/**
* 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(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/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 NUL_STR[] PROGMEM = "",
G28_STR[] PROGMEM = "G28",
M21_STR[] PROGMEM = "M21",
M23_STR[] PROGMEM = "M23 %s",
M24_STR[] PROGMEM = "M24",
SP_X_STR[] PROGMEM = " X",
SP_Y_STR[] PROGMEM = " Y",
SP_Z_STR[] PROGMEM = " Z",
SP_E_STR[] PROGMEM = " E";
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(PSU_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
#if BOTH(LCD_SET_PROGRESS_MANUALLY, USE_M73_REMAINING_TIME)
ui.reset_remaining_time();
#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_drivers();
#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 ?: 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();
// 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(PSU_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();
}
}