mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-12-02 16:59:03 +00:00
1104 lines
29 KiB
C++
1104 lines
29 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016, 2017 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/simen/grbl
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*/
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#include "Marlin.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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#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 HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
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#include "libs/buzzer.h"
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#endif
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#if (ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH) || ENABLED(SWITCHING_NOZZLE)
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#include "module/tool_change.h"
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#endif
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#if ENABLED(BEZIER_CURVE_SUPPORT)
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#include "module/planner_bezier.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 HAS_SERVOS
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#include "HAL/servo.h"
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#endif
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#if HAS_DIGIPOTSS
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#include <SPI.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 ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#include "HAL/HAL_endstop_interrupts.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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bool G38_move = false,
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G38_endstop_hit = 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 ENABLED(SENSORLESS_HOMING)
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#include "feature/tmc2130.h"
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#endif
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#if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
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#include "feature/pause.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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bool Running = true;
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/**
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* axis_homed
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* Flags that each linear axis was homed.
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* XYZ on cartesian, ABC on delta, ABZ on SCARA.
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*
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* axis_known_position
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* Flags that the position is known in each linear axis. Set when homed.
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* Cleared whenever a stepper powers off, potentially losing its position.
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*/
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bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
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#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
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TempUnit input_temp_units = TEMPUNIT_C;
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#endif
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// Initialized by settings.load()
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float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS];
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#if FAN_COUNT > 0
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int16_t fanSpeeds[FAN_COUNT] = { 0 };
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#if ENABLED(PROBING_FANS_OFF)
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bool fans_paused = false;
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int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
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#endif
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#endif
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// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
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volatile 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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volatile bool wait_for_user = 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 ENABLED(Z_DUAL_ENDSTOPS)
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float z_endstop_adj;
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#endif
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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static bool filament_ran_out = false;
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#endif
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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AdvancedPauseMenuResponse advanced_pause_menu_response;
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
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#if MIXING_VIRTUAL_TOOLS > 1
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float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
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#endif
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#endif
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#ifdef CHDK
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millis_t chdkHigh = 0;
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bool chdkActive = false;
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#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
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int lpq_len = 20;
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#endif
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#if ENABLED(I2C_POSITION_ENCODERS)
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I2CPositionEncodersMgr I2CPEM;
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uint8_t blockBufferIndexRef = 0;
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millis_t lastUpdateMillis;
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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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#if ENABLED(DIGIPOT_I2C)
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extern void digipot_i2c_set_current(uint8_t channel, float current);
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extern void digipot_i2c_init();
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#endif
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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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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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void setup_filrunoutpin() {
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#if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
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SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
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#else
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SET_INPUT(FIL_RUNOUT_PIN);
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#endif
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}
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#endif
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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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OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
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#else
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OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
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#endif
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#endif
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}
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void suicide() {
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#if HAS_SUICIDE
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OUT_WRITE(SUICIDE_PIN, LOW);
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#endif
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}
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#if HAS_SERVOS
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HAL_SERVO_LIB servo[NUM_SERVOS];
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void servo_init() {
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#if NUM_SERVOS >= 1 && HAS_SERVO_0
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servo[0].attach(SERVO0_PIN);
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servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
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#endif
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#if NUM_SERVOS >= 2 && HAS_SERVO_1
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servo[1].attach(SERVO1_PIN);
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servo[1].detach();
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#endif
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#if NUM_SERVOS >= 3 && HAS_SERVO_2
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servo[2].attach(SERVO2_PIN);
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servo[2].detach();
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#endif
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#if NUM_SERVOS >= 4 && HAS_SERVO_3
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servo[3].attach(SERVO3_PIN);
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servo[3].detach();
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#endif
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#if HAS_Z_SERVO_ENDSTOP
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servo_probe_init();
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#endif
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}
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#endif // HAS_SERVOS
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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() {
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OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
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}
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void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
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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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#if ENABLED(MIXING_EXTRUDER)
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void normalize_mix() {
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float mix_total = 0.0;
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]);
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// Scale all values if they don't add up to ~1.0
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if (!NEAR(mix_total, 1.0)) {
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SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total;
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}
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}
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#if ENABLED(DIRECT_MIXING_IN_G1)
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// Get mixing parameters from the GCode
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// The total "must" be 1.0 (but it will be normalized)
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// If no mix factors are given, the old mix is preserved
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void gcode_get_mix() {
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const char* mixing_codes = "ABCDHI";
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byte mix_bits = 0;
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
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if (parser.seenval(mixing_codes[i])) {
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SBI(mix_bits, i);
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float v = parser.value_float();
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NOLESS(v, 0.0);
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mixing_factor[i] = RECIPROCAL(v);
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}
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}
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// If any mixing factors were included, clear the rest
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// If none were included, preserve the last mix
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if (mix_bits) {
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
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if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
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normalize_mix();
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}
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}
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#endif
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#endif
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/**************************************************
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***************** GCode Handlers *****************
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**************************************************/
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/**
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* Sensitive pin test for M42, M226
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*/
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bool pin_is_protected(const int8_t pin) {
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static const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
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for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
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if (pin == (int8_t)pgm_read_byte(&sensitive_pins[i])) return true;
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return false;
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}
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#if HAS_LCD_CONTRAST
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#include "gcode/lcd/M250.h"
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#endif
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#if ENABLED(PREVENT_COLD_EXTRUSION)
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#include "gcode/config/M302.h"
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#endif
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#if ENABLED(MORGAN_SCARA)
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#include "gcode/scara/M360-M364.h"
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#endif
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#if ENABLED(EXT_SOLENOID)
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#include "gcode/control/M380_M381.h"
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#endif
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#include "gcode/control/M400.h"
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#if HAS_BED_PROBE
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#include "gcode/probe/M401_M402.h"
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#endif
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void quickstop_stepper() {
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stepper.quick_stop();
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stepper.synchronize();
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set_current_from_steppers_for_axis(ALL_AXES);
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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#if HAS_M206_COMMAND
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#include "gcode/geometry/M428.h"
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#endif
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#include "gcode/eeprom/M500.h"
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#include "gcode/eeprom/M501.h"
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#include "gcode/eeprom/M502.h"
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#if DISABLED(DISABLE_M503)
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#include "gcode/eeprom/M503.h"
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#endif
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#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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#include "gcode/config/M540.h"
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#endif
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#if ENABLED(MK2_MULTIPLEXER)
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#include "gcode/feature/snmm/M702.h"
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#endif
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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#include "gcode/control/M605.h"
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#endif
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#if ENABLED(LIN_ADVANCE)
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#include "gcode/feature/advance/M900.h"
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#endif
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#if ENABLED(HAVE_TMC2130)
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#include "feature/tmc2130.h"
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#include "gcode/feature/trinamic/M906.h"
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#include "gcode/feature/trinamic/M911.h"
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#include "gcode/feature/trinamic/M912.h"
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#if ENABLED(HYBRID_THRESHOLD)
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#include "gcode/feature/trinamic/M913.h"
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#endif
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#if ENABLED(SENSORLESS_HOMING)
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#include "gcode/feature/trinamic/M914.h"
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#endif
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#endif
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#include "gcode/feature/digipot/M907.h"
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#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
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#include "gcode/feature/digipot/M908.h"
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#if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
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#include "gcode/feature/digipot/M909.h"
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#include "gcode/feature/digipot/M910.h"
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#endif
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#endif
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#if HAS_MICROSTEPS
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#include "gcode/control/M350.h"
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#include "gcode/control/M351.h"
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#endif
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#include "gcode/feature/caselight/M355.h"
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#if ENABLED(MIXING_EXTRUDER)
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#include "gcode/feature/mixing/M163.h"
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#if MIXING_VIRTUAL_TOOLS > 1
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#include "gcode/feature/mixing/M164.h"
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#endif
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#if ENABLED(DIRECT_MIXING_IN_G1)
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#include "gcode/feature/mixing/M165.h"
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#endif
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#endif
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#include "gcode/control/M999.h"
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#include "gcode/control/T.h"
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#if ENABLED(USE_CONTROLLER_FAN)
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void controllerFan() {
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static millis_t lastMotorOn = 0, // Last time a motor was turned on
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nextMotorCheck = 0; // Last time the state was checked
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const millis_t ms = millis();
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if (ELAPSED(ms, nextMotorCheck)) {
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nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
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if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_amount_bed > 0
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|| E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
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#if E_STEPPERS > 1
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|| E1_ENABLE_READ == E_ENABLE_ON
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#if HAS_X2_ENABLE
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|| X2_ENABLE_READ == X_ENABLE_ON
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#endif
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#if E_STEPPERS > 2
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|| E2_ENABLE_READ == E_ENABLE_ON
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#if E_STEPPERS > 3
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|| E3_ENABLE_READ == E_ENABLE_ON
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#if E_STEPPERS > 4
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|| E4_ENABLE_READ == E_ENABLE_ON
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#endif // E_STEPPERS > 4
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#endif // E_STEPPERS > 3
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#endif // E_STEPPERS > 2
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#endif // E_STEPPERS > 1
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) {
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lastMotorOn = ms; //... set time to NOW so the fan will turn on
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}
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// Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
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uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
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// allows digital or PWM fan output to be used (see M42 handling)
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WRITE(CONTROLLER_FAN_PIN, speed);
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analogWrite(CONTROLLER_FAN_PIN, speed);
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}
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}
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#endif // USE_CONTROLLER_FAN
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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void handle_filament_runout() {
|
|
if (!filament_ran_out) {
|
|
filament_ran_out = true;
|
|
enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
|
|
stepper.synchronize();
|
|
}
|
|
}
|
|
|
|
#endif // FILAMENT_RUNOUT_SENSOR
|
|
|
|
float calculate_volumetric_multiplier(const float diameter) {
|
|
if (!parser.volumetric_enabled || diameter == 0) return 1.0;
|
|
return 1.0 / (M_PI * sq(diameter * 0.5));
|
|
}
|
|
|
|
void calculate_volumetric_multipliers() {
|
|
for (uint8_t i = 0; i < COUNT(filament_size); i++)
|
|
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
|
|
}
|
|
|
|
void enable_all_steppers() {
|
|
enable_X();
|
|
enable_Y();
|
|
enable_Z();
|
|
enable_E0();
|
|
enable_E1();
|
|
enable_E2();
|
|
enable_E3();
|
|
enable_E4();
|
|
}
|
|
|
|
void disable_e_steppers() {
|
|
disable_E0();
|
|
disable_E1();
|
|
disable_E2();
|
|
disable_E3();
|
|
disable_E4();
|
|
}
|
|
|
|
void disable_all_steppers() {
|
|
disable_X();
|
|
disable_Y();
|
|
disable_Z();
|
|
disable_e_steppers();
|
|
}
|
|
|
|
/**
|
|
* Manage several activities:
|
|
* - Check for Filament Runout
|
|
* - Keep the command buffer full
|
|
* - Check for maximum inactive time between commands
|
|
* - Check for maximum inactive time between stepper commands
|
|
* - Check if pin CHDK needs to go LOW
|
|
* - Check for KILL button held down
|
|
* - Check for HOME button held down
|
|
* - Check if cooling fan needs to be switched on
|
|
* - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
|
|
*/
|
|
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
|
|
|
|
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
|
|
if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
|
|
handle_filament_runout();
|
|
#endif
|
|
|
|
if (commands_in_queue < BUFSIZE) get_available_commands();
|
|
|
|
const millis_t ms = millis();
|
|
|
|
if (max_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + max_inactive_time)) {
|
|
SERIAL_ERROR_START();
|
|
SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
|
|
kill(PSTR(MSG_KILLED));
|
|
}
|
|
|
|
// Prevent steppers timing-out in the middle of M600
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
|
|
#define MOVE_AWAY_TEST !move_away_flag
|
|
#else
|
|
#define MOVE_AWAY_TEST true
|
|
#endif
|
|
|
|
if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + stepper_inactive_time)
|
|
&& !ignore_stepper_queue && !planner.blocks_queued()) {
|
|
#if ENABLED(DISABLE_INACTIVE_X)
|
|
disable_X();
|
|
#endif
|
|
#if ENABLED(DISABLE_INACTIVE_Y)
|
|
disable_Y();
|
|
#endif
|
|
#if ENABLED(DISABLE_INACTIVE_Z)
|
|
disable_Z();
|
|
#endif
|
|
#if ENABLED(DISABLE_INACTIVE_E)
|
|
disable_e_steppers();
|
|
#endif
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
|
|
ubl.lcd_map_control = defer_return_to_status = false;
|
|
#endif
|
|
}
|
|
|
|
#ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
|
|
if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
|
|
chdkActive = false;
|
|
WRITE(CHDK, LOW);
|
|
}
|
|
#endif
|
|
|
|
#if HAS_KILL
|
|
|
|
// Check if the kill button was pressed and wait just in case it was an accidental
|
|
// key kill key press
|
|
// -------------------------------------------------------------------------------
|
|
static int killCount = 0; // make the inactivity button a bit less responsive
|
|
const int KILL_DELAY = 750;
|
|
if (!READ(KILL_PIN))
|
|
killCount++;
|
|
else if (killCount > 0)
|
|
killCount--;
|
|
|
|
// Exceeded threshold and we can confirm that it was not accidental
|
|
// KILL the machine
|
|
// ----------------------------------------------------------------
|
|
if (killCount >= KILL_DELAY) {
|
|
SERIAL_ERROR_START();
|
|
SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
|
|
kill(PSTR(MSG_KILLED));
|
|
}
|
|
#endif
|
|
|
|
#if HAS_HOME
|
|
// Check to see if we have to home, use poor man's debouncer
|
|
// ---------------------------------------------------------
|
|
static int homeDebounceCount = 0; // poor man's debouncing count
|
|
const int HOME_DEBOUNCE_DELAY = 2500;
|
|
if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
|
|
if (!homeDebounceCount) {
|
|
enqueue_and_echo_commands_P(PSTR("G28"));
|
|
LCD_MESSAGEPGM(MSG_AUTO_HOME);
|
|
}
|
|
if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
|
|
homeDebounceCount++;
|
|
else
|
|
homeDebounceCount = 0;
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(USE_CONTROLLER_FAN)
|
|
controllerFan(); // Check if fan should be turned on to cool stepper drivers down
|
|
#endif
|
|
|
|
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
|
|
if (ELAPSED(ms, gcode.previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
|
|
&& thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
|
|
#if ENABLED(SWITCHING_EXTRUDER)
|
|
const bool oldstatus = E0_ENABLE_READ;
|
|
enable_E0();
|
|
#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;
|
|
#endif // E_STEPPERS > 4
|
|
#endif // E_STEPPERS > 3
|
|
#endif // E_STEPPERS > 2
|
|
#endif // E_STEPPERS > 1
|
|
}
|
|
#endif // !SWITCHING_EXTRUDER
|
|
|
|
gcode.refresh_cmd_timeout()
|
|
|
|
const float olde = current_position[E_AXIS];
|
|
current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
|
|
planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
|
|
current_position[E_AXIS] = olde;
|
|
planner.set_e_position_mm(olde);
|
|
stepper.synchronize();
|
|
#if ENABLED(SWITCHING_EXTRUDER)
|
|
E0_ENABLE_WRITE(oldstatus);
|
|
#else
|
|
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;
|
|
#endif // E_STEPPERS > 4
|
|
#endif // E_STEPPERS > 3
|
|
#endif // E_STEPPERS > 2
|
|
#endif // E_STEPPERS > 1
|
|
}
|
|
#endif // !SWITCHING_EXTRUDER
|
|
}
|
|
#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_to_current();
|
|
prepare_move_to_destination();
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(TEMP_STAT_LEDS)
|
|
handle_status_leds();
|
|
#endif
|
|
|
|
#if ENABLED(HAVE_TMC2130)
|
|
tmc2130_checkOverTemp();
|
|
#endif
|
|
|
|
planner.check_axes_activity();
|
|
}
|
|
|
|
/**
|
|
* Standard idle routine keeps the machine alive
|
|
*/
|
|
void idle(
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
|
bool no_stepper_sleep/*=false*/
|
|
#endif
|
|
) {
|
|
#if ENABLED(MAX7219_DEBUG)
|
|
Max7219_idle_tasks();
|
|
#endif // MAX7219_DEBUG
|
|
|
|
lcd_update();
|
|
|
|
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
|
gcode.host_keepalive();
|
|
#endif
|
|
|
|
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
|
|
thermalManager.auto_report_temperatures();
|
|
#endif
|
|
|
|
manage_inactivity(
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
|
no_stepper_sleep
|
|
#endif
|
|
);
|
|
|
|
thermalManager.manage_heater();
|
|
|
|
#if ENABLED(PRINTCOUNTER)
|
|
print_job_timer.tick();
|
|
#endif
|
|
|
|
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
|
|
buzzer.tick();
|
|
#endif
|
|
|
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
|
if (planner.blocks_queued() &&
|
|
( (blockBufferIndexRef != planner.block_buffer_head) ||
|
|
((lastUpdateMillis + I2CPE_MIN_UPD_TIME_MS) < millis())) ) {
|
|
blockBufferIndexRef = planner.block_buffer_head;
|
|
I2CPEM.update();
|
|
lastUpdateMillis = millis();
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Kill all activity and lock the machine.
|
|
* After this the machine will need to be reset.
|
|
*/
|
|
void kill(const char* lcd_msg) {
|
|
SERIAL_ERROR_START();
|
|
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
|
|
|
|
thermalManager.disable_all_heaters();
|
|
disable_all_steppers();
|
|
|
|
#if ENABLED(ULTRA_LCD)
|
|
kill_screen(lcd_msg);
|
|
#else
|
|
UNUSED(lcd_msg);
|
|
#endif
|
|
|
|
_delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
|
|
cli(); // Stop interrupts
|
|
|
|
_delay_ms(250); //Wait to ensure all interrupts routines stopped
|
|
thermalManager.disable_all_heaters(); //turn off heaters again
|
|
|
|
#ifdef ACTION_ON_KILL
|
|
SERIAL_ECHOLNPGM("//action:" ACTION_ON_KILL);
|
|
#endif
|
|
|
|
#if HAS_POWER_SWITCH
|
|
SET_INPUT(PS_ON_PIN);
|
|
#endif
|
|
|
|
suicide();
|
|
while (1) {
|
|
#if ENABLED(USE_WATCHDOG)
|
|
watchdog_reset();
|
|
#endif
|
|
} // Wait for reset
|
|
}
|
|
|
|
/**
|
|
* 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
|
|
|
|
#if ENABLED(PROBING_FANS_OFF)
|
|
if (fans_paused) fans_pause(false); // put things back the way they were
|
|
#endif
|
|
|
|
if (IsRunning()) {
|
|
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
|
|
SERIAL_ERROR_START();
|
|
SERIAL_ERRORLNPGM(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() {
|
|
|
|
#if ENABLED(MAX7219_DEBUG)
|
|
Max7219_init();
|
|
#endif
|
|
|
|
#ifdef DISABLE_JTAG
|
|
// Disable JTAG on AT90USB chips to free up pins for IO
|
|
MCUCR = 0x80;
|
|
MCUCR = 0x80;
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
|
|
setup_filrunoutpin();
|
|
#endif
|
|
|
|
setup_killpin();
|
|
|
|
setup_powerhold();
|
|
|
|
#if HAS_STEPPER_RESET
|
|
disableStepperDrivers();
|
|
#endif
|
|
|
|
MYSERIAL.begin(BAUDRATE);
|
|
while(!MYSERIAL);
|
|
SERIAL_PROTOCOLLNPGM("start");
|
|
SERIAL_ECHO_START();
|
|
|
|
// 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();
|
|
|
|
#if ENABLED(USE_WATCHDOG) //reinit watchdog after HAL_get_reset_source call
|
|
watchdog_init();
|
|
#endif
|
|
|
|
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_START();
|
|
SERIAL_ECHOLNPGM("Compiled: " __DATE__);
|
|
#endif
|
|
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
|
|
SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
|
|
|
|
queue_setup();
|
|
|
|
// Load data from EEPROM if available (or use defaults)
|
|
// This also updates variables in the planner, elsewhere
|
|
(void)settings.load();
|
|
|
|
#if HAS_M206_COMMAND
|
|
// Initialize current position based on home_offset
|
|
COPY(current_position, home_offset);
|
|
#else
|
|
ZERO(current_position);
|
|
#endif
|
|
|
|
// Vital to init stepper/planner equivalent for current_position
|
|
SYNC_PLAN_POSITION_KINEMATIC();
|
|
|
|
thermalManager.init(); // Initialize temperature loop
|
|
|
|
stepper.init(); // Initialize stepper, this enables interrupts!
|
|
|
|
#if HAS_SERVOS
|
|
servo_init();
|
|
#endif
|
|
|
|
#if HAS_PHOTOGRAPH
|
|
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
|
|
#endif
|
|
|
|
#if HAS_CASE_LIGHT
|
|
case_light_on = CASE_LIGHT_DEFAULT_ON;
|
|
case_light_brightness = CASE_LIGHT_DEFAULT_BRIGHTNESS;
|
|
update_case_light();
|
|
#endif
|
|
|
|
#if ENABLED(SPINDLE_LASER_ENABLE)
|
|
OUT_WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // init spindle to off
|
|
#if SPINDLE_DIR_CHANGE
|
|
OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // init rotation to clockwise (M3)
|
|
#endif
|
|
#if ENABLED(SPINDLE_LASER_PWM) && defined(SPINDLE_LASER_PWM_PIN) && SPINDLE_LASER_PWM_PIN >= 0
|
|
SET_OUTPUT(SPINDLE_LASER_PWM_PIN);
|
|
analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_BED_PROBE
|
|
endstops.enable_z_probe(false);
|
|
#endif
|
|
|
|
#if ENABLED(USE_CONTROLLER_FAN)
|
|
SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
|
|
#endif
|
|
|
|
#if HAS_STEPPER_RESET
|
|
enableStepperDrivers();
|
|
#endif
|
|
|
|
#if ENABLED(DIGIPOT_I2C)
|
|
digipot_i2c_init();
|
|
#endif
|
|
|
|
#if ENABLED(DAC_STEPPER_CURRENT)
|
|
dac_init();
|
|
#endif
|
|
|
|
#if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
|
|
OUT_WRITE(SOL1_PIN, LOW); // turn it off
|
|
#endif
|
|
|
|
#if HAS_HOME
|
|
SET_INPUT_PULLUP(HOME_PIN);
|
|
#endif
|
|
|
|
#if PIN_EXISTS(STAT_LED_RED)
|
|
OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
|
|
#endif
|
|
|
|
#if PIN_EXISTS(STAT_LED_BLUE)
|
|
OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
|
|
#endif
|
|
|
|
#if ENABLED(NEOPIXEL_RGBW_LED)
|
|
SET_OUTPUT(NEOPIXEL_PIN);
|
|
setup_neopixel();
|
|
#endif
|
|
|
|
#if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
|
|
SET_OUTPUT(RGB_LED_R_PIN);
|
|
SET_OUTPUT(RGB_LED_G_PIN);
|
|
SET_OUTPUT(RGB_LED_B_PIN);
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|
#if ENABLED(RGBW_LED)
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|
SET_OUTPUT(RGB_LED_W_PIN);
|
|
#endif
|
|
#endif
|
|
|
|
#if ENABLED(MK2_MULTIPLEXER)
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|
SET_OUTPUT(E_MUX0_PIN);
|
|
SET_OUTPUT(E_MUX1_PIN);
|
|
SET_OUTPUT(E_MUX2_PIN);
|
|
#endif
|
|
|
|
#if HAS_FANMUX
|
|
fanmux_init();
|
|
#endif
|
|
|
|
lcd_init();
|
|
|
|
#ifndef CUSTOM_BOOTSCREEN_TIMEOUT
|
|
#define CUSTOM_BOOTSCREEN_TIMEOUT 2500
|
|
#endif
|
|
|
|
#if ENABLED(SHOW_BOOTSCREEN)
|
|
#if ENABLED(DOGLCD) // On DOGM the first bootscreen is already drawn
|
|
#if ENABLED(SHOW_CUSTOM_BOOTSCREEN)
|
|
safe_delay(CUSTOM_BOOTSCREEN_TIMEOUT); // Custom boot screen pause
|
|
lcd_bootscreen(); // Show Marlin boot screen
|
|
#endif
|
|
safe_delay(BOOTSCREEN_TIMEOUT); // Pause
|
|
#elif ENABLED(ULTRA_LCD)
|
|
lcd_bootscreen();
|
|
#if DISABLED(SDSUPPORT)
|
|
lcd_init();
|
|
#endif
|
|
#endif
|
|
#endif
|
|
|
|
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
|
|
// Initialize mixing to 100% color 1
|
|
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
|
|
mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
|
|
for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
|
|
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
|
|
mixing_virtual_tool_mix[t][i] = mixing_factor[i];
|
|
#endif
|
|
|
|
#if ENABLED(BLTOUCH)
|
|
bltouch_init();
|
|
#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(ENDSTOP_INTERRUPTS_FEATURE)
|
|
setup_endstop_interrupts();
|
|
#endif
|
|
|
|
#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
|
|
move_extruder_servo(0); // Initialize extruder servo
|
|
#endif
|
|
|
|
#if ENABLED(SWITCHING_NOZZLE)
|
|
move_nozzle_servo(0); // Initialize nozzle servo
|
|
#endif
|
|
|
|
#if ENABLED(PARKING_EXTRUDER)
|
|
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
|
|
pe_activate_magnet(0);
|
|
pe_activate_magnet(1);
|
|
#else
|
|
pe_deactivate_magnet(0);
|
|
pe_deactivate_magnet(1);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* The main Marlin program loop
|
|
*
|
|
* - Save or log commands to SD
|
|
* - Process available commands (if not saving)
|
|
* - Call heater manager
|
|
* - Call inactivity manager
|
|
* - Call endstop manager
|
|
* - Call LCD update
|
|
*/
|
|
void loop() {
|
|
if (commands_in_queue < BUFSIZE) get_available_commands();
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
card.checkautostart(false);
|
|
#endif
|
|
|
|
advance_command_queue();
|
|
|
|
endstops.report_state();
|
|
idle();
|
|
}
|