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Diffstat (limited to 'Marlin/src/MarlinCore.cpp')
| -rw-r--r-- | Marlin/src/MarlinCore.cpp | 1290 |
1 files changed, 1290 insertions, 0 deletions
diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp new file mode 100644 index 0000000..c8029e3 --- /dev/null +++ b/Marlin/src/MarlinCore.cpp @@ -0,0 +1,1290 @@ +/** + * 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 <https://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" + +#if ENABLED(MARLIN_DEV_MODE) + #warning "WARNING! Disable MARLIN_DEV_MODE for the final build!" +#endif + +#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 "module/motion.h" +#include "module/planner.h" +#include "module/endstops.h" +#include "module/temperature.h" +#include "module/settings.h" +#include "module/printcounter.h" // PrintCounter or Stopwatch + +#include "module/stepper.h" +#include "module/stepper/indirection.h" + +#include "gcode/gcode.h" +#include "gcode/parser.h" +#include "gcode/queue.h" + +#include "feature/pause.h" +#include "sd/cardreader.h" + +#include "lcd/marlinui.h" +#if HAS_TOUCH_BUTTONS + #include "lcd/touch/touch_buttons.h" +#endif + +#if HAS_TFT_LVGL_UI + #include "lcd/extui/lib/mks_ui/tft_lvgl_configuration.h" + #include "lcd/extui/lib/mks_ui/draw_ui.h" + #include "lcd/extui/lib/mks_ui/mks_hardware_test.h" + #include <lvgl.h> +#endif + +#if ENABLED(DWIN_CREALITY_LCD) + #include "lcd/dwin/e3v2/dwin.h" + #include "lcd/dwin/dwin_lcd.h" + #include "lcd/dwin/e3v2/rotary_encoder.h" +#endif + +#if ENABLED(EXTENSIBLE_UI) + #include "lcd/extui/ui_api.h" +#endif + +#if HAS_ETHERNET + #include "feature/ethernet.h" +#endif + +#if ENABLED(IIC_BL24CXX_EEPROM) + #include "libs/BL24CXX.h" +#endif + +#if ENABLED(DIRECT_STEPPING) + #include "feature/direct_stepping.h" +#endif + +#if ENABLED(HOST_ACTION_COMMANDS) + #include "feature/host_actions.h" +#endif + +#if USE_BEEPER + #include "libs/buzzer.h" +#endif + +#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) + #include "feature/closedloop.h" +#endif + +#if HAS_MOTOR_CURRENT_I2C + #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(HAS_MOTOR_CURRENT_DAC) + #include "feature/dac/stepper_dac.h" +#endif + +#if ENABLED(EXPERIMENTAL_I2CBUS) + #include "feature/twibus.h" +#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 ENABLED(GCODE_REPEAT_MARKERS) + #include "feature/repeat.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 EITHER(PROBE_TARE, HAS_Z_SERVO_PROBE) + #include "module/probe.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 ENABLED(CASE_LIGHT_ENABLE) + #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 HAS_PRUSA_MMU2 + #include "feature/mmu/mmu2.h" +#endif + +#if HAS_L64XX + #include "libs/L64XX/L64XX_Marlin.h" +#endif + +#if ENABLED(PASSWORD_FEATURE) + #include "feature/password/password.h" +#endif + +PGMSTR(M112_KILL_STR, "M112 Shutdown"); + +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*/) { + 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 + +/** + * *************************************************************************** + * ******************************** FUNCTIONS ******************************** + * *************************************************************************** + */ + +/** + * 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 + +/** + * 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 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(); + + TERN_(EXTENSIBLE_UI, ExtUI::onSteppersEnabled()); +} + +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(); + + TERN_(EXTENSIBLE_UI, ExtUI::onSteppersDisabled()); +} + +/** + * A Print Job exists when the timer is running or SD printing + */ +bool printJobOngoing() { + return print_job_timer.isRunning() || IS_SD_PRINTING(); +} + +/** + * 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_(GCODE_REPEAT_MARKERS, repeat.reset()); + 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() { + IF_DISABLED(NO_SD_AUTOSTART, card.autofile_cancel()); + card.endFilePrint(TERN_(SD_RESORT, true)); + + queue.clear(); + quickstop_stepper(); + + print_job_timer.abort(); + + IF_DISABLED(SD_ABORT_NO_COOLDOWN, thermalManager.disable_all_heaters()); + + TERN(HAS_CUTTER, cutter.kill(), thermalManager.zero_fan_speeds()); // Full cutter shutdown including ISR control + + wait_for_heatup = false; + + TERN_(POWER_LOSS_RECOVERY, recovery.purge()); + + #ifdef EVENT_GCODE_SD_ABORT + queue.inject_P(PSTR(EVENT_GCODE_SD_ABORT)); + #endif + + TERN_(PASSWORD_AFTER_SD_PRINT_ABORT, password.lock_machine()); + } + + inline void finishSDPrinting() { + if (queue.enqueue_one_P(PSTR("M1001"))) { + marlin_state = MF_RUNNING; + TERN_(PASSWORD_AFTER_SD_PRINT_END, password.lock_machine()); + } + } + +#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 + || TERN0(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 / M84 : 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) + extern millis_t chdk_timeout; + 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.inject_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) && 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(); + planner.synchronize(); + } + #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 Průša MMU2 + * - Handle Joystick jogging + */ +void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) { + #if ENABLED(MARLIN_DEV_MODE) + static uint16_t idle_depth = 0; + if (++idle_depth > 5) SERIAL_ECHOLNPAIR("idle() call depth: ", idle_depth); + #endif + + // 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) goto IDLE_DONE; + + // Handle filament runout sensors + TERN_(HAS_FILAMENT_SENSOR, runout.run()); + + // Run HAL idle tasks + TERN_(HAL_IDLETASK, HAL_idletask()); + + // Check network connection + TERN_(HAS_ETHERNET, ethernet.check()); + + // Handle Power-Loss Recovery + #if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS) + if (printJobOngoing()) 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_reporter.tick()); + TERN_(AUTO_REPORT_SD_STATUS, card.auto_reporter.tick()); + } + #endif + + // Update the Průša MMU2 + TERN_(HAS_PRUSA_MMU2, mmu2.mmu_loop()); + + // Handle Joystick jogging + TERN_(POLL_JOG, joystick.inject_jog_moves()); + + // Direct Stepping + TERN_(DIRECT_STEPPING, page_manager.write_responses()); + + // Update the LVGL interface + TERN_(HAS_TFT_LVGL_UI, LV_TASK_HANDLER()); + + IDLE_DONE: + TERN_(MARLIN_DEV_MODE, idle_depth--); + return; +} + +/** + * 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 + + #if HAS_TFT_LVGL_UI + lv_draw_error_message(lcd_error); + #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; + } +} + +inline void tmc_standby_setup() { + #if PIN_EXISTS(X_STDBY) + SET_INPUT_PULLDOWN(X_STDBY_PIN); + #endif + #if PIN_EXISTS(X2_STDBY) + SET_INPUT_PULLDOWN(X2_STDBY_PIN); + #endif + #if PIN_EXISTS(Y_STDBY) + SET_INPUT_PULLDOWN(Y_STDBY_PIN); + #endif + #if PIN_EXISTS(Y2_STDBY) + SET_INPUT_PULLDOWN(Y2_STDBY_PIN); + #endif + #if PIN_EXISTS(Z_STDBY) + SET_INPUT_PULLDOWN(Z_STDBY_PIN); + #endif + #if PIN_EXISTS(Z2_STDBY) + SET_INPUT_PULLDOWN(Z2_STDBY_PIN); + #endif + #if PIN_EXISTS(Z3_STDBY) + SET_INPUT_PULLDOWN(Z3_STDBY_PIN); + #endif + #if PIN_EXISTS(Z4_STDBY) + SET_INPUT_PULLDOWN(Z4_STDBY_PIN); + #endif + #if PIN_EXISTS(E0_STDBY) + SET_INPUT_PULLDOWN(E0_STDBY_PIN); + #endif + #if PIN_EXISTS(E1_STDBY) + SET_INPUT_PULLDOWN(E1_STDBY_PIN); + #endif + #if PIN_EXISTS(E2_STDBY) + SET_INPUT_PULLDOWN(E2_STDBY_PIN); + #endif + #if PIN_EXISTS(E3_STDBY) + SET_INPUT_PULLDOWN(E3_STDBY_PIN); + #endif + #if PIN_EXISTS(E4_STDBY) + SET_INPUT_PULLDOWN(E4_STDBY_PIN); + #endif + #if PIN_EXISTS(E5_STDBY) + SET_INPUT_PULLDOWN(E5_STDBY_PIN); + #endif + #if PIN_EXISTS(E6_STDBY) + SET_INPUT_PULLDOWN(E6_STDBY_PIN); + #endif + #if PIN_EXISTS(E7_STDBY) + SET_INPUT_PULLDOWN(E7_STDBY_PIN); + #endif +} + +/** + * 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() { + + tmc_standby_setup(); // TMC Low Power Standby pins must be set early or they're not usable + + #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) + + MYSERIAL0.begin(BAUDRATE); + millis_t serial_connect_timeout = millis() + 1000UL; + while (!MYSERIAL0.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ } + + #if HAS_MULTI_SERIAL && !HAS_ETHERNET + MYSERIAL1.begin(BAUDRATE); + serial_connect_timeout = millis() + 1000UL; + while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ } + #endif + SERIAL_ECHOLNPGM("start"); + + // Set up these pins early to prevent suicide + #if HAS_KILL + SETUP_LOG("KILL_PIN"); + #if KILL_PIN_STATE + SET_INPUT_PULLDOWN(KILL_PIN); + #else + SET_INPUT_PULLUP(KILL_PIN); + #endif + #endif + + #if HAS_SUICIDE + SETUP_LOG("SUICIDE_PIN"); + OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING); + #endif + + #if ENABLED(PSU_CONTROL) + SETUP_LOG("PSU_CONTROL"); + powersupply_on = ENABLED(PSU_DEFAULT_OFF); + if (ENABLED(PSU_DEFAULT_OFF)) PSU_OFF(); else PSU_ON(); + #endif + + #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 + + + + SETUP_RUN(HAL_init()); + + // Init and disable SPI thermocouples + #if HEATER_0_USES_MAX6675 + OUT_WRITE(MAX6675_SS_PIN, HIGH); // Disable + #endif + #if HEATER_1_USES_MAX6675 + OUT_WRITE(MAX6675_SS2_PIN, HIGH); // Disable + #endif + + #if HAS_L64XX + SETUP_RUN(L64xxManager.init()); // Set up SPI, init drivers + #endif + + #if ENABLED(DUET_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 + + #if HAS_TMC220x + SETUP_RUN(tmc_serial_begin()); + #endif + + #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( + " Last Updated: " STRING_DISTRIBUTION_DATE + " | Author: " STRING_CONFIG_H_AUTHOR + ); + #endif + SERIAL_ECHO_MSG("Compiled: " __DATE__); + SERIAL_ECHO_MSG(STR_FREE_MEMORY, freeMemory(), STR_PLANNER_BUFFER_BYTES, (int)sizeof(block_t) * (BLOCK_BUFFER_SIZE)); + + // Init buzzer pin(s) + #if USE_BEEPER + SETUP_RUN(buzzer.init()); + #endif + + // Set up LEDs early + #if HAS_COLOR_LEDS + SETUP_RUN(leds.setup()); + #endif + + #if ENABLED(NEOPIXEL2_SEPARATE) + SETUP_RUN(leds2.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_WIRED_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 ENABLED(PROBE_TARE) + SETUP_RUN(probe.tare_init()); + #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 HAS_ETHERNET + SETUP_RUN(ethernet.init()); + #endif + + #if HAS_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_MOTOR_CURRENT_I2C + SETUP_RUN(digipot_i2c.init()); + #endif + + #if ENABLED(HAS_MOTOR_CURRENT_DAC) + SETUP_RUN(stepper_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 ENABLED(CASE_LIGHT_ENABLE) + #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(caselight.update_brightness()); + #endif + + #if HAS_PRUSA_MMU1 + SETUP_LOG("Prusa MMU1"); + 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 HAS_PRUSA_MMU2 + SETUP_RUN(mmu2.init()); + #endif + + #if ENABLED(IIC_BL24CXX_EEPROM) + BL24CXX::init(); + const uint8_t err = BL24CXX::check(); + SERIAL_ECHO_TERNARY(err, "BL24CXX 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 HAS_TFT_LVGL_UI + #if ENABLED(SDSUPPORT) + if (!card.isMounted()) SETUP_RUN(card.mount()); // Mount SD to load graphics and fonts + #endif + SETUP_RUN(tft_lvgl_init()); + #endif + + #if ENABLED(PASSWORD_ON_STARTUP) + SETUP_RUN(password.lock_machine()); // Will not proceed until correct password provided + #endif + + #if BOTH(HAS_LCD_MENU, TOUCH_SCREEN_CALIBRATION) && EITHER(TFT_CLASSIC_UI, TFT_COLOR_UI) + ui.check_touch_calibration(); + #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) + if (card.flag.abort_sd_printing) abortSDPrinting(); + if (marlin_state == MF_SD_COMPLETE) finishSDPrinting(); + #endif + + queue.advance(); + + endstops.event_handler(); + + TERN_(HAS_TFT_LVGL_UI, printer_state_polling()); + + } while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards +} |