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46b2773e13ef6a5474f2be57bf57f1d782339df0
marlin_skr/Marlin/src/Marlin.cpp
Chris Pepper 46b2773e13 General fixes for LPC1768 (#7834) 
* fixed some include paths

* LPC1768: Fix Serial API

Add missing serial methods used if TX_BUFFER_SIZE is set
Change return value of HalSerial:read to match Arduino API

* LPC1768: add filters to ADC

This is to try and compensate for hardware issue and oversensitivity to noise

* LPC1768: remove the polling section of delayMicroseconds

* LPC1768: lock usb mass storage device while device accesses it.

Currently only applicable to persistent store,
The device always has priority and will unmount the sd card from the host, Windows then tries to automount again so it can look like the explorer window freezes. Linux Mint, by default, just closes the Nemo window.

* Add timeout to make sure if Serial never connects that Marlin still boots

* Remove unneeded ifdef CPU_32_BIT

In general the need for ifdef CPU_32_BIT blocks means that something is missing from the HAL API or a Platform, in this case HAL_TICKS_PER_US was missing from the AVR Platform

* LPC1768: relocate RE-ARM debug_extra_script.py
2017-10-04 15:40:54 -05:00

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/**
* Marlin 3D Printer Firmware
* 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/>.
*
*/
/**
* About Marlin
*
* This firmware is a mashup between Sprinter and grbl.
* - https://github.com/kliment/Sprinter
* - https://github.com/simen/grbl
*/
#include "Marlin.h"
#include "lcd/ultralcd.h"
#include "module/motion.h"
#include "module/planner.h"
#include "module/stepper.h"
#include "module/endstops.h"
#include "module/probe.h"
#include "module/temperature.h"
#include "sd/cardreader.h"
#include "module/configuration_store.h"
#include "module/printcounter.h" // PrintCounter or Stopwatch
#ifdef ARDUINO
#include <pins_arduino.h>
#endif
#include <math.h>
#include "libs/nozzle.h"
#include "gcode/gcode.h"
#include "gcode/parser.h"
#include "gcode/queue.h"
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
#include "libs/buzzer.h"
#endif
#if ENABLED(DIGIPOT_I2C)
#include "feature/digipot/digipot.h"
#endif
#if ENABLED(MIXING_EXTRUDER)
#include "feature/mixing.h"
#endif
#if ENABLED(BEZIER_CURVE_SUPPORT)
#include "module/planner_bezier.h"
#endif
#if ENABLED(MAX7219_DEBUG)
#include "feature/Max7219_Debug_LEDs.h"
#endif
#if HAS_COLOR_LEDS
#include "feature/leds/leds.h"
#endif
#if HAS_SERVOS
#include "HAL/servo.h"
#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
#include "feature/dac/stepper_dac.h"
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
#include "feature/twibus.h"
TWIBus i2c;
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
#include "feature/I2CPositionEncoder.h"
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include "HAL/HAL_endstop_interrupts.h"
#endif
#if ENABLED(HAVE_TMC2130)
#include "feature/tmc2130.h"
#endif
#if ENABLED(SDSUPPORT)
CardReader card;
#endif
#if ENABLED(G38_PROBE_TARGET)
bool G38_move = false,
G38_endstop_hit = false;
#endif
#if ENABLED(DELTA)
#include "module/delta.h"
#elif IS_SCARA
#include "module/scara.h"
#endif
#if HAS_LEVELING
#include "feature/bedlevel/bedlevel.h"
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
#include "feature/pause.h"
#endif
#if ENABLED(TEMP_STAT_LEDS)
#include "feature/leds/tempstat.h"
#endif
#if HAS_CASE_LIGHT
#include "feature/caselight.h"
#endif
#if (ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
#include "module/tool_change.h"
#endif
#if ENABLED(USE_CONTROLLER_FAN)
#include "feature/controllerfan.h"
#endif
bool Running = true;
/**
* 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 };
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
TempUnit input_temp_units = TEMPUNIT_C;
#endif
#if FAN_COUNT > 0
int16_t fanSpeeds[FAN_COUNT] = { 0 };
#if ENABLED(PROBING_FANS_OFF)
bool fans_paused = false;
int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
#endif
#endif
// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
volatile 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
volatile bool wait_for_user = false;
#endif
// Inactivity shutdown
millis_t max_inactive_time = 0,
stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
static bool filament_ran_out = false;
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE)
AdvancedPauseMenuResponse advanced_pause_menu_response;
#endif
#ifdef CHDK
millis_t chdkHigh = 0;
bool chdkActive = false;
#endif
#if ENABLED(PID_EXTRUSION_SCALING)
int lpq_len = 20;
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPositionEncodersMgr I2CPEM;
uint8_t blockBufferIndexRef = 0;
millis_t lastUpdateMillis;
#endif
/**
* ***************************************************************************
* ******************************** FUNCTIONS ********************************
* ***************************************************************************
*/
void setup_killpin() {
#if HAS_KILL
SET_INPUT_PULLUP(KILL_PIN);
#endif
}
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
void setup_filrunoutpin() {
#if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
#else
SET_INPUT(FIL_RUNOUT_PIN);
#endif
}
#endif
void setup_powerhold() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if HAS_POWER_SWITCH
#if ENABLED(PS_DEFAULT_OFF)
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
#endif
}
#if HAS_SERVOS
HAL_SERVO_LIB servo[NUM_SERVOS];
void servo_init() {
#if NUM_SERVOS >= 1 && HAS_SERVO_0
servo[0].attach(SERVO0_PIN);
servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
#endif
#if NUM_SERVOS >= 2 && HAS_SERVO_1
servo[1].attach(SERVO1_PIN);
servo[1].detach();
#endif
#if NUM_SERVOS >= 3 && HAS_SERVO_2
servo[2].attach(SERVO2_PIN);
servo[2].detach();
#endif
#if NUM_SERVOS >= 4 && HAS_SERVO_3
servo[3].attach(SERVO3_PIN);
servo[3].detach();
#endif
#if HAS_Z_SERVO_ENDSTOP
servo_probe_init();
#endif
}
#endif // HAS_SERVOS
/**
* 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
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
void i2c_on_receive(int bytes) { // just echo all bytes received to serial
i2c.receive(bytes);
}
void i2c_on_request() { // just send dummy data for now
i2c.reply("Hello World!\n");
}
#endif
/**
* Sensitive pin test for M42, M226
*/
bool pin_is_protected(const int8_t pin) {
static const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
if (pin == (int8_t)pgm_read_byte(&sensitive_pins[i])) return true;
return false;
}
void quickstop_stepper() {
stepper.quick_stop();
stepper.synchronize();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
}
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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
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_update(); // 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
#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
*/
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);
uint32_t serial_connect_timeout = millis() + 1000;
while(!MYSERIAL && PENDING(millis(), serial_connect_timeout));
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
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);
#if ENABLED(RGBW_LED)
SET_OUTPUT(RGB_LED_W_PIN);
#endif
#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
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
mixing_tools_init();
#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)
pe_magnet_init();
#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();
}
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