My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin.cpp 24KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * About Marlin
  24. *
  25. * This firmware is a mashup between Sprinter and grbl.
  26. * - https://github.com/kliment/Sprinter
  27. * - https://github.com/grbl/grbl
  28. */
  29. #include "Marlin.h"
  30. #include "lcd/ultralcd.h"
  31. #include "module/motion.h"
  32. #include "module/planner.h"
  33. #include "module/stepper.h"
  34. #include "module/endstops.h"
  35. #include "module/probe.h"
  36. #include "module/temperature.h"
  37. #include "sd/cardreader.h"
  38. #include "module/configuration_store.h"
  39. #include "module/printcounter.h" // PrintCounter or Stopwatch
  40. #ifdef ARDUINO
  41. #include <pins_arduino.h>
  42. #endif
  43. #include <math.h>
  44. #include "libs/nozzle.h"
  45. #include "gcode/gcode.h"
  46. #include "gcode/parser.h"
  47. #include "gcode/queue.h"
  48. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  49. #include "libs/buzzer.h"
  50. #endif
  51. #if ENABLED(DIGIPOT_I2C)
  52. #include "feature/digipot/digipot.h"
  53. #endif
  54. #if ENABLED(MIXING_EXTRUDER)
  55. #include "feature/mixing.h"
  56. #endif
  57. #if ENABLED(BEZIER_CURVE_SUPPORT)
  58. #include "module/planner_bezier.h"
  59. #endif
  60. #if ENABLED(MAX7219_DEBUG)
  61. #include "feature/Max7219_Debug_LEDs.h"
  62. #endif
  63. #if HAS_COLOR_LEDS
  64. #include "feature/leds/leds.h"
  65. #endif
  66. #if HAS_SERVOS
  67. #include "module/servo.h"
  68. #endif
  69. #if HAS_DIGIPOTSS
  70. #include <SPI.h>
  71. #endif
  72. #if ENABLED(DAC_STEPPER_CURRENT)
  73. #include "feature/dac/stepper_dac.h"
  74. #endif
  75. #if ENABLED(EXPERIMENTAL_I2CBUS)
  76. #include "feature/twibus.h"
  77. TWIBus i2c;
  78. #endif
  79. #if ENABLED(I2C_POSITION_ENCODERS)
  80. #include "feature/I2CPositionEncoder.h"
  81. #endif
  82. #if HAS_TRINAMIC
  83. #include "feature/tmc_util.h"
  84. #endif
  85. #if ENABLED(SDSUPPORT)
  86. CardReader card;
  87. #endif
  88. #if ENABLED(G38_PROBE_TARGET)
  89. bool G38_move = false,
  90. G38_endstop_hit = false;
  91. #endif
  92. #if ENABLED(DELTA)
  93. #include "module/delta.h"
  94. #elif IS_SCARA
  95. #include "module/scara.h"
  96. #endif
  97. #if HAS_LEVELING
  98. #include "feature/bedlevel/bedlevel.h"
  99. #endif
  100. #if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
  101. #include "feature/pause.h"
  102. #endif
  103. #if ENABLED(POWER_LOSS_RECOVERY)
  104. #include "feature/power_loss_recovery.h"
  105. #endif
  106. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  107. #include "feature/runout.h"
  108. #endif
  109. #if ENABLED(TEMP_STAT_LEDS)
  110. #include "feature/leds/tempstat.h"
  111. #endif
  112. #if HAS_CASE_LIGHT
  113. #include "feature/caselight.h"
  114. #endif
  115. #if HAS_FANMUX
  116. #include "feature/fanmux.h"
  117. #endif
  118. #if DO_SWITCH_EXTRUDER || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
  119. #include "module/tool_change.h"
  120. #endif
  121. #if ENABLED(USE_CONTROLLER_FAN)
  122. #include "feature/controllerfan.h"
  123. #endif
  124. bool Running = true;
  125. /**
  126. * axis_homed
  127. * Flags that each linear axis was homed.
  128. * XYZ on cartesian, ABC on delta, ABZ on SCARA.
  129. *
  130. * axis_known_position
  131. * Flags that the position is known in each linear axis. Set when homed.
  132. * Cleared whenever a stepper powers off, potentially losing its position.
  133. */
  134. bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
  135. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  136. TempUnit input_temp_units = TEMPUNIT_C;
  137. #endif
  138. #if FAN_COUNT > 0
  139. int16_t fanSpeeds[FAN_COUNT] = { 0 };
  140. #if ENABLED(EXTRA_FAN_SPEED)
  141. int16_t old_fanSpeeds[FAN_COUNT],
  142. new_fanSpeeds[FAN_COUNT];
  143. #endif
  144. #if ENABLED(PROBING_FANS_OFF)
  145. bool fans_paused; // = false;
  146. int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
  147. #endif
  148. #endif
  149. // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
  150. volatile bool wait_for_heatup = true;
  151. // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
  152. #if HAS_RESUME_CONTINUE
  153. volatile bool wait_for_user; // = false;
  154. #endif
  155. #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
  156. bool suspend_auto_report; // = false
  157. #endif
  158. // Inactivity shutdown
  159. millis_t max_inactive_time, // = 0
  160. stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  161. #ifdef CHDK
  162. millis_t chdkHigh; // = 0;
  163. bool chdkActive; // = false;
  164. #endif
  165. #if ENABLED(I2C_POSITION_ENCODERS)
  166. I2CPositionEncodersMgr I2CPEM;
  167. #endif
  168. /**
  169. * ***************************************************************************
  170. * ******************************** FUNCTIONS ********************************
  171. * ***************************************************************************
  172. */
  173. void setup_killpin() {
  174. #if HAS_KILL
  175. SET_INPUT_PULLUP(KILL_PIN);
  176. #endif
  177. }
  178. void setup_powerhold() {
  179. #if HAS_SUICIDE
  180. OUT_WRITE(SUICIDE_PIN, HIGH);
  181. #endif
  182. #if HAS_POWER_SWITCH
  183. #if ENABLED(PS_DEFAULT_OFF)
  184. PSU_OFF();
  185. #else
  186. PSU_ON();
  187. #endif
  188. #endif
  189. }
  190. /**
  191. * Stepper Reset (RigidBoard, et.al.)
  192. */
  193. #if HAS_STEPPER_RESET
  194. void disableStepperDrivers() {
  195. OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  196. }
  197. void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
  198. #endif
  199. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  200. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  201. i2c.receive(bytes);
  202. }
  203. void i2c_on_request() { // just send dummy data for now
  204. i2c.reply("Hello World!\n");
  205. }
  206. #endif
  207. /**
  208. * Sensitive pin test for M42, M226
  209. */
  210. bool pin_is_protected(const pin_t pin) {
  211. static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
  212. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
  213. pin_t sensitive_pin;
  214. memcpy_P(&sensitive_pin, &sensitive_pins[i], sizeof(pin_t));
  215. if (pin == sensitive_pin) return true;
  216. }
  217. return false;
  218. }
  219. void quickstop_stepper() {
  220. planner.quick_stop();
  221. planner.synchronize();
  222. set_current_from_steppers_for_axis(ALL_AXES);
  223. SYNC_PLAN_POSITION_KINEMATIC();
  224. }
  225. void enable_all_steppers() {
  226. #if ENABLED(AUTO_POWER_CONTROL)
  227. powerManager.power_on();
  228. #endif
  229. enable_X();
  230. enable_Y();
  231. enable_Z();
  232. enable_E0();
  233. enable_E1();
  234. enable_E2();
  235. enable_E3();
  236. enable_E4();
  237. }
  238. void disable_e_steppers() {
  239. disable_E0();
  240. disable_E1();
  241. disable_E2();
  242. disable_E3();
  243. disable_E4();
  244. }
  245. void disable_e_stepper(const uint8_t e) {
  246. switch (e) {
  247. case 0: disable_E0(); break;
  248. case 1: disable_E1(); break;
  249. case 2: disable_E2(); break;
  250. case 3: disable_E3(); break;
  251. case 4: disable_E4(); break;
  252. }
  253. }
  254. void disable_all_steppers() {
  255. disable_X();
  256. disable_Y();
  257. disable_Z();
  258. disable_e_steppers();
  259. }
  260. /**
  261. * Manage several activities:
  262. * - Check for Filament Runout
  263. * - Keep the command buffer full
  264. * - Check for maximum inactive time between commands
  265. * - Check for maximum inactive time between stepper commands
  266. * - Check if pin CHDK needs to go LOW
  267. * - Check for KILL button held down
  268. * - Check for HOME button held down
  269. * - Check if cooling fan needs to be switched on
  270. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  271. */
  272. void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
  273. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  274. runout.run();
  275. #endif
  276. if (commands_in_queue < BUFSIZE) get_available_commands();
  277. const millis_t ms = millis();
  278. if (max_inactive_time && ELAPSED(ms, gcode.previous_move_ms + max_inactive_time)) {
  279. SERIAL_ERROR_START();
  280. SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
  281. kill(PSTR(MSG_KILLED));
  282. }
  283. // Prevent steppers timing-out in the middle of M600
  284. #if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
  285. #define MOVE_AWAY_TEST !did_pause_print
  286. #else
  287. #define MOVE_AWAY_TEST true
  288. #endif
  289. if (stepper_inactive_time) {
  290. if (planner.has_blocks_queued())
  291. gcode.previous_move_ms = ms; // reset_stepper_timeout to keep steppers powered
  292. else if (MOVE_AWAY_TEST && !ignore_stepper_queue && ELAPSED(ms, gcode.previous_move_ms + stepper_inactive_time)) {
  293. #if ENABLED(DISABLE_INACTIVE_X)
  294. disable_X();
  295. #endif
  296. #if ENABLED(DISABLE_INACTIVE_Y)
  297. disable_Y();
  298. #endif
  299. #if ENABLED(DISABLE_INACTIVE_Z)
  300. disable_Z();
  301. #endif
  302. #if ENABLED(DISABLE_INACTIVE_E)
  303. disable_e_steppers();
  304. #endif
  305. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL) // Only needed with an LCD
  306. if (ubl.lcd_map_control) ubl.lcd_map_control = defer_return_to_status = false;
  307. #endif
  308. }
  309. }
  310. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  311. if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
  312. chdkActive = false;
  313. WRITE(CHDK, LOW);
  314. }
  315. #endif
  316. #if HAS_KILL
  317. // Check if the kill button was pressed and wait just in case it was an accidental
  318. // key kill key press
  319. // -------------------------------------------------------------------------------
  320. static int killCount = 0; // make the inactivity button a bit less responsive
  321. const int KILL_DELAY = 750;
  322. if (!READ(KILL_PIN))
  323. killCount++;
  324. else if (killCount > 0)
  325. killCount--;
  326. // Exceeded threshold and we can confirm that it was not accidental
  327. // KILL the machine
  328. // ----------------------------------------------------------------
  329. if (killCount >= KILL_DELAY) {
  330. SERIAL_ERROR_START();
  331. SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
  332. kill(PSTR(MSG_KILLED));
  333. }
  334. #endif
  335. #if HAS_HOME
  336. // Check to see if we have to home, use poor man's debouncer
  337. // ---------------------------------------------------------
  338. static int homeDebounceCount = 0; // poor man's debouncing count
  339. const int HOME_DEBOUNCE_DELAY = 2500;
  340. if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
  341. if (!homeDebounceCount) {
  342. enqueue_and_echo_commands_P(PSTR("G28"));
  343. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  344. }
  345. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  346. homeDebounceCount++;
  347. else
  348. homeDebounceCount = 0;
  349. }
  350. #endif
  351. #if ENABLED(USE_CONTROLLER_FAN)
  352. controllerfan_update(); // Check if fan should be turned on to cool stepper drivers down
  353. #endif
  354. #if ENABLED(AUTO_POWER_CONTROL)
  355. powerManager.check();
  356. #endif
  357. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  358. if (thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP
  359. && ELAPSED(ms, gcode.previous_move_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  360. && !planner.has_blocks_queued()
  361. ) {
  362. #if ENABLED(SWITCHING_EXTRUDER)
  363. bool oldstatus;
  364. switch (active_extruder) {
  365. default: oldstatus = E0_ENABLE_READ; enable_E0(); break;
  366. #if E_STEPPERS > 1
  367. case 2: case 3: oldstatus = E1_ENABLE_READ; enable_E1(); break;
  368. #if E_STEPPERS > 2
  369. case 4: oldstatus = E2_ENABLE_READ; enable_E2(); break;
  370. #endif // E_STEPPERS > 2
  371. #endif // E_STEPPERS > 1
  372. }
  373. #else // !SWITCHING_EXTRUDER
  374. bool oldstatus;
  375. switch (active_extruder) {
  376. default: oldstatus = E0_ENABLE_READ; enable_E0(); break;
  377. #if E_STEPPERS > 1
  378. case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
  379. #if E_STEPPERS > 2
  380. case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
  381. #if E_STEPPERS > 3
  382. case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
  383. #if E_STEPPERS > 4
  384. case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
  385. #endif // E_STEPPERS > 4
  386. #endif // E_STEPPERS > 3
  387. #endif // E_STEPPERS > 2
  388. #endif // E_STEPPERS > 1
  389. }
  390. #endif // !SWITCHING_EXTRUDER
  391. const float olde = current_position[E_AXIS];
  392. current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
  393. planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
  394. current_position[E_AXIS] = olde;
  395. planner.set_e_position_mm(olde);
  396. planner.synchronize();
  397. #if ENABLED(SWITCHING_EXTRUDER)
  398. switch (active_extruder) {
  399. default: oldstatus = E0_ENABLE_WRITE(oldstatus); break;
  400. #if E_STEPPERS > 1
  401. case 2: case 3: oldstatus = E1_ENABLE_WRITE(oldstatus); break;
  402. #if E_STEPPERS > 2
  403. case 4: oldstatus = E2_ENABLE_WRITE(oldstatus); break;
  404. #endif // E_STEPPERS > 2
  405. #endif // E_STEPPERS > 1
  406. }
  407. #else // !SWITCHING_EXTRUDER
  408. switch (active_extruder) {
  409. case 0: E0_ENABLE_WRITE(oldstatus); break;
  410. #if E_STEPPERS > 1
  411. case 1: E1_ENABLE_WRITE(oldstatus); break;
  412. #if E_STEPPERS > 2
  413. case 2: E2_ENABLE_WRITE(oldstatus); break;
  414. #if E_STEPPERS > 3
  415. case 3: E3_ENABLE_WRITE(oldstatus); break;
  416. #if E_STEPPERS > 4
  417. case 4: E4_ENABLE_WRITE(oldstatus); break;
  418. #endif // E_STEPPERS > 4
  419. #endif // E_STEPPERS > 3
  420. #endif // E_STEPPERS > 2
  421. #endif // E_STEPPERS > 1
  422. }
  423. #endif // !SWITCHING_EXTRUDER
  424. gcode.previous_move_ms = ms; // reset_stepper_timeout to keep steppers powered
  425. }
  426. #endif // EXTRUDER_RUNOUT_PREVENT
  427. #if ENABLED(DUAL_X_CARRIAGE)
  428. // handle delayed move timeout
  429. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  430. // travel moves have been received so enact them
  431. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  432. set_destination_from_current();
  433. prepare_move_to_destination();
  434. }
  435. #endif
  436. #if ENABLED(TEMP_STAT_LEDS)
  437. handle_status_leds();
  438. #endif
  439. #if ENABLED(MONITOR_DRIVER_STATUS)
  440. monitor_tmc_driver();
  441. #endif
  442. // Limit check_axes_activity frequency to 10Hz
  443. static millis_t next_check_axes_ms = 0;
  444. if (ELAPSED(ms, next_check_axes_ms)) {
  445. planner.check_axes_activity();
  446. next_check_axes_ms = ms + 100UL;
  447. }
  448. }
  449. /**
  450. * Standard idle routine keeps the machine alive
  451. */
  452. void idle(
  453. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  454. bool no_stepper_sleep/*=false*/
  455. #endif
  456. ) {
  457. #if ENABLED(MAX7219_DEBUG)
  458. Max7219_idle_tasks();
  459. #endif // MAX7219_DEBUG
  460. lcd_update();
  461. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  462. gcode.host_keepalive();
  463. #endif
  464. manage_inactivity(
  465. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  466. no_stepper_sleep
  467. #endif
  468. );
  469. thermalManager.manage_heater();
  470. #if ENABLED(PRINTCOUNTER)
  471. print_job_timer.tick();
  472. #endif
  473. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  474. buzzer.tick();
  475. #endif
  476. #if ENABLED(I2C_POSITION_ENCODERS)
  477. static millis_t i2cpem_next_update_ms;
  478. if (planner.has_blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) {
  479. I2CPEM.update();
  480. i2cpem_next_update_ms = millis() + I2CPE_MIN_UPD_TIME_MS;
  481. }
  482. #endif
  483. #ifdef HAL_IDLETASK
  484. HAL_idletask();
  485. #endif
  486. #if HAS_AUTO_REPORTING
  487. if (!suspend_auto_report) {
  488. #if ENABLED(AUTO_REPORT_TEMPERATURES)
  489. thermalManager.auto_report_temperatures();
  490. #endif
  491. #if ENABLED(AUTO_REPORT_SD_STATUS)
  492. card.auto_report_sd_status();
  493. #endif
  494. }
  495. #endif
  496. }
  497. /**
  498. * Kill all activity and lock the machine.
  499. * After this the machine will need to be reset.
  500. */
  501. void kill(const char* lcd_msg) {
  502. SERIAL_ERROR_START();
  503. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  504. thermalManager.disable_all_heaters();
  505. disable_all_steppers();
  506. #if ENABLED(ULTRA_LCD)
  507. kill_screen(lcd_msg);
  508. #else
  509. UNUSED(lcd_msg);
  510. #endif
  511. _delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
  512. cli(); // Stop interrupts
  513. _delay_ms(250); //Wait to ensure all interrupts routines stopped
  514. thermalManager.disable_all_heaters(); //turn off heaters again
  515. #ifdef ACTION_ON_KILL
  516. SERIAL_ECHOLNPGM("//action:" ACTION_ON_KILL);
  517. #endif
  518. #if HAS_POWER_SWITCH
  519. PSU_OFF();
  520. #endif
  521. #if HAS_SUICIDE
  522. suicide();
  523. #endif
  524. while (1) {
  525. #if ENABLED(USE_WATCHDOG)
  526. watchdog_reset();
  527. #endif
  528. } // Wait for reset
  529. }
  530. /**
  531. * Turn off heaters and stop the print in progress
  532. * After a stop the machine may be resumed with M999
  533. */
  534. void stop() {
  535. thermalManager.disable_all_heaters(); // 'unpause' taken care of in here
  536. #if ENABLED(PROBING_FANS_OFF)
  537. if (fans_paused) fans_pause(false); // put things back the way they were
  538. #endif
  539. if (IsRunning()) {
  540. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  541. SERIAL_ERROR_START();
  542. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  543. LCD_MESSAGEPGM(MSG_STOPPED);
  544. safe_delay(350); // allow enough time for messages to get out before stopping
  545. Running = false;
  546. }
  547. }
  548. /**
  549. * Marlin entry-point: Set up before the program loop
  550. * - Set up the kill pin, filament runout, power hold
  551. * - Start the serial port
  552. * - Print startup messages and diagnostics
  553. * - Get EEPROM or default settings
  554. * - Initialize managers for:
  555. * • temperature
  556. * • planner
  557. * • watchdog
  558. * • stepper
  559. * • photo pin
  560. * • servos
  561. * • LCD controller
  562. * • Digipot I2C
  563. * • Z probe sled
  564. * • status LEDs
  565. */
  566. void setup() {
  567. #ifdef HAL_INIT
  568. HAL_init();
  569. #endif
  570. #if ENABLED(MAX7219_DEBUG)
  571. Max7219_init();
  572. #endif
  573. #if ENABLED(DISABLE_JTAG)
  574. // Disable JTAG on AT90USB chips to free up pins for IO
  575. MCUCR = 0x80;
  576. MCUCR = 0x80;
  577. #endif
  578. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  579. runout.setup();
  580. #endif
  581. setup_killpin();
  582. setup_powerhold();
  583. #if HAS_STEPPER_RESET
  584. disableStepperDrivers();
  585. #endif
  586. #if NUM_SERIAL > 0
  587. MYSERIAL0.begin(BAUDRATE);
  588. #if NUM_SERIAL > 1
  589. MYSERIAL1.begin(BAUDRATE);
  590. #endif
  591. #endif
  592. #if NUM_SERIAL > 0
  593. uint32_t serial_connect_timeout = millis() + 1000UL;
  594. while(!MYSERIAL0 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
  595. #if NUM_SERIAL > 1
  596. serial_connect_timeout = millis() + 1000UL;
  597. while(!MYSERIAL1 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
  598. #endif
  599. #endif
  600. SERIAL_PROTOCOLLNPGM("start");
  601. SERIAL_ECHO_START();
  602. #if ENABLED(HAVE_TMC2130)
  603. tmc_init_cs_pins();
  604. #endif
  605. #if ENABLED(HAVE_TMC2208)
  606. tmc2208_serial_begin();
  607. #endif
  608. // Check startup - does nothing if bootloader sets MCUSR to 0
  609. byte mcu = HAL_get_reset_source();
  610. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  611. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  612. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  613. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  614. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  615. HAL_clear_reset_source();
  616. SERIAL_ECHOPGM(MSG_MARLIN);
  617. SERIAL_CHAR(' ');
  618. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  619. SERIAL_EOL();
  620. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  621. SERIAL_ECHO_START();
  622. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  623. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  624. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  625. SERIAL_ECHO_START();
  626. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  627. #endif
  628. SERIAL_ECHO_START();
  629. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  630. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  631. queue_setup();
  632. // Load data from EEPROM if available (or use defaults)
  633. // This also updates variables in the planner, elsewhere
  634. (void)settings.load();
  635. #if HAS_M206_COMMAND
  636. // Initialize current position based on home_offset
  637. COPY(current_position, home_offset);
  638. #else
  639. ZERO(current_position);
  640. #endif
  641. // Vital to init stepper/planner equivalent for current_position
  642. SYNC_PLAN_POSITION_KINEMATIC();
  643. thermalManager.init(); // Initialize temperature loop
  644. print_job_timer.init(); // Initial setup of print job timer
  645. endstops.init(); // Init endstops and pullups
  646. stepper.init(); // Init stepper. This enables interrupts!
  647. #if HAS_SERVOS
  648. servo_init();
  649. #endif
  650. #if HAS_Z_SERVO_PROBE
  651. servo_probe_init();
  652. #endif
  653. #if HAS_PHOTOGRAPH
  654. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  655. #endif
  656. #if HAS_CASE_LIGHT
  657. update_case_light();
  658. #endif
  659. #if ENABLED(SPINDLE_LASER_ENABLE)
  660. OUT_WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // init spindle to off
  661. #if SPINDLE_DIR_CHANGE
  662. OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // init rotation to clockwise (M3)
  663. #endif
  664. #if ENABLED(SPINDLE_LASER_PWM) && defined(SPINDLE_LASER_PWM_PIN) && SPINDLE_LASER_PWM_PIN >= 0
  665. SET_OUTPUT(SPINDLE_LASER_PWM_PIN);
  666. analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed
  667. #endif
  668. #endif
  669. #if HAS_BED_PROBE
  670. endstops.enable_z_probe(false);
  671. #endif
  672. #if ENABLED(USE_CONTROLLER_FAN)
  673. SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
  674. #endif
  675. #if HAS_STEPPER_RESET
  676. enableStepperDrivers();
  677. #endif
  678. #if ENABLED(DIGIPOT_I2C)
  679. digipot_i2c_init();
  680. #endif
  681. #if ENABLED(DAC_STEPPER_CURRENT)
  682. dac_init();
  683. #endif
  684. #if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
  685. OUT_WRITE(SOL1_PIN, LOW); // turn it off
  686. #endif
  687. #if HAS_HOME
  688. SET_INPUT_PULLUP(HOME_PIN);
  689. #endif
  690. #if PIN_EXISTS(STAT_LED_RED)
  691. OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
  692. #endif
  693. #if PIN_EXISTS(STAT_LED_BLUE)
  694. OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
  695. #endif
  696. #if HAS_COLOR_LEDS
  697. leds.setup();
  698. #endif
  699. #if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
  700. SET_OUTPUT(RGB_LED_R_PIN);
  701. SET_OUTPUT(RGB_LED_G_PIN);
  702. SET_OUTPUT(RGB_LED_B_PIN);
  703. #if ENABLED(RGBW_LED)
  704. SET_OUTPUT(RGB_LED_W_PIN);
  705. #endif
  706. #endif
  707. #if ENABLED(MK2_MULTIPLEXER)
  708. SET_OUTPUT(E_MUX0_PIN);
  709. SET_OUTPUT(E_MUX1_PIN);
  710. SET_OUTPUT(E_MUX2_PIN);
  711. #endif
  712. #if HAS_FANMUX
  713. fanmux_init();
  714. #endif
  715. lcd_init();
  716. lcd_reset_status();
  717. #if ENABLED(SHOW_BOOTSCREEN)
  718. lcd_bootscreen();
  719. #endif
  720. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  721. mixing_tools_init();
  722. #endif
  723. #if ENABLED(BLTOUCH)
  724. bltouch_init();
  725. #endif
  726. #if ENABLED(I2C_POSITION_ENCODERS)
  727. I2CPEM.init();
  728. #endif
  729. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  730. i2c.onReceive(i2c_on_receive);
  731. i2c.onRequest(i2c_on_request);
  732. #endif
  733. #if DO_SWITCH_EXTRUDER
  734. move_extruder_servo(0); // Initialize extruder servo
  735. #endif
  736. #if ENABLED(SWITCHING_NOZZLE)
  737. move_nozzle_servo(0); // Initialize nozzle servo
  738. #endif
  739. #if ENABLED(PARKING_EXTRUDER)
  740. pe_magnet_init();
  741. #endif
  742. #if ENABLED(POWER_LOSS_RECOVERY)
  743. do_print_job_recovery();
  744. #endif
  745. #if ENABLED(USE_WATCHDOG) // Reinit watchdog after HAL_get_reset_source call
  746. watchdog_init();
  747. #endif
  748. }
  749. /**
  750. * The main Marlin program loop
  751. *
  752. * - Save or log commands to SD
  753. * - Process available commands (if not saving)
  754. * - Call endstop manager
  755. * - Call inactivity manager
  756. */
  757. void loop() {
  758. for (;;) {
  759. #if ENABLED(SDSUPPORT)
  760. card.checkautostart();
  761. #endif
  762. #if ENABLED(SDSUPPORT) && ENABLED(ULTIPANEL)
  763. if (abort_sd_printing) {
  764. abort_sd_printing = false;
  765. card.stopSDPrint(
  766. #if SD_RESORT
  767. true
  768. #endif
  769. );
  770. clear_command_queue();
  771. quickstop_stepper();
  772. print_job_timer.stop();
  773. thermalManager.disable_all_heaters();
  774. #if FAN_COUNT > 0
  775. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  776. #endif
  777. wait_for_heatup = false;
  778. }
  779. #endif // SDSUPPORT && ULTIPANEL
  780. if (commands_in_queue < BUFSIZE) get_available_commands();
  781. advance_command_queue();
  782. endstops.report_state();
  783. idle();
  784. }
  785. }