Firmware2/Marlin/src/Marlin.cpp

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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
*/
/**
* About Marlin
*
* This firmware is a mashup between Sprinter and grbl.
* - https://github.com/kliment/Sprinter
* - https://github.com/simen/grbl
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*/
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#include "Marlin.h"
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#include "lcd/ultralcd.h"
#include "module/motion.h"
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#include "module/planner.h"
#include "module/stepper.h"
#include "module/endstops.h"
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#include "module/probe.h"
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#include "module/temperature.h"
#include "sd/cardreader.h"
#include "module/configuration_store.h"
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#include "module/printcounter.h" // PrintCounter or Stopwatch
#ifdef ARDUINO
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#include <pins_arduino.h>
#endif
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#include <math.h>
#include "libs/nozzle.h"
#include "gcode/gcode.h"
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#include "gcode/parser.h"
#include "gcode/queue.h"
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#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
#include "libs/buzzer.h"
#endif
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#if ENABLED(DIGIPOT_I2C)
#include "feature/digipot/digipot.h"
#endif
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#if ENABLED(MIXING_EXTRUDER)
#include "feature/mixing.h"
#endif
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#if ENABLED(BEZIER_CURVE_SUPPORT)
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#include "module/planner_bezier.h"
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#endif
#if ENABLED(MAX7219_DEBUG)
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#include "feature/Max7219_Debug_LEDs.h"
#endif
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#if HAS_COLOR_LEDS
#include "feature/leds/leds.h"
#endif
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#if HAS_SERVOS
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#include "module/servo.h"
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#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
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#include "feature/dac/stepper_dac.h"
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#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
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#include "feature/twibus.h"
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TWIBus i2c;
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#endif
#if ENABLED(I2C_POSITION_ENCODERS)
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#include "feature/I2CPositionEncoder.h"
#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 HAS_TRINAMIC
#include "feature/tmc_util.h"
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#endif
#if ENABLED(SDSUPPORT)
CardReader card;
#endif
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#if ENABLED(G38_PROBE_TARGET)
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bool G38_move = false,
G38_endstop_hit = false;
#endif
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#if ENABLED(DELTA)
#include "module/delta.h"
#elif IS_SCARA
#include "module/scara.h"
#endif
#if HAS_LEVELING
#include "feature/bedlevel/bedlevel.h"
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#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
#include "feature/pause.h"
#endif
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
#include "feature/runout.h"
#endif
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#if ENABLED(TEMP_STAT_LEDS)
#include "feature/leds/tempstat.h"
#endif
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#if HAS_CASE_LIGHT
#include "feature/caselight.h"
#endif
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#if HAS_FANMUX
#include "feature/fanmux.h"
#endif
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#if (ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
#include "module/tool_change.h"
#endif
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#if ENABLED(USE_CONTROLLER_FAN)
#include "feature/controllerfan.h"
#endif
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bool Running = true;
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/**
* axis_homed
* Flags that each linear axis was homed.
* XYZ on cartesian, ABC on delta, ABZ on SCARA.
*
* axis_known_position
* Flags that the position is known in each linear axis. Set when homed.
* Cleared whenever a stepper powers off, potentially losing its position.
*/
bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
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#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
TempUnit input_temp_units = TEMPUNIT_C;
#endif
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#if FAN_COUNT > 0
int16_t fanSpeeds[FAN_COUNT] = { 0 };
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#if ENABLED(EXTRA_FAN_SPEED)
int16_t old_fanSpeeds[FAN_COUNT],
new_fanSpeeds[FAN_COUNT];
#endif
#if ENABLED(PROBING_FANS_OFF)
bool fans_paused = false;
int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
#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
#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,
stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
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#ifdef CHDK
millis_t chdkHigh = 0;
bool chdkActive = false;
#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
int lpq_len = 20;
#endif
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#if ENABLED(I2C_POSITION_ENCODERS)
I2CPositionEncodersMgr I2CPEM;
uint8_t blockBufferIndexRef = 0;
millis_t lastUpdateMillis;
#endif
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/**
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* ***************************************************************************
* ******************************** FUNCTIONS ********************************
* ***************************************************************************
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*/
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void setup_killpin() {
#if HAS_KILL
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() {
#if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
#else
SET_INPUT(FIL_RUNOUT_PIN);
#endif
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}
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#endif
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void setup_powerhold() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
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#if HAS_POWER_SWITCH
#if ENABLED(PS_DEFAULT_OFF)
PSU_OFF();
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#else
PSU_ON();
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#endif
#endif
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}
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/**
* Stepper Reset (RigidBoard, et.al.)
*/
#if HAS_STEPPER_RESET
void disableStepperDrivers() {
OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
}
void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
#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
i2c.receive(bytes);
}
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void i2c_on_request() { // just send dummy data for now
i2c.reply("Hello World!\n");
}
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#endif
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/**
* Sensitive pin test for M42, M226
*/
bool pin_is_protected(const pin_t pin) {
static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
pin_t sensitive_pin;
memcpy_P(&sensitive_pin, &sensitive_pins[i], sizeof(pin_t));
if (pin == sensitive_pin) return true;
}
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return false;
}
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void quickstop_stepper() {
stepper.quick_stop();
stepper.synchronize();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
}
void enable_all_steppers() {
enable_X();
enable_Y();
enable_Z();
enable_E0();
enable_E1();
enable_E2();
enable_E3();
enable_E4();
}
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void disable_e_steppers() {
disable_E0();
disable_E1();
disable_E2();
disable_E3();
disable_E4();
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}
void disable_e_stepper(const uint8_t e) {
switch (e) {
case 0: disable_E0(); break;
case 1: disable_E1(); break;
case 2: disable_E2(); break;
case 3: disable_E3(); break;
case 4: disable_E4(); break;
}
}
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void disable_all_steppers() {
disable_X();
disable_Y();
disable_Z();
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disable_e_steppers();
}
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/**
* 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)
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*/
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
if ((IS_SD_PRINTING || print_job_timer.isRunning())
&& READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING
&& thermalManager.targetHotEnoughToExtrude(active_extruder)
)
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handle_filament_runout();
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#endif
if (commands_in_queue < BUFSIZE) get_available_commands();
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const millis_t ms = millis();
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if (max_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + max_inactive_time)) {
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SERIAL_ERROR_START();
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SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
kill(PSTR(MSG_KILLED));
}
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// Prevent steppers timing-out in the middle of M600
#if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
#define MOVE_AWAY_TEST !did_pause_print
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#else
#define MOVE_AWAY_TEST true
#endif
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if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, gcode.previous_cmd_ms + stepper_inactive_time)
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&& !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)
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disable_e_steppers();
#endif
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#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL) // Only needed with an LCD
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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
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#if HAS_KILL
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// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
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static int killCount = 0; // make the inactivity button a bit less responsive
const int KILL_DELAY = 750;
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if (!READ(KILL_PIN))
killCount++;
else if (killCount > 0)
killCount--;
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// Exceeded threshold and we can confirm that it was not accidental
// KILL the machine
// ----------------------------------------------------------------
if (killCount >= KILL_DELAY) {
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SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
kill(PSTR(MSG_KILLED));
}
#endif
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#if HAS_HOME
// Check to see if we have to home, use poor man's debouncer
// ---------------------------------------------------------
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static int homeDebounceCount = 0; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 2500;
if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
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if (!homeDebounceCount) {
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enqueue_and_echo_commands_P(PSTR("G28"));
LCD_MESSAGEPGM(MSG_AUTO_HOME);
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}
if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
homeDebounceCount++;
else
homeDebounceCount = 0;
}
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#endif
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#if ENABLED(USE_CONTROLLER_FAN)
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controllerfan_update(); // Check if fan should be turned on to cool stepper drivers down
#endif
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#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
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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
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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
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#if ENABLED(DUAL_X_CARRIAGE)
// handle delayed move timeout
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if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
set_destination_from_current();
prepare_move_to_destination();
}
#endif
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#if ENABLED(TEMP_STAT_LEDS)
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handle_status_leds();
#endif
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#if ENABLED(MONITOR_DRIVER_STATUS)
monitor_tmc_driver();
#endif
// Limit check_axes_activity frequency to 10Hz
static millis_t next_check_axes_ms = 0;
if (ELAPSED(ms, next_check_axes_ms)) {
planner.check_axes_activity();
next_check_axes_ms = ms + 100UL;
}
}
/**
* 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();
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#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
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#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
#ifdef HAL_IDLETASK
HAL_idletask();
#endif
}
/**
* Kill all activity and lock the machine.
* After this the machine will need to be reset.
*/
void kill(const char* lcd_msg) {
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
thermalManager.disable_all_heaters();
disable_all_steppers();
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#if ENABLED(ULTRA_LCD)
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kill_screen(lcd_msg);
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#else
UNUSED(lcd_msg);
#endif
_delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
cli(); // Stop interrupts
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_delay_ms(250); //Wait to ensure all interrupts routines stopped
thermalManager.disable_all_heaters(); //turn off heaters again
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#ifdef ACTION_ON_KILL
SERIAL_ECHOLNPGM("//action:" ACTION_ON_KILL);
#endif
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#if HAS_POWER_SWITCH
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SET_INPUT(PS_ON_PIN);
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#endif
#if HAS_SUICIDE
suicide();
#endif
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
*/
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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
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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;
}
}
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/**
* 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() {
#ifdef HAL_INIT
HAL_init();
#endif
#if ENABLED(MAX7219_DEBUG)
Max7219_init();
#endif
#if ENABLED(DISABLE_JTAG)
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// 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
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#if NUM_SERIAL > 0
MYSERIAL0.begin(BAUDRATE);
#if NUM_SERIAL > 1
MYSERIAL1.begin(BAUDRATE);
#endif
#endif
#if NUM_SERIAL > 0
uint32_t serial_connect_timeout = millis() + 1000UL;
while(!MYSERIAL0 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#if NUM_SERIAL > 1
serial_connect_timeout = millis() + 1000UL;
while(!MYSERIAL1 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
#endif
#endif
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SERIAL_PROTOCOLLNPGM("start");
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SERIAL_ECHO_START();
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// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = HAL_get_reset_source();
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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);
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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
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SERIAL_ECHOPGM(MSG_MARLIN);
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SERIAL_CHAR(' ');
SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
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SERIAL_EOL();
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#if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
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SERIAL_ECHO_START();
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SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
SERIAL_ECHO_START();
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SERIAL_ECHOLNPGM("Compiled: " __DATE__);
#endif
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SERIAL_ECHO_START();
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SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
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queue_setup();
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// Load data from EEPROM if available (or use defaults)
// This also updates variables in the planner, elsewhere
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(void)settings.load();
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#if HAS_M206_COMMAND
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// Initialize current position based on home_offset
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COPY(current_position, home_offset);
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#else
ZERO(current_position);
#endif
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// 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!
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#if HAS_SERVOS
servo_init();
#endif
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#if HAS_Z_SERVO_ENDSTOP
servo_probe_init();
#endif
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#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
#endif
#if HAS_CASE_LIGHT
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update_case_light();
#endif
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#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
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#if ENABLED(SPINDLE_LASER_PWM) && defined(SPINDLE_LASER_PWM_PIN) && SPINDLE_LASER_PWM_PIN >= 0
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SET_OUTPUT(SPINDLE_LASER_PWM_PIN);
analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed
#endif
#endif
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#if HAS_BED_PROBE
endstops.enable_z_probe(false);
#endif
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#if ENABLED(USE_CONTROLLER_FAN)
SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
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#endif
#if HAS_STEPPER_RESET
enableStepperDrivers();
#endif
#if ENABLED(DIGIPOT_I2C)
digipot_i2c_init();
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
dac_init();
#endif
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#if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
OUT_WRITE(SOL1_PIN, LOW); // turn it off
#endif
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#if HAS_HOME
SET_INPUT_PULLUP(HOME_PIN);
#endif
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#if PIN_EXISTS(STAT_LED_RED)
OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
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#endif
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#if PIN_EXISTS(STAT_LED_BLUE)
OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
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#endif
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#if HAS_COLOR_LEDS
leds.setup();
#endif
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#if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
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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)
SET_OUTPUT(RGB_LED_W_PIN);
#endif
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#endif
#if ENABLED(MK2_MULTIPLEXER)
SET_OUTPUT(E_MUX0_PIN);
SET_OUTPUT(E_MUX1_PIN);
SET_OUTPUT(E_MUX2_PIN);
#endif
#if HAS_FANMUX
fanmux_init();
#endif
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lcd_init();
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#if ENABLED(SHOW_BOOTSCREEN)
lcd_bootscreen();
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#endif
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
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mixing_tools_init();
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#endif
#if ENABLED(BLTOUCH)
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bltouch_init();
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.init();
#endif
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#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
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#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)
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pe_magnet_init();
#endif
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}
/**
* 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();
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endstops.report_state();
idle();
}