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Marlin_main.cpp
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Marlin_main.cpp
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/* -*- c++ -*- */
/**
* @file
*/
/**
* @mainpage Reprap 3D printer firmware based on Sprinter and grbl.
*
* @section intro_sec Introduction
*
* This firmware is a mashup between Sprinter and grbl.
* https://github.com/kliment/Sprinter
* https://github.com/simen/grbl/tree
*
* It has preliminary support for Matthew Roberts advance algorithm
* http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*
* Prusa Research s.r.o. https://www.prusa3d.cz
*
* @section copyright_sec Copyright
*
* 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/>.
*
* @section notes_sec Notes
*
* * Do not create static objects in global functions.
* Otherwise constructor guard against concurrent calls is generated costing
* about 8B RAM and 14B flash.
*
*
*/
#include "Configuration.h"
#include "Marlin.h"
#include "config.h"
#include "macros.h"
#ifdef MESH_BED_LEVELING
#include "mesh_bed_leveling.h"
#include "mesh_bed_calibration.h"
#endif
#include "printers.h"
#include "menu.h"
#include "ultralcd.h"
#include "backlight.h"
#include "planner.h"
#include "host.h"
#include "stepper.h"
#include "temperature.h"
#include "fancheck.h"
#include "motion_control.h"
#include "cardreader.h"
#include "ConfigurationStore.h"
#include "language.h"
#include "lcd.h"
#include "math.h"
#include "util.h"
#include "Timer.h"
#include "power_panic.h"
#include "Prusa_farm.h"
#include <avr/wdt.h>
#include <util/atomic.h>
#include <avr/pgmspace.h>
#include "Tcodes.h"
#include "Dcodes.h"
#include "SpoolJoin.h"
#include "stopwatch.h"
#ifndef LA_NOCOMPAT
#include "la10compat.h"
#endif
#include "spi.h"
#include "Filament_sensor.h"
#ifdef TMC2130
#include "tmc2130.h"
#endif //TMC2130
#ifdef XFLASH
#include "xflash.h"
#include "optiboot_xflash.h"
#endif //XFLASH
#include "xflash_dump.h"
#ifdef BLINKM
#include "BlinkM.h"
#include "Wire.h"
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#endif
#include "mmu2.h"
#define VERSION_STRING "1.0.2"
#include "sound.h"
#include "cmdqueue.h"
//filament types
#define FILAMENT_DEFAULT 0
#define FILAMENT_FLEX 1
#define FILAMENT_PVA 2
#define FILAMENT_UNDEFINED 255
//Stepper Movement Variables
//===========================================================================
//=============================imported variables============================
//===========================================================================
//===========================================================================
//=============================public variables=============================
//===========================================================================
#ifdef SDSUPPORT
CardReader card;
#endif
//used for PINDA temp calibration and pause print
#define DEFAULT_RETRACTION 1
#define DEFAULT_RETRACTION_MM 4 //MM
float default_retraction = DEFAULT_RETRACTION;
//Although this flag and many others like this could be represented with a struct/bitfield for each axis (more readable and efficient code), the implementation
//would not be standard across all platforms. That being said, the code will continue to use bitmasks for independent axis.
//Moreover, according to C/C++ standard, the ordering of bits is platform/compiler dependent and the compiler is allowed to align the bits arbitrarily,
//thus bit operations like shifting and masking may stop working and will be very hard to fix.
uint8_t axis_relative_modes = 0;
int feedmultiply=100; //100->1 200->2
int extrudemultiply=100; //100->1 200->2
bool homing_flag = false;
bool did_pause_print;
LongTimer safetyTimer;
static LongTimer crashDetTimer;
bool mesh_bed_leveling_flag = false;
uint32_t total_filament_used; // unit mm/100 or 10um
HeatingStatus heating_status;
int fan_edge_counter[2];
int fan_speed[2];
float extruder_multiplier[EXTRUDERS] = {1.0
#if EXTRUDERS > 1
, 1.0
#if EXTRUDERS > 2
, 1.0
#endif
#endif
};
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
//shortcuts for more readable code
#define _x current_position[X_AXIS]
#define _y current_position[Y_AXIS]
#define _z current_position[Z_AXIS]
#define _e current_position[E_AXIS]
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
bool axis_known_position[3] = {false, false, false};
static float pause_position[3] = { X_PAUSE_POS, Y_PAUSE_POS, Z_PAUSE_LIFT };
uint8_t fanSpeed = 0;
uint8_t newFanSpeed = 0;
#ifdef FWRETRACT
bool retracted[EXTRUDERS]={false
#if EXTRUDERS > 1
, false
#if EXTRUDERS > 2
, false
#endif
#endif
};
bool retracted_swap[EXTRUDERS]={false
#if EXTRUDERS > 1
, false
#if EXTRUDERS > 2
, false
#endif
#endif
};
float retract_length_swap = RETRACT_LENGTH_SWAP;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
#endif
#ifndef PINDA_THERMISTOR
static bool temp_compensation_retracted = false;
#endif // !PINDA_THERMISTOR
#ifdef PS_DEFAULT_OFF
bool powersupply = false;
#else
bool powersupply = true;
#endif
static bool cancel_heatup = false;
int8_t busy_state = NOT_BUSY;
static long prev_busy_signal_ms = -1;
static uint8_t host_keepalive_interval = HOST_KEEPALIVE_INTERVAL;
const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";
float saved_start_position[NUM_AXIS] = {SAVED_START_POSITION_UNSET, 0, 0, 0};
uint16_t saved_segment_idx = 0;
bool isPartialBackupAvailable;
// storing estimated time to end of print counted by slicer
uint8_t print_percent_done_normal = PRINT_PERCENT_DONE_INIT;
uint8_t print_percent_done_silent = PRINT_PERCENT_DONE_INIT;
uint16_t print_time_remaining_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
uint16_t print_time_remaining_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining print time in minutes
uint16_t print_time_to_change_normal = PRINT_TIME_REMAINING_INIT; //estimated remaining time to next change in minutes
uint16_t print_time_to_change_silent = PRINT_TIME_REMAINING_INIT; //estimated remaining time to next change in minutes
uint32_t IP_address = 0;
//===========================================================================
//=============================Private Variables=============================
//===========================================================================
#define MSG_BED_LEVELING_FAILED_TIMEOUT 30
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
// For tracing an arc
static float offset[2] = {0.0, 0.0};
// Current feedrate
float feedrate = 1500.0;
// Original feedrate saved during homing moves
static float saved_feedrate;
static const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS; // Sensitive pin list for M42
//static float tt = 0;
//static float bt = 0;
//Inactivity shutdown variables
static LongTimer previous_millis_cmd;
static uint32_t max_inactive_time = 0;
static uint32_t stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
static uint32_t safetytimer_inactive_time = DEFAULT_SAFETYTIMER_TIME_MINS*60*1000ul;
ShortTimer usb_timer;
bool Stopped=false;
bool processing_tcode; // Helper variable to block certain functions while T-code is being processed
static bool target_direction;
//Insert variables if CHDK is defined
#ifdef CHDK
static uint32_t chdkHigh = 0;
static bool chdkActive = false;
#endif
//! @name RAM save/restore printing
//! @{
bool saved_printing = false; //!< Print is paused and saved in RAM
uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
uint8_t saved_printing_type = PowerPanic::PRINT_TYPE_NONE;
float saved_pos[NUM_AXIS] = { X_COORD_INVALID, 0, 0, 0 };
uint16_t saved_feedrate2 = 0; //!< Default feedrate (truncated from float)
static int saved_feedmultiply2 = 0;
uint16_t saved_extruder_temperature; //!< Active extruder temperature
uint8_t saved_bed_temperature; //!< Bed temperature
bool saved_extruder_relative_mode;
uint8_t saved_fan_speed = 0; //!< Print fan speed
//! @}
static bool uvlo_auto_recovery_ready = false;
static int saved_feedmultiply_mm = 100;
class AutoReportFeatures {
union {
struct {
uint8_t temp : 1; //Temperature flag
uint8_t fans : 1; //Fans flag
uint8_t pos: 1; //Position flag
uint8_t ar4 : 1; //Unused
uint8_t ar5 : 1; //Unused
uint8_t ar6 : 1; //Unused
uint8_t ar7 : 1; //Unused
} __attribute__((packed)) bits;
uint8_t byte;
} arFunctionsActive;
uint8_t auto_report_period;
public:
LongTimer auto_report_timer;
AutoReportFeatures():auto_report_period(0){
#if defined(AUTO_REPORT)
arFunctionsActive.byte = 0xff;
#else
arFunctionsActive.byte = 0;
#endif //AUTO_REPORT
}
inline bool Temp()const { return arFunctionsActive.bits.temp != 0; }
inline void SetTemp(uint8_t v){ arFunctionsActive.bits.temp = v; }
inline bool Fans()const { return arFunctionsActive.bits.fans != 0; }
inline void SetFans(uint8_t v){ arFunctionsActive.bits.fans = v; }
inline bool Pos()const { return arFunctionsActive.bits.pos != 0; }
inline void SetPos(uint8_t v){ arFunctionsActive.bits.pos = v; }
inline void SetMask(uint8_t mask){ arFunctionsActive.byte = mask; }
/// sets the autoreporting timer's period
/// setting it to zero stops the timer
void SetPeriod(uint8_t p){
auto_report_period = p;
if (auto_report_period != 0){
auto_report_timer.start();
} else{
auto_report_timer.stop();
}
}
inline void TimerStart() { auto_report_timer.start(); }
inline bool TimerRunning()const { return auto_report_timer.running(); }
inline bool TimerExpired() { return auto_report_timer.expired(auto_report_period * 1000ul); }
};
AutoReportFeatures autoReportFeatures;
//===========================================================================
//=============================Routines======================================
//===========================================================================
static void print_time_remaining_init();
static void wait_for_heater(long codenum, uint8_t extruder);
static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
static void gcode_M105();
#ifndef PINDA_THERMISTOR
static void temp_compensation_start();
static void temp_compensation_apply();
#endif
#ifdef PRUSA_SN_SUPPORT
static uint8_t get_PRUSA_SN(char* SN);
#endif //PRUSA_SN_SUPPORT
static uint16_t gcode_in_progress = 0;
static uint16_t mcode_in_progress = 0;
void serial_echopair_P(const char *s_P, float v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, double v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, unsigned long v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serialprintPGM(const char *str) {
while(uint8_t ch = pgm_read_byte(str)) {
MYSERIAL.write((char)ch);
++str;
}
}
void serialprintlnPGM(const char *str) {
serialprintPGM(str);
MYSERIAL.println();
}
#ifdef SDSUPPORT
#include "SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
#else
extern "C" {
extern unsigned int __bss_end;
extern unsigned int __heap_start;
extern void *__brkval;
int freeMemory() {
int free_memory;
if ((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
}
}
#endif //!SDSUPPORT
void setup_killpin()
{
#if defined(KILL_PIN) && KILL_PIN > -1
SET_INPUT(KILL_PIN);
WRITE(KILL_PIN,HIGH);
#endif
}
// Set home pin
void setup_homepin(void)
{
#if defined(HOME_PIN) && HOME_PIN > -1
SET_INPUT(HOME_PIN);
WRITE(HOME_PIN,HIGH);
#endif
}
void setup_photpin()
{
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
SET_OUTPUT(PHOTOGRAPH_PIN);
WRITE(PHOTOGRAPH_PIN, LOW);
#endif
}
void setup_powerhold()
{
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
#if defined(PS_DEFAULT_OFF)
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else
WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
#endif
}
void suicide()
{
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, LOW);
#endif
}
bool __attribute__((noinline)) printJobOngoing() {
return (IS_SD_PRINTING || usb_timer.running() || print_job_timer.isRunning());
}
bool printingIsPaused() {
return did_pause_print || print_job_timer.isPaused();
}
bool __attribute__((noinline)) printer_active() {
return printJobOngoing()
|| printingIsPaused()
|| saved_printing
|| (lcd_commands_type != LcdCommands::Idle)
|| MMU2::mmu2.MMU_PRINT_SAVED()
|| homing_flag
|| mesh_bed_leveling_flag;
}
#ifdef DEBUG_PRINTER_STATES
//! @brief debug printer states
//!
//! This outputs a lot over serial and should be only used
//! - when debugging LCD menus
//! - or other functions related to these states
//! To reduce the output feel free to comment out the lines you
//! aren't troubleshooting.
void debug_printer_states()
{
printf_P(PSTR("DBG:printJobOngoing() = %d\n"), (int)printJobOngoing());
printf_P(PSTR("DBG:IS_SD_PRINTING = %d\n"), (int)IS_SD_PRINTING);
printf_P(PSTR("DBG:printer_recovering() = %d\n"), (int)printer_recovering());
printf_P(PSTR("DBG:heating_status = %d\n"), (int)heating_status);
printf_P(PSTR("DBG:GetPrinterState() = %d\n"), (int)GetPrinterState());
printf_P(PSTR("DBG:babystep_allowed_strict() = %d\n"), (int)babystep_allowed_strict());
printf_P(PSTR("DBG:lcd_commands_type = %d\n"), (int)lcd_commands_type);
printf_P(PSTR("DBG:farm_mode = %d\n"), (int)farm_mode);
printf_P(PSTR("DBG:moves_planned() = %d\n"), (int)moves_planned());
printf_P(PSTR("DBG:Stopped = %d\n"), (int)Stopped);
printf_P(PSTR("DBG:usb_timer.running() = %d\n"), (int)usb_timer.running());
printf_P(PSTR("DBG:M79_timer_get_status() = %d\n"), (int)M79_timer_get_status());
printf_P(PSTR("DBG:print_job_timer.isRunning() = %d\n"), (int)print_job_timer.isRunning());
printf_P(PSTR("DBG:printingIsPaused() = %d\n"), (int)printingIsPaused());
printf_P(PSTR("DBG:did_pause_print = %d\n"), (int)did_pause_print);
printf_P(PSTR("DBG:print_job_timer.isPaused() = %d\n"), (int)print_job_timer.isPaused());
printf_P(PSTR("DBG:saved_printing = %d\n"), (int)saved_printing);
printf_P(PSTR("DBG:saved_printing_type = %d\n"), (int)saved_printing_type);
printf_P(PSTR("DBG:homing_flag = %d\n"), (int)homing_flag);
printf_P(PSTR("DBG:mesh_bed_leveling_flag = %d\n"), (int)mesh_bed_leveling_flag);
printf_P(PSTR("DBG:get_temp_error() = %d\n"), (int)get_temp_error());
printf_P(PSTR("DBG:card.mounted = %d\n"), (int)card.mounted);
printf_P(PSTR("DBG:card.isFileOpen() = %d\n"), (int)card.isFileOpen());
printf_P(PSTR("DBG:fan_check_error = %d\n"), (int)fan_check_error);
printf_P(PSTR("DBG:processing_tcode = %d\n"), (int)processing_tcode);
printf_P(PSTR("DBG:nextSheet = %d\n"), (int)eeprom_next_initialized_sheet(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet))));
printf_P(PSTR("DBG:eFilamentAction = %d\n"), (int)eFilamentAction);
printf_P(PSTR("DBG:MMU2::mmu2.Enabled() = %d\n"), (int)MMU2::mmu2.Enabled());
printf_P(PSTR("DBG:MMU2::mmu2.MMU_PRINT_SAVED() = %d\n"), (int)MMU2::mmu2.MMU_PRINT_SAVED());
printf_P(PSTR("DBG:MMU2::mmu2.FindaDetectsFilament() = %d\n"), (int)MMU2::mmu2.FindaDetectsFilament());
printf_P(PSTR("DBG:fsensor.getFilamentPresent() = %d\n"), (int)fsensor.getFilamentPresent());
printf_P(PSTR("DBG:MMU CUTTER ENABLED = %d\n"), (int)eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED));
printf_P(PSTR("DBG:fsensor.isEnabled() = %d\n"), (int)fsensor.isEnabled());
printf_P(PSTR("DBG:fsensor.getAutoLoadEnabled() = %d\n"), (int)fsensor.getAutoLoadEnabled());
printf_P(PSTR("DBG:custom_message_type = %d\n"), (int)custom_message_type);
printf_P(PSTR("DBG:uvlo_auto_recovery_ready = %d\n"), (int)uvlo_auto_recovery_ready);
SERIAL_ECHOLN("");
}
#endif //End DEBUG_PRINTER_STATES
// Block LCD menus when
bool __attribute__((noinline)) printer_recovering() {
return (eeprom_read_byte((uint8_t*)EEPROM_UVLO) != PowerPanic::NO_PENDING_RECOVERY);
}
// Currently only used in one place, allowed to be inlined
bool check_fsensor() {
return printJobOngoing()
&& mcode_in_progress != 600
&& !saved_printing
&& !mesh_bed_leveling_flag
&& !homing_flag
&& e_active();
}
bool __attribute__((noinline)) babystep_allowed() {
return ( !homing_flag
&& !mesh_bed_leveling_flag
&& !printingIsPaused()
&& ((lcd_commands_type == LcdCommands::Layer1Cal && CHECK_ALL_HEATERS)
|| printJobOngoing()
|| lcd_commands_type == LcdCommands::Idle
)
);
}
bool __attribute__((noinline)) babystep_allowed_strict() {
return ( babystep_allowed() && current_position[Z_AXIS] < Z_HEIGHT_HIDE_LIVE_ADJUST_MENU);
}
bool fans_check_enabled = true;
#ifdef TMC2130
void crashdet_stop_and_save_print()
{
stop_and_save_print_to_ram(pause_position[Z_AXIS], -default_retraction); //XY - no change, Pause Z LIFT mm up, E -1mm retract
}
void crashdet_restore_print_and_continue()
{
restore_print_from_ram_and_continue(default_retraction); //XYZ = orig, E +1mm unretract
//babystep_apply();
}
void crashdet_fmt_error(char* buf, uint8_t mask)
{
if(mask & X_AXIS_MASK) *buf++ = axis_codes[X_AXIS];
if(mask & Y_AXIS_MASK) *buf++ = axis_codes[Y_AXIS];
*buf++ = ' ';
strcpy_P(buf, _T(MSG_CRASH_DETECTED));
}
void crashdet_detected(uint8_t mask)
{
st_synchronize();
static uint8_t crashDet_counter = 0;
static uint8_t crashDet_axes = 0;
bool automatic_recovery_after_crash = true;
char msg[LCD_WIDTH+1] = "";
if (crashDetTimer.expired(CRASHDET_TIMER * 1000ul)) {
crashDet_counter = 0;
}
if(++crashDet_counter >= CRASHDET_COUNTER_MAX) {
automatic_recovery_after_crash = false;
}
crashDetTimer.start();
crashDet_axes |= mask;
if (mask & X_AXIS_MASK) {
eeprom_increment_byte((uint8_t*)EEPROM_CRASH_COUNT_X);
eeprom_increment_word((uint16_t*)EEPROM_CRASH_COUNT_X_TOT);
}
if (mask & Y_AXIS_MASK) {
eeprom_increment_byte((uint8_t*)EEPROM_CRASH_COUNT_Y);
eeprom_increment_word((uint16_t*)EEPROM_CRASH_COUNT_Y_TOT);
}
lcd_update_enable(true);
lcd_update(2);
// prepare the status message with the _current_ axes status
crashdet_fmt_error(msg, mask);
lcd_setstatus(msg);
gcode_G28(true, true, false); //home X and Y
if (automatic_recovery_after_crash) {
enquecommand_P(PSTR("CRASH_RECOVER"));
}else{
setTargetHotend(0);
// notify the user of *all* the axes previously affected, not just the last one
lcd_update_enable(false);
lcd_clear();
crashdet_fmt_error(msg, crashDet_axes);
crashDet_axes = 0;
lcd_print(msg);
// ask whether to resume printing
lcd_puts_at_P(0, 1, _T(MSG_RESUME_PRINT));
lcd_putc('?');
uint8_t yesno = lcd_show_yes_no_and_wait(false, LCD_LEFT_BUTTON_CHOICE);
if (yesno == LCD_LEFT_BUTTON_CHOICE)
{
enquecommand_P(PSTR("CRASH_RECOVER"));
}
else // LCD_MIDDLE_BUTTON_CHOICE
{
enquecommand_P(PSTR("CRASH_CANCEL"));
}
}
}
void crashdet_recover()
{
if (!printingIsPaused()) crashdet_restore_print_and_continue();
crashdet_use_eeprom_setting();
}
/// Crash detection cancels the print
void crashdet_cancel() {
// Restore crash detection
crashdet_use_eeprom_setting();
// Abort the print
print_stop();
}
#endif //TMC2130
void failstats_reset_print()
{
eeprom_update_byte_notify((uint8_t *)EEPROM_CRASH_COUNT_X, 0);
eeprom_update_byte_notify((uint8_t *)EEPROM_CRASH_COUNT_Y, 0);
eeprom_update_byte_notify((uint8_t *)EEPROM_FERROR_COUNT, 0);
eeprom_update_byte_notify((uint8_t *)EEPROM_POWER_COUNT, 0);
eeprom_update_byte_notify((uint8_t *)EEPROM_MMU_FAIL, 0);
eeprom_update_byte_notify((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
}
void watchdogEarlyDisable(void) {
// Regardless if the watchdog support is enabled or not, disable the watchdog very early
// after the program starts since there's no danger in doing this.
// The reason for this is because old bootloaders might not handle the watchdog timer at all,
// leaving it enabled when jumping to the program. This could cause another watchdog reset
// during setup() if not handled properly. So to avoid any issue of this kind, stop the
// watchdog timer manually.
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
wdt_reset();
MCUSR &= ~_BV(WDRF);
wdt_disable();
}
}
void softReset(void) {
cli();
#ifdef WATCHDOG
// If the watchdog support is enabled, use that for resetting. The timeout value is customized
// for each board since the miniRambo ships with a bootloader which doesn't properly handle the
// WDT. In order to avoid bootlooping, the watchdog is set to a value large enough for the
// usual timeout of the bootloader to pass.
wdt_enable(WATCHDOG_SOFT_RESET_VALUE);
#else
#warning WATCHDOG not defined. See the following comment for more details about the implications
// In case the watchdog is not enabled, the reset is acomplished by jumping to the bootloader
// vector manually. This however is somewhat dangerous since the peripherals don't get reset
// by this operation. Considering this is not going to be used in any production firmware,
// it can be left as is and just be cautious with it. The only way to accomplish a peripheral
// reset is by an external reset, by a watchdog reset or by a power cycle. All of these options
// can't be accomplished just from software. One way to minimize the dangers of this is by
// setting all dangerous pins to INPUT before jumping to the bootloader, but that still doesn't
// reset other peripherals such as UART, timers, INT, PCINT, etc...
asm volatile("jmp 0x3E000");
#endif
while(1);
}
static void factory_reset_stats(){
eeprom_update_dword_notify((uint32_t *)EEPROM_TOTALTIME, 0);
eeprom_update_dword_notify((uint32_t *)EEPROM_FILAMENTUSED, 0);
failstats_reset_print();
eeprom_update_word_notify((uint16_t *)EEPROM_CRASH_COUNT_X_TOT, 0);
eeprom_update_word_notify((uint16_t *)EEPROM_CRASH_COUNT_Y_TOT, 0);
eeprom_update_word_notify((uint16_t *)EEPROM_FERROR_COUNT_TOT, 0);
eeprom_update_word_notify((uint16_t *)EEPROM_POWER_COUNT_TOT, 0);
eeprom_update_word_notify((uint16_t *)EEPROM_MMU_FAIL_TOT, 0);
eeprom_update_word_notify((uint16_t *)EEPROM_MMU_LOAD_FAIL_TOT, 0);
eeprom_update_dword_notify((uint32_t *)EEPROM_MMU_MATERIAL_CHANGES, 0);
}
// Factory reset function
// This function is used to erase parts or whole EEPROM memory which is used for storing calibration and and so on.
// Level input parameter sets depth of reset
static void factory_reset(char level)
{
lcd_clear();
Sound_MakeCustom(100,0,false);
switch (level) {
case 0: // Level 0: Language reset
lang_reset();
break;
case 1: //Level 1: Reset statistics
factory_reset_stats();
lcd_menu_statistics();
break;
case 2: // Level 2: Prepare for shipping
factory_reset_stats();
// FALLTHRU
case 3: // Level 3: Preparation after being serviced
// Force language selection at the next boot up.
lang_reset();
// Force the wizard in "Follow calibration flow" mode at the next boot up
calibration_status_clear(CALIBRATION_FORCE_PREP);
eeprom_write_byte_notify((uint8_t*)EEPROM_WIZARD_ACTIVE, 2);
farm_disable();
#ifdef FILAMENT_SENSOR
fsensor.setEnabled(true);
fsensor.setAutoLoadEnabled(true, true);
fsensor.setRunoutEnabled(true, true);
#if (FILAMENT_SENSOR_TYPE == FSENSOR_PAT9125)
fsensor.setJamDetectionEnabled(true, true);
#endif //(FILAMENT_SENSOR_TYPE == FSENSOR_PAT9125)
#endif //FILAMENT_SENSOR
break;
case 4:
menu_progressbar_init(EEPROM_TOP, PSTR("ERASING all data"));
// Erase EEPROM
for (uint16_t i = 0; i < EEPROM_TOP; i++) {
eeprom_update_byte_notify((uint8_t*)i, 0xFF);
menu_progressbar_update(i);
}
menu_progressbar_finish();
softReset();
break;
default:
break;
}
}
static FILE _uartout;
#define uartout (&_uartout)
int uart_putchar(char c, FILE *)
{
MYSERIAL.write(c);
return 0;
}
void lcd_splash()
{
lcd_clear(); // clears display and homes screen
lcd_printf_P(PSTR("\n Original Prusa i3\n Prusa Research\n%20.20S"), PSTR(FW_VERSION));
}
void factory_reset()
{
KEEPALIVE_STATE(PAUSED_FOR_USER);
if (!READ(BTN_ENC))
{
_delay_ms(1000);
if (!READ(BTN_ENC))
{
lcd_clear();
lcd_puts_P(PSTR("Factory RESET"));
SET_OUTPUT(BEEPER);
if(eSoundMode!=e_SOUND_MODE_SILENT)
WRITE(BEEPER, HIGH);
while (!READ(BTN_ENC));
WRITE(BEEPER, LOW);
_delay_ms(2000);
char level = reset_menu();
factory_reset(level);
switch (level) {
case 0:
case 1:
case 2:
case 3:
case 4: _delay_ms(0); break;
}
}
}
KEEPALIVE_STATE(IN_HANDLER);
}
#if defined(FILAMENT_SENSOR) && defined(FSENSOR_PROBING)
//! @brief try to check if firmware is on right type of printer
static void check_if_fw_is_on_right_printer() {
if (fsensor.probeOtherType()) {
lcd_show_fullscreen_message_and_wait_P(_T(MSG_FW_MK3_DETECTED));
}
}
#endif //defined(FILAMENT_SENSOR) && defined(FSENSOR_PROBING)
uint8_t check_printer_version()
{
uint8_t version_changed = 0;
uint16_t printer_type = eeprom_init_default_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
uint16_t motherboard = eeprom_init_default_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD);
if (printer_type != PRINTER_TYPE) version_changed |= 0b10;
if (motherboard != MOTHERBOARD) version_changed |= 0b01;
return version_changed;
}
#ifdef BOOTAPP
#include "bootapp.h" //bootloader support
#endif //BOOTAPP
#if (LANG_MODE != 0) //secondary language support
#ifdef XFLASH
// language update from external flash
#define LANGBOOT_BLOCKSIZE 0x1000u
#define LANGBOOT_RAMBUFFER 0x0800
void update_sec_lang_from_external_flash()
{
if ((boot_app_magic == BOOT_APP_MAGIC) && (boot_app_flags & BOOT_APP_FLG_USER0))
{
uint8_t lang = boot_reserved >> 3;
uint8_t state = boot_reserved & 0x07;
lang_table_header_t header;
uint32_t src_addr;
if (lang_get_header(lang, &header, &src_addr))
{
lcd_puts_at_P(1,0,PSTR("Language update"));
for (uint8_t i = 0; i < state; i++)
lcd_print('.');
_delay(100);
boot_reserved = (boot_reserved & 0xF8) | ((state + 1) & 0x07);
if ((state * LANGBOOT_BLOCKSIZE) < header.size)
{
cli();
uint16_t size = header.size - state * LANGBOOT_BLOCKSIZE;
if (size > LANGBOOT_BLOCKSIZE) size = LANGBOOT_BLOCKSIZE;
xflash_rd_data(src_addr + state * LANGBOOT_BLOCKSIZE, (uint8_t*)LANGBOOT_RAMBUFFER, size);
if (state == 0)
{
//TODO - check header integrity
}
bootapp_ram2flash(LANGBOOT_RAMBUFFER, _SEC_LANG_TABLE + state * LANGBOOT_BLOCKSIZE, size);
}
else
{
//TODO - check sec lang data integrity
eeprom_update_byte_notify((unsigned char *)EEPROM_LANG, LANG_ID_SEC);
}
}
}
boot_app_magic = 0;
}
#ifdef DEBUG_XFLASH
uint8_t lang_xflash_enum_codes(uint16_t* codes)
{
lang_table_header_t header;
uint8_t count = 0;
uint32_t addr = 0x00000;
while (1)
{
printf_P(_n("LANGTABLE%d:"), count);
xflash_rd_data(addr, (uint8_t*)&header, sizeof(lang_table_header_t));
if (header.magic != LANG_MAGIC)
{
puts_P(_n("NG!"));
break;
}
puts_P(_n("OK"));
printf_P(_n(" _lt_magic = 0x%08lx %S\n"), header.magic, (header.magic==LANG_MAGIC)?_n("OK"):_n("NA"));
printf_P(_n(" _lt_size = 0x%04x (%d)\n"), header.size, header.size);
printf_P(_n(" _lt_count = 0x%04x (%d)\n"), header.count, header.count);
printf_P(_n(" _lt_chsum = 0x%04x\n"), header.checksum);
printf_P(_n(" _lt_code = 0x%04x (%c%c)\n"), header.code, header.code >> 8, header.code & 0xff);
printf_P(_n(" _lt_sign = 0x%08lx\n"), header.signature);
addr += header.size;
codes[count] = header.code;
count ++;
}
return count;
}
void list_sec_lang_from_external_flash()
{
uint16_t codes[8];
uint8_t count = lang_xflash_enum_codes(codes);
printf_P(_n("XFlash lang count = %hhd\n"), count);
}
#endif //DEBUG_XFLASH
#endif //XFLASH
#endif //(LANG_MODE != 0)
static void fw_crash_init()
{
#ifdef XFLASH_DUMP
dump_crash_reason crash_reason;
if(xfdump_check_state(&crash_reason))
{
// always signal to the host that a dump is available for retrieval
puts_P(_N("//action:dump_available"));
#ifdef EMERGENCY_DUMP
if(crash_reason != dump_crash_reason::manual &&
eeprom_read_byte((uint8_t*)EEPROM_FW_CRASH_FLAG) != 0xFF)
{
lcd_show_fullscreen_message_and_wait_P(
_n("FW crash detected! "
"You can continue printing. "
"Debug data available for analysis. "
"Contact support to submit details."));
}
#endif
}
#else //XFLASH_DUMP
dump_crash_reason crash_reason = (dump_crash_reason)eeprom_read_byte((uint8_t*)EEPROM_FW_CRASH_FLAG);
if(crash_reason != dump_crash_reason::manual && (uint8_t)crash_reason != 0xFF)
{
lcd_beeper_quick_feedback();
lcd_clear();
lcd_puts_P(_n("FIRMWARE CRASH!\nCrash reason:\n"));
switch(crash_reason)
{
case dump_crash_reason::stack_error:
lcd_puts_P(_n("Static memory has\nbeen overwritten"));
break;
case dump_crash_reason::watchdog: