/**
* M100 D
* Dump the free memory block from __brkval to the stack pointer.
* malloc() eats memory from the start of the block and the stack grows
* up from the bottom of the block. Solid test bytes indicate nothing has
* used that memory yet. There should not be anything but test bytes within
* the block. If so, it may indicate memory corruption due to a bad pointer.
* Unexpected bytes are flagged in the right column.
*/
void dump_free_memory(const char *ptr, const char *sp) {
//
// Start and end the dump on a nice 16 byte boundary
// (even though the values are not 16-byte aligned).
//
ptr = (char *)((uint16_t)ptr & 0xFFF0); // Align to 16-byte boundary
sp = (char *)((uint16_t)sp | 0x000F); // Align sp to the 15th byte (at or above sp)
// Dump command main loop
while (ptr < sp) {
print_hex_word((uint16_t)ptr); // Print the address
SERIAL_CHAR(':');
for (uint8_t i = 0; i < 16; i++) { // and 16 data bytes
if (i == 8) SERIAL_CHAR('-');
print_hex_byte(ptr[i]);
SERIAL_CHAR(' ');
}
safe_delay(25);
SERIAL_CHAR('|'); // Point out non test bytes
for (uint8_t i = 0; i < 16; i++) {
char ccc = (char)ptr[i]; // cast to char before automatically casting to char on assignment, in case the compiler is broken
if (&ptr[i] >= (const char*)command_queue && &ptr[i] < (const char*)(command_queue + sizeof(command_queue))) { // Print out ASCII in the command buffer area
if (!WITHIN(ccc, ' ', 0x7E)) ccc = ' ';
}
else { // If not in the command buffer area, flag bytes that don't match the test byte
ccc = (ccc == TEST_BYTE) ? ' ' : '?';
}
SERIAL_CHAR(ccc);
}
SERIAL_EOL();
ptr += 16;
safe_delay(25);
idle();
}
}
/**
* M81: Turn off Power, including Power Supply, if there is one.
*
* This code should ALWAYS be available for EMERGENCY SHUTDOWN!
*/
void GcodeSuite::M81() {
thermalManager.disable_all_heaters();
print_job_timer.stop();
planner.finish_and_disable();
#if FAN_COUNT > 0
thermalManager.zero_fan_speeds();
#if ENABLED(PROBING_FANS_OFF)
thermalManager.fans_paused = false;
ZERO(thermalManager.paused_fan_speed);
#endif
#endif
safe_delay(1000); // Wait 1 second before switching off
#if HAS_SUICIDE
suicide();
#elif HAS_POWER_SWITCH
PSU_OFF();
#endif
#if HAS_LCD_MENU
LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
#endif
}
void unified_bed_leveling::report_state() {
echo_name();
SERIAL_PROTOCOLPGM(" System v" UBL_VERSION " ");
if (!planner.leveling_active) SERIAL_PROTOCOLPGM("in");
SERIAL_PROTOCOLLNPGM("active.");
safe_delay(50);
}
inline void _move_nozzle_servo(const uint8_t e, const uint8_t angle_index) {
constexpr int8_t sns_index[2] = { SWITCHING_NOZZLE_SERVO_NR, SWITCHING_NOZZLE_E1_SERVO_NR };
constexpr int16_t sns_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
planner.synchronize();
MOVE_SERVO(sns_index[e], sns_angles[angle_index]);
safe_delay(500);
}
bool set_bltouch_deployed(const bool deploy) {
if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
bltouch_command(BLTOUCH_RESET); // try to reset it.
bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
safe_delay(1500); // Wait for internal self-test to complete.
// (Measured completion time was 0.65 seconds
// after reset, deploy, and stow sequence)
if (TEST_BLTOUCH()) { // If it still claims to be triggered...
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
stop(); // punt!
return true;
}
}
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
return false;
}
int check_for_free_memory_corruption(const char * const title) {
SERIAL_ECHO(title);
char *ptr = END_OF_HEAP(), *sp = top_of_stack();
int n = sp - ptr;
SERIAL_ECHOPAIR("\nfmc() n=", n);
SERIAL_ECHOPAIR("\n&__brkval: ", hex_address(&__brkval));
SERIAL_ECHOPAIR("=", hex_address(__brkval));
SERIAL_ECHOPAIR("\n__bss_end: ", hex_address(&__bss_end));
SERIAL_ECHOPAIR(" sp=", hex_address(sp));
if (sp < ptr) {
SERIAL_ECHOPGM(" sp < Heap ");
// SET_INPUT_PULLUP(63); // if the developer has a switch wired up to their controller board
// safe_delay(5); // this code can be enabled to pause the display as soon as the
// while ( READ(63)) // malfunction is detected. It is currently defaulting to a switch
// idle(); // being on pin-63 which is unassigend and available on most controller
// safe_delay(20); // boards.
// while ( !READ(63))
// idle();
safe_delay(20);
#ifdef M100_FREE_MEMORY_DUMPER
M100_dump_routine(" Memory corruption detected with sp<Heap\n", (char*)0x1B80, (char*)0x21FF);
#endif
}
// Scan through the range looking for the biggest block of 0xE5's we can find
int block_cnt = 0;
for (int i = 0; i < n; i++) {
if (ptr[i] == TEST_BYTE) {
int16_t j = count_test_bytes(ptr + i);
if (j > 8) {
// SERIAL_ECHOPAIR("Found ", j);
// SERIAL_ECHOLNPAIR(" bytes free at ", hex_address(ptr + i));
i += j;
block_cnt++;
SERIAL_ECHOPAIR(" (", block_cnt);
SERIAL_ECHOPAIR(") found=", j);
SERIAL_ECHOPGM(" ");
}
}
}
SERIAL_ECHOPAIR(" block_found=", block_cnt);
if (block_cnt != 1 || __brkval != 0x0000)
SERIAL_ECHOLNPGM("\nMemory Corruption detected in free memory area.");
if (block_cnt == 0) // Make sure the special case of no free blocks shows up as an
block_cnt = -1; // error to the calling code!
SERIAL_ECHOPGM(" return=");
if (block_cnt == 1) {
SERIAL_CHAR('0'); // if the block_cnt is 1, nothing has broken up the free memory
SERIAL_EOL(); // area and it is appropriate to say 'no corruption'.
return 0;
}
SERIAL_ECHOLNPGM("true");
return block_cnt;
}
void setup_neopixel() {
SET_OUTPUT(NEOPIXEL_PIN);
pixels.setBrightness(NEOPIXEL_BRIGHTNESS); // 0 - 255 range
pixels.begin();
pixels.show(); // initialize to all off
#if ENABLED(NEOPIXEL_STARTUP_TEST)
safe_delay(1000);
set_neopixel_color(pixels.Color(255, 0, 0, 0)); // red
safe_delay(1000);
set_neopixel_color(pixels.Color(0, 255, 0, 0)); // green
safe_delay(1000);
set_neopixel_color(pixels.Color(0, 0, 255, 0)); // blue
safe_delay(1000);
#endif
set_neopixel_color(pixels.Color(NEO_WHITE)); // white
}
static void serial_echo_xy(const int16_t x, const int16_t y) {
SERIAL_CHAR('(');
SERIAL_ECHO(x);
SERIAL_CHAR(',');
SERIAL_ECHO(y);
SERIAL_CHAR(')');
safe_delay(10);
}
void move_extruder_servo(const uint8_t e) {
planner.synchronize();
#if EXTRUDERS & 1
if (e < EXTRUDERS - 1)
#endif
{
MOVE_SERVO(_SERVO_NR(e), servo_angles[_SERVO_NR(e)][e]);
safe_delay(500);
}
}
inline void home_z_safely() {
// Disallow Z homing if X or Y are unknown
if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) {
LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
SERIAL_ECHO_MSG(MSG_ERR_Z_HOMING);
return;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
#endif
sync_plan_position();
/**
* Move the Z probe (or just the nozzle) to the safe homing point
*/
destination[X_AXIS] = Z_SAFE_HOMING_X_POINT;
destination[Y_AXIS] = Z_SAFE_HOMING_Y_POINT;
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
#if HOMING_Z_WITH_PROBE
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif
if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif
// This causes the carriage on Dual X to unpark
#if ENABLED(DUAL_X_CARRIAGE)
active_extruder_parked = false;
#endif
#if ENABLED(SENSORLESS_HOMING)
safe_delay(500); // Short delay needed to settle
#endif
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
homeaxis(Z_AXIS);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_MSG(MSG_ZPROBE_OUT);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
#endif
}
void Servo::move(const int value) {
constexpr uint16_t servo_delay[] = SERVO_DELAY;
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
if (this->attach(0) >= 0) {
this->write(value);
safe_delay(servo_delay[this->servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
#endif
}
}
void probing_pause(const bool p) {
#if ENABLED(PROBING_HEATERS_OFF)
thermalManager.pause(p);
#endif
#if ENABLED(PROBING_FANS_OFF)
fans_pause(p);
#endif
if (p) safe_delay(
#if DELAY_BEFORE_PROBING > 25
DELAY_BEFORE_PROBING
#else
25
#endif
);
}
/**
* Detect ubl_lcd_clicked, debounce it, and return true for cancel
*/
bool user_canceled() {
if (!ubl_lcd_clicked()) return false;
safe_delay(10); // Wait for click to settle
#if ENABLED(ULTRA_LCD)
lcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99);
lcd_quick_feedback();
#endif
while (!ubl_lcd_clicked()) idle(); // Wait for button release
// If the button is suddenly pressed again,
// ask the user to resolve the issue
lcd_setstatusPGM(PSTR("Release button"), 99); // will never appear...
while (ubl_lcd_clicked()) idle(); // unless this loop happens
lcd_reset_status();
return true;
}
LOOP_L_N(f, COUNT(custom_bootscreen_animation)) {
if (f) safe_delay(CUSTOM_BOOTSCREEN_FRAME_TIME);
draw_custom_bootscreen((u8g_pgm_uint8_t*)pgm_read_ptr(&custom_bootscreen_animation[f]), f == 0);
}
void bltouch_command(const int angle) {
MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle); // Give the BL-Touch the command and wait
safe_delay(BLTOUCH_DELAY);
}
inline void switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
if (no_move) return;
constexpr uint16_t angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[tmp_extruder];
/**
* 1. Raise Z to give enough clearance
* 2. Move to switch position of current toolhead
* 3. Unlock tool and drop it in the dock
* 4. Move to the new toolhead
* 5. Grab and lock the new toolhead
*/
// 1. Raise Z to give enough clearance
if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
current_position[Z_AXIS] += toolchange_settings.z_raise;
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
fast_line_to_current(Z_AXIS);
planner.synchronize();
// 2. Move to switch position of current toolhead
current_position[X_AXIS] = placexpos;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position);
}
fast_line_to_current(X_AXIS);
planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
fast_line_to_current(Y_AXIS);
planner.synchronize();
// 3. Unlock tool and drop it in the dock
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(3) Unlock and Place Toolhead");
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
safe_delay(500);
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
planner.synchronize();
safe_delay(200);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize();
// 4. Move to the new toolhead
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Move to new toolhead position");
current_position[X_AXIS] = grabxpos;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
fast_line_to_current(X_AXIS);
planner.synchronize();
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
fast_line_to_current(Y_AXIS);
planner.synchronize();
// 5. Grab and lock the new toolhead
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(5) Grab and lock new toolhead ");
current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
planner.synchronize();
safe_delay(200);
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
safe_delay(500);
current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Toolhead change done.");
}
void move_nozzle_servo(const uint8_t angle_index) {
planner.synchronize();
MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, servo_angles[SWITCHING_NOZZLE_SERVO_NR][e]);
safe_delay(500);
}
void unified_bed_leveling::display_map(const int map_type) {
constexpr uint8_t spaces = 8 * (GRID_MAX_POINTS_X - 2);
SERIAL_PROTOCOLPGM("\nBed Topography Report");
if (map_type == 0) {
SERIAL_PROTOCOLPGM(":\n\n");
serial_echo_xy(0, GRID_MAX_POINTS_Y - 1);
SERIAL_ECHO_SP(spaces + 3);
serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
SERIAL_EOL();
serial_echo_xy(MESH_MIN_X, MESH_MAX_Y);
SERIAL_ECHO_SP(spaces);
serial_echo_xy(MESH_MAX_X, MESH_MAX_Y);
SERIAL_EOL();
}
else {
SERIAL_PROTOCOLPGM(" for ");
serialprintPGM(map_type == 1 ? PSTR("CSV:\n\n") : PSTR("LCD:\n\n"));
}
const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
const bool is_current = i == current_xi && j == current_yi;
// is the nozzle here? then mark the number
if (map_type == 0) SERIAL_CHAR(is_current ? '[' : ' ');
const float f = z_values[i][j];
if (isnan(f)) {
serialprintPGM(map_type == 0 ? PSTR(" . ") : PSTR("NAN"));
}
else if (map_type <= 1) {
// if we don't do this, the columns won't line up nicely
if (map_type == 0 && f >= 0.0) SERIAL_CHAR(' ');
SERIAL_PROTOCOL_F(f, 3);
}
idle();
if (map_type == 1 && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR(',');
#if TX_BUFFER_SIZE > 0
MYSERIAL.flushTX();
#endif
safe_delay(15);
if (map_type == 0) {
SERIAL_CHAR(is_current ? ']' : ' ');
SERIAL_CHAR(' ');
}
}
SERIAL_EOL();
if (j && map_type == 0) { // we want the (0,0) up tight against the block of numbers
SERIAL_CHAR(' ');
SERIAL_EOL();
}
}
if (map_type == 0) {
serial_echo_xy(MESH_MIN_X, MESH_MIN_Y);
SERIAL_ECHO_SP(spaces + 4);
serial_echo_xy(MESH_MAX_X, MESH_MIN_Y);
SERIAL_EOL();
serial_echo_xy(0, 0);
SERIAL_ECHO_SP(spaces + 5);
serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
SERIAL_EOL();
}
}
// Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
void SimpleShell::cat_command( string parameters, StreamOutput *stream )
{
// Get parameters ( filename and line limit )
string filename = absolute_from_relative(shift_parameter( parameters ));
string limit_parameter = shift_parameter( parameters );
int limit = -1;
int delay= 0;
bool send_eof= false;
if ( limit_parameter == "-d" ) {
string d= shift_parameter( parameters );
char *e = NULL;
delay = strtol(d.c_str(), &e, 10);
if (e <= d.c_str()) {
delay = 0;
} else {
send_eof= true; // we need to terminate file send with an eof
}
}else if ( limit_parameter != "" ) {
char *e = NULL;
limit = strtol(limit_parameter.c_str(), &e, 10);
if (e <= limit_parameter.c_str())
limit = -1;
}
// we have been asked to delay before cat, probably to allow time to issue upload command
if(delay > 0) {
safe_delay(delay*1000);
}
// Open file
FILE *lp = fopen(filename.c_str(), "r");
if (lp == NULL) {
stream->printf("File not found: %s\r\n", filename.c_str());
return;
}
string buffer;
int c;
int newlines = 0;
int linecnt = 0;
// Print each line of the file
while ((c = fgetc (lp)) != EOF) {
buffer.append((char *)&c, 1);
if ( c == '\n' || ++linecnt > 80) {
if(c == '\n') newlines++;
stream->puts(buffer.c_str());
buffer.clear();
if(linecnt > 80) linecnt = 0;
// we need to kick things or they die
THEKERNEL->call_event(ON_IDLE);
}
if ( newlines == limit ) {
break;
}
};
fclose(lp);
if(send_eof) {
stream->puts("\032"); // ^Z terminates the upload
}
}
