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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * About Marlin
- *
- * This firmware is a mashup between Sprinter and grbl.
- * - https://github.com/kliment/Sprinter
- * - https://github.com/grbl/grbl
- */
-
- #include "Marlin.h"
-
- #include "core/utility.h"
- #include "lcd/ultralcd.h"
- #include "module/motion.h"
- #include "module/planner.h"
- #include "module/stepper.h"
- #include "module/endstops.h"
- #include "module/probe.h"
- #include "module/temperature.h"
- #include "sd/cardreader.h"
- #include "module/configuration_store.h"
- #include "module/printcounter.h" // PrintCounter or Stopwatch
- #include "feature/closedloop.h"
-
- #include "HAL/shared/Delay.h"
-
- #include "module/stepper/indirection.h"
-
- #ifdef ARDUINO
- #include <pins_arduino.h>
- #endif
- #include <math.h>
- #include "libs/nozzle.h"
-
- #include "gcode/gcode.h"
- #include "gcode/parser.h"
- #include "gcode/queue.h"
-
- #if ENABLED(TOUCH_BUTTONS)
- #include "feature/touch/xpt2046.h"
- #endif
-
- #if ENABLED(HOST_ACTION_COMMANDS)
- #include "feature/host_actions.h"
- #endif
-
- #if USE_BEEPER
- #include "libs/buzzer.h"
- #endif
-
- #if ENABLED(DIGIPOT_I2C)
- #include "feature/digipot/digipot.h"
- #endif
-
- #if ENABLED(MIXING_EXTRUDER)
- #include "feature/mixing.h"
- #endif
-
- #if ENABLED(MAX7219_DEBUG)
- #include "feature/Max7219_Debug_LEDs.h"
- #endif
-
- #if HAS_COLOR_LEDS
- #include "feature/leds/leds.h"
- #endif
-
- #if ENABLED(BLTOUCH)
- #include "feature/bltouch.h"
- #endif
-
- #if ENABLED(POLL_JOG)
- #include "feature/joystick.h"
- #endif
-
- #if HAS_SERVOS
- #include "module/servo.h"
- #endif
-
- #if ENABLED(DAC_STEPPER_CURRENT)
- #include "feature/dac/stepper_dac.h"
- #endif
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
- #include "feature/twibus.h"
- TWIBus i2c;
- #endif
-
- #if ENABLED(I2C_POSITION_ENCODERS)
- #include "feature/I2CPositionEncoder.h"
- #endif
-
- #if HAS_TRINAMIC && DISABLED(PS_DEFAULT_OFF)
- #include "feature/tmc_util.h"
- #endif
-
- #if HAS_CUTTER
- #include "feature/spindle_laser.h"
- #endif
-
- #if ENABLED(SDSUPPORT)
- CardReader card;
- #endif
-
- #if ENABLED(G38_PROBE_TARGET)
- uint8_t G38_move; // = 0
- bool G38_did_trigger; // = false
- #endif
-
- #if ENABLED(DELTA)
- #include "module/delta.h"
- #elif IS_SCARA
- #include "module/scara.h"
- #endif
-
- #if HAS_LEVELING
- #include "feature/bedlevel/bedlevel.h"
- #endif
-
- #if BOTH(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_NO_STEPPER_TIMEOUT)
- #include "feature/pause.h"
- #endif
-
- #if ENABLED(POWER_LOSS_RECOVERY)
- #include "feature/power_loss_recovery.h"
- #endif
-
- #if ENABLED(CANCEL_OBJECTS)
- #include "feature/cancel_object.h"
- #endif
-
- #if HAS_FILAMENT_SENSOR
- #include "feature/runout.h"
- #endif
-
- #if ENABLED(TEMP_STAT_LEDS)
- #include "feature/leds/tempstat.h"
- #endif
-
- #if HAS_CASE_LIGHT
- #include "feature/caselight.h"
- #endif
-
- #if HAS_FANMUX
- #include "feature/fanmux.h"
- #endif
-
- #if DO_SWITCH_EXTRUDER || ANY(SWITCHING_NOZZLE, PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER, ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
- #include "module/tool_change.h"
- #endif
-
- #if ENABLED(USE_CONTROLLER_FAN)
- #include "feature/controllerfan.h"
- #endif
-
- #if ENABLED(PRUSA_MMU2)
- #include "feature/prusa_MMU2/mmu2.h"
- #endif
-
- #if HAS_DRIVER(L6470)
- #include "libs/L6470/L6470_Marlin.h"
- #endif
-
- const char G28_STR[] PROGMEM = "G28",
- M21_STR[] PROGMEM = "M21",
- M23_STR[] PROGMEM = "M23 %s",
- M24_STR[] PROGMEM = "M24",
- NUL_STR[] PROGMEM = "";
-
- bool Running = true;
-
- // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
- bool wait_for_heatup = true;
-
- // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
- #if HAS_RESUME_CONTINUE
- bool wait_for_user; // = false;
- #endif
-
- #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
- bool suspend_auto_report; // = false
- #endif
-
- // Inactivity shutdown
- millis_t max_inactive_time, // = 0
- stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
-
- #if PIN_EXISTS(CHDK)
- extern millis_t chdk_timeout;
- #endif
-
- #if ENABLED(I2C_POSITION_ENCODERS)
- I2CPositionEncodersMgr I2CPEM;
- #endif
-
- /**
- * ***************************************************************************
- * ******************************** FUNCTIONS ********************************
- * ***************************************************************************
- */
-
- void setup_killpin() {
- #if HAS_KILL
- SET_INPUT_PULLUP(KILL_PIN);
- #endif
- }
-
- void setup_powerhold() {
- #if HAS_SUICIDE
- OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING);
- #endif
- #if ENABLED(PSU_CONTROL)
- #if ENABLED(PS_DEFAULT_OFF)
- powersupply_on = true; PSU_OFF();
- #else
- powersupply_on = false; PSU_ON();
- #endif
- #endif
- }
-
- /**
- * Stepper Reset (RigidBoard, et.al.)
- */
- #if HAS_STEPPER_RESET
- void disableStepperDrivers() { OUT_WRITE(STEPPER_RESET_PIN, LOW); } // Drive down to keep motor driver chips in reset
- void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // Set to input, allowing pullups to pull the pin high
- #endif
-
- #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
-
- void i2c_on_receive(int bytes) { // just echo all bytes received to serial
- i2c.receive(bytes);
- }
-
- void i2c_on_request() { // just send dummy data for now
- i2c.reply("Hello World!\n");
- }
-
- #endif
-
- /**
- * Sensitive pin test for M42, M226
- */
-
- #include "pins/sensitive_pins.h"
-
- bool pin_is_protected(const pin_t pin) {
- static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
- for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
- pin_t sensitive_pin;
- memcpy_P(&sensitive_pin, &sensitive_pins[i], sizeof(pin_t));
- if (pin == sensitive_pin) return true;
- }
- return false;
- }
-
- void protected_pin_err() {
- SERIAL_ERROR_MSG(MSG_ERR_PROTECTED_PIN);
- }
-
- void quickstop_stepper() {
- planner.quick_stop();
- planner.synchronize();
- set_current_from_steppers_for_axis(ALL_AXES);
- sync_plan_position();
- }
-
- void enable_e_steppers() {
- #define _ENA_E(N) enable_E##N();
- REPEAT(E_STEPPERS, _ENA_E)
- }
-
- void enable_all_steppers() {
- #if ENABLED(AUTO_POWER_CONTROL)
- powerManager.power_on();
- #endif
- enable_X();
- enable_Y();
- enable_Z();
- enable_e_steppers();
- }
-
- void disable_e_steppers() {
- #define _DIS_E(N) disable_E##N();
- REPEAT(E_STEPPERS, _DIS_E)
- }
-
- void disable_e_stepper(const uint8_t e) {
- #define _CASE_DIS_E(N) case N: disable_E##N(); break;
- switch (e) {
- REPEAT(EXTRUDERS, _CASE_DIS_E)
- }
- }
-
- void disable_all_steppers() {
- disable_X();
- disable_Y();
- disable_Z();
- disable_e_steppers();
- }
-
- #if ENABLED(G29_RETRY_AND_RECOVER)
-
- void event_probe_failure() {
- #ifdef ACTION_ON_G29_FAILURE
- host_action(PSTR(ACTION_ON_G29_FAILURE));
- #endif
- #ifdef G29_FAILURE_COMMANDS
- gcode.process_subcommands_now_P(PSTR(G29_FAILURE_COMMANDS));
- #endif
- #if ENABLED(G29_HALT_ON_FAILURE)
- #ifdef ACTION_ON_CANCEL
- host_action_cancel();
- #endif
- kill(GET_TEXT(MSG_LCD_PROBING_FAILED));
- #endif
- }
-
- void event_probe_recover() {
- #if ENABLED(HOST_PROMPT_SUPPORT)
- host_prompt_do(PROMPT_INFO, PSTR("G29 Retrying"), PSTR("Dismiss"));
- #endif
- #ifdef ACTION_ON_G29_RECOVER
- host_action(PSTR(ACTION_ON_G29_RECOVER));
- #endif
- #ifdef G29_RECOVER_COMMANDS
- gcode.process_subcommands_now_P(PSTR(G29_RECOVER_COMMANDS));
- #endif
- }
-
- #endif
-
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- #include "feature/pause.h"
- #else
- constexpr bool did_pause_print = false;
- #endif
-
- /**
- * Printing is active when the print job timer is running
- */
- bool printingIsActive() {
- return !did_pause_print && (print_job_timer.isRunning() || IS_SD_PRINTING());
- }
-
- /**
- * Printing is paused according to SD or host indicators
- */
- bool printingIsPaused() {
- return did_pause_print || print_job_timer.isPaused() || IS_SD_PAUSED();
- }
-
- void startOrResumeJob() {
- if (!printingIsPaused()) {
- #if ENABLED(CANCEL_OBJECTS)
- cancelable.reset();
- #endif
- #if ENABLED(LCD_SHOW_E_TOTAL)
- e_move_accumulator = 0;
- #endif
- }
- print_job_timer.start();
- }
-
- #if ENABLED(SDSUPPORT)
-
- void abortSDPrinting() {
- card.stopSDPrint(
- #if SD_RESORT
- true
- #endif
- );
- queue.clear();
- quickstop_stepper();
- print_job_timer.stop();
- #if DISABLED(SD_ABORT_NO_COOLDOWN)
- thermalManager.disable_all_heaters();
- #endif
- thermalManager.zero_fan_speeds();
- wait_for_heatup = false;
- #if ENABLED(POWER_LOSS_RECOVERY)
- card.removeJobRecoveryFile();
- #endif
- #ifdef EVENT_GCODE_SD_STOP
- queue.inject_P(PSTR(EVENT_GCODE_SD_STOP));
- #endif
- }
-
- #endif
-
- /**
- * Manage several activities:
- * - Check for Filament Runout
- * - Keep the command buffer full
- * - Check for maximum inactive time between commands
- * - Check for maximum inactive time between stepper commands
- * - Check if CHDK_PIN needs to go LOW
- * - Check for KILL button held down
- * - Check for HOME button held down
- * - Check if cooling fan needs to be switched on
- * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
- * - Pulse FET_SAFETY_PIN if it exists
- */
-
- void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
-
- #if HAS_FILAMENT_SENSOR
- runout.run();
- #endif
-
- if (queue.length < BUFSIZE) queue.get_available_commands();
-
- const millis_t ms = millis();
-
- if (max_inactive_time && ELAPSED(ms, gcode.previous_move_ms + max_inactive_time)) {
- SERIAL_ERROR_START();
- SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
- kill();
- }
-
- // Prevent steppers timing-out in the middle of M600
- #if BOTH(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_NO_STEPPER_TIMEOUT)
- #define MOVE_AWAY_TEST !did_pause_print
- #else
- #define MOVE_AWAY_TEST true
- #endif
-
- if (stepper_inactive_time) {
- static bool already_shutdown_steppers; // = false
- if (planner.has_blocks_queued())
- gcode.reset_stepper_timeout();
- else if (MOVE_AWAY_TEST && !ignore_stepper_queue && ELAPSED(ms, gcode.previous_move_ms + stepper_inactive_time)) {
- if (!already_shutdown_steppers) {
- already_shutdown_steppers = true; // L6470 SPI will consume 99% of free time without this
- #if ENABLED(DISABLE_INACTIVE_X)
- disable_X();
- #endif
- #if ENABLED(DISABLE_INACTIVE_Y)
- disable_Y();
- #endif
- #if ENABLED(DISABLE_INACTIVE_Z)
- disable_Z();
- #endif
- #if ENABLED(DISABLE_INACTIVE_E)
- disable_e_steppers();
- #endif
- #if HAS_LCD_MENU && ENABLED(AUTO_BED_LEVELING_UBL)
- if (ubl.lcd_map_control) {
- ubl.lcd_map_control = false;
- ui.defer_status_screen(false);
- }
- #endif
- }
- }
- else
- already_shutdown_steppers = false;
- }
-
- #if PIN_EXISTS(CHDK) // Check if pin should be set to LOW (after M240 set it HIGH)
- if (chdk_timeout && ELAPSED(ms, chdk_timeout)) {
- chdk_timeout = 0;
- WRITE(CHDK_PIN, LOW);
- }
- #endif
-
- #if HAS_KILL
-
- // Check if the kill button was pressed and wait just in case it was an accidental
- // key kill key press
- // -------------------------------------------------------------------------------
- static int killCount = 0; // make the inactivity button a bit less responsive
- const int KILL_DELAY = 750;
- if (!READ(KILL_PIN))
- killCount++;
- else if (killCount > 0)
- killCount--;
-
- // Exceeded threshold and we can confirm that it was not accidental
- // KILL the machine
- // ----------------------------------------------------------------
- if (killCount >= KILL_DELAY) {
- SERIAL_ERROR_MSG(MSG_KILL_BUTTON);
- kill();
- }
- #endif
-
- #if HAS_HOME
- // Handle a standalone HOME button
- constexpr millis_t HOME_DEBOUNCE_DELAY = 1000UL;
- static millis_t next_home_key_ms; // = 0
- if (!IS_SD_PRINTING() && !READ(HOME_PIN)) { // HOME_PIN goes LOW when pressed
- const millis_t ms = millis();
- if (ELAPSED(ms, next_home_key_ms)) {
- next_home_key_ms = ms + HOME_DEBOUNCE_DELAY;
- LCD_MESSAGEPGM(MSG_AUTO_HOME);
- queue.enqueue_now_P(G28_STR);
- }
- }
- #endif
-
- #if ENABLED(USE_CONTROLLER_FAN)
- controllerfan_update(); // Check if fan should be turned on to cool stepper drivers down
- #endif
-
- #if ENABLED(AUTO_POWER_CONTROL)
- powerManager.check();
- #endif
-
- #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
- if (thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP
- && ELAPSED(ms, gcode.previous_move_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
- && !planner.has_blocks_queued()
- ) {
- #if ENABLED(SWITCHING_EXTRUDER)
- bool oldstatus;
- switch (active_extruder) {
- default: oldstatus = E0_ENABLE_READ(); enable_E0(); break;
- #if E_STEPPERS > 1
- case 2: case 3: oldstatus = E1_ENABLE_READ(); enable_E1(); break;
- #if E_STEPPERS > 2
- case 4: case 5: oldstatus = E2_ENABLE_READ(); enable_E2(); break;
- #endif // E_STEPPERS > 2
- #endif // E_STEPPERS > 1
- }
- #else // !SWITCHING_EXTRUDER
- bool oldstatus;
- switch (active_extruder) {
- default:
- #define _CASE_EN(N) case N: oldstatus = E##N_ENABLE_READ(); enable_E##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: oldstatus = E0_ENABLE_WRITE(oldstatus); break;
- #if E_STEPPERS > 1
- case 2: case 3: oldstatus = E1_ENABLE_WRITE(oldstatus); break;
- #if E_STEPPERS > 2
- case 4: case 5: oldstatus = E2_ENABLE_WRITE(oldstatus); break;
- #endif // E_STEPPERS > 2
- #endif // E_STEPPERS > 1
- }
- #else // !SWITCHING_EXTRUDER
- switch (active_extruder) {
- #define _CASE_RESTORE(N) case N: E##N##_ENABLE_WRITE(oldstatus); break;
- REPEAT(E_STEPPERS, _CASE_RESTORE);
- }
- #endif // !SWITCHING_EXTRUDER
-
- gcode.reset_stepper_timeout();
- }
- #endif // EXTRUDER_RUNOUT_PREVENT
-
- #if ENABLED(DUAL_X_CARRIAGE)
- // handle delayed move timeout
- if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
- // travel moves have been received so enact them
- delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
- destination = current_position;
- prepare_move_to_destination();
- }
- #endif
-
- #if ENABLED(TEMP_STAT_LEDS)
- handle_status_leds();
- #endif
-
- #if ENABLED(MONITOR_DRIVER_STATUS)
- monitor_tmc_driver();
- #endif
-
- #if ENABLED(MONITOR_L6470_DRIVER_STATUS)
- L6470.monitor_driver();
- #endif
-
- // 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; // 2uS 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
- */
- void idle(
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- bool no_stepper_sleep/*=false*/
- #endif
- ) {
- #if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS)
- recovery.outage();
- #endif
-
- #if ENABLED(SPI_ENDSTOPS)
- if (endstops.tmc_spi_homing.any
- #if ENABLED(IMPROVE_HOMING_RELIABILITY)
- && ELAPSED(millis(), sg_guard_period)
- #endif
- ) {
- for (uint8_t i = 4; i--;) // Read SGT 4 times per idle loop
- if (endstops.tmc_spi_homing_check()) break;
- }
- #endif
-
- #if ENABLED(MAX7219_DEBUG)
- max7219.idle_tasks();
- #endif
-
- ui.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 USE_BEEPER
- buzzer.tick();
- #endif
-
- #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
-
- #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
-
- #if ENABLED(USB_FLASH_DRIVE_SUPPORT)
- Sd2Card::idle();
- #endif
-
- #if ENABLED(PRUSA_MMU2)
- mmu2.mmu_loop();
- #endif
-
- #if ENABLED(POLL_JOG)
- joystick.inject_jog_moves();
- #endif
- }
-
- /**
- * Kill all activity and lock the machine.
- * After this the machine will need to be reset.
- */
- void kill(PGM_P const lcd_error/*=nullptr*/, PGM_P const lcd_component/*=nullptr*/, const bool steppers_off/*=false*/) {
- thermalManager.disable_all_heaters();
-
- SERIAL_ERROR_MSG(MSG_ERR_KILLED);
-
- #if HAS_DISPLAY
- ui.kill_screen(lcd_error ?: GET_TEXT(MSG_KILLED), lcd_component ?: PSTR(""));
- #else
- UNUSED(lcd_error);
- UNUSED(lcd_component);
- #endif
-
- #ifdef ACTION_ON_KILL
- host_action_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();
-
- // Power off all steppers (for M112) or just the E steppers
- steppers_off ? disable_all_steppers() : disable_e_steppers();
-
- #if ENABLED(PSU_CONTROL)
- PSU_OFF();
- #endif
-
- #if HAS_SUICIDE
- suicide();
- #endif
-
- #if HAS_KILL
-
- // Wait for kill to be released
- while (!READ(KILL_PIN)) watchdog_refresh();
-
- // Wait for kill to be pressed
- while (READ(KILL_PIN)) watchdog_refresh();
-
- void (*resetFunc)() = 0; // Declare resetFunc() at address 0
- resetFunc(); // Jump to address 0
-
- #else // !HAS_KILL
-
- for (;;) watchdog_refresh(); // Wait for reset
-
- #endif // !HAS_KILL
- }
-
- /**
- * 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 ENABLED(PROBING_FANS_OFF)
- if (thermalManager.fans_paused) thermalManager.set_fans_paused(false); // put things back the way they were
- #endif
-
- if (IsRunning()) {
- queue.stop();
- SERIAL_ERROR_MSG(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() {
-
- HAL_init();
-
- #if HAS_DRIVER(L6470)
- L6470.init(); // setup SPI and then init chips
- #endif
-
- #if ENABLED(MAX7219_DEBUG)
- max7219.init();
- #endif
-
- #if ENABLED(DISABLE_DEBUG)
- // Disable any hardware debug to free up pins for IO
- #ifdef JTAGSWD_DISABLE
- JTAGSWD_DISABLE();
- #elif defined(JTAG_DISABLE)
- JTAG_DISABLE();
- #else
- #error "DISABLE_DEBUG is not supported for the selected MCU/Board"
- #endif
- #elif ENABLED(DISABLE_JTAG)
- // Disable JTAG to free up pins for IO
- #ifdef JTAG_DISABLE
- JTAG_DISABLE();
- #else
- #error "DISABLE_JTAG is not supported for the selected MCU/Board"
- #endif
- #endif
-
- #if HAS_FILAMENT_SENSOR
- runout.setup();
- #endif
-
- #if ENABLED(POWER_LOSS_RECOVERY)
- recovery.setup();
- #endif
-
- setup_killpin();
-
- #if HAS_TMC220x
- tmc_serial_begin();
- #endif
-
- 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_ECHOLNPGM("start");
- SERIAL_ECHO_START();
-
- #if TMC_HAS_SPI
- #if DISABLED(TMC_USE_SW_SPI)
- SPI.begin();
- #endif
- tmc_init_cs_pins();
- #endif
-
- #ifdef BOARD_INIT
- BOARD_INIT();
- #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_MSG(
- MSG_CONFIGURATION_VER
- STRING_DISTRIBUTION_DATE
- MSG_AUTHOR STRING_CONFIG_H_AUTHOR
- );
- SERIAL_ECHO_MSG("Compiled: " __DATE__);
- #endif
-
- SERIAL_ECHO_START();
- SERIAL_ECHOLNPAIR(MSG_FREE_MEMORY, freeMemory(), MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t) * (BLOCK_BUFFER_SIZE));
-
- // UI must be initialized before EEPROM
- // (because EEPROM code calls the UI).
-
- // Set up LEDs early
- #if HAS_COLOR_LEDS
- leds.setup();
- #endif
-
- ui.init();
- #if HAS_SPI_LCD && ENABLED(SHOW_BOOTSCREEN)
- ui.show_bootscreen();
- #endif
-
- #if ENABLED(SDSUPPORT)
- card.mount(); // Mount the SD card before settings.first_load
- #endif
-
- // Load data from EEPROM if available (or use defaults)
- // This also updates variables in the planner, elsewhere
- settings.first_load();
-
- #if ENABLED(TOUCH_BUTTONS)
- touch.init();
- #endif
-
- #if HAS_M206_COMMAND
- // Initialize current position based on home_offset
- current_position += home_offset;
- #endif
-
- // Vital to init stepper/planner equivalent for current_position
- sync_plan_position();
-
- thermalManager.init(); // Initialize temperature loop
-
- print_job_timer.init(); // Initial setup of print job timer
-
- ui.reset_status(); // Print startup message after print statistics are loaded
-
- endstops.init(); // Init endstops and pullups
-
- stepper.init(); // Init stepper. This enables interrupts!
-
- #if HAS_SERVOS
- servo_init();
- #endif
-
- #if HAS_Z_SERVO_PROBE
- servo_probe_init();
- #endif
-
- #if HAS_PHOTOGRAPH
- OUT_WRITE(PHOTOGRAPH_PIN, LOW);
- #endif
-
- #if HAS_CUTTER
- 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
- endstops.enable_z_probe(false);
- #endif
-
- #if ENABLED(USE_CONTROLLER_FAN)
- SET_OUTPUT(CONTROLLER_FAN_PIN);
- #endif
-
- #if HAS_STEPPER_RESET
- enableStepperDrivers();
- #endif
-
- #if ENABLED(DIGIPOT_I2C)
- digipot_i2c_init();
- #endif
-
- #if ENABLED(DAC_STEPPER_CURRENT)
- 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 PIN_EXISTS(STAT_LED_RED)
- OUT_WRITE(STAT_LED_RED_PIN, LOW); // OFF
- #endif
-
- #if PIN_EXISTS(STAT_LED_BLUE)
- OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // OFF
- #endif
-
- #if HAS_CASE_LIGHT
- #if DISABLED(CASE_LIGHT_USE_NEOPIXEL)
- if (PWM_PIN(CASE_LIGHT_PIN)) SET_PWM(CASE_LIGHT_PIN); else SET_OUTPUT(CASE_LIGHT_PIN);
- #endif
- update_case_light();
- #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
-
- #if ENABLED(MIXING_EXTRUDER)
- mixer.init();
- #endif
-
- #if ENABLED(BLTOUCH)
- bltouch.init(/*set_voltage=*/true);
- #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 DO_SWITCH_EXTRUDER
- move_extruder_servo(0); // Initialize extruder servo
- #endif
-
- #if ENABLED(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(MAGNETIC_PARKING_EXTRUDER)
- mpe_settings_init();
- #endif
-
- #if ENABLED(PARKING_EXTRUDER)
- pe_solenoid_init();
- #endif
-
- #if ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
- est_init();
- #endif
-
- #if ENABLED(POWER_LOSS_RECOVERY)
- recovery.check();
- #endif
-
- #if ENABLED(USE_WATCHDOG)
- watchdog_init(); // Reinit watchdog after HAL_get_reset_source call
- #endif
-
- #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
- init_closedloop();
- #endif
-
- #ifdef STARTUP_COMMANDS
- queue.inject_P(PSTR(STARTUP_COMMANDS));
- #endif
-
- #if ENABLED(INIT_SDCARD_ON_BOOT) && !HAS_SPI_LCD
- card.beginautostart();
- #endif
-
- #if ENABLED(HOST_PROMPT_SUPPORT)
- host_action_prompt_end();
- #endif
-
- #if HAS_TRINAMIC && DISABLED(PS_DEFAULT_OFF)
- test_tmc_connection(true, true, true, true);
- #endif
-
- #if ENABLED(PRUSA_MMU2)
- mmu2.init();
- #endif
- }
-
- /**
- * The main Marlin program loop
- *
- * - Save or log commands to SD
- * - Process available commands (if not saving)
- * - Call endstop manager
- * - Call inactivity manager
- */
- void loop() {
-
- for (;;) {
-
- idle(); // Do an idle first so boot is slightly faster
-
- #if ENABLED(SDSUPPORT)
- card.checkautostart();
- if (card.flag.abort_sd_printing) abortSDPrinting();
- #endif
-
- queue.advance();
-
- endstops.event_handler();
- }
- }
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