906 lines
22 KiB
C++
906 lines
22 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016, 2017 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 <http://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 "Marlin.h"
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#include "lcd/ultralcd.h"
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#include "module/motion.h"
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#include "module/planner.h"
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#include "module/stepper.h"
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#include "module/endstops.h"
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#include "module/probe.h"
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#include "module/temperature.h"
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#include "sd/cardreader.h"
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#include "module/configuration_store.h"
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#include "module/printcounter.h" // PrintCounter or Stopwatch
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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 "libs/nozzle.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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#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
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#include "libs/buzzer.h"
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#endif
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#if ENABLED(DIGIPOT_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(BEZIER_CURVE_SUPPORT)
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#include "module/planner_bezier.h"
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#endif
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#if ENABLED(MAX7219_DEBUG)
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#include "feature/Max7219_Debug_LEDs.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 HAS_SERVOS
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#include "module/servo.h"
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#endif
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#if HAS_DIGIPOTSS
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#include <SPI.h>
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#endif
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#if ENABLED(DAC_STEPPER_CURRENT)
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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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TWIBus i2c;
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#endif
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#if ENABLED(I2C_POSITION_ENCODERS)
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#include "feature/I2CPositionEncoder.h"
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#endif
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#include "HAL/HAL_endstop_interrupts.h"
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#endif
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#if HAS_TRINAMIC
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#include "feature/tmc_util.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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bool G38_move = false,
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G38_endstop_hit = 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 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(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
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#include "feature/pause.h"
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#endif
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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#include "feature/runout.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 HAS_CASE_LIGHT
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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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#if (ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
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#include "module/tool_change.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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bool Running = true;
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/**
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* axis_homed
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* Flags that each linear axis was homed.
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* XYZ on cartesian, ABC on delta, ABZ on SCARA.
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*
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* axis_known_position
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* Flags that the position is known in each linear axis. Set when homed.
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* Cleared whenever a stepper powers off, potentially losing its position.
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*/
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bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
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#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
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TempUnit input_temp_units = TEMPUNIT_C;
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#endif
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#if FAN_COUNT > 0
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int16_t fanSpeeds[FAN_COUNT] = { 0 };
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#if ENABLED(EXTRA_FAN_SPEED)
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int16_t old_fanSpeeds[FAN_COUNT],
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new_fanSpeeds[FAN_COUNT];
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#endif
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#if ENABLED(PROBING_FANS_OFF)
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bool fans_paused = false;
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int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
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#endif
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#endif
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// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
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volatile 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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volatile bool wait_for_user = false;
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#endif
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#if HAS_AUTO_REPORTING
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bool suspend_auto_report; // = false
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#endif
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// Inactivity shutdown
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millis_t max_inactive_time = 0,
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stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
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#ifdef CHDK
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millis_t chdkHigh = 0;
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bool chdkActive = false;
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#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
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int lpq_len = 20;
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#endif
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#if ENABLED(I2C_POSITION_ENCODERS)
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I2CPositionEncodersMgr I2CPEM;
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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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void setup_killpin() {
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#if HAS_KILL
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SET_INPUT_PULLUP(KILL_PIN);
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#endif
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}
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void setup_powerhold() {
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#if HAS_SUICIDE
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OUT_WRITE(SUICIDE_PIN, HIGH);
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#endif
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#if HAS_POWER_SWITCH
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#if ENABLED(PS_DEFAULT_OFF)
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PSU_OFF();
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#else
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PSU_ON();
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#endif
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#endif
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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() {
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OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
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}
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void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
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#endif
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#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
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void i2c_on_receive(int bytes) { // just echo all bytes received to serial
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i2c.receive(bytes);
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}
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void i2c_on_request() { // just send dummy data for now
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i2c.reply("Hello World!\n");
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}
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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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bool pin_is_protected(const pin_t pin) {
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static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
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for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
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pin_t sensitive_pin;
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memcpy_P(&sensitive_pin, &sensitive_pins[i], sizeof(pin_t));
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if (pin == sensitive_pin) return true;
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}
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return false;
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}
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void quickstop_stepper() {
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stepper.quick_stop();
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stepper.synchronize();
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set_current_from_steppers_for_axis(ALL_AXES);
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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void enable_all_steppers() {
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#if ENABLED(AUTO_POWER_CONTROL)
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powerManager.power_on();
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#endif
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enable_X();
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enable_Y();
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enable_Z();
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enable_E0();
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enable_E1();
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enable_E2();
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enable_E3();
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enable_E4();
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}
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void disable_e_steppers() {
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disable_E0();
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disable_E1();
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disable_E2();
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disable_E3();
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disable_E4();
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}
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void disable_e_stepper(const uint8_t e) {
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switch (e) {
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case 0: disable_E0(); break;
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case 1: disable_E1(); break;
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case 2: disable_E2(); break;
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case 3: disable_E3(); break;
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case 4: disable_E4(); break;
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}
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}
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void disable_all_steppers() {
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disable_X();
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disable_Y();
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disable_Z();
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disable_e_steppers();
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}
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/**
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* Manage several activities:
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* - Check for Filament Runout
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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 pin CHDK 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 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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*/
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void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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runout.run();
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#endif
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if (commands_in_queue < BUFSIZE) get_available_commands();
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const millis_t ms = millis();
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if (max_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + max_inactive_time)) {
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SERIAL_ERROR_START();
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SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
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kill(PSTR(MSG_KILLED));
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}
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// Prevent steppers timing-out in the middle of M600
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#if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
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#define MOVE_AWAY_TEST !did_pause_print
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#else
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#define MOVE_AWAY_TEST true
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#endif
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if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + stepper_inactive_time)
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&& !ignore_stepper_queue && !planner.blocks_queued()) {
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#if ENABLED(DISABLE_INACTIVE_X)
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disable_X();
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#endif
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#if ENABLED(DISABLE_INACTIVE_Y)
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disable_Y();
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#endif
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#if ENABLED(DISABLE_INACTIVE_Z)
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disable_Z();
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#endif
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#if ENABLED(DISABLE_INACTIVE_E)
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disable_e_steppers();
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#endif
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#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL) // Only needed with an LCD
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if (ubl.lcd_map_control) ubl.lcd_map_control = defer_return_to_status = false;
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#endif
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}
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#ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
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if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
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chdkActive = false;
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WRITE(CHDK, 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 (!READ(KILL_PIN))
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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_START();
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SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
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kill(PSTR(MSG_KILLED));
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}
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#endif
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#if HAS_HOME
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// Check to see if we have to home, use poor man's debouncer
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// ---------------------------------------------------------
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static int homeDebounceCount = 0; // poor man's debouncing count
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const int HOME_DEBOUNCE_DELAY = 2500;
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if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
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if (!homeDebounceCount) {
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enqueue_and_echo_commands_P(PSTR("G28"));
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LCD_MESSAGEPGM(MSG_AUTO_HOME);
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}
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if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
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homeDebounceCount++;
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else
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homeDebounceCount = 0;
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}
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#endif
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#if ENABLED(USE_CONTROLLER_FAN)
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controllerfan_update(); // Check if fan should be turned on to cool stepper drivers down
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#endif
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#if ENABLED(AUTO_POWER_CONTROL)
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powerManager.check();
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#endif
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#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
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if (thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP
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&& ELAPSED(ms, gcode.previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
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&& !planner.blocks_queued()
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) {
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#if ENABLED(SWITCHING_EXTRUDER)
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const bool oldstatus = E0_ENABLE_READ;
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enable_E0();
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#else // !SWITCHING_EXTRUDER
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bool oldstatus;
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switch (active_extruder) {
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default: oldstatus = E0_ENABLE_READ; enable_E0(); break;
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#if E_STEPPERS > 1
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case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
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#if E_STEPPERS > 2
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case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
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#if E_STEPPERS > 3
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case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
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#if E_STEPPERS > 4
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case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
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#endif // E_STEPPERS > 4
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#endif // E_STEPPERS > 3
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#endif // E_STEPPERS > 2
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#endif // E_STEPPERS > 1
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}
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#endif // !SWITCHING_EXTRUDER
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gcode.refresh_cmd_timeout();
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const float olde = current_position[E_AXIS];
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current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
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planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
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current_position[E_AXIS] = olde;
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planner.set_e_position_mm(olde);
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stepper.synchronize();
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#if ENABLED(SWITCHING_EXTRUDER)
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E0_ENABLE_WRITE(oldstatus);
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#else
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switch (active_extruder) {
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case 0: E0_ENABLE_WRITE(oldstatus); break;
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#if E_STEPPERS > 1
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case 1: E1_ENABLE_WRITE(oldstatus); break;
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#if E_STEPPERS > 2
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case 2: E2_ENABLE_WRITE(oldstatus); break;
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#if E_STEPPERS > 3
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case 3: E3_ENABLE_WRITE(oldstatus); break;
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#if E_STEPPERS > 4
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case 4: E4_ENABLE_WRITE(oldstatus); break;
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#endif // E_STEPPERS > 4
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#endif // E_STEPPERS > 3
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#endif // E_STEPPERS > 2
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#endif // E_STEPPERS > 1
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}
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#endif // !SWITCHING_EXTRUDER
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}
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#endif // EXTRUDER_RUNOUT_PREVENT
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#if ENABLED(DUAL_X_CARRIAGE)
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// handle delayed move timeout
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if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
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// travel moves have been received so enact them
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delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
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set_destination_from_current();
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prepare_move_to_destination();
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}
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#endif
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#if ENABLED(TEMP_STAT_LEDS)
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handle_status_leds();
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#endif
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#if ENABLED(MONITOR_DRIVER_STATUS)
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monitor_tmc_driver();
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#endif
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// Limit check_axes_activity frequency to 10Hz
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static millis_t next_check_axes_ms = 0;
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if (ELAPSED(ms, next_check_axes_ms)) {
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planner.check_axes_activity();
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next_check_axes_ms = ms + 100UL;
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}
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}
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/**
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* Standard idle routine keeps the machine alive
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*/
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void idle(
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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|
bool no_stepper_sleep/*=false*/
|
|
#endif
|
|
) {
|
|
#if ENABLED(MAX7219_DEBUG)
|
|
Max7219_idle_tasks();
|
|
#endif // MAX7219_DEBUG
|
|
|
|
lcd_update();
|
|
|
|
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
|
gcode.host_keepalive();
|
|
#endif
|
|
|
|
manage_inactivity(
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
|
no_stepper_sleep
|
|
#endif
|
|
);
|
|
|
|
thermalManager.manage_heater();
|
|
|
|
#if ENABLED(PRINTCOUNTER)
|
|
print_job_timer.tick();
|
|
#endif
|
|
|
|
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
|
|
buzzer.tick();
|
|
#endif
|
|
|
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
|
static millis_t i2cpem_next_update_ms;
|
|
if (planner.blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) {
|
|
I2CPEM.update();
|
|
i2cpem_next_update_ms = millis() + I2CPE_MIN_UPD_TIME_MS;
|
|
}
|
|
#endif
|
|
|
|
#ifdef HAL_IDLETASK
|
|
HAL_idletask();
|
|
#endif
|
|
|
|
#if HAS_AUTO_REPORTING
|
|
if (!suspend_auto_report) {
|
|
#if ENABLED(AUTO_REPORT_TEMPERATURES)
|
|
thermalManager.auto_report_temperatures();
|
|
#endif
|
|
#if ENABLED(AUTO_REPORT_SD_STATUS)
|
|
card.auto_report_sd_status();
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Kill all activity and lock the machine.
|
|
* After this the machine will need to be reset.
|
|
*/
|
|
void kill(const char* lcd_msg) {
|
|
SERIAL_ERROR_START();
|
|
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
|
|
|
|
thermalManager.disable_all_heaters();
|
|
disable_all_steppers();
|
|
|
|
#if ENABLED(ULTRA_LCD)
|
|
kill_screen(lcd_msg);
|
|
#else
|
|
UNUSED(lcd_msg);
|
|
#endif
|
|
|
|
_delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
|
|
cli(); // Stop interrupts
|
|
|
|
_delay_ms(250); //Wait to ensure all interrupts routines stopped
|
|
thermalManager.disable_all_heaters(); //turn off heaters again
|
|
|
|
#ifdef ACTION_ON_KILL
|
|
SERIAL_ECHOLNPGM("//action:" ACTION_ON_KILL);
|
|
#endif
|
|
|
|
#if HAS_POWER_SWITCH
|
|
SET_INPUT(PS_ON_PIN);
|
|
#endif
|
|
|
|
#if HAS_SUICIDE
|
|
suicide();
|
|
#endif
|
|
|
|
while (1) {
|
|
#if ENABLED(USE_WATCHDOG)
|
|
watchdog_reset();
|
|
#endif
|
|
} // Wait for reset
|
|
}
|
|
|
|
/**
|
|
* 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
|
|
|
|
#if ENABLED(PROBING_FANS_OFF)
|
|
if (fans_paused) fans_pause(false); // put things back the way they were
|
|
#endif
|
|
|
|
if (IsRunning()) {
|
|
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
|
|
SERIAL_ERROR_START();
|
|
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
|
|
LCD_MESSAGEPGM(MSG_STOPPED);
|
|
safe_delay(350); // allow enough time for messages to get out before stopping
|
|
Running = false;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Marlin entry-point: Set up before the program loop
|
|
* - Set up the kill pin, filament runout, power hold
|
|
* - Start the serial port
|
|
* - Print startup messages and diagnostics
|
|
* - Get EEPROM or default settings
|
|
* - Initialize managers for:
|
|
* • temperature
|
|
* • planner
|
|
* • watchdog
|
|
* • stepper
|
|
* • photo pin
|
|
* • servos
|
|
* • LCD controller
|
|
* • Digipot I2C
|
|
* • Z probe sled
|
|
* • status LEDs
|
|
*/
|
|
void setup() {
|
|
|
|
#ifdef HAL_INIT
|
|
HAL_init();
|
|
#if defined(ARDUINO_ARCH_SAM) && PIN_EXISTS(BEEPER)
|
|
toneInit();
|
|
#endif
|
|
#endif
|
|
|
|
#if ENABLED(MAX7219_DEBUG)
|
|
Max7219_init();
|
|
#endif
|
|
|
|
#if ENABLED(DISABLE_JTAG)
|
|
// Disable JTAG on AT90USB chips to free up pins for IO
|
|
MCUCR = 0x80;
|
|
MCUCR = 0x80;
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
|
|
runout.setup();
|
|
#endif
|
|
|
|
setup_killpin();
|
|
|
|
setup_powerhold();
|
|
|
|
#if HAS_STEPPER_RESET
|
|
disableStepperDrivers();
|
|
#endif
|
|
|
|
#if NUM_SERIAL > 0
|
|
MYSERIAL0.begin(BAUDRATE);
|
|
#if NUM_SERIAL > 1
|
|
MYSERIAL1.begin(BAUDRATE);
|
|
#endif
|
|
#endif
|
|
|
|
#if NUM_SERIAL > 0
|
|
uint32_t serial_connect_timeout = millis() + 1000UL;
|
|
while(!MYSERIAL0 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
|
|
#if NUM_SERIAL > 1
|
|
serial_connect_timeout = millis() + 1000UL;
|
|
while(!MYSERIAL1 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
|
|
#endif
|
|
#endif
|
|
|
|
SERIAL_PROTOCOLLNPGM("start");
|
|
SERIAL_ECHO_START();
|
|
|
|
#if ENABLED(HAVE_TMC2130)
|
|
tmc_init_cs_pins();
|
|
#endif
|
|
#if ENABLED(HAVE_TMC2208)
|
|
tmc2208_serial_begin();
|
|
#endif
|
|
|
|
// Check startup - does nothing if bootloader sets MCUSR to 0
|
|
byte mcu = HAL_get_reset_source();
|
|
if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
|
|
if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
|
|
if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
|
|
if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
|
|
if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
|
|
HAL_clear_reset_source();
|
|
|
|
SERIAL_ECHOPGM(MSG_MARLIN);
|
|
SERIAL_CHAR(' ');
|
|
SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
|
|
SERIAL_EOL();
|
|
|
|
#if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
|
|
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
|
|
SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOLNPGM("Compiled: " __DATE__);
|
|
#endif
|
|
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
|
|
SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
|
|
|
|
queue_setup();
|
|
|
|
// Load data from EEPROM if available (or use defaults)
|
|
// This also updates variables in the planner, elsewhere
|
|
(void)settings.load();
|
|
|
|
#if HAS_M206_COMMAND
|
|
// Initialize current position based on home_offset
|
|
COPY(current_position, home_offset);
|
|
#else
|
|
ZERO(current_position);
|
|
#endif
|
|
|
|
// Vital to init stepper/planner equivalent for current_position
|
|
SYNC_PLAN_POSITION_KINEMATIC();
|
|
|
|
thermalManager.init(); // Initialize temperature loop
|
|
|
|
print_job_timer.init(); // Initial setup of print job timer
|
|
|
|
stepper.init(); // Initialize stepper, this enables interrupts!
|
|
|
|
#if HAS_SERVOS
|
|
servo_init();
|
|
#endif
|
|
|
|
#if HAS_Z_SERVO_ENDSTOP
|
|
servo_probe_init();
|
|
#endif
|
|
|
|
#if HAS_PHOTOGRAPH
|
|
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
|
|
#endif
|
|
|
|
#if HAS_CASE_LIGHT
|
|
update_case_light();
|
|
#endif
|
|
|
|
#if ENABLED(SPINDLE_LASER_ENABLE)
|
|
OUT_WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // init spindle to off
|
|
#if SPINDLE_DIR_CHANGE
|
|
OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // init rotation to clockwise (M3)
|
|
#endif
|
|
#if ENABLED(SPINDLE_LASER_PWM) && defined(SPINDLE_LASER_PWM_PIN) && SPINDLE_LASER_PWM_PIN >= 0
|
|
SET_OUTPUT(SPINDLE_LASER_PWM_PIN);
|
|
analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_BED_PROBE
|
|
endstops.enable_z_probe(false);
|
|
#endif
|
|
|
|
#if ENABLED(USE_CONTROLLER_FAN)
|
|
SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
|
|
#endif
|
|
|
|
#if HAS_STEPPER_RESET
|
|
enableStepperDrivers();
|
|
#endif
|
|
|
|
#if ENABLED(DIGIPOT_I2C)
|
|
digipot_i2c_init();
|
|
#endif
|
|
|
|
#if ENABLED(DAC_STEPPER_CURRENT)
|
|
dac_init();
|
|
#endif
|
|
|
|
#if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
|
|
OUT_WRITE(SOL1_PIN, LOW); // turn it off
|
|
#endif
|
|
|
|
#if HAS_HOME
|
|
SET_INPUT_PULLUP(HOME_PIN);
|
|
#endif
|
|
|
|
#if PIN_EXISTS(STAT_LED_RED)
|
|
OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
|
|
#endif
|
|
|
|
#if PIN_EXISTS(STAT_LED_BLUE)
|
|
OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
|
|
#endif
|
|
|
|
#if HAS_COLOR_LEDS
|
|
leds.setup();
|
|
#endif
|
|
|
|
#if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
|
|
SET_OUTPUT(RGB_LED_R_PIN);
|
|
SET_OUTPUT(RGB_LED_G_PIN);
|
|
SET_OUTPUT(RGB_LED_B_PIN);
|
|
#if ENABLED(RGBW_LED)
|
|
SET_OUTPUT(RGB_LED_W_PIN);
|
|
#endif
|
|
#endif
|
|
|
|
#if ENABLED(MK2_MULTIPLEXER)
|
|
SET_OUTPUT(E_MUX0_PIN);
|
|
SET_OUTPUT(E_MUX1_PIN);
|
|
SET_OUTPUT(E_MUX2_PIN);
|
|
#endif
|
|
|
|
#if HAS_FANMUX
|
|
fanmux_init();
|
|
#endif
|
|
|
|
lcd_init();
|
|
LCD_MESSAGEPGM(WELCOME_MSG);
|
|
|
|
#if ENABLED(SHOW_BOOTSCREEN)
|
|
lcd_bootscreen();
|
|
#endif
|
|
|
|
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
|
|
mixing_tools_init();
|
|
#endif
|
|
|
|
#if ENABLED(BLTOUCH)
|
|
bltouch_init();
|
|
#endif
|
|
|
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
|
I2CPEM.init();
|
|
#endif
|
|
|
|
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
|
|
i2c.onReceive(i2c_on_receive);
|
|
i2c.onRequest(i2c_on_request);
|
|
#endif
|
|
|
|
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
|
|
setup_endstop_interrupts();
|
|
#endif
|
|
|
|
#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
|
|
move_extruder_servo(0); // Initialize extruder servo
|
|
#endif
|
|
|
|
#if ENABLED(SWITCHING_NOZZLE)
|
|
move_nozzle_servo(0); // Initialize nozzle servo
|
|
#endif
|
|
|
|
#if ENABLED(PARKING_EXTRUDER)
|
|
pe_magnet_init();
|
|
#endif
|
|
|
|
#if ENABLED(USE_WATCHDOG) // Reinit watchdog after HAL_get_reset_source call
|
|
watchdog_init();
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* The main Marlin program loop
|
|
*
|
|
* - Save or log commands to SD
|
|
* - Process available commands (if not saving)
|
|
* - Call heater manager
|
|
* - Call inactivity manager
|
|
* - Call endstop manager
|
|
* - Call LCD update
|
|
*/
|
|
void loop() {
|
|
if (commands_in_queue < BUFSIZE) get_available_commands();
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
card.checkautostart(false);
|
|
#endif
|
|
|
|
advance_command_queue();
|
|
|
|
endstops.report_state();
|
|
idle();
|
|
}
|