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1218 lines
30 KiB
1218 lines
30 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* About Marlin
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*
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* This firmware is a mashup between Sprinter and grbl.
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* - https://github.com/kliment/Sprinter
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* - https://github.com/grbl/grbl
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*/
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#include "Marlin.h"
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#include "core/utility.h"
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#include "lcd/ultralcd.h"
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#include "module/motion.h"
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#include "module/planner.h"
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#include "module/stepper.h"
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#include "module/endstops.h"
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#include "module/probe.h"
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#include "module/temperature.h"
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#include "sd/cardreader.h"
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#include "module/configuration_store.h"
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#include "module/printcounter.h" // PrintCounter or Stopwatch
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#include "feature/closedloop.h"
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#include "HAL/shared/Delay.h"
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#include "module/stepper/indirection.h"
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#ifdef ARDUINO
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#include <pins_arduino.h>
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#endif
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#include <math.h>
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#include "libs/nozzle.h"
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#include "gcode/gcode.h"
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#include "gcode/parser.h"
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#include "gcode/queue.h"
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#if ENABLED(TOUCH_BUTTONS)
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#include "feature/touch/xpt2046.h"
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#endif
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#if ENABLED(HOST_ACTION_COMMANDS)
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#include "feature/host_actions.h"
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#endif
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#if USE_BEEPER
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#include "libs/buzzer.h"
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#endif
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#if ENABLED(DIGIPOT_I2C)
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#include "feature/digipot/digipot.h"
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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#include "feature/mixing.h"
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#endif
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#if ENABLED(MAX7219_DEBUG)
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#include "feature/Max7219_Debug_LEDs.h"
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#endif
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#if HAS_COLOR_LEDS
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#include "feature/leds/leds.h"
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#endif
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#if ENABLED(BLTOUCH)
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#include "feature/bltouch.h"
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#endif
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#if ENABLED(POLL_JOG)
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#include "feature/joystick.h"
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#endif
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#if HAS_SERVOS
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#include "module/servo.h"
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#endif
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#if ENABLED(DAC_STEPPER_CURRENT)
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#include "feature/dac/stepper_dac.h"
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#endif
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#if ENABLED(EXPERIMENTAL_I2CBUS)
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#include "feature/twibus.h"
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TWIBus i2c;
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#endif
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#if ENABLED(I2C_POSITION_ENCODERS)
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#include "feature/I2CPositionEncoder.h"
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#endif
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#if HAS_TRINAMIC && DISABLED(PS_DEFAULT_OFF)
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#include "feature/tmc_util.h"
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#endif
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#if HAS_CUTTER
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#include "feature/spindle_laser.h"
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#endif
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#if ENABLED(SDSUPPORT)
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CardReader card;
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#endif
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#if ENABLED(G38_PROBE_TARGET)
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uint8_t G38_move; // = 0
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bool G38_did_trigger; // = false
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#endif
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#if ENABLED(DELTA)
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#include "module/delta.h"
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#elif IS_SCARA
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#include "module/scara.h"
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#endif
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#if HAS_LEVELING
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#include "feature/bedlevel/bedlevel.h"
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#endif
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#if BOTH(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_NO_STEPPER_TIMEOUT)
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#include "feature/pause.h"
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#endif
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#if ENABLED(POWER_LOSS_RECOVERY)
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#include "feature/power_loss_recovery.h"
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#endif
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#if HAS_FILAMENT_SENSOR
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#include "feature/runout.h"
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#endif
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#if ENABLED(TEMP_STAT_LEDS)
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#include "feature/leds/tempstat.h"
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#endif
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#if HAS_CASE_LIGHT
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#include "feature/caselight.h"
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#endif
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#if HAS_FANMUX
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#include "feature/fanmux.h"
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#endif
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#if DO_SWITCH_EXTRUDER || ANY(SWITCHING_NOZZLE, PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER, ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
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#include "module/tool_change.h"
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#endif
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#if ENABLED(USE_CONTROLLER_FAN)
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#include "feature/controllerfan.h"
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#endif
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#if ENABLED(PRUSA_MMU2)
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#include "feature/prusa_MMU2/mmu2.h"
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#endif
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#if ENABLED(EXTENSIBLE_UI)
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#include "lcd/extensible_ui/ui_api.h"
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#endif
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#if HAS_DRIVER(L6470)
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#include "libs/L6470/L6470_Marlin.h"
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#endif
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bool Running = true;
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// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
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bool wait_for_heatup = true;
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// For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
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#if HAS_RESUME_CONTINUE
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bool wait_for_user; // = false;
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#endif
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#if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
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bool suspend_auto_report; // = false
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#endif
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// Inactivity shutdown
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millis_t max_inactive_time, // = 0
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stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
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#if PIN_EXISTS(CHDK)
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extern millis_t chdk_timeout;
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#endif
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#if ENABLED(I2C_POSITION_ENCODERS)
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I2CPositionEncodersMgr I2CPEM;
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#endif
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/**
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* ***************************************************************************
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* ******************************** FUNCTIONS ********************************
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* ***************************************************************************
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*/
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void setup_killpin() {
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#if HAS_KILL
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SET_INPUT_PULLUP(KILL_PIN);
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#endif
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}
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void setup_powerhold() {
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#if HAS_SUICIDE
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OUT_WRITE(SUICIDE_PIN, HIGH);
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#endif
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#if HAS_POWER_SWITCH
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#if ENABLED(PS_DEFAULT_OFF)
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powersupply_on = true; PSU_OFF();
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#else
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powersupply_on = false; PSU_ON();
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#endif
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#endif
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}
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/**
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* Stepper Reset (RigidBoard, et.al.)
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*/
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#if HAS_STEPPER_RESET
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void disableStepperDrivers() { OUT_WRITE(STEPPER_RESET_PIN, LOW); } // Drive down to keep motor driver chips in reset
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void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // Set to input, allowing pullups to pull the pin high
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#endif
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#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
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void i2c_on_receive(int bytes) { // just echo all bytes received to serial
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i2c.receive(bytes);
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}
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void i2c_on_request() { // just send dummy data for now
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i2c.reply("Hello World!\n");
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}
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#endif
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/**
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* Sensitive pin test for M42, M226
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*/
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#include "pins/sensitive_pins.h"
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bool pin_is_protected(const pin_t pin) {
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static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
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for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
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pin_t sensitive_pin;
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memcpy_P(&sensitive_pin, &sensitive_pins[i], sizeof(pin_t));
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if (pin == sensitive_pin) return true;
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}
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return false;
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}
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void protected_pin_err() {
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SERIAL_ERROR_MSG(MSG_ERR_PROTECTED_PIN);
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}
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void quickstop_stepper() {
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planner.quick_stop();
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planner.synchronize();
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set_current_from_steppers_for_axis(ALL_AXES);
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sync_plan_position();
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}
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void enable_all_steppers() {
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#if ENABLED(AUTO_POWER_CONTROL)
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powerManager.power_on();
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#endif
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enable_X();
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enable_Y();
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enable_Z();
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enable_E0();
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enable_E1();
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enable_E2();
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enable_E3();
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enable_E4();
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enable_E5();
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}
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void enable_e_steppers() {
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enable_E0();
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enable_E1();
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enable_E2();
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enable_E3();
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enable_E4();
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enable_E5();
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}
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void disable_e_steppers() {
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disable_E0();
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disable_E1();
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disable_E2();
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disable_E3();
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disable_E4();
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disable_E5();
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}
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void disable_e_stepper(const uint8_t e) {
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switch (e) {
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case 0: disable_E0(); break;
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case 1: disable_E1(); break;
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case 2: disable_E2(); break;
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case 3: disable_E3(); break;
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case 4: disable_E4(); break;
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case 5: disable_E5(); break;
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}
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}
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void disable_all_steppers() {
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disable_X();
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disable_Y();
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disable_Z();
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disable_e_steppers();
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}
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#if HAS_FILAMENT_SENSOR
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void event_filament_runout() {
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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if (did_pause_print) return; // Action already in progress. Purge triggered repeated runout.
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#endif
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#if ENABLED(EXTENSIBLE_UI)
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ExtUI::onFilamentRunout(ExtUI::getActiveTool());
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#endif
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#if EITHER(HOST_PROMPT_SUPPORT, HOST_ACTION_COMMANDS)
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const char tool = '0'
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#if NUM_RUNOUT_SENSORS > 1
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+ active_extruder
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#endif
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;
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#endif
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//action:out_of_filament
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#if ENABLED(HOST_PROMPT_SUPPORT)
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host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
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host_action_prompt_end();
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host_action_prompt_begin(PSTR("FilamentRunout T"), false);
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SERIAL_CHAR(tool);
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SERIAL_EOL();
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host_action_prompt_show();
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#endif
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#if defined(LULZBOT_RUNOUT_HANDLING_WORKAROUND)
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const bool run_runout_script = IS_SD_PRINTING();
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#else
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const bool run_runout_script = !runout.host_handling;
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#endif
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#if ENABLED(HOST_ACTION_COMMANDS)
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if (run_runout_script
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&& ( strstr(FILAMENT_RUNOUT_SCRIPT, "M600")
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|| strstr(FILAMENT_RUNOUT_SCRIPT, "M125")
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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|| strstr(FILAMENT_RUNOUT_SCRIPT, "M25")
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#endif
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)
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) {
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host_action_paused(false);
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}
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else {
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// Legacy Repetier command for use until newer version supports standard dialog
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// To be removed later when pause command also triggers dialog
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#ifdef ACTION_ON_FILAMENT_RUNOUT
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host_action(PSTR(ACTION_ON_FILAMENT_RUNOUT " T"), false);
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SERIAL_CHAR(tool);
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SERIAL_EOL();
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#endif
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host_action_pause(false);
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}
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SERIAL_ECHOPGM(" " ACTION_REASON_ON_FILAMENT_RUNOUT " ");
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SERIAL_CHAR(tool);
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SERIAL_EOL();
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#endif // HOST_ACTION_COMMANDS
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if (run_runout_script)
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queue.inject_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
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}
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#endif // HAS_FILAMENT_SENSOR
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#if ENABLED(G29_RETRY_AND_RECOVER)
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void event_probe_failure() {
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#ifdef ACTION_ON_G29_FAILURE
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host_action(PSTR(ACTION_ON_G29_FAILURE));
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#endif
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#ifdef G29_FAILURE_COMMANDS
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gcode.process_subcommands_now_P(PSTR(G29_FAILURE_COMMANDS));
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#endif
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#if ENABLED(G29_HALT_ON_FAILURE)
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#ifdef ACTION_ON_CANCEL
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host_action_cancel();
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#endif
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kill(PSTR(MSG_ERR_PROBING_FAILED));
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#endif
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}
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void event_probe_recover() {
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#if ENABLED(HOST_PROMPT_SUPPORT)
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host_prompt_do(PROMPT_INFO, PSTR("G29 Retrying"));
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#endif
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#ifdef ACTION_ON_G29_RECOVER
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host_action(PSTR(ACTION_ON_G29_RECOVER));
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#endif
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#ifdef G29_RECOVER_COMMANDS
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gcode.process_subcommands_now_P(PSTR(G29_RECOVER_COMMANDS));
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#endif
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}
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#endif
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/**
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* Manage several activities:
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* - Check for Filament Runout
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* - Keep the command buffer full
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* - Check for maximum inactive time between commands
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* - Check for maximum inactive time between stepper commands
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* - Check if CHDK_PIN needs to go LOW
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* - Check for KILL button held down
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* - Check for HOME button held down
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* - Check if cooling fan needs to be switched on
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* - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
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* - Pulse FET_SAFETY_PIN if it exists
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*/
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void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
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#if HAS_FILAMENT_SENSOR
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runout.run();
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#endif
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if (queue.length < BUFSIZE) queue.get_available_commands();
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const millis_t ms = millis();
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if (max_inactive_time && ELAPSED(ms, gcode.previous_move_ms + max_inactive_time)) {
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SERIAL_ERROR_START();
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SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
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kill();
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}
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// Prevent steppers timing-out in the middle of M600
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#if BOTH(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_NO_STEPPER_TIMEOUT)
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#define MOVE_AWAY_TEST !did_pause_print
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#else
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#define MOVE_AWAY_TEST true
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#endif
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if (stepper_inactive_time) {
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static bool already_shutdown_steppers; // = false
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if (planner.has_blocks_queued())
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gcode.reset_stepper_timeout();
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else if (MOVE_AWAY_TEST && !ignore_stepper_queue && ELAPSED(ms, gcode.previous_move_ms + stepper_inactive_time)) {
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if (!already_shutdown_steppers) {
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already_shutdown_steppers = true; // L6470 SPI will consume 99% of free time without this
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#if ENABLED(DISABLE_INACTIVE_X)
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disable_X();
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#endif
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#if ENABLED(DISABLE_INACTIVE_Y)
|
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disable_Y();
|
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#endif
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#if ENABLED(DISABLE_INACTIVE_Z)
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disable_Z();
|
|
#endif
|
|
#if ENABLED(DISABLE_INACTIVE_E)
|
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disable_e_steppers();
|
|
#endif
|
|
#if HAS_LCD_MENU && ENABLED(AUTO_BED_LEVELING_UBL)
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if (ubl.lcd_map_control) {
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ubl.lcd_map_control = false;
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ui.defer_status_screen(false);
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}
|
|
#endif
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}
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}
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else
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already_shutdown_steppers = false;
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}
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|
|
#if PIN_EXISTS(CHDK) // Check if pin should be set to LOW (after M240 set it HIGH)
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if (chdk_timeout && ELAPSED(ms, chdk_timeout)) {
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chdk_timeout = 0;
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WRITE(CHDK_PIN, LOW);
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}
|
|
#endif
|
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|
|
#if HAS_KILL
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// Check if the kill button was pressed and wait just in case it was an accidental
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|
// 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))
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killCount++;
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else if (killCount > 0)
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killCount--;
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|
|
// 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(PSTR("G28"));
|
|
}
|
|
}
|
|
#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: 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;
|
|
#if E_STEPPERS > 5
|
|
case 5: oldstatus = E5_ENABLE_READ(); enable_E5(); break;
|
|
#endif // E_STEPPERS > 5
|
|
#endif // E_STEPPERS > 4
|
|
#endif // E_STEPPERS > 3
|
|
#endif // E_STEPPERS > 2
|
|
#endif // E_STEPPERS > 1
|
|
}
|
|
#endif // !SWITCHING_EXTRUDER
|
|
|
|
const float olde = current_position[E_AXIS];
|
|
current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
|
|
planner.buffer_line(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
|
|
current_position[E_AXIS] = 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) {
|
|
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;
|
|
#if E_STEPPERS > 5
|
|
case 5: E5_ENABLE_WRITE(oldstatus); break;
|
|
#endif // E_STEPPERS > 5
|
|
#endif // E_STEPPERS > 4
|
|
#endif // E_STEPPERS > 3
|
|
#endif // E_STEPPERS > 2
|
|
#endif // E_STEPPERS > 1
|
|
}
|
|
#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
|
|
set_destination_from_current();
|
|
prepare_move_to_destination();
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(TEMP_STAT_LEDS)
|
|
handle_status_leds();
|
|
#endif
|
|
|
|
#if ENABLED(MONITOR_DRIVER_STATUS)
|
|
monitor_tmc_driver();
|
|
#endif
|
|
|
|
#if ENABLED(MONITOR_L6470_DRIVER_STATUS)
|
|
L6470.monitor_driver();
|
|
#endif
|
|
|
|
// Limit check_axes_activity frequency to 10Hz
|
|
static millis_t next_check_axes_ms = 0;
|
|
if (ELAPSED(ms, next_check_axes_ms)) {
|
|
planner.check_axes_activity();
|
|
next_check_axes_ms = ms + 100UL;
|
|
}
|
|
|
|
#if PIN_EXISTS(FET_SAFETY)
|
|
static millis_t FET_next;
|
|
if (ELAPSED(ms, FET_next)) {
|
|
FET_next = ms + FET_SAFETY_DELAY; // 2uS pulse every FET_SAFETY_DELAY mS
|
|
OUT_WRITE(FET_SAFETY_PIN, !FET_SAFETY_INVERTED);
|
|
DELAY_US(2);
|
|
WRITE(FET_SAFETY_PIN, FET_SAFETY_INVERTED);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Standard idle routine keeps the machine alive
|
|
*/
|
|
void idle(
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
|
bool no_stepper_sleep/*=false*/
|
|
#endif
|
|
) {
|
|
#if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS)
|
|
recovery.outage();
|
|
#endif
|
|
|
|
#if ENABLED(SPI_ENDSTOPS)
|
|
if (endstops.tmc_spi_homing.any
|
|
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
|
|
&& ELAPSED(millis(), sg_guard_period)
|
|
#endif
|
|
) {
|
|
for (uint8_t i = 4; i--;) // Read SGT 4 times per idle loop
|
|
if (endstops.tmc_spi_homing_check()) break;
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(MAX7219_DEBUG)
|
|
max7219.idle_tasks();
|
|
#endif
|
|
|
|
ui.update();
|
|
|
|
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
|
gcode.host_keepalive();
|
|
#endif
|
|
|
|
manage_inactivity(
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
|
no_stepper_sleep
|
|
#endif
|
|
);
|
|
|
|
thermalManager.manage_heater();
|
|
|
|
#if ENABLED(PRINTCOUNTER)
|
|
print_job_timer.tick();
|
|
#endif
|
|
|
|
#if USE_BEEPER
|
|
buzzer.tick();
|
|
#endif
|
|
|
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
|
static millis_t i2cpem_next_update_ms;
|
|
if (planner.has_blocks_queued()) {
|
|
const millis_t ms = millis();
|
|
if (ELAPSED(ms, i2cpem_next_update_ms)) {
|
|
I2CPEM.update();
|
|
i2cpem_next_update_ms = ms + I2CPE_MIN_UPD_TIME_MS;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#ifdef HAL_IDLETASK
|
|
HAL_idletask();
|
|
#endif
|
|
|
|
#if HAS_AUTO_REPORTING
|
|
if (!suspend_auto_report) {
|
|
#if ENABLED(AUTO_REPORT_TEMPERATURES)
|
|
thermalManager.auto_report_temperatures();
|
|
#endif
|
|
#if ENABLED(AUTO_REPORT_SD_STATUS)
|
|
card.auto_report_sd_status();
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(USB_FLASH_DRIVE_SUPPORT)
|
|
Sd2Card::idle();
|
|
#endif
|
|
|
|
#if ENABLED(PRUSA_MMU2)
|
|
mmu2.mmu_loop();
|
|
#endif
|
|
|
|
#if ENABLED(POLL_JOG)
|
|
joystick.inject_jog_moves();
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Kill all activity and lock the machine.
|
|
* After this the machine will need to be reset.
|
|
*/
|
|
void kill(PGM_P const lcd_msg/*=nullptr*/, const bool steppers_off/*=false*/) {
|
|
thermalManager.disable_all_heaters();
|
|
|
|
SERIAL_ERROR_MSG(MSG_ERR_KILLED);
|
|
|
|
#if HAS_DISPLAY
|
|
ui.kill_screen(lcd_msg ? lcd_msg : PSTR(MSG_KILLED));
|
|
#else
|
|
UNUSED(lcd_msg);
|
|
#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 HAS_POWER_SWITCH
|
|
PSU_OFF();
|
|
#endif
|
|
|
|
#if HAS_SUICIDE
|
|
suicide();
|
|
#endif
|
|
|
|
#if HAS_KILL
|
|
|
|
// Wait for kill to be released
|
|
while (!READ(KILL_PIN)) {
|
|
#if ENABLED(USE_WATCHDOG)
|
|
watchdog_reset();
|
|
#endif
|
|
}
|
|
|
|
// Wait for kill to be pressed
|
|
while (READ(KILL_PIN)) {
|
|
#if ENABLED(USE_WATCHDOG)
|
|
watchdog_reset();
|
|
#endif
|
|
}
|
|
|
|
void (*resetFunc)() = 0; // Declare resetFunc() at address 0
|
|
resetFunc(); // Jump to address 0
|
|
|
|
#else // !HAS_KILL
|
|
|
|
for (;;) {
|
|
#if ENABLED(USE_WATCHDOG)
|
|
watchdog_reset();
|
|
#endif
|
|
} // 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_START();
|
|
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
|
|
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
|
|
SERIAL_ECHOLNPGM(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).
|
|
ui.init();
|
|
ui.reset_status();
|
|
|
|
#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
|
|
LOOP_XYZ(a) current_position[a] += home_offset[a];
|
|
#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
|
|
|
|
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_COLOR_LEDS
|
|
leds.setup();
|
|
#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 ENABLED(LULZBOT_EMI_MITIGATION)
|
|
emi_shutoff_pins();
|
|
#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 HAS_TRINAMIC && DISABLED(PS_DEFAULT_OFF)
|
|
test_tmc_connection(true, true, true, true);
|
|
#endif
|
|
|
|
#if ENABLED(PRUSA_MMU2)
|
|
mmu2.init();
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* The main Marlin program loop
|
|
*
|
|
* - Save or log commands to SD
|
|
* - Process available commands (if not saving)
|
|
* - Call endstop manager
|
|
* - Call inactivity manager
|
|
*/
|
|
void loop() {
|
|
|
|
for (;;) {
|
|
|
|
idle(); // Do an idle first so boot is slightly faster
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
|
|
card.checkautostart();
|
|
|
|
if (card.flag.abort_sd_printing) {
|
|
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 // SDSUPPORT
|
|
|
|
queue.advance();
|
|
endstops.event_handler();
|
|
}
|
|
}
|