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MarlinFirmware/Marlin/src/MarlinCore.cpp
John Lagonikas 9a194826e3
✨ M81 D / S - Power-off Delay (#23396)
2022-01-03 10:11:39 -06:00

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/**
* 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"
#include "HAL/shared/Delay.h"
#include "HAL/shared/esp_wifi.h"
#include "HAL/shared/cpu_exception/exception_hook.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/mks_ui/tft_lvgl_configuration.h"
#include "lcd/extui/mks_ui/draw_ui.h"
#include "lcd/extui/mks_ui/mks_hardware.h"
#include <lvgl.h>
#endif
#if HAS_DWIN_E3V2
#include "lcd/e3v2/common/encoder.h"
#if ENABLED(DWIN_CREALITY_LCD)
#include "lcd/e3v2/creality/dwin.h"
#elif ENABLED(DWIN_CREALITY_LCD_ENHANCED)
#include "lcd/e3v2/enhanced/dwin.h"
#elif ENABLED(DWIN_CREALITY_LCD_JYERSUI)
#include "lcd/e3v2/jyersui/dwin.h"
#endif
#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 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 ENABLED(POLARGRAPH)
#include "module/polargraph.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
#include "module/tool_change.h"
#if HAS_FANCHECK
#include "feature/fancheck.h"
#endif
#if ENABLED(USE_CONTROLLER_FAN)
#include "feature/controllerfan.h"
#endif
#if HAS_PRUSA_MMU1
#include "feature/mmu/mmu.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
#if ENABLED(DGUS_LCD_UI_MKS)
#include "lcd/extui/dgus/DGUSScreenHandler.h"
#endif
#if HAS_DRIVER_SAFE_POWER_PROTECT
#include "feature/stepper_driver_safety.h"
#endif
#if ENABLED(PSU_CONTROL)
#include "feature/power.h"
#endif
#if ENABLED(EASYTHREED_UI)
#include "feature/easythreed_ui.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"
#ifndef RUNTIME_ONLY_ANALOG_TO_DIGITAL
template <pin_t ...D>
constexpr pin_t OnlyPins<_SP_END, D...>::table[sizeof...(D)];
#endif
bool pin_is_protected(const pin_t pin) {
#ifdef RUNTIME_ONLY_ANALOG_TO_DIGITAL
static const pin_t sensitive_pins[] PROGMEM = { SENSITIVE_PINS };
const size_t pincount = COUNT(sensitive_pins);
#else
static constexpr size_t pincount = OnlyPins<SENSITIVE_PINS>::size;
static const pin_t (&sensitive_pins)[pincount] PROGMEM = OnlyPins<SENSITIVE_PINS>::table;
#endif
LOOP_L_N(i, pincount) {
const pin_t * const pptr = &sensitive_pins[i];
if (pin == (sizeof(pin_t) == 2 ? (pin_t)pgm_read_word(pptr) : (pin_t)pgm_read_byte(pptr))) return true;
}
return false;
}
#pragma GCC diagnostic pop
/**
* A Print Job exists when the timer is running or SD is printing
*/
bool printJobOngoing() { return print_job_timer.isRunning() || IS_SD_PRINTING(); }
/**
* Printing is active when a job is underway but not paused
*/
bool printingIsActive() { return !did_pause_print && printJobOngoing(); }
/**
* 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.abortFilePrintNow(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(F(EVENT_GCODE_SD_ABORT));
#endif
TERN_(PASSWORD_AFTER_SD_PRINT_ABORT, password.lock_machine());
}
inline void finishSDPrinting() {
if (queue.enqueue_one(F("M1001"))) { // Keep trying until it gets queued
marlin_state = MF_RUNNING; // Signal to stop trying
TERN_(PASSWORD_AFTER_SD_PRINT_END, password.lock_machine());
TERN_(DGUS_LCD_UI_MKS, ScreenHandler.SDPrintingFinished());
}
}
#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 for CUSTOM USER 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 no_stepper_sleep=false) {
queue.get_available_commands();
const millis_t ms = millis();
// Prevent steppers timing-out
const bool do_reset_timeout = no_stepper_sleep
|| TERN0(PAUSE_PARK_NO_STEPPER_TIMEOUT, did_pause_print);
// Reset both the M18/M84 activity timeout and the M85 max 'kill' timeout
if (do_reset_timeout) gcode.reset_stepper_timeout(ms);
if (gcode.stepper_max_timed_out(ms)) {
SERIAL_ERROR_MSG(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 (!do_reset_timeout && 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
TERN_(DISABLE_INACTIVE_X, stepper.disable_axis(X_AXIS));
TERN_(DISABLE_INACTIVE_Y, stepper.disable_axis(Y_AXIS));
TERN_(DISABLE_INACTIVE_Z, stepper.disable_axis(Z_AXIS));
TERN_(DISABLE_INACTIVE_I, stepper.disable_axis(I_AXIS));
TERN_(DISABLE_INACTIVE_J, stepper.disable_axis(J_AXIS));
TERN_(DISABLE_INACTIVE_K, stepper.disable_axis(K_AXIS));
TERN_(DISABLE_INACTIVE_E, stepper.disable_e_steppers());
TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled());
}
}
else
already_shutdown_steppers = false;
}
#if ENABLED(PHOTO_GCODE) && PIN_EXISTS(CHDK)
// Check if CHDK 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_FREEZE_PIN
Stepper::frozen = !READ(FREEZE_PIN);
#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
if (ELAPSED(ms, next_home_key_ms)) {
next_home_key_ms = ms + HOME_DEBOUNCE_DELAY;
LCD_MESSAGE(MSG_AUTO_HOME);
queue.inject_P(G28_STR);
}
}
#endif
#if ENABLED(CUSTOM_USER_BUTTONS)
// Handle a custom user button if defined
const bool printer_not_busy = !printingIsActive();
#define HAS_CUSTOM_USER_BUTTON(N) (PIN_EXISTS(BUTTON##N) && defined(BUTTON##N##_HIT_STATE) && defined(BUTTON##N##_GCODE))
#define HAS_BETTER_USER_BUTTON(N) HAS_CUSTOM_USER_BUTTON(N) && defined(BUTTON##N##_DESC)
#define _CHECK_CUSTOM_USER_BUTTON(N, CODE) do{ \
constexpr millis_t CUB_DEBOUNCE_DELAY_##N = 250UL; \
static millis_t next_cub_ms_##N; \
if (BUTTON##N##_HIT_STATE == READ(BUTTON##N##_PIN) \
&& (ENABLED(BUTTON##N##_WHEN_PRINTING) || printer_not_busy)) { \
if (ELAPSED(ms, next_cub_ms_##N)) { \
next_cub_ms_##N = ms + CUB_DEBOUNCE_DELAY_##N; \
CODE; \
queue.inject(F(BUTTON##N##_GCODE)); \
TERN_(HAS_LCD_MENU, ui.quick_feedback()); \
} \
} \
}while(0)
#define CHECK_CUSTOM_USER_BUTTON(N) _CHECK_CUSTOM_USER_BUTTON(N, NOOP)
#define CHECK_BETTER_USER_BUTTON(N) _CHECK_CUSTOM_USER_BUTTON(N, if (strlen(BUTTON##N##_DESC)) LCD_MESSAGE_F(BUTTON##N##_DESC))
#if HAS_BETTER_USER_BUTTON(1)
CHECK_BETTER_USER_BUTTON(1);
#elif HAS_CUSTOM_USER_BUTTON(1)
CHECK_CUSTOM_USER_BUTTON(1);
#endif
#if HAS_BETTER_USER_BUTTON(2)
CHECK_BETTER_USER_BUTTON(2);
#elif HAS_CUSTOM_USER_BUTTON(2)
CHECK_CUSTOM_USER_BUTTON(2);
#endif
#if HAS_BETTER_USER_BUTTON(3)
CHECK_BETTER_USER_BUTTON(3);
#elif HAS_CUSTOM_USER_BUTTON(3)
CHECK_CUSTOM_USER_BUTTON(3);
#endif
#if HAS_BETTER_USER_BUTTON(4)
CHECK_BETTER_USER_BUTTON(4);
#elif HAS_CUSTOM_USER_BUTTON(4)
CHECK_CUSTOM_USER_BUTTON(4);
#endif
#if HAS_BETTER_USER_BUTTON(5)
CHECK_BETTER_USER_BUTTON(5);
#elif HAS_CUSTOM_USER_BUTTON(5)
CHECK_CUSTOM_USER_BUTTON(5);
#endif
#if HAS_BETTER_USER_BUTTON(6)
CHECK_BETTER_USER_BUTTON(6);
#elif HAS_CUSTOM_USER_BUTTON(6)
CHECK_CUSTOM_USER_BUTTON(6);
#endif
#if HAS_BETTER_USER_BUTTON(7)
CHECK_BETTER_USER_BUTTON(7);
#elif HAS_CUSTOM_USER_BUTTON(7)
CHECK_CUSTOM_USER_BUTTON(7);
#endif
#if HAS_BETTER_USER_BUTTON(8)
CHECK_BETTER_USER_BUTTON(8);
#elif HAS_CUSTOM_USER_BUTTON(8)
CHECK_CUSTOM_USER_BUTTON(8);
#endif
#if HAS_BETTER_USER_BUTTON(9)
CHECK_BETTER_USER_BUTTON(9);
#elif HAS_CUSTOM_USER_BUTTON(9)
CHECK_CUSTOM_USER_BUTTON(9);
#endif
#if HAS_BETTER_USER_BUTTON(10)
CHECK_BETTER_USER_BUTTON(10);
#elif HAS_CUSTOM_USER_BUTTON(10)
CHECK_CUSTOM_USER_BUTTON(10);
#endif
#if HAS_BETTER_USER_BUTTON(11)
CHECK_BETTER_USER_BUTTON(11);
#elif HAS_CUSTOM_USER_BUTTON(11)
CHECK_CUSTOM_USER_BUTTON(11);
#endif
#if HAS_BETTER_USER_BUTTON(12)
CHECK_BETTER_USER_BUTTON(12);
#elif HAS_CUSTOM_USER_BUTTON(12)
CHECK_CUSTOM_USER_BUTTON(12);
#endif
#if HAS_BETTER_USER_BUTTON(13)
CHECK_BETTER_USER_BUTTON(13);
#elif HAS_CUSTOM_USER_BUTTON(13)
CHECK_CUSTOM_USER_BUTTON(13);
#endif
#if HAS_BETTER_USER_BUTTON(14)
CHECK_BETTER_USER_BUTTON(14);
#elif HAS_CUSTOM_USER_BUTTON(14)
CHECK_CUSTOM_USER_BUTTON(14);
#endif
#if HAS_BETTER_USER_BUTTON(15)
CHECK_BETTER_USER_BUTTON(15);
#elif HAS_CUSTOM_USER_BUTTON(15)
CHECK_CUSTOM_USER_BUTTON(15);
#endif
#if HAS_BETTER_USER_BUTTON(16)
CHECK_BETTER_USER_BUTTON(16);
#elif HAS_CUSTOM_USER_BUTTON(16)
CHECK_CUSTOM_USER_BUTTON(16);
#endif
#if HAS_BETTER_USER_BUTTON(17)
CHECK_BETTER_USER_BUTTON(17);
#elif HAS_CUSTOM_USER_BUTTON(17)
CHECK_CUSTOM_USER_BUTTON(17);
#endif
#if HAS_BETTER_USER_BUTTON(18)
CHECK_BETTER_USER_BUTTON(18);
#elif HAS_CUSTOM_USER_BUTTON(18)
CHECK_CUSTOM_USER_BUTTON(18);
#endif
#if HAS_BETTER_USER_BUTTON(19)
CHECK_BETTER_USER_BUTTON(19);
#elif HAS_CUSTOM_USER_BUTTON(19)
CHECK_CUSTOM_USER_BUTTON(19);
#endif
#if HAS_BETTER_USER_BUTTON(20)
CHECK_BETTER_USER_BUTTON(20);
#elif HAS_CUSTOM_USER_BUTTON(20)
CHECK_CUSTOM_USER_BUTTON(20);
#endif
#if HAS_BETTER_USER_BUTTON(21)
CHECK_BETTER_USER_BUTTON(21);
#elif HAS_CUSTOM_USER_BUTTON(21)
CHECK_CUSTOM_USER_BUTTON(21);
#endif
#if HAS_BETTER_USER_BUTTON(22)
CHECK_BETTER_USER_BUTTON(22);
#elif HAS_CUSTOM_USER_BUTTON(22)
CHECK_CUSTOM_USER_BUTTON(22);
#endif
#if HAS_BETTER_USER_BUTTON(23)
CHECK_BETTER_USER_BUTTON(23);
#elif HAS_CUSTOM_USER_BUTTON(23)
CHECK_CUSTOM_USER_BUTTON(23);
#endif
#if HAS_BETTER_USER_BUTTON(24)
CHECK_BETTER_USER_BUTTON(24);
#elif HAS_CUSTOM_USER_BUTTON(24)
CHECK_CUSTOM_USER_BUTTON(24);
#endif
#if HAS_BETTER_USER_BUTTON(25)
CHECK_BETTER_USER_BUTTON(25);
#elif HAS_CUSTOM_USER_BUTTON(25)
CHECK_CUSTOM_USER_BUTTON(25);
#endif
#endif
TERN_(EASYTHREED_UI, easythreed_ui.run());
TERN_(USE_CONTROLLER_FAN, controllerFan.update()); // Check if fan should be turned on to cool stepper drivers down
TERN_(AUTO_POWER_CONTROL, powerManager.check(!ui.on_status_screen() || printJobOngoing() || printingIsPaused()));
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 = stepper.AXIS_IS_ENABLED(E_AXIS, 0); stepper.ENABLE_EXTRUDER(0); break;
#if E_STEPPERS > 1
case 2: case 3: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 1); stepper.ENABLE_EXTRUDER(1); break;
#if E_STEPPERS > 2
case 4: case 5: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 2); stepper.ENABLE_EXTRUDER(2); break;
#if E_STEPPERS > 3
case 6: case 7: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 3); stepper.ENABLE_EXTRUDER(3); 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 = stepper.AXIS_IS_ENABLED(E_AXIS, N); stepper.ENABLE_EXTRUDER(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: if (oldstatus) stepper.ENABLE_EXTRUDER(0); else stepper.DISABLE_EXTRUDER(0); break;
#if E_STEPPERS > 1
case 2: case 3: if (oldstatus) stepper.ENABLE_EXTRUDER(1); else stepper.DISABLE_EXTRUDER(1); break;
#if E_STEPPERS > 2
case 4: case 5: if (oldstatus) stepper.ENABLE_EXTRUDER(2); else stepper.DISABLE_EXTRUDER(2); break;
#endif // E_STEPPERS > 2
#endif // E_STEPPERS > 1
}
#else // !SWITCHING_EXTRUDER
switch (active_extruder) {
#define _CASE_RESTORE(N) case N: if (oldstatus) stepper.ENABLE_EXTRUDER(N); else stepper.DISABLE_EXTRUDER(N); 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(bool no_stepper_sleep/*=false*/) {
#if ENABLED(MARLIN_DEV_MODE)
static uint16_t idle_depth = 0;
if (++idle_depth > 5) SERIAL_ECHOLNPGM("idle() call depth: ", idle_depth);
#endif
// Core Marlin activities
manage_inactivity(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;
// TODO: Still causing errors
(void)check_tool_sensor_stats(active_extruder, true);
// Handle filament runout sensors
#if HAS_FILAMENT_SENSOR
if (TERN1(HAS_PRUSA_MMU2, !mmu2.enabled()))
runout.run();
#endif
// 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 (IS_SD_PRINTING()) 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) if (endstops.tmc_spi_homing_check()) break; // Read SGT 4 times per idle loop
#endif
// Handle SD Card insert / remove
TERN_(SDSUPPORT, card.manage_media());
// Handle USB Flash Drive insert / remove
TERN_(USB_FLASH_DRIVE_SUPPORT, card.diskIODriver()->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(HAS_DWIN_E3V2_BASIC, 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_FANS, fan_check.auto_reporter.tick());
TERN_(AUTO_REPORT_SD_STATUS, card.auto_reporter.tick());
TERN_(AUTO_REPORT_POSITION, position_auto_reporter.tick());
TERN_(BUFFER_MONITORING, queue.auto_report_buffer_statistics());
}
#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(FSTR_P const lcd_error/*=nullptr*/, FSTR_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
// Echo the LCD message to serial for extra context
if (lcd_error) { SERIAL_ECHO_START(); SERIAL_ECHOLNF(lcd_error); }
#if EITHER(HAS_DISPLAY, DWIN_CREALITY_LCD_ENHANCED)
ui.kill_screen(lcd_error ?: GET_TEXT_F(MSG_KILLED), lcd_component ?: FPSTR(NUL_STR));
#else
UNUSED(lcd_error); UNUSED(lcd_component);
#endif
TERN_(HAS_TFT_LVGL_UI, lv_draw_error_message(lcd_error));
// "Error:Printer halted. kill() called!"
SERIAL_ERROR_MSG(STR_ERR_KILLED);
#ifdef ACTION_ON_KILL
hostui.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 ? stepper.disable_all_steppers() : stepper.disable_e_steppers();
TERN_(PSU_CONTROL, powerManager.power_off());
TERN_(HAS_SUICIDE, suicide());
#if EITHER(HAS_KILL, SOFT_RESET_ON_KILL)
// Wait for both KILL and ENC to be released
while (TERN0(HAS_KILL, kill_state()) || TERN0(SOFT_RESET_ON_KILL, ui.button_pressed()))
watchdog_refresh();
// Wait for either KILL or ENC to be pressed again
while (TERN1(HAS_KILL, !kill_state()) && TERN1(SOFT_RESET_ON_KILL, !ui.button_pressed()))
watchdog_refresh();
// Reboot the board
HAL_reboot();
#else
for (;;) watchdog_refresh(); // Wait for RESET button or power-cycle
#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 EITHER(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE)
thermalManager.set_fans_paused(false); // Un-pause fans for safety
#endif
if (!IsStopped()) {
SERIAL_ERROR_MSG(STR_ERR_STOPPED);
LCD_MESSAGE(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(I_STDBY)
SET_INPUT_PULLDOWN(I_STDBY_PIN);
#endif
#if PIN_EXISTS(J_STDBY)
SET_INPUT_PULLDOWN(J_STDBY_PIN);
#endif
#if PIN_EXISTS(K_STDBY)
SET_INPUT_PULLDOWN(K_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 Firmware entry-point. Abandon Hope All Ye Who Enter Here.
* Setup before the program loop:
*
* - Call any special pre-init set for the board
* - Put TMC drivers into Low Power Standby mode
* - Init the serial ports (so setup can be debugged)
* - Set up the kill and suicide pins
* - Prepare (disable) board JTAG and Debug ports
* - Init serial for a connected MKS TFT with WiFi
* - Install Marlin custom Exception Handlers, if set.
* - Init Marlin's HAL interfaces (for SPI, i2c, etc.)
* - Init some optional hardware and features:
* • MAX Thermocouple pins
* • Duet Smart Effector
* • Filament Runout Sensor
* • TMC220x Stepper Drivers (Serial)
* • PSU control
* • Power-loss Recovery
* • L64XX Stepper Drivers (SPI)
* • Stepper Driver Reset: DISABLE
* • TMC Stepper Drivers (SPI)
* • Run BOARD_INIT if defined
* • ESP WiFi
* - Get the Reset Reason and report it
* - Print startup messages and diagnostics
* - Calibrate the HAL DELAY for precise timing
* - Init the buzzer, possibly a custom timer
* - Init more optional hardware:
* • Color LED illumination
* • Neopixel illumination
* • Controller Fan
* • Creality DWIN LCD (show boot image)
* • Tare the Probe if possible
* - Mount the (most likely external) SD Card
* - Load settings from EEPROM (or use defaults)
* - Init the Ethernet Port
* - Init Touch Buttons (for emulated DOGLCD)
* - Adjust the (certainly wrong) current position by the home offset
* - Init the Planner::position (steps) based on current (native) position
* - Initialize more managers and peripherals:
* • Temperatures
* • Print Job Timer
* • Endstops and Endstop Interrupts
* • Stepper ISR - Kind of Important!
* • Servos
* • Servo-based Probe
* • Photograph Pin
* • Laser/Spindle tool Power / PWM
* • Coolant Control
* • Bed Probe
* • Stepper Driver Reset: ENABLE
* • Digipot I2C - Stepper driver current control
* • Stepper DAC - Stepper driver current control
* • Solenoid (probe, or for other use)
* • Home Pin
* • Custom User Buttons
* • Red/Blue Status LEDs
* • Case Light
* • Prusa MMU filament changer
* • Fan Multiplexer
* • Mixing Extruder
* • BLTouch Probe
* • I2C Position Encoders
* • Custom I2C Bus handlers
* • Enhanced tools or extruders:
* • Switching Extruder
* • Switching Nozzle
* • Parking Extruder
* • Magnetic Parking Extruder
* • Switching Toolhead
* • Electromagnetic Switching Toolhead
* • Watchdog Timer - Also Kind of Important!
* • Closed Loop Controller
* - Run Startup Commands, if defined
* - Tell host to close Host Prompts
* - Test Trinamic driver connections
* - Init Prusa MMU2 filament changer
* - Init and test BL24Cxx EEPROM
* - Init Creality DWIN encoder, show faux progress bar
* - Reset Status Message / Show Service Messages
* - Init MAX7219 LED Matrix
* - Init Direct Stepping (Klipper-style motion control)
* - Init TFT LVGL UI (with 3D Graphics)
* - Apply Password Lock - Hold for Authentication
* - Open Touch Screen Calibration screen, if not calibrated
* - Set Marlin to RUNNING State
*/
void setup() {
#ifdef FASTIO_INIT
FASTIO_INIT();
#endif
#ifdef BOARD_PREINIT
BOARD_PREINIT(); // Low-level init (before serial init)
#endif
tmc_standby_setup(); // TMC Low Power Standby pins must be set early or they're not usable
// Check startup - does nothing if bootloader sets MCUSR to 0
const byte mcu = HAL_get_reset_source();
HAL_clear_reset_source();
#if ENABLED(MARLIN_DEV_MODE)
auto log_current_ms = [&](PGM_P const msg) {
SERIAL_ECHO_START();
SERIAL_CHAR('['); SERIAL_ECHO(millis()); SERIAL_ECHOPGM("] ");
SERIAL_ECHOLNPGM_P(msg);
};
#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)
MYSERIAL1.begin(BAUDRATE);
millis_t serial_connect_timeout = millis() + 1000UL;
while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#if HAS_MULTI_SERIAL && !HAS_ETHERNET
#ifndef BAUDRATE_2
#define BAUDRATE_2 BAUDRATE
#endif
MYSERIAL2.begin(BAUDRATE_2);
serial_connect_timeout = millis() + 1000UL;
while (!MYSERIAL2.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#ifdef SERIAL_PORT_3
#ifndef BAUDRATE_3
#define BAUDRATE_3 BAUDRATE
#endif
MYSERIAL3.begin(BAUDRATE_3);
serial_connect_timeout = millis() + 1000UL;
while (!MYSERIAL3.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#endif
#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_FREEZE_PIN
SETUP_LOG("FREEZE_PIN");
SET_INPUT_PULLUP(FREEZE_PIN);
#endif
#if HAS_SUICIDE
SETUP_LOG("SUICIDE_PIN");
OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_STATE);
#endif
#ifdef JTAGSWD_RESET
SETUP_LOG("JTAGSWD_RESET");
JTAGSWD_RESET();
#endif
#if EITHER(DISABLE_DEBUG, DISABLE_JTAG)
delay(10);
// Disable any hardware debug to free up pins for IO
#if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
SETUP_LOG("JTAGSWD_DISABLE");
JTAGSWD_DISABLE();
#elif defined(JTAG_DISABLE)
SETUP_LOG("JTAG_DISABLE");
JTAG_DISABLE();
#else
#error "DISABLE_(DEBUG|JTAG) is not supported for the selected MCU/Board."
#endif
#endif
TERN_(DYNAMIC_VECTORTABLE, hook_cpu_exceptions()); // If supported, install Marlin exception handlers at runtime
SETUP_RUN(HAL_init());
// Init and disable SPI thermocouples; this is still needed
#if TEMP_SENSOR_0_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E0))
OUT_WRITE(TEMP_0_CS_PIN, HIGH); // Disable
#endif
#if TEMP_SENSOR_1_IS_MAX_TC || (TEMP_SENSOR_REDUNDANT_IS_MAX_TC && REDUNDANT_TEMP_MATCH(SOURCE, E1))
OUT_WRITE(TEMP_1_CS_PIN, HIGH);
#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 HAS_TMC220x
SETUP_RUN(tmc_serial_begin());
#endif
#if ENABLED(PSU_CONTROL)
SETUP_LOG("PSU_CONTROL");
powerManager.init();
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
SETUP_RUN(recovery.setup());
#endif
#if HAS_L64XX
SETUP_RUN(L64xxManager.init()); // Set up SPI, init drivers
#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());
// Report Reset Reason
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);
// Identify myself as Marlin x.x.x
SERIAL_ECHOLNPGM("Marlin " SHORT_BUILD_VERSION);
#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, sizeof(block_t) * (BLOCK_BUFFER_SIZE));
// Some HAL need precise delay adjustment
calibrate_delay_loop();
// 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
TERN_(HAS_FANCHECK, fan_check.init());
// UI must be initialized before EEPROM
// (because EEPROM code calls the UI).
#if HAS_DWIN_E3V2_BASIC
SETUP_RUN(DWIN_Startup());
#else
SETUP_RUN(ui.init());
#if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN)
SETUP_RUN(ui.show_bootscreen());
const millis_t bootscreen_ms = millis();
#endif
SETUP_RUN(ui.reset_status()); // Load welcome message early. (Retained if no errors exist.)
#endif
#if PIN_EXISTS(SAFE_POWER)
#if HAS_DRIVER_SAFE_POWER_PROTECT
SETUP_RUN(stepper_driver_backward_check());
#else
SETUP_LOG("SAFE_POWER");
OUT_WRITE(SAFE_POWER_PIN, HIGH);
#endif
#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(touchBt.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
#if PIN_EXISTS(PROBE_ENABLE)
OUT_WRITE(PROBE_ENABLE_PIN, LOW); // Disable
#endif
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 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 ENABLED(CUSTOM_USER_BUTTONS)
#define INIT_CUSTOM_USER_BUTTON_PIN(N) do{ SET_INPUT(BUTTON##N##_PIN); WRITE(BUTTON##N##_PIN, !BUTTON##N##_HIT_STATE); }while(0)
#if HAS_CUSTOM_USER_BUTTON(1)
INIT_CUSTOM_USER_BUTTON_PIN(1);
#endif
#if HAS_CUSTOM_USER_BUTTON(2)
INIT_CUSTOM_USER_BUTTON_PIN(2);
#endif
#if HAS_CUSTOM_USER_BUTTON(3)
INIT_CUSTOM_USER_BUTTON_PIN(3);
#endif
#if HAS_CUSTOM_USER_BUTTON(4)
INIT_CUSTOM_USER_BUTTON_PIN(4);
#endif
#if HAS_CUSTOM_USER_BUTTON(5)
INIT_CUSTOM_USER_BUTTON_PIN(5);
#endif
#if HAS_CUSTOM_USER_BUTTON(6)
INIT_CUSTOM_USER_BUTTON_PIN(6);
#endif
#if HAS_CUSTOM_USER_BUTTON(7)
INIT_CUSTOM_USER_BUTTON_PIN(7);
#endif
#if HAS_CUSTOM_USER_BUTTON(8)
INIT_CUSTOM_USER_BUTTON_PIN(8);
#endif
#if HAS_CUSTOM_USER_BUTTON(9)
INIT_CUSTOM_USER_BUTTON_PIN(9);
#endif
#if HAS_CUSTOM_USER_BUTTON(10)
INIT_CUSTOM_USER_BUTTON_PIN(10);
#endif
#if HAS_CUSTOM_USER_BUTTON(11)
INIT_CUSTOM_USER_BUTTON_PIN(11);
#endif
#if HAS_CUSTOM_USER_BUTTON(12)
INIT_CUSTOM_USER_BUTTON_PIN(12);
#endif
#if HAS_CUSTOM_USER_BUTTON(13)
INIT_CUSTOM_USER_BUTTON_PIN(13);
#endif
#if HAS_CUSTOM_USER_BUTTON(14)
INIT_CUSTOM_USER_BUTTON_PIN(14);
#endif
#if HAS_CUSTOM_USER_BUTTON(15)
INIT_CUSTOM_USER_BUTTON_PIN(15);
#endif
#if HAS_CUSTOM_USER_BUTTON(16)
INIT_CUSTOM_USER_BUTTON_PIN(16);
#endif
#if HAS_CUSTOM_USER_BUTTON(17)
INIT_CUSTOM_USER_BUTTON_PIN(17);
#endif
#if HAS_CUSTOM_USER_BUTTON(18)
INIT_CUSTOM_USER_BUTTON_PIN(18);
#endif
#if HAS_CUSTOM_USER_BUTTON(19)
INIT_CUSTOM_USER_BUTTON_PIN(19);
#endif
#if HAS_CUSTOM_USER_BUTTON(20)
INIT_CUSTOM_USER_BUTTON_PIN(20);
#endif
#if HAS_CUSTOM_USER_BUTTON(21)
INIT_CUSTOM_USER_BUTTON_PIN(21);
#endif
#if HAS_CUSTOM_USER_BUTTON(22)
INIT_CUSTOM_USER_BUTTON_PIN(22);
#endif
#if HAS_CUSTOM_USER_BUTTON(23)
INIT_CUSTOM_USER_BUTTON_PIN(23);
#endif
#if HAS_CUSTOM_USER_BUTTON(24)
INIT_CUSTOM_USER_BUTTON_PIN(24);
#endif
#if HAS_CUSTOM_USER_BUTTON(25)
INIT_CUSTOM_USER_BUTTON_PIN(25);
#endif
#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)
SETUP_RUN(caselight.init());
#endif
#if HAS_PRUSA_MMU1
SETUP_RUN(mmu_init());
#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(MAGLEV4)
OUT_WRITE(MAGLEV_TRIGGER_PIN, LOW);
#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(PARKING_EXTRUDER)
SETUP_RUN(pe_solenoid_init());
#elif ENABLED(MAGNETIC_PARKING_EXTRUDER)
SETUP_RUN(mpe_settings_init());
#elif ENABLED(SWITCHING_TOOLHEAD)
SETUP_RUN(swt_init());
#elif 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(F(STARTUP_COMMANDS));
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
SETUP_RUN(hostui.prompt_end());
#endif
#if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF)
SETUP_RUN(test_tmc_connection());
#endif
#if HAS_DRIVER_SAFE_POWER_PROTECT
SETUP_RUN(stepper_driver_backward_report());
#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 HAS_DWIN_E3V2_BASIC
SETUP_LOG("E3V2 Init");
Encoder_Configuration();
HMI_Init();
HMI_SetLanguageCache();
HMI_StartFrame(true);
#endif
#if HAS_SERVICE_INTERVALS && !HAS_DWIN_E3V2_BASIC
SETUP_RUN(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 BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN)
const millis_t elapsed = millis() - bootscreen_ms;
#if ENABLED(MARLIN_DEV_MODE)
SERIAL_ECHOLNPGM("elapsed=", elapsed);
#endif
SETUP_RUN(ui.bootscreen_completion(elapsed));
#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)
SETUP_RUN(ui.check_touch_calibration());
#endif
#if ENABLED(EASYTHREED_UI)
SETUP_RUN(easythreed_ui.init());
#endif
marlin_state = MF_RUNNING;
SETUP_LOG("setup() completed.");
}
/**
* The main Marlin program loop
*
* - Call idle() to handle all tasks between G-code commands
* Note that no G-codes from the queue can be executed during idle()
* but many G-codes can be called directly anytime like macros.
* - Check whether SD card auto-start is needed now.
* - Check whether SD print finishing is needed now.
* - Run one G-code command from the immediate or main command queue
* and open up one space. Commands in the main queue may come from sd
* card, host, or by direct injection. The queue will continue to fill
* as long as idle() or manage_inactivity() are being called.
*/
void loop() {
do {
idle();
#if ENABLED(SDSUPPORT)
if (card.flag.abort_sd_printing) abortSDPrinting();
if (marlin_state == MF_SD_COMPLETE) finishSDPrinting();
#endif
queue.advance();
#if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN)
powerManager.checkAutoPowerOff();
#endif
endstops.event_handler();
TERN_(HAS_TFT_LVGL_UI, printer_state_polling());
} while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards
}
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