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MarlinCore.cpp
MarlinCore.cpp 32.77 KiB
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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 "MarlinCore.h"
#include "HAL/shared/Delay.h"
#include "HAL/shared/esp_wifi.h"
#ifdef ARDUINO
#include <pins_arduino.h>
#endif
#include <math.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 "module/stepper/indirection.h"
#include "libs/nozzle.h"
#include "gcode/gcode.h"
#include "gcode/parser.h"
#include "gcode/queue.h"
#if ENABLED(TFT_LVGL_UI)
#include "lvgl.h"
#include "lcd/extui/lib/mks_ui/tft_lvgl_configuration.h"
#include "lcd/extui/lib/mks_ui/draw_ui.h"
#endif
#if ENABLED(DWIN_CREALITY_LCD)
#include "lcd/dwin/dwin.h"
#include "lcd/dwin/dwin_lcd.h" #include "lcd/dwin/rotary_encoder.h"
#endif
#if ENABLED(IIC_BL24CXX_EEPROM)
#include "lcd/dwin/eeprom_BL24CXX.h"
#endif
#if ENABLED(DIRECT_STEPPING)
#include "feature/direct_stepping.h"
#endif
#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 HAS_I2C_DIGIPOT
#include "feature/digipot/digipot.h"
#endif
#if ENABLED(MIXING_EXTRUDER)
#include "feature/mixing.h"
#endif
#if ENABLED(MAX7219_DEBUG)
#include "feature/max7219.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/encoder_i2c.h"
#endif
#if HAS_TRINAMIC_CONFIG && DISABLED(PSU_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/powerloss.h"
#endif
#if ENABLED(CANCEL_OBJECTS)
#include "feature/cancel_object.h"
#endif
#if HAS_FILAMENT_SENSOR
#include "feature/runout.h"
#endif
#if ENABLED(HOTEND_IDLE_TIMEOUT)
#include "feature/hotend_idle.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, SWITCHING_TOOLHEAD)
#include "module/tool_change.h"
#endif
#if ENABLED(USE_CONTROLLER_FAN)
#include "feature/controllerfan.h"
#endif
#if ENABLED(PRUSA_MMU2)
#include "feature/mmu2/mmu2.h"
#endif
#if HAS_L64XX
#include "libs/L64XX/L64XX_Marlin.h"
#endif
PGMSTR(NUL_STR, "");PGMSTR(M112_KILL_STR, "M112 Shutdown");
PGMSTR(G28_STR, "G28");
PGMSTR(M21_STR, "M21");
PGMSTR(M23_STR, "M23 %s");
PGMSTR(M24_STR, "M24");
PGMSTR(SP_P_STR, " P"); PGMSTR(SP_T_STR, " T");
PGMSTR(X_STR, "X"); PGMSTR(Y_STR, "Y"); PGMSTR(Z_STR, "Z"); PGMSTR(E_STR, "E");
PGMSTR(X_LBL, "X:"); PGMSTR(Y_LBL, "Y:"); PGMSTR(Z_LBL, "Z:"); PGMSTR(E_LBL, "E:");
PGMSTR(SP_X_STR, " X"); PGMSTR(SP_Y_STR, " Y"); PGMSTR(SP_Z_STR, " Z"); PGMSTR(SP_E_STR, " E");
PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMSTR(SP_E_LBL, " E:");
MarlinState marlin_state = MF_INITIALIZING;
// 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;
void wait_for_user_response(millis_t ms/*=0*/, const bool no_sleep/*=false*/) {
TERN(ADVANCED_PAUSE_FEATURE,,UNUSED(no_sleep));
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true;
if (ms) ms += millis(); // expire time
while (wait_for_user && !(ms && ELAPSED(millis(), ms)))
idle(TERN_(ADVANCED_PAUSE_FEATURE, no_sleep));
wait_for_user = false;
}
#endif
#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
#if KILL_PIN_STATE
SET_INPUT_PULLDOWN(KILL_PIN);
#else
SET_INPUT_PULLUP(KILL_PIN);
#endif
#endif
}
void setup_powerhold() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING);
#endif
#if ENABLED(PSU_CONTROL)
powersupply_on = ENABLED(PSU_DEFAULT_OFF);
if (ENABLED(PSU_DEFAULT_OFF)) PSU_OFF(); else PSU_ON();
#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"
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wnarrowing"
bool pin_is_protected(const pin_t pin) {
static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
LOOP_L_N(i, COUNT(sensitive_pins)) {
pin_t sensitive_pin;
memcpy_P(&sensitive_pin, &sensitive_pins[i], sizeof(pin_t));
if (pin == sensitive_pin) return true;
}
return false;
}
#pragma GCC diagnostic pop
void protected_pin_err() {
SERIAL_ERROR_MSG(STR_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_AXIS_E##N();
REPEAT(E_STEPPERS, _ENA_E)
}
void enable_all_steppers() {
TERN_(AUTO_POWER_CONTROL, powerManager.power_on());
ENABLE_AXIS_X();
ENABLE_AXIS_Y();
ENABLE_AXIS_Z();
enable_e_steppers();
}
void disable_e_steppers() {
#define _DIS_E(N) DISABLE_AXIS_E##N();
REPEAT(E_STEPPERS, _DIS_E)
}
void disable_e_stepper(const uint8_t e) {
#define _CASE_DIS_E(N) case N: DISABLE_AXIS_E##N(); break;
switch (e) {
REPEAT(EXTRUDERS, _CASE_DIS_E) }
}
void disable_all_steppers() {
DISABLE_AXIS_X();
DISABLE_AXIS_Y();
DISABLE_AXIS_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() {
TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_INFO, PSTR("G29 Retrying"), DISMISS_STR));
#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()) {
TERN_(CANCEL_OBJECTS, cancelable.reset());
TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator = 0);
#if BOTH(LCD_SET_PROGRESS_MANUALLY, USE_M73_REMAINING_TIME)
ui.reset_remaining_time();
#endif
}
print_job_timer.start();
}
#if ENABLED(SDSUPPORT)
inline void abortSDPrinting() {
card.endFilePrint(TERN_(SD_RESORT, true));
queue.clear();
quickstop_stepper();
print_job_timer.stop();
#if DISABLED(SD_ABORT_NO_COOLDOWN)
thermalManager.disable_all_heaters();
#endif
#if !HAS_CUTTER
thermalManager.zero_fan_speeds();
#else
cutter.kill(); // Full cutter shutdown including ISR control
#endif
wait_for_heatup = false;
TERN_(POWER_LOSS_RECOVERY, recovery.purge());
#ifdef EVENT_GCODE_SD_STOP
queue.inject_P(PSTR(EVENT_GCODE_SD_STOP));
#endif
}
inline void finishSDPrinting() {
if (queue.enqueue_one_P(PSTR("M1001")))
marlin_state = MF_RUNNING;
}
#endif // SDSUPPORT
/**
* Minimal management of Marlin's core activities:
* - 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
*/
inline void manage_inactivity(const bool ignore_stepper_queue=false) {
if (queue.length < BUFSIZE) queue.get_available_commands();
const millis_t ms = millis();
// Prevent steppers timing-out in the middle of M600
// unless PAUSE_PARK_NO_STEPPER_TIMEOUT is disabled
const bool parked_or_ignoring = ignore_stepper_queue ||
(BOTH(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_NO_STEPPER_TIMEOUT) && did_pause_print);
// Reset both the M18/M84 activity timeout and the M85 max 'kill' timeout
if (parked_or_ignoring) gcode.reset_stepper_timeout(ms);
if (gcode.stepper_max_timed_out(ms)) {
SERIAL_ERROR_START();
SERIAL_ECHOLNPAIR(STR_KILL_INACTIVE_TIME, parser.command_ptr);
kill();
}
// M18 / M94 : Handle steppers inactive time timeout
if (gcode.stepper_inactive_time) {
static bool already_shutdown_steppers; // = false
// Any moves in the planner? Resets both the M18/M84
// activity timeout and the M85 max 'kill' timeout
if (planner.has_blocks_queued())
gcode.reset_stepper_timeout(ms); else if (!parked_or_ignoring && gcode.stepper_inactive_timeout()) {
if (!already_shutdown_steppers) {
already_shutdown_steppers = true; // L6470 SPI will consume 99% of free time without this
// Individual axes will be disabled if configured
if (ENABLED(DISABLE_INACTIVE_X)) DISABLE_AXIS_X();
if (ENABLED(DISABLE_INACTIVE_Y)) DISABLE_AXIS_Y();
if (ENABLED(DISABLE_INACTIVE_Z)) DISABLE_AXIS_Z();
if (ENABLED(DISABLE_INACTIVE_E)) disable_e_steppers();
TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled());
}
}
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 (kill_state())
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(STR_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
TERN_(USE_CONTROLLER_FAN, controllerFan.update()); // Check if fan should be turned on to cool stepper drivers down
TERN_(AUTO_POWER_CONTROL, powerManager.check());
TERN_(HOTEND_IDLE_TIMEOUT, hotend_idle.check());
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
if (thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP
&& ELAPSED(ms, gcode.previous_move_ms + SEC_TO_MS(EXTRUDER_RUNOUT_SECONDS))
&& !planner.has_blocks_queued()
) { #if ENABLED(SWITCHING_EXTRUDER)
bool oldstatus;
switch (active_extruder) {
default: oldstatus = E0_ENABLE_READ(); ENABLE_AXIS_E0(); break;
#if E_STEPPERS > 1
case 2: case 3: oldstatus = E1_ENABLE_READ(); ENABLE_AXIS_E1(); break;
#if E_STEPPERS > 2
case 4: case 5: oldstatus = E2_ENABLE_READ(); ENABLE_AXIS_E2(); break;
#if E_STEPPERS > 3
case 6: case 7: oldstatus = E3_ENABLE_READ(); ENABLE_AXIS_E3(); break;
#endif // E_STEPPERS > 3
#endif // E_STEPPERS > 2
#endif // E_STEPPERS > 1
}
#else // !SWITCHING_EXTRUDER
bool oldstatus;
switch (active_extruder) {
default:
#define _CASE_EN(N) case N: oldstatus = E##N##_ENABLE_READ(); ENABLE_AXIS_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(ms);
}
#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_line_to_destination();
}
#endif
TERN_(TEMP_STAT_LEDS, handle_status_leds());
TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers());
TERN_(MONITOR_L6470_DRIVER_STATUS, L64xxManager.monitor_driver());
// Limit check_axes_activity frequency to 10Hz
static millis_t next_check_axes_ms = 0;
if (ELAPSED(ms, next_check_axes_ms)) { planner.check_axes_activity();
next_check_axes_ms = ms + 100UL;
}
#if PIN_EXISTS(FET_SAFETY)
static millis_t FET_next;
if (ELAPSED(ms, FET_next)) {
FET_next = ms + FET_SAFETY_DELAY; // 2µs pulse every FET_SAFETY_DELAY mS
OUT_WRITE(FET_SAFETY_PIN, !FET_SAFETY_INVERTED);
DELAY_US(2);
WRITE(FET_SAFETY_PIN, FET_SAFETY_INVERTED);
}
#endif
}
/**
* Standard idle routine keeps the machine alive:
* - Core Marlin activities
* - Manage heaters (and Watchdog)
* - Max7219 heartbeat, animation, etc.
*
* Only after setup() is complete:
* - Handle filament runout sensors
* - Run HAL idle tasks
* - Handle Power-Loss Recovery
* - Run StallGuard endstop checks
* - Handle SD Card insert / remove
* - Handle USB Flash Drive insert / remove
* - Announce Host Keepalive state (if any)
* - Update the Print Job Timer state
* - Update the Beeper queue
* - Read Buttons and Update the LCD
* - Run i2c Position Encoders
* - Auto-report Temperatures / SD Status
* - Update the Prusa MMU2
* - Handle Joystick jogging
*/
void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {
// Core Marlin activities
manage_inactivity(TERN_(ADVANCED_PAUSE_FEATURE, no_stepper_sleep));
// Manage Heaters (and Watchdog)
thermalManager.manage_heater();
// Max7219 heartbeat, animation, etc
TERN_(MAX7219_DEBUG, max7219.idle_tasks());
// Return if setup() isn't completed
if (marlin_state == MF_INITIALIZING) return;
// Handle filament runout sensors
TERN_(HAS_FILAMENT_SENSOR, runout.run());
// Run HAL idle tasks
#ifdef HAL_IDLETASK
HAL_idletask();
#endif
// Handle Power-Loss Recovery
#if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS)
recovery.outage();
#endif
// Run StallGuard endstop checks
#if ENABLED(SPI_ENDSTOPS)
if (endstops.tmc_spi_homing.any
&& TERN1(IMPROVE_HOMING_RELIABILITY, ELAPSED(millis(), sg_guard_period))
) LOOP_L_N(i, 4) // Read SGT 4 times per idle loop
if (endstops.tmc_spi_homing_check()) break; #endif
// Handle SD Card insert / remove
TERN_(SDSUPPORT, card.manage_media());
// Handle USB Flash Drive insert / remove
TERN_(USB_FLASH_DRIVE_SUPPORT, Sd2Card::idle());
// Announce Host Keepalive state (if any)
TERN_(HOST_KEEPALIVE_FEATURE, gcode.host_keepalive());
// Update the Print Job Timer state
TERN_(PRINTCOUNTER, print_job_timer.tick());
// Update the Beeper queue
TERN_(USE_BEEPER, buzzer.tick());
// Handle UI input / draw events
TERN(DWIN_CREALITY_LCD, DWIN_Update(), ui.update());
// Run i2c Position Encoders
#if ENABLED(I2C_POSITION_ENCODERS)
static millis_t i2cpem_next_update_ms;
if (planner.has_blocks_queued()) {
const millis_t ms = millis();
if (ELAPSED(ms, i2cpem_next_update_ms)) {
I2CPEM.update();
i2cpem_next_update_ms = ms + I2CPE_MIN_UPD_TIME_MS;
}
}
#endif
// Auto-report Temperatures / SD Status
#if HAS_AUTO_REPORTING
if (!gcode.autoreport_paused) {
TERN_(AUTO_REPORT_TEMPERATURES, thermalManager.auto_report_temperatures());
TERN_(AUTO_REPORT_SD_STATUS, card.auto_report_sd_status());
}
#endif
// Update the Prusa MMU2
TERN_(PRUSA_MMU2, mmu2.mmu_loop());
// Handle Joystick jogging
TERN_(POLL_JOG, joystick.inject_jog_moves());
// Direct Stepping
TERN_(DIRECT_STEPPING, page_manager.write_responses());
#if ENABLED(TFT_LVGL_UI)
LV_TASK_HANDLER();
#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();
TERN_(HAS_CUTTER, cutter.kill()); // Full cutter shutdown including ISR control
SERIAL_ERROR_MSG(STR_ERR_KILLED);
#if HAS_DISPLAY
ui.kill_screen(lcd_error ?: GET_TEXT(MSG_KILLED), lcd_component ?: NUL_STR);
#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();
TERN_(HAS_CUTTER, cutter.kill()); // Reiterate cutter shutdown
// Power off all steppers (for M112) or just the E steppers
steppers_off ? disable_all_steppers() : disable_e_steppers();
TERN_(PSU_CONTROL, PSU_OFF());
TERN_(HAS_SUICIDE, suicide());
#if HAS_KILL
// Wait for kill to be released
while (kill_state()) watchdog_refresh();
// Wait for kill to be pressed
while (!kill_state()) watchdog_refresh();
void (*resetFunc)() = 0; // Declare resetFunc() at address 0
resetFunc(); // Jump to address 0
#else
for (;;) watchdog_refresh(); // Wait for reset
#endif
}
/**
* Turn off heaters and stop the print in progress
* After a stop the machine may be resumed with M999
*/
void stop() {
thermalManager.disable_all_heaters(); // 'unpause' taken care of in here
print_job_timer.stop();
#if ENABLED(PROBING_FANS_OFF)
if (thermalManager.fans_paused) thermalManager.set_fans_paused(false); // put things back the way they were
#endif
if (IsRunning()) {
SERIAL_ERROR_MSG(STR_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
safe_delay(350); // allow enough time for messages to get out before stopping
marlin_state = MF_STOPPED;
}
}
/** * 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
* • Max7219
*/
void setup() {
#if ENABLED(MARLIN_DEV_MODE)
auto log_current_ms = [&](PGM_P const msg) {
SERIAL_ECHO_START();
SERIAL_CHAR('['); SERIAL_ECHO(millis()); SERIAL_ECHOPGM("] ");
serialprintPGM(msg);
SERIAL_EOL();
};
#define SETUP_LOG(M) log_current_ms(PSTR(M))
#else
#define SETUP_LOG(...) NOOP
#endif
#define SETUP_RUN(C) do{ SETUP_LOG(STRINGIFY(C)); C; }while(0)
#if EITHER(DISABLE_DEBUG, DISABLE_JTAG)
// Disable any hardware debug to free up pins for IO
#if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
JTAGSWD_DISABLE();
#elif defined(JTAG_DISABLE)
JTAG_DISABLE();
#else
#error "DISABLE_(DEBUG|JTAG) is not supported for the selected MCU/Board."
#endif
#endif
#if NUM_SERIAL > 0
MYSERIAL0.begin(BAUDRATE);
uint32_t serial_connect_timeout = millis() + 1000UL;
while (!MYSERIAL0 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#if HAS_MULTI_SERIAL
MYSERIAL1.begin(BAUDRATE);
serial_connect_timeout = millis() + 1000UL;
while (!MYSERIAL1 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#endif
SERIAL_ECHO_MSG("start");
#endif
SETUP_RUN(HAL_init());
#if HAS_L64XX
SETUP_RUN(L64xxManager.init()); // Set up SPI, init drivers
#endif
#if ENABLED(SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW); // Put Smart Effector into NORMAL mode
#endif
#if HAS_FILAMENT_SENSOR
SETUP_RUN(runout.setup());
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
SETUP_RUN(recovery.setup());
#endif
SETUP_RUN(setup_killpin());
#if HAS_TMC220x
SETUP_RUN(tmc_serial_begin());
#endif
SETUP_RUN(setup_powerhold());
#if HAS_STEPPER_RESET
SETUP_RUN(disableStepperDrivers());
#endif
#if HAS_TMC_SPI
#if DISABLED(TMC_USE_SW_SPI)
SETUP_RUN(SPI.begin());
#endif
SETUP_RUN(tmc_init_cs_pins());
#endif
#ifdef BOARD_INIT
SETUP_LOG("BOARD_INIT");
BOARD_INIT();
#endif
SETUP_RUN(esp_wifi_init());
// Check startup - does nothing if bootloader sets MCUSR to 0
const byte mcu = HAL_get_reset_source();
if (mcu & RST_POWER_ON) SERIAL_ECHOLNPGM(STR_POWERUP);
if (mcu & RST_EXTERNAL) SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET);
if (mcu & RST_BROWN_OUT) SERIAL_ECHOLNPGM(STR_BROWNOUT_RESET);
if (mcu & RST_WATCHDOG) SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET);
if (mcu & RST_SOFTWARE) SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET);
HAL_clear_reset_source();
serialprintPGM(GET_TEXT(MSG_MARLIN));
SERIAL_CHAR(' ');
SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
SERIAL_EOL();
#if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
SERIAL_ECHO_MSG(
STR_CONFIGURATION_VER
STRING_DISTRIBUTION_DATE
STR_AUTHOR STRING_CONFIG_H_AUTHOR
);
SERIAL_ECHO_MSG("Compiled: " __DATE__);
#endif
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(STR_FREE_MEMORY, freeMemory(), STR_PLANNER_BUFFER_BYTES, (int)sizeof(block_t) * (BLOCK_BUFFER_SIZE));
// Set up LEDs early
#if HAS_COLOR_LEDS
SETUP_RUN(leds.setup());
#endif
#if ENABLED(USE_CONTROLLER_FAN) // Set up fan controller to initialize also the default configurations.
SETUP_RUN(controllerFan.setup());
#endif
// UI must be initialized before EEPROM
// (because EEPROM code calls the UI).
#if ENABLED(DWIN_CREALITY_LCD)
delay(800); // Required delay (since boot?) SERIAL_ECHOPGM("\nDWIN handshake ");
if (DWIN_Handshake()) SERIAL_ECHOLNPGM("ok."); else SERIAL_ECHOLNPGM("error.");
DWIN_Frame_SetDir(1); // Orientation 90°
DWIN_UpdateLCD(); // Show bootscreen (first image)
#else
SETUP_RUN(ui.init());
#if HAS_SPI_LCD && ENABLED(SHOW_BOOTSCREEN)
SETUP_RUN(ui.show_bootscreen());
#endif
SETUP_RUN(ui.reset_status()); // Load welcome message early. (Retained if no errors exist.)
#endif
#if BOTH(SDSUPPORT, SDCARD_EEPROM_EMULATION)
SETUP_RUN(card.mount()); // Mount media with settings before first_load
#endif
SETUP_RUN(settings.first_load()); // Load data from EEPROM if available (or use defaults)
// This also updates variables in the planner, elsewhere
#if ENABLED(TOUCH_BUTTONS)
SETUP_RUN(touch.init());
#endif
TERN_(HAS_M206_COMMAND, current_position += home_offset); // Init current position based on home_offset
sync_plan_position(); // Vital to init stepper/planner equivalent for current_position
SETUP_RUN(thermalManager.init()); // Initialize temperature loop
SETUP_RUN(print_job_timer.init()); // Initial setup of print job timer
SETUP_RUN(endstops.init()); // Init endstops and pullups
SETUP_RUN(stepper.init()); // Init stepper. This enables interrupts!
#if HAS_SERVOS
SETUP_RUN(servo_init());
#endif
#if HAS_Z_SERVO_PROBE
SETUP_RUN(probe.servo_probe_init());
#endif
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
#endif
#if HAS_CUTTER
SETUP_RUN(cutter.init());
#endif
#if ENABLED(COOLANT_MIST)
OUT_WRITE(COOLANT_MIST_PIN, COOLANT_MIST_INVERT); // Init Mist Coolant OFF
#endif
#if ENABLED(COOLANT_FLOOD)
OUT_WRITE(COOLANT_FLOOD_PIN, COOLANT_FLOOD_INVERT); // Init Flood Coolant OFF
#endif
#if HAS_BED_PROBE
SETUP_RUN(endstops.enable_z_probe(false));
#endif
#if HAS_STEPPER_RESET
SETUP_RUN(enableStepperDrivers());
#endif
#if HAS_I2C_DIGIPOT
SETUP_RUN(digipot_i2c_init());
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
SETUP_RUN(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
SETUP_RUN(update_case_light());
#endif
#if ENABLED(MK2_MULTIPLEXER)
SETUP_LOG("MK2_MULTIPLEXER");
SET_OUTPUT(E_MUX0_PIN);
SET_OUTPUT(E_MUX1_PIN);
SET_OUTPUT(E_MUX2_PIN);
#endif
#if HAS_FANMUX
SETUP_RUN(fanmux_init());
#endif
#if ENABLED(MIXING_EXTRUDER)
SETUP_RUN(mixer.init());
#endif
#if ENABLED(BLTOUCH)
SETUP_RUN(bltouch.init(/*set_voltage=*/true));
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
SETUP_RUN(I2CPEM.init());
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
SETUP_LOG("i2c...");
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);
#endif
#if DO_SWITCH_EXTRUDER
SETUP_RUN(move_extruder_servo(0)); // Initialize extruder servo
#endif
#if ENABLED(SWITCHING_NOZZLE)
SETUP_LOG("SWITCHING_NOZZLE");
// Initialize nozzle servo(s)
#if SWITCHING_NOZZLE_TWO_SERVOS
lower_nozzle(0);
raise_nozzle(1);
#else
move_nozzle_servo(0);
#endif
#endif
#if ENABLED(MAGNETIC_PARKING_EXTRUDER)
SETUP_RUN(mpe_settings_init());
#endif
#if ENABLED(PARKING_EXTRUDER)
SETUP_RUN(pe_solenoid_init());
#endif
#if ENABLED(SWITCHING_TOOLHEAD)
SETUP_RUN(swt_init());
#endif
#if ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
SETUP_RUN(est_init());
#endif
#if ENABLED(USE_WATCHDOG)
SETUP_RUN(watchdog_init()); // Reinit watchdog after HAL_get_reset_source call
#endif
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
SETUP_RUN(closedloop.init());
#endif
#ifdef STARTUP_COMMANDS
SETUP_LOG("STARTUP_COMMANDS");
queue.inject_P(PSTR(STARTUP_COMMANDS));
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
SETUP_RUN(host_action_prompt_end());
#endif
#if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF)
SETUP_RUN(test_tmc_connection(true, true, true, true));
#endif
#if ENABLED(PRUSA_MMU2)
SETUP_RUN(mmu2.init());
#endif
#if ENABLED(IIC_BL24CXX_EEPROM)
BL24CXX::init();
const uint8_t err = BL24CXX::check();
SERIAL_ECHO_TERNARY(err, "I2C_EEPROM Check ", "failed", "succeeded", "!\n");
#endif
#if ENABLED(DWIN_CREALITY_LCD)
Encoder_Configuration();
HMI_Init();
HMI_StartFrame(true);
#endif
#if HAS_SERVICE_INTERVALS && DISABLED(DWIN_CREALITY_LCD)
ui.reset_status(true); // Show service messages or keep current status
#endif
#if ENABLED(MAX7219_DEBUG)
SETUP_RUN(max7219.init());
#endif
#if ENABLED(DIRECT_STEPPING)
SETUP_RUN(page_manager.init());
#endif
#if ENABLED(TFT_LVGL_UI)
if (!card.isMounted()) SETUP_RUN(card.mount()); // Mount SD to load graphics and fonts
SETUP_RUN(tft_lvgl_init());
#endif
marlin_state = MF_RUNNING;
SETUP_LOG("setup() completed.");
}
/**
* The main Marlin program loop
*
* - Call idle() to handle all tasks between G-code commands
* Note that no G-codes from the queue can be executed during idle()
* but many G-codes can be called directly anytime like macros.
* - Check whether SD card auto-start is needed now.
* - Check whether SD print finishing is needed now.
* - Run one G-code command from the immediate or main command queue
* and open up one space. Commands in the main queue may come from sd
* card, host, or by direct injection. The queue will continue to fill
* as long as idle() or manage_inactivity() are being called.
*/
void loop() {
do {
idle();
#if ENABLED(SDSUPPORT)
card.checkautostart();
if (card.flag.abort_sd_printing) abortSDPrinting();
if (marlin_state == MF_SD_COMPLETE) finishSDPrinting();
#endif
queue.advance();
endstops.event_handler();
TERN_(TFT_LVGL_UI, printer_state_polling());
} while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards
}