Move setup() and loop() to the end
This commit is contained in:
Scott Lahteine
parent
8ff338c2b9
commit
f9a192c7e3
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@ -850,10 +850,6 @@ void servo_init() {
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*/
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STOW_Z_SERVO();
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#endif
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#if HAS_BED_PROBE
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endstops.enable_z_probe(false);
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#endif
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}
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/**
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@ -879,216 +875,6 @@ void servo_init() {
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#endif
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/**
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* Marlin entry-point: Set up before the program loop
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* - Set up the kill pin, filament runout, power hold
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* - Start the serial port
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* - Print startup messages and diagnostics
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* - Get EEPROM or default settings
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* - Initialize managers for:
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* • temperature
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* • planner
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* • watchdog
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* • stepper
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* • photo pin
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* • servos
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* • LCD controller
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* • Digipot I2C
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* • Z probe sled
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* • status LEDs
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*/
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void setup() {
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#ifdef DISABLE_JTAG
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// Disable JTAG on AT90USB chips to free up pins for IO
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MCUCR = 0x80;
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MCUCR = 0x80;
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#endif
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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setup_filrunoutpin();
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#endif
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setup_killpin();
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setup_powerhold();
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#if HAS_STEPPER_RESET
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disableStepperDrivers();
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#endif
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MYSERIAL.begin(BAUDRATE);
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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
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byte mcu = MCUSR;
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if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
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if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
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if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
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if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
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if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
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MCUSR = 0;
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SERIAL_ECHOPGM(MSG_MARLIN);
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SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
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#ifdef STRING_DISTRIBUTION_DATE
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#ifdef STRING_CONFIG_H_AUTHOR
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
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SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
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SERIAL_ECHOPGM(MSG_AUTHOR);
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SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
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SERIAL_ECHOPGM("Compiled: ");
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SERIAL_ECHOLNPGM(__DATE__);
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#endif // STRING_CONFIG_H_AUTHOR
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#endif // STRING_DISTRIBUTION_DATE
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM(MSG_FREE_MEMORY);
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SERIAL_ECHO(freeMemory());
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SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
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SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
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// Send "ok" after commands by default
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for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
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// Load data from EEPROM if available (or use defaults)
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// This also updates variables in the planner, elsewhere
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Config_RetrieveSettings();
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// Initialize current position based on home_offset
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memcpy(current_position, home_offset, sizeof(home_offset));
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// Vital to init stepper/planner equivalent for current_position
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SYNC_PLAN_POSITION_KINEMATIC();
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thermalManager.init(); // Initialize temperature loop
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#if ENABLED(USE_WATCHDOG)
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watchdog_init();
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#endif
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stepper.init(); // Initialize stepper, this enables interrupts!
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setup_photpin();
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servo_init();
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#if HAS_CONTROLLERFAN
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SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
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#endif
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#if HAS_STEPPER_RESET
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enableStepperDrivers();
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#endif
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#if ENABLED(DIGIPOT_I2C)
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digipot_i2c_init();
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#endif
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#if ENABLED(DAC_STEPPER_CURRENT)
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dac_init();
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#endif
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#if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
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pinMode(SLED_PIN, OUTPUT);
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digitalWrite(SLED_PIN, LOW); // turn it off
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#endif // Z_PROBE_SLED
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setup_homepin();
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#ifdef STAT_LED_RED
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pinMode(STAT_LED_RED, OUTPUT);
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digitalWrite(STAT_LED_RED, LOW); // turn it off
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#endif
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#ifdef STAT_LED_BLUE
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pinMode(STAT_LED_BLUE, OUTPUT);
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digitalWrite(STAT_LED_BLUE, LOW); // turn it off
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#endif
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lcd_init();
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#if ENABLED(SHOW_BOOTSCREEN)
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#if ENABLED(DOGLCD)
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safe_delay(BOOTSCREEN_TIMEOUT);
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#elif ENABLED(ULTRA_LCD)
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bootscreen();
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lcd_init();
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#endif
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#endif
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#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
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// Initialize mixing to 100% color 1
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
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mixing_factor[i] = (i == 0) ? 1 : 0;
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for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
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mixing_virtual_tool_mix[t][i] = mixing_factor[i];
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#endif
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#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
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i2c.onReceive(i2c_on_receive);
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i2c.onRequest(i2c_on_request);
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#endif
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}
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/**
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* The main Marlin program loop
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*
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* - Save or log commands to SD
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* - Process available commands (if not saving)
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* - Call heater manager
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* - Call inactivity manager
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* - Call endstop manager
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* - Call LCD update
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*/
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void loop() {
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if (commands_in_queue < BUFSIZE) get_available_commands();
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#if ENABLED(SDSUPPORT)
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card.checkautostart(false);
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#endif
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if (commands_in_queue) {
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#if ENABLED(SDSUPPORT)
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if (card.saving) {
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char* command = command_queue[cmd_queue_index_r];
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if (strstr_P(command, PSTR("M29"))) {
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// M29 closes the file
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card.closefile();
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SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
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ok_to_send();
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}
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else {
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// Write the string from the read buffer to SD
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card.write_command(command);
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if (card.logging)
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process_next_command(); // The card is saving because it's logging
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else
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ok_to_send();
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}
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}
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else
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process_next_command();
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#else
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process_next_command();
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#endif // SDSUPPORT
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// The queue may be reset by a command handler or by code invoked by idle() within a handler
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if (commands_in_queue) {
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--commands_in_queue;
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cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
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}
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}
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endstops.report_state();
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idle();
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}
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void gcode_line_error(const char* err, bool doFlush = true) {
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SERIAL_ERROR_START;
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serialprintPGM(err);
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@ -8889,3 +8675,217 @@ void calculate_volumetric_multipliers() {
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for (uint8_t i = 0; i < COUNT(filament_size); i++)
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volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
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}
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/**
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* Marlin entry-point: Set up before the program loop
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* - Set up the kill pin, filament runout, power hold
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* - Start the serial port
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* - Print startup messages and diagnostics
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* - Get EEPROM or default settings
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* - Initialize managers for:
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* • temperature
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* • planner
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* • watchdog
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* • stepper
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* • photo pin
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* • servos
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* • LCD controller
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* • Digipot I2C
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* • Z probe sled
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* • status LEDs
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*/
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void setup() {
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#ifdef DISABLE_JTAG
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// Disable JTAG on AT90USB chips to free up pins for IO
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MCUCR = 0x80;
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MCUCR = 0x80;
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#endif
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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setup_filrunoutpin();
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#endif
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setup_killpin();
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setup_powerhold();
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#if HAS_STEPPER_RESET
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disableStepperDrivers();
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#endif
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MYSERIAL.begin(BAUDRATE);
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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
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byte mcu = MCUSR;
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if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
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if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
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if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
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if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
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if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
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MCUSR = 0;
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SERIAL_ECHOPGM(MSG_MARLIN);
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SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
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#ifdef STRING_DISTRIBUTION_DATE
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#ifdef STRING_CONFIG_H_AUTHOR
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
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SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
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SERIAL_ECHOPGM(MSG_AUTHOR);
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SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
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SERIAL_ECHOPGM("Compiled: ");
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SERIAL_ECHOLNPGM(__DATE__);
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#endif // STRING_CONFIG_H_AUTHOR
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#endif // STRING_DISTRIBUTION_DATE
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM(MSG_FREE_MEMORY);
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SERIAL_ECHO(freeMemory());
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SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
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SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
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// Send "ok" after commands by default
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for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
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// Load data from EEPROM if available (or use defaults)
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// This also updates variables in the planner, elsewhere
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Config_RetrieveSettings();
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// Initialize current position based on home_offset
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memcpy(current_position, home_offset, sizeof(home_offset));
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// Vital to init stepper/planner equivalent for current_position
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SYNC_PLAN_POSITION_KINEMATIC();
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thermalManager.init(); // Initialize temperature loop
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#if ENABLED(USE_WATCHDOG)
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watchdog_init();
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#endif
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stepper.init(); // Initialize stepper, this enables interrupts!
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setup_photpin();
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servo_init();
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#if HAS_BED_PROBE
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endstops.enable_z_probe(false);
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#endif
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#if HAS_CONTROLLERFAN
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SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
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#endif
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#if HAS_STEPPER_RESET
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enableStepperDrivers();
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#endif
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#if ENABLED(DIGIPOT_I2C)
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digipot_i2c_init();
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#endif
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#if ENABLED(DAC_STEPPER_CURRENT)
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dac_init();
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#endif
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#if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
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pinMode(SLED_PIN, OUTPUT);
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digitalWrite(SLED_PIN, LOW); // turn it off
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#endif // Z_PROBE_SLED
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setup_homepin();
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#ifdef STAT_LED_RED
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pinMode(STAT_LED_RED, OUTPUT);
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digitalWrite(STAT_LED_RED, LOW); // turn it off
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#endif
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#ifdef STAT_LED_BLUE
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pinMode(STAT_LED_BLUE, OUTPUT);
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digitalWrite(STAT_LED_BLUE, LOW); // turn it off
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#endif
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lcd_init();
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#if ENABLED(SHOW_BOOTSCREEN)
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#if ENABLED(DOGLCD)
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safe_delay(BOOTSCREEN_TIMEOUT);
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#elif ENABLED(ULTRA_LCD)
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bootscreen();
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lcd_init();
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#endif
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#endif
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#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
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// Initialize mixing to 100% color 1
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
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mixing_factor[i] = (i == 0) ? 1 : 0;
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for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
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mixing_virtual_tool_mix[t][i] = mixing_factor[i];
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#endif
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#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
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i2c.onReceive(i2c_on_receive);
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i2c.onRequest(i2c_on_request);
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#endif
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}
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/**
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* The main Marlin program loop
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*
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* - Save or log commands to SD
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* - Process available commands (if not saving)
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* - Call heater manager
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* - Call inactivity manager
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* - Call endstop manager
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* - Call LCD update
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*/
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void loop() {
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if (commands_in_queue < BUFSIZE) get_available_commands();
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#if ENABLED(SDSUPPORT)
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card.checkautostart(false);
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#endif
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if (commands_in_queue) {
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#if ENABLED(SDSUPPORT)
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if (card.saving) {
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char* command = command_queue[cmd_queue_index_r];
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if (strstr_P(command, PSTR("M29"))) {
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// M29 closes the file
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card.closefile();
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SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
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ok_to_send();
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}
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else {
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// Write the string from the read buffer to SD
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card.write_command(command);
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if (card.logging)
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process_next_command(); // The card is saving because it's logging
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else
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ok_to_send();
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}
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}
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else
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process_next_command();
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#else
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process_next_command();
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#endif // SDSUPPORT
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// The queue may be reset by a command handler or by code invoked by idle() within a handler
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if (commands_in_queue) {
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--commands_in_queue;
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cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
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}
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}
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endstops.report_state();
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idle();
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}
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