSOR_1_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E1))
|
|
OUT_WRITE(TEMP_1_CS_PIN, HIGH);
|
|
#endif
|
|
|
|
#if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
|
|
OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW); // Put Smart Effector into NORMAL mode
|
|
#endif
|
|
|
|
#if HAS_FILAMENT_SENSOR
|
|
SETUP_RUN(runout.setup());
|
|
#endif
|
|
|
|
#if HAS_TMC220x
|
|
SETUP_RUN(tmc_serial_begin());
|
|
#endif
|
|
|
|
#if ENABLED(PSU_CONTROL)
|
|
SETUP_LOG("PSU_CONTROL");
|
|
powerManager.init();
|
|
#endif
|
|
|
|
#if ENABLED(POWER_LOSS_RECOVERY)
|
|
SETUP_RUN(recovery.setup());
|
|
#endif
|
|
|
|
#if HAS_L64XX
|
|
SETUP_RUN(L64xxManager.init()); // Set up SPI, init drivers
|
|
#endif
|
|
|
|
#if HAS_STEPPER_RESET
|
|
SETUP_RUN(disableStepperDrivers());
|
|
#endif
|
|
|
|
#if HAS_TMC_SPI
|
|
#if DISABLED(TMC_USE_SW_SPI)
|
|
SETUP_RUN(SPI.begin());
|
|
#endif
|
|
SETUP_RUN(tmc_init_cs_pins());
|
|
#endif
|
|
|
|
SETUP_RUN(hal.init_board());
|
|
|
|
SETUP_RUN(esp_wifi_init());
|
|
|
|
// Report Reset Reason
|
|
if (mcu & RST_POWER_ON) SERIAL_ECHOLNPGM(STR_POWERUP);
|
|
if (mcu & RST_EXTERNAL) SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET);
|
|
if (mcu & RST_BROWN_OUT) SERIAL_ECHOLNPGM(STR_BROWNOUT_RESET);
|
|
if (mcu & RST_WATCHDOG) SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET);
|
|
if (mcu & RST_SOFTWARE) SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET);
|
|
|
|
// Identify myself as Marlin x.x.x
|
|
SERIAL_ECHOLNPGM("Marlin " SHORT_BUILD_VERSION);
|
|
#if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
|
|
SERIAL_ECHO_MSG(
|
|
" Last Updated: " STRING_DISTRIBUTION_DATE
|
|
" | Author: " STRING_CONFIG_H_AUTHOR
|
|
);
|
|
#endif
|
|
SERIAL_ECHO_MSG(" Compiled: " __DATE__);
|
|
SERIAL_ECHO_MSG(STR_FREE_MEMORY, hal.freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE));
|
|
|
|
// Some HAL need precise delay adjustment
|
|
calibrate_delay_loop();
|
|
|
|
// Init buzzer pin(s)
|
|
#if USE_BEEPER
|
|
SETUP_RUN(buzzer.init());
|
|
#endif
|
|
|
|
// Set up LEDs early
|
|
#if HAS_COLOR_LEDS
|
|
SETUP_RUN(leds.setup());
|
|
#endif
|
|
|
|
#if ENABLED(NEOPIXEL2_SEPARATE)
|
|
SETUP_RUN(leds2.setup());
|
|
#endif
|
|
|
|
#if ENABLED(USE_CONTROLLER_FAN) // Set up fan controller to initialize also the default configurations.
|
|
SETUP_RUN(controllerFan.setup());
|
|
#endif
|
|
|
|
TERN_(HAS_FANCHECK, fan_check.init());
|
|
|
|
// UI must be initialized before EEPROM
|
|
// (because EEPROM code calls the UI).
|
|
|
|
SETUP_RUN(ui.init());
|
|
|
|
#if PIN_EXISTS(SAFE_POWER)
|
|
#if HAS_DRIVER_SAFE_POWER_PROTECT
|
|
SETUP_RUN(stepper_driver_backward_check());
|
|
#else
|
|
SETUP_LOG("SAFE_POWER");
|
|
OUT_WRITE(SAFE_POWER_PIN, HIGH);
|
|
#endif
|
|
#endif
|
|
|
|
#if BOTH(SDSUPPORT, SDCARD_EEPROM_EMULATION)
|
|
SETUP_RUN(card.mount()); // Mount media with settings before first_load
|
|
#endif
|
|
|
|
SETUP_RUN(settings.first_load()); // Load data from EEPROM if available (or use defaults)
|
|
// This also updates variables in the planner, elsewhere
|
|
|
|
#if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN)
|
|
SETUP_RUN(ui.show_bootscreen());
|
|
const millis_t bootscreen_ms = millis();
|
|
#endif
|
|
|
|
#if ENABLED(PROBE_TARE)
|
|
SETUP_RUN(probe.tare_init());
|
|
#endif
|
|
|
|
#if HAS_ETHERNET
|
|
SETUP_RUN(ethernet.init());
|
|
#endif
|
|
|
|
#if HAS_TOUCH_BUTTONS
|
|
SETUP_RUN(touchBt.init());
|
|
#endif
|
|
|
|
TERN_(HAS_M206_COMMAND, current_position += home_offset); // Init current position based on home_offset
|
|
|
|
sync_plan_position(); // Vital to init stepper/planner equivalent for current_position
|
|
|
|
SETUP_RUN(thermalManager.init()); // Initialize temperature loop
|
|
|
|
SETUP_RUN(print_job_timer.init()); // Initial setup of print job timer
|
|
|
|
SETUP_RUN(endstops.init()); // Init endstops and pullups
|
|
|
|
#if ENABLED(DELTA) && !HAS_SOFTWARE_ENDSTOPS
|
|
SETUP_RUN(refresh_delta_clip_start_height()); // Init safe delta height without soft endstops
|
|
#endif
|
|
|
|
SETUP_RUN(stepper.init()); // Init stepper. This enables interrupts!
|
|
|
|
#if HAS_SERVOS
|
|
SETUP_RUN(servo_init());
|
|
#endif
|
|
|
|
#if HAS_Z_SERVO_PROBE
|
|
SETUP_RUN(probe.servo_probe_init());
|
|
#endif
|
|
|
|
#if HAS_PHOTOGRAPH
|
|
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
|
|
#endif
|
|
|
|
#if HAS_CUTTER
|
|
SETUP_RUN(cutter.init());
|
|
#endif
|
|
|
|
#if ENABLED(COOLANT_MIST)
|
|
OUT_WRITE(COOLANT_MIST_PIN, COOLANT_MIST_INVERT); // Init Mist Coolant OFF
|
|
#endif
|
|
#if ENABLED(COOLANT_FLOOD)
|
|
OUT_WRITE(COOLANT_FLOOD_PIN, COOLANT_FLOOD_INVERT); // Init Flood Coolant OFF
|
|
#endif
|
|
|
|
#if HAS_BED_PROBE
|
|
#if PIN_EXISTS(PROBE_ENABLE)
|
|
OUT_WRITE(PROBE_ENABLE_PIN, LOW); // Disable
|
|
#endif
|
|
SETUP_RUN(endstops.enable_z_probe(false));
|
|
#endif
|
|
|
|
#if HAS_STEPPER_RESET
|
|
SETUP_RUN(enableStepperDrivers());
|
|
#endif
|
|
|
|
#if HAS_MOTOR_CURRENT_I2C
|
|
SETUP_RUN(digipot_i2c.init());
|
|
#endif
|
|
|
|
#if HAS_MOTOR_CURRENT_DAC
|
|
SETUP_RUN(stepper_dac.init());
|
|
#endif
|
|
|
|
#if EITHER(Z_PROBE_SLED, SOLENOID_PROBE) && HAS_SOLENOID_1
|
|
OUT_WRITE(SOL1_PIN, LOW); // OFF
|
|
#endif
|
|
|
|
#if HAS_HOME
|
|
SET_INPUT_PULLUP(HOME_PIN);
|
|
#endif
|
|
|
|
#if ENABLED(CUSTOM_USER_BUTTONS)
|
|
#define INIT_CUSTOM_USER_BUTTON_PIN(N) do{ SET_INPUT(BUTTON##N##_PIN); WRITE(BUTTON##N##_PIN, !BUTTON##N##_HIT_STATE); }while(0)
|
|
|
|
#if HAS_CUSTOM_USER_BUTTON(1)
|
|
INIT_CUSTOM_USER_BUTTON_PIN(1);
|
|
#endif
|
|
#if HAS_CUSTOM_USER_BUTTON(2)
|
|
INIT_CUSTOM_USER_BUTTON_PIN(2);
|
|
#endif
|
|
#if HAS_CUSTOM_USER_BUTTON(3)
|
|
INIT_CUSTOM_USER_BUTTON_PIN(3);
|
|
#endif
|
|
#if HAS_CUSTOM_USER_BUTTON(4)
|
|
INIT_CUSTOM_USER_BUTTON_PIN(4);
|
|
#endif
|
|
#if HAS_CUSTOM_USER_BUTTON(5)
|
|
INIT_CUSTOM_USER_BUTTON_PIN(5);
|
|
#endif
|
|
#if HAS_CUSTOM_USER_BUTTON(6)
|
|
INIT_CUSTOM_USER_BUTTON_PIN(6);
|
|
#endif
|
|
#if HAS_CUSTOM_USER_BUTTON(7)
|
|
INIT_CUSTOM_USER_BUTTON_PIN(7);
|
|
#endif
|
|
#if HAS_CUSTOM_USER_BUTTON(8)
|
|
INIT_CUSTOM_USER_BUTTON_PIN(8);
|
|
#endif
|
|
#if HAS_CUSTOM_USER_BUTTON(9)
|
|
INIT_CUSTOM_USER_BUTTON_PIN(9);
|
|
#endif
|
|
#if HAS_CUSTOM_USER_BUTTON(10)
|
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INIT_CUSTOM_USER_BUTTON_PIN(10);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(11)
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INIT_CUSTOM_USER_BUTTON_PIN(11);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(12)
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INIT_CUSTOM_USER_BUTTON_PIN(12);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(13)
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INIT_CUSTOM_USER_BUTTON_PIN(13);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(14)
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INIT_CUSTOM_USER_BUTTON_PIN(14);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(15)
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INIT_CUSTOM_USER_BUTTON_PIN(15);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(16)
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INIT_CUSTOM_USER_BUTTON_PIN(16);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(17)
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INIT_CUSTOM_USER_BUTTON_PIN(17);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(18)
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INIT_CUSTOM_USER_BUTTON_PIN(18);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(19)
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INIT_CUSTOM_USER_BUTTON_PIN(19);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(20)
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INIT_CUSTOM_USER_BUTTON_PIN(20);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(21)
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INIT_CUSTOM_USER_BUTTON_PIN(21);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(22)
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INIT_CUSTOM_USER_BUTTON_PIN(22);
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#endif
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#if HAS_CUSTOM_USER_BUTTON(23)
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INIT_CUSTOM_USER_BUTTON_PIN(23);
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|
#endif
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#if HAS_CUSTOM_USER_BUTTON(24)
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INIT_CUSTOM_USER_BUTTON_PIN(24);
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|
#endif
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#if HAS_CUSTOM_USER_BUTTON(25)
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INIT_CUSTOM_USER_BUTTON_PIN(25);
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#endif
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#endif
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#if PIN_EXISTS(STAT_LED_RED)
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OUT_WRITE(STAT_LED_RED_PIN, LOW); // OFF
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#endif
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#if PIN_EXISTS(STAT_LED_BLUE)
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OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // OFF
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#endif
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|
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#if ENABLED(CASE_LIGHT_ENABLE)
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SETUP_RUN(caselight.init());
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|
#endif
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|
|
|
#if HAS_PRUSA_MMU1
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|
SETUP_RUN(mmu_init());
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|
#endif
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|
|
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#if HAS_FANMUX
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SETUP_RUN(fanmux_init());
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#endif
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|
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#if ENABLED(MIXING_EXTRUDER)
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SETUP_RUN(mixer.init());
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#endif
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|
|
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#if ENABLED(BLTOUCH)
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SETUP_RUN(bltouch.init(/*set_voltage=*/true));
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#endif
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|
|
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#if ENABLED(MAGLEV4)
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OUT_WRITE(MAGLEV_TRIGGER_PIN, LOW);
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|
#endif
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|
|
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#if ENABLED(I2C_POSITION_ENCODERS)
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|
SETUP_RUN(I2CPEM.init());
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|
#endif
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|
|
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#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
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|
SETUP_LOG("i2c...");
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i2c.onReceive(i2c_on_receive);
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i2c.onRequest(i2c_on_request);
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#endif
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|
|
|
#if DO_SWITCH_EXTRUDER
|
|
SETUP_RUN(move_extruder_servo(0)); // Initialize extruder servo
|
|
#endif
|
|
|
|
#if ENABLED(SWITCHING_NOZZLE)
|
|
SETUP_LOG("SWITCHING_NOZZLE");
|
|
// Initialize nozzle servo(s)
|
|
#if SWITCHING_NOZZLE_TWO_SERVOS
|
|
lower_nozzle(0);
|
|
raise_nozzle(1);
|
|
#else
|
|
move_nozzle_servo(0);
|
|
#endif
|
|
#endif
|
|
|
|
#if ENABLED(PARKING_EXTRUDER)
|
|
SETUP_RUN(pe_solenoid_init());
|
|
#elif ENABLED(MAGNETIC_PARKING_EXTRUDER)
|
|
SETUP_RUN(mpe_settings_init());
|
|
#elif ENABLED(SWITCHING_TOOLHEAD)
|
|
SETUP_RUN(swt_init());
|
|
#elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
|
|
SETUP_RUN(est_init());
|
|
#endif
|
|
|
|
#if ENABLED(USE_WATCHDOG)
|
|
SETUP_RUN(watchdog_init()); // Reinit watchdog after hal.get_reset_source call
|
|
#endif
|
|
|
|
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
|
|
SETUP_RUN(closedloop.init());
|
|
#endif
|
|
|
|
#ifdef STARTUP_COMMANDS
|
|
SETUP_LOG("STARTUP_COMMANDS");
|
|
queue.inject(F(STARTUP_COMMANDS));
|
|
#endif
|
|
|
|
#if ENABLED(HOST_PROMPT_SUPPORT)
|
|
SETUP_RUN(hostui.prompt_end());
|
|
#endif
|
|
|
|
#if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF)
|
|
SETUP_RUN(test_tmc_connection());
|
|
#endif
|
|
|
|
#if HAS_DRIVER_SAFE_POWER_PROTECT
|
|
SETUP_RUN(stepper_driver_backward_report());
|
|
#endif
|
|
|
|
#if HAS_PRUSA_MMU2
|
|
SETUP_RUN(mmu2.init());
|
|
#endif
|
|
|
|
#if ENABLED(IIC_BL24CXX_EEPROM)
|
|
BL24CXX::init();
|
|
const uint8_t err = BL24CXX::check();
|
|
SERIAL_ECHO_TERNARY(err, "BL24CXX Check ", "failed", "succeeded", "!\n");
|
|
#endif
|
|
|
|
#if HAS_DWIN_E3V2_BASIC
|
|
SETUP_RUN(DWIN_InitScreen());
|
|
#endif
|
|
|
|
#if HAS_SERVICE_INTERVALS && !HAS_DWIN_E3V2_BASIC
|
|
SETUP_RUN(ui.reset_status(true)); // Show service messages or keep current status
|
|
#endif
|
|
|
|
#if ENABLED(MAX7219_DEBUG)
|
|
SETUP_RUN(max7219.init());
|
|
#endif
|
|
|
|
#if ENABLED(DIRECT_STEPPING)
|
|
SETUP_RUN(page_manager.init());
|
|
#endif
|
|
|
|
#if HAS_TFT_LVGL_UI
|
|
#if ENABLED(SDSUPPORT)
|
|
if (!card.isMounted()) SETUP_RUN(card.mount()); // Mount SD to load graphics and fonts
|
|
#endif
|
|
SETUP_RUN(tft_lvgl_init());
|
|
#endif
|
|
|
|
#if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN)
|
|
const millis_t elapsed = millis() - bootscreen_ms;
|
|
#if ENABLED(MARLIN_DEV_MODE)
|
|
SERIAL_ECHOLNPGM("elapsed=", elapsed);
|
|
#endif
|
|
SETUP_RUN(ui.bootscreen_completion(elapsed));
|
|
#endif
|
|
|
|
#if ENABLED(PASSWORD_ON_STARTUP)
|
|
SETUP_RUN(password.lock_machine()); // Will not proceed until correct password provided
|
|
#endif
|
|
|
|
#if BOTH(HAS_MARLINUI_MENU, TOUCH_SCREEN_CALIBRATION) && EITHER(TFT_CLASSIC_UI, TFT_COLOR_UI)
|
|
SETUP_RUN(ui.check_touch_calibration());
|
|
#endif
|
|
|
|
#if ENABLED(EASYTHREED_UI)
|
|
SETUP_RUN(easythreed_ui.init());
|
|
#endif
|
|
|
|
marlin_state = MF_RUNNING;
|
|
|
|
SETUP_LOG("setup() completed.");
|
|
}
|
|
|
|
/**
|
|
* The main Marlin program loop
|
|
*
|
|
* - Call idle() to handle all tasks between G-code commands
|
|
* Note that no G-codes from the queue can be executed during idle()
|
|
* but many G-codes can be called directly anytime like macros.
|
|
* - Check whether SD card auto-start is needed now.
|
|
* - Check whether SD print finishing is needed now.
|
|
* - Run one G-code command from the immediate or main command queue
|
|
* and open up one space. Commands in the main queue may come from sd
|
|
* card, host, or by direct injection. The queue will continue to fill
|
|
* as long as idle() or manage_inactivity() are being called.
|
|
*/
|
|
void loop() {
|
|
do {
|
|
idle();
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
if (card.flag.abort_sd_printing) abortSDPrinting();
|
|
if (marlin_state == MF_SD_COMPLETE) finishSDPrinting();
|
|
#endif
|
|
|
|
queue.advance();
|
|
|
|
#if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN)
|
|
powerManager.checkAutoPowerOff();
|
|
#endif
|
|
|
|
endstops.event_handler();
|
|
|
|
TERN_(HAS_TFT_LVGL_UI, printer_state_polling());
|
|
|
|
} while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards
|
|
}
|