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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016, 2017 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/simen/grbl
- */
-
- #include "Marlin.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
- #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 HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
- #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(BEZIER_CURVE_SUPPORT)
- #include "module/planner_bezier.h"
- #endif
-
- #if ENABLED(MAX7219_DEBUG)
- #include "feature/Max7219_Debug_LEDs.h"
- #endif
-
- #if HAS_COLOR_LEDS
- #include "feature/leds/leds.h"
- #endif
-
- #if HAS_SERVOS
- #include "HAL/servo.h"
- #endif
-
- #if HAS_DIGIPOTSS
- #include <SPI.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 ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
- #include "HAL/HAL_endstop_interrupts.h"
- #endif
-
- #if ENABLED(HAVE_TMC2130)
- #include "feature/tmc2130.h"
- #endif
-
- #if ENABLED(SDSUPPORT)
- CardReader card;
- #endif
-
- #if ENABLED(G38_PROBE_TARGET)
- bool G38_move = false,
- G38_endstop_hit = 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 ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
- #include "feature/pause.h"
- #endif
-
- #if ENABLED(FILAMENT_RUNOUT_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 (ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
- #include "module/tool_change.h"
- #endif
-
- #if ENABLED(USE_CONTROLLER_FAN)
- #include "feature/controllerfan.h"
- #endif
-
- bool Running = true;
-
- /**
- * axis_homed
- * Flags that each linear axis was homed.
- * XYZ on cartesian, ABC on delta, ABZ on SCARA.
- *
- * axis_known_position
- * Flags that the position is known in each linear axis. Set when homed.
- * Cleared whenever a stepper powers off, potentially losing its position.
- */
- bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
-
- #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
- TempUnit input_temp_units = TEMPUNIT_C;
- #endif
-
- #if FAN_COUNT > 0
- int16_t fanSpeeds[FAN_COUNT] = { 0 };
- #if ENABLED(EXTRA_FAN_SPEEDS)
- int16_t old_fanSpeeds[FAN_COUNT],
- new_fanSpeeds[FAN_COUNT];
- #endif
- #if ENABLED(PROBING_FANS_OFF)
- bool fans_paused = false;
- int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
- #endif
- #endif
-
- // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
- volatile 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
- volatile bool wait_for_user = false;
- #endif
-
- // Inactivity shutdown
- millis_t max_inactive_time = 0,
- stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
-
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- AdvancedPauseMenuResponse advanced_pause_menu_response;
- #endif
-
- #ifdef CHDK
- millis_t chdkHigh = 0;
- bool chdkActive = false;
- #endif
-
- #if ENABLED(PID_EXTRUSION_SCALING)
- int lpq_len = 20;
- #endif
-
- #if ENABLED(I2C_POSITION_ENCODERS)
- I2CPositionEncodersMgr I2CPEM;
- uint8_t blockBufferIndexRef = 0;
- millis_t lastUpdateMillis;
- #endif
-
- /**
- * ***************************************************************************
- * ******************************** FUNCTIONS ********************************
- * ***************************************************************************
- */
-
- void setup_killpin() {
- #if HAS_KILL
- SET_INPUT_PULLUP(KILL_PIN);
- #endif
- }
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
-
- void setup_filrunoutpin() {
- #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
- SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
- #else
- SET_INPUT(FIL_RUNOUT_PIN);
- #endif
- }
-
- #endif
-
- void setup_powerhold() {
- #if HAS_SUICIDE
- OUT_WRITE(SUICIDE_PIN, HIGH);
- #endif
- #if HAS_POWER_SWITCH
- #if ENABLED(PS_DEFAULT_OFF)
- OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #else
- OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
- #endif
- #endif
- }
-
- #if HAS_SERVOS
-
- HAL_SERVO_LIB servo[NUM_SERVOS];
-
- void servo_init() {
- #if NUM_SERVOS >= 1 && HAS_SERVO_0
- servo[0].attach(SERVO0_PIN);
- servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
- #endif
- #if NUM_SERVOS >= 2 && HAS_SERVO_1
- servo[1].attach(SERVO1_PIN);
- servo[1].detach();
- #endif
- #if NUM_SERVOS >= 3 && HAS_SERVO_2
- servo[2].attach(SERVO2_PIN);
- servo[2].detach();
- #endif
- #if NUM_SERVOS >= 4 && HAS_SERVO_3
- servo[3].attach(SERVO3_PIN);
- servo[3].detach();
- #endif
-
- #if HAS_Z_SERVO_ENDSTOP
- servo_probe_init();
- #endif
- }
-
- #endif // HAS_SERVOS
-
- /**
- * Stepper Reset (RigidBoard, et.al.)
- */
- #if HAS_STEPPER_RESET
- void disableStepperDrivers() {
- OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
- }
- void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
- #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
- */
- 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 quickstop_stepper() {
- stepper.quick_stop();
- stepper.synchronize();
- set_current_from_steppers_for_axis(ALL_AXES);
- SYNC_PLAN_POSITION_KINEMATIC();
- }
-
- void enable_all_steppers() {
- enable_X();
- enable_Y();
- enable_Z();
- enable_E0();
- enable_E1();
- enable_E2();
- enable_E3();
- enable_E4();
- }
-
- void disable_e_steppers() {
- disable_E0();
- disable_E1();
- disable_E2();
- disable_E3();
- disable_E4();
- }
-
- void disable_all_steppers() {
- disable_X();
- disable_Y();
- disable_Z();
- disable_e_steppers();
- }
-
- /**
- * 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 pin CHDK 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)
- */
- void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
- if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
- handle_filament_runout();
- #endif
-
- if (commands_in_queue < BUFSIZE) get_available_commands();
-
- const millis_t ms = millis();
-
- if (max_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + max_inactive_time)) {
- SERIAL_ERROR_START();
- SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
- kill(PSTR(MSG_KILLED));
- }
-
- // Prevent steppers timing-out in the middle of M600
- #if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
- #define MOVE_AWAY_TEST !move_away_flag
- #else
- #define MOVE_AWAY_TEST true
- #endif
-
- if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + stepper_inactive_time)
- && !ignore_stepper_queue && !planner.blocks_queued()) {
- #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 ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
- ubl.lcd_map_control = defer_return_to_status = false;
- #endif
- }
-
- #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
- if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
- chdkActive = false;
- WRITE(CHDK, 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_START();
- SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
- kill(PSTR(MSG_KILLED));
- }
- #endif
-
- #if HAS_HOME
- // Check to see if we have to home, use poor man's debouncer
- // ---------------------------------------------------------
- static int homeDebounceCount = 0; // poor man's debouncing count
- const int HOME_DEBOUNCE_DELAY = 2500;
- if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
- if (!homeDebounceCount) {
- enqueue_and_echo_commands_P(PSTR("G28"));
- LCD_MESSAGEPGM(MSG_AUTO_HOME);
- }
- if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
- homeDebounceCount++;
- else
- homeDebounceCount = 0;
- }
- #endif
-
- #if ENABLED(USE_CONTROLLER_FAN)
- controllerfan_update(); // Check if fan should be turned on to cool stepper drivers down
- #endif
-
- #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
- if (ELAPSED(ms, gcode.previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
- && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
- #if ENABLED(SWITCHING_EXTRUDER)
- const bool oldstatus = E0_ENABLE_READ;
- enable_E0();
- #else // !SWITCHING_EXTRUDER
- bool oldstatus;
- switch (active_extruder) {
- default: oldstatus = E0_ENABLE_READ; enable_E0(); break;
- #if E_STEPPERS > 1
- case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
- #if E_STEPPERS > 2
- case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
- #if E_STEPPERS > 3
- case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
- #if E_STEPPERS > 4
- case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
- #endif // E_STEPPERS > 4
- #endif // E_STEPPERS > 3
- #endif // E_STEPPERS > 2
- #endif // E_STEPPERS > 1
- }
- #endif // !SWITCHING_EXTRUDER
-
- gcode.refresh_cmd_timeout()
-
- const float olde = current_position[E_AXIS];
- current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
- planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
- current_position[E_AXIS] = olde;
- planner.set_e_position_mm(olde);
- stepper.synchronize();
- #if ENABLED(SWITCHING_EXTRUDER)
- E0_ENABLE_WRITE(oldstatus);
- #else
- switch (active_extruder) {
- case 0: E0_ENABLE_WRITE(oldstatus); break;
- #if E_STEPPERS > 1
- case 1: E1_ENABLE_WRITE(oldstatus); break;
- #if E_STEPPERS > 2
- case 2: E2_ENABLE_WRITE(oldstatus); break;
- #if E_STEPPERS > 3
- case 3: E3_ENABLE_WRITE(oldstatus); break;
- #if E_STEPPERS > 4
- case 4: E4_ENABLE_WRITE(oldstatus); break;
- #endif // E_STEPPERS > 4
- #endif // E_STEPPERS > 3
- #endif // E_STEPPERS > 2
- #endif // E_STEPPERS > 1
- }
- #endif // !SWITCHING_EXTRUDER
- }
- #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
- set_destination_from_current();
- prepare_move_to_destination();
- }
- #endif
-
- #if ENABLED(TEMP_STAT_LEDS)
- handle_status_leds();
- #endif
-
- #if ENABLED(HAVE_TMC2130)
- tmc2130_checkOverTemp();
- #endif
-
- planner.check_axes_activity();
- }
-
- /**
- * Standard idle routine keeps the machine alive
- */
- void idle(
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- 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
-
- #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
- thermalManager.auto_report_temperatures();
- #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)
- if (planner.blocks_queued() &&
- ( (blockBufferIndexRef != planner.block_buffer_head) ||
- ((lastUpdateMillis + I2CPE_MIN_UPD_TIME_MS) < millis())) ) {
- blockBufferIndexRef = planner.block_buffer_head;
- I2CPEM.update();
- lastUpdateMillis = millis();
- }
- #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() {
-
- #if ENABLED(MAX7219_DEBUG)
- Max7219_init();
- #endif
-
- #ifdef DISABLE_JTAG
- // Disable JTAG on AT90USB chips to free up pins for IO
- MCUCR = 0x80;
- MCUCR = 0x80;
- #endif
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
- setup_filrunoutpin();
- #endif
-
- setup_killpin();
-
- setup_powerhold();
-
- #if HAS_STEPPER_RESET
- disableStepperDrivers();
- #endif
-
- MYSERIAL.begin(BAUDRATE);
- uint32_t serial_connect_timeout = millis() + 1000;
- while(!MYSERIAL && PENDING(millis(), serial_connect_timeout));
- SERIAL_PROTOCOLLNPGM("start");
- SERIAL_ECHO_START();
-
- // 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();
-
- #if ENABLED(USE_WATCHDOG) //reinit watchdog after HAL_get_reset_source call
- watchdog_init();
- #endif
-
- 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
-
- stepper.init(); // Initialize stepper, this enables interrupts!
-
- #if HAS_SERVOS
- servo_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 ENABLED(NEOPIXEL_LED)
- SET_OUTPUT(NEOPIXEL_PIN);
- setup_neopixel();
- #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();
-
- #ifndef CUSTOM_BOOTSCREEN_TIMEOUT
- #define CUSTOM_BOOTSCREEN_TIMEOUT 2500
- #endif
-
- #if ENABLED(SHOW_BOOTSCREEN)
- #if ENABLED(DOGLCD) // On DOGM the first bootscreen is already drawn
- #if ENABLED(SHOW_CUSTOM_BOOTSCREEN)
- safe_delay(CUSTOM_BOOTSCREEN_TIMEOUT); // Custom boot screen pause
- lcd_bootscreen(); // Show Marlin boot screen
- #endif
- safe_delay(BOOTSCREEN_TIMEOUT); // Pause
- #elif ENABLED(ULTRA_LCD)
- lcd_bootscreen();
- #if DISABLED(SDSUPPORT)
- lcd_init();
- #endif
- #endif
- #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
- }
-
- /**
- * 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();
- }
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