CAN/FDCAN bus host and toolhead

Marlin/Configuration.h

@@ -124,6 +124,11 @@
   //#define RS485_BUS_BUFFER_SIZE 128
 #endif
 
+// Enable CAN bus support and protocol
+//#define CAN_HOST
+//#define CAN_TOOLHEAD
+//#define CAN_DEBUG
+
 // Enable the Bluetooth serial interface on AT90USB devices
 //#define BLUETOOTH
 

Marlin/src/HAL/STM32/Servo.cpp

@@ -29,6 +29,10 @@
 
 #include "Servo.h"
 
+#if ENABLED(CAN_HOST)
+  #include "../shared/CAN.h"
+#endif
+
 static uint_fast8_t servoCount = 0;
 static libServo *servos[NUM_SERVOS] = {0};
 constexpr millis_t servoDelay[] = SERVO_DELAY;
@@ -71,6 +75,18 @@ int8_t libServo::attach(const int pin, const int min, const int max) {
 }
 
 void libServo::move(const int value) {
+
+  #if ENABLED(CAN_HOST) // Forward direct Servo command to head
+    constexpr int angles[2] = Z_SERVO_ANGLES;
+    // Translate M280 S10 to M401, M280 S90 to M402
+    if (value == angles[0])
+      CAN_host_send_gcode_2params('M', 401, 0, 0, 0, 0); // Deploy Angle: Send "M401" instead, enables interrupt etc.
+    else if (value == angles[1])
+      CAN_host_send_gcode_2params('M', 402, 0, 0, 0, 0); // Stow Angle: Send "M402" instead, enables interrupt etc.
+    else
+      CAN_host_send_gcode_2params('M', 280, 'S', value, 'P', 0); // M280 S[value] P0
+  #endif
+
   if (attach(0) >= 0) {
     stm32_servo.write(value);
     safe_delay(delay);

Marlin/src/HAL/STM32/inc/SanityCheck.h

@@ -36,8 +36,8 @@
   #error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation."
 #endif
 
-#if !defined(STM32F4xx) && ENABLED(FLASH_EEPROM_LEVELING)
-  #error "FLASH_EEPROM_LEVELING is currently only supported on STM32F4 hardware."
+#if !ANY(STM32F4xx, STM32H7xx) && ENABLED(FLASH_EEPROM_LEVELING)
+  #error "FLASH_EEPROM_LEVELING is currently only supported on STM32F4/H7 hardware."
 #endif
 
 #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)

Marlin/src/HAL/shared/CAN.h

@@ -0,0 +1,106 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../inc/MarlinConfigPre.h"
+
+#define CAN_HOST_MAX_STRING_MSG_LENGTH                    128 // Max string message length to receive from the toolhead
+#define CAN_HOST_GCODE_TIME_SYNC_NO                      7777 // A unique unused Gcode number to trigger a time sync
+#define CAN_HOST_CONFIGURATION_COMPLETE                  7778 // Signal the configuration is complete
+#define CAN_HOST_MAX_WAIT_TIME                             25 // Time in ms to wait for CAN FIFO buffers
+#define CAN_HOST_E0_TEMP_UPDATE_WATCHDOG_TIME            3000 // An E0 temp update must be received withing this time
+#define CAN_HOST_ERROR_REPEAT_TIME                      10000 // Time between report repeats of an error message
+
+#define STDID_FIFO_TOGGLE_BIT                   0b10000000000
+#define EXTID_FIFO_TOGGLE_BIT                      0x10000000
+
+#define CAN_ID_IO_MASK                                0b11111 // Mask for the 5 virtual IO bits
+#define CAN_ID_GCODE_MASK                   0b111111111111111 // Gcode type and number mask
+#define CAN_ID_GCODE_NUMBER_MASK              0b1111111111111 // Gcode number mask
+#define CAN_ID_PARAMETER_LETTER_MASK                  0b11111
+#define CAN_ID_PARAMETER_COUNT_MASK                     0b111 // Parameter count
+#define CAN_ID_GCODE_TYPE_MASK                           0b11 // Gcode type mask
+
+#define CAN_ID_PROBE_BIT_MASK                         (1 << 0) // Virtual IO bit for Z-probe pin
+#define CAN_ID_PROBE_BIT_POS                                0
+#define CAN_ID_FILAMENT_BIT_MASK                      (1 << 1) // Virtual IO bit for filament pin
+#define CAN_ID_FILAMENT_BIT_POS                             1
+#define CAN_ID_X_ENDSTOP_BIT_MASK                     (1 << 2) // Virtual IO bit for X-min pin
+#define CAN_ID_X_ENDSTOP_BIT_POS                            2
+#define CAN_ID_Y_ENDSTOP_BIT_MASK                     (1 << 3) // Virtual IO bit for Y-min pin
+#define CAN_ID_Y_ENDSTOP_BIT_POS                            3
+#define CAN_ID_Z_ENDSTOP_BIT_MASK                     (1 << 4) // Virtual IO bit for Z-min pin
+#define CAN_ID_Z_ENDSTOP_BIT_POS                            4
+#define CAN_ID_STRING_MESSAGE_BIT_MASK                (1 << 5) // Signals the toolhead sent a string message
+#define CAN_ID_STRING_MESSAGE_BIT_POS                       5
+#define CAN_ID_REQUEST_SETUP_BIT_MASK                 (1 << 6) // Signals the toolhead requests setup information
+#define CAN_ID_REQUEST_SETUP_BIT_POS                        6
+#define CAN_ID_TMC_OT_BIT_MASK                        (1 << 7) // Signals the toolhead signals a TMC Over-Temp error
+#define CAN_ID_TMC_OT_BIT_POS                               7
+#define CAN_ID_REQUEST_TIME_SYNC_BIT_MASK             (1 << 8) // Signals the toolhead requested a time sync
+#define CAN_ID_REQUEST_TIME_SYNC_BIT_POS                    8
+#define CAN_ID_ERROR_BIT_MASK                         (1 << 9) // Signals the toolhead encountered an error
+#define CAN_ID_ERROR_BIT_POS                                9
+
+#define CAN_ID_PARAMETER1_BIT_POS                           0
+#define CAN_ID_PARAMETER2_BIT_POS                           5
+#define CAN_ID_GCODE_NUMBER_BIT_POS                        10
+#define CAN_ID_GCODE_TYPE_BIT_POS                          23
+#define CAN_ID_PARAMETER_COUNT_BIT_POS                     25
+
+#define CAN_ID_GCODE_TYPE_D                                 0
+#define CAN_ID_GCODE_TYPE_G                                 1
+#define CAN_ID_GCODE_TYPE_M                                 2
+#define CAN_ID_GCODE_TYPE_T                                 3
+
+// Host error messages
+#define CAN_ERROR_HOST_RX_FIFO_OVERFLOW               (1 << 0) // Incoming message lost
+#define CAN_ERROR_HOST_TX_MSG_DROPPED                 (1 << 1) // Outgoing message dropped
+#define CAN_ERROR_HOST_INVALID_GCODE                  (1 << 2) // Gcode could not be sent over CANBUS
+#define CAN_ERROR_HOST_INVALID_BAUDRATE               (1 << 3) // Generated baudrate doesn't match CAN_BAUDRATE
+
+// Toolhead error messages
+#define CAN_ERROR_TOOLHEAD_RX_FIFO_OVERFLOW           (1 << 4)
+#define CAN_ERROR_TOOLHEAD_TX_FIFO_OVERFLOW           (1 << 5)
+#define CAN_ERROR_TOOLHEAD_INCOMPLETE_GCODE_RECEIVED  (1 << 6)
+#define CAN_ERROR_TOOLHEAD_MARLIN_CMD_BUFFER_OVERFLOW (1 << 7)
+#define CAN_ERROR_TOOLHEAD_INVALID_BAUDRATE           (1 << 8) // Generated baudrate doesn't match CAN_BAUDRATE
+
+// CAN error messsages
+#define CAN_ERROR_MSG_RX_FIFO_OVERFLOW               "CAN RX FIFO overflow"
+#define CAN_ERROR_MSG_TX_FIFO_OVERFLOW               "CAN TX FIFO overflow"
+#define CAN_ERROR_MSG_INCOMPLETE_GCODE               "Incomplete Gcode message received"
+#define CAN_ERROR_MSG_MARLIN_CMM_BUF_OVERFLOW        "Marlin CMD buffer overflow"
+#define CAN_ERROR_MSG_INVALID_BAUDRATE               "Incorrect CAN baudrate"
+
+void CAN_host_idle();                                // CAN idle task
+void CAN_host_send_setup(bool change_status);        // Send configuration to toolhead
+uint32_t CAN_host_get_iostate();                     // Read the CAN virtual IO state
+HAL_StatusTypeDef CAN_host_start();                  // Start the CAN device
+HAL_StatusTypeDef CAN_host_stop();                   // Stop the CAN device
+HAL_StatusTypeDef CAN_host_send_gcode();             // Send Gcode to the toolhead
+HAL_StatusTypeDef CAN_host_send_gcode_2params(uint32_t Gcode_type, uint32_t Gcode_no, uint32_t parameter1, float value1, uint32_t parameter2, float value2);
+
+HAL_StatusTypeDef CAN_toolhead_start();              // Start the CAN device
+void CAN_toolhead_send_update(bool tempUpdate);      // Send an IO and temp update to the host
+void CAN_toolhead_send_string(const char * message); // Send CAN string to host
+void CAN_toolhead_idle();   

Marlin/src/MarlinCore.cpp

@@ -34,6 +34,14 @@
 #include "HAL/shared/esp_wifi.h"
 #include "HAL/shared/cpu_exception/exception_hook.h"
 
+#if ANY(CAN_HOST, CAN_TOOLHEAD)
+  #include "HAL/shared/CAN.h"
+#endif
+
+#if ENABLED(HAS_ADXL345_ACCELEROMETER)
+  #include "feature/accelerometer/acc_adxl345.h"
+#endif
+
 #if ENABLED(WIFISUPPORT)
   #include "HAL/shared/esp_wifi.h"
 #endif
@@ -882,6 +890,10 @@ void idle(const bool no_stepper_sleep/*=false*/) {
   // Manage Fixed-time Motion Control
   TERN_(FT_MOTION, ftMotion.loop());
 
+  TERN_(CAN_HOST, CAN_host_idle());
+
+  TERN_(CAN_TOOLHEAD, CAN_toolhead_idle());
+
   IDLE_DONE:
   TERN_(MARLIN_DEV_MODE, idle_depth--);
 
@@ -1236,6 +1248,23 @@ void setup() {
 
   SETUP_RUN(hal.init());
 
+  #if ENABLED(CAN_HOST)
+    SERIAL_ECHOLN(
+      F(">>> CAN Start: "),
+      CAN_host_start() == HAL_OK ? F("OK") : F("FAILED!")
+    );
+  #endif
+
+  #if ENABLED(CAN_TOOLHEAD)
+    SERIAL_ECHOLN( F(">>> CAN Start: "),
+      CAN_toolhead_start() == HAL_OK ? F("OK") : F("FAILED!")
+    );
+  #endif
+
+  #if ENABLED(HAS_ADXL345_ACCELEROMETER)
+    adxl345.begin();
+  #endif
+
   // Init and disable SPI thermocouples; this is still needed
   #if TEMP_SENSOR_IS_MAX_TC(0) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E0))
     OUT_WRITE(TEMP_0_CS_PIN, HIGH);  // Disable

Marlin/src/feature/runout.h

@@ -33,6 +33,10 @@
 #include "pause.h" // for did_pause_print
 #include "../MarlinCore.h" // for printingIsActive()
 
+#if ENABLED(CAN_HOST)
+  #include "../HAL/shared/CAN.h"
+#endif
+
 #include "../inc/MarlinConfig.h"
 
 #if ENABLED(EXTENSIBLE_UI)
@@ -51,7 +55,13 @@
   #define HAS_FILAMENT_SWITCH 1
 #endif
 
-#define FILAMENT_IS_OUT() (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_STATE)
+#if ENABLED(CAN_HOST)
+  #define FILAMENT_IS_OUT() (bool(CAN_host_get_iostate() & CAN_ID_FILAMENT_MASK) == FIL_RUNOUT_STATE)
+  #define RUNOUT_STATE(N) bool(CAN_host_get_iostate() & CAN_ID_FILAMENT_MASK)  // CAN Virtual Filament Runout pin
+#else
+  #define FILAMENT_IS_OUT() (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_STATE)
+  #define RUNOUT_STATE(N) READ(FIL_RUNOUT##N##_PIN)               // DIO Filament Runout pin
+#endif
 
 typedef Flags<
           #if NUM_MOTION_SENSORS > NUM_RUNOUT_SENSORS
@@ -207,7 +217,7 @@ class FilamentSensorBase {
 
     // Return a bitmask of runout pin states
     static uint8_t poll_runout_pins() {
-      #define _OR_RUNOUT(N) | (READ(FIL_RUNOUT##N##_PIN) ? _BV((N) - 1) : 0)
+      #define _OR_RUNOUT(N) | (RUNOUT_STATE(N) ? _BV((N) - 1) : 0)
       return (0 REPEAT_1(NUM_RUNOUT_SENSORS, _OR_RUNOUT));
       #undef _OR_RUNOUT
     }

Marlin/src/gcode/gcode.cpp

@@ -69,6 +69,11 @@ GcodeSuite gcode;
   #include "../feature/fancheck.h"
 #endif
 
+#if ENABLED(CAN_HOST)
+  #include "../HAL/shared/CAN.h"
+  #include "../libs/buzzer.h"
+#endif
+
 #include "../MarlinCore.h" // for idle, kill
 
 // Inactivity shutdown
@@ -323,6 +328,15 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
 
   KEEPALIVE_STATE(IN_HANDLER);
 
+  #if ENABLED(CAN_HOST)
+    if (CAN_host_send_gcode() != HAL_OK) { // Send command to toolhead
+      SERIAL_ECHOLN(F("Error: CAN failed to send \""), parser.command_ptr, '"');
+      #if ENABLED(CAN_DEBUG)
+        BUZZ(1, SOUND_ERROR);
+      #endif
+    }
+  #endif
+
  /**
   * Block all Gcodes except M511 Unlock Printer, if printer is locked
   * Will still block Gcodes if M511 is disabled, in which case the printer should be unlocked via LCD Menu

Marlin/src/gcode/host/M115.cpp

@@ -35,6 +35,10 @@
   #include "../../feature/caselight.h"
 #endif
 
+#if ANY(CAN_HOST, CAN_TOOLHEAD)
+  #include "../../HAL/shared/CAN.h"
+#endif
+
 #if !defined(MACHINE_UUID) && ENABLED(HAS_STM32_UID)
   #include "../../libs/hex_print.h"
 #endif
@@ -76,6 +80,10 @@ void GcodeSuite::M115() {
     TERN_(IS_CARTESIAN, "Cartesian") \
     TERN_(BELTPRINTER, " BELTPRINTER")
 
+#if ENABLED(CAN_TOOLHEAD)
+  MString<60> buffer("FIRMWARE ", __DATE__, " ", __TIME__, "  Thermistor=", TEMP_SENSOR_0);
+  CAN_toolhead_send_string(buffer);
+#endif
   SERIAL_ECHOPGM("FIRMWARE_NAME:Marlin"
     " " DETAILED_BUILD_VERSION " (" __DATE__ " " __TIME__ ")"
     " SOURCE_CODE_URL:" SOURCE_CODE_URL

Marlin/src/gcode/temp/M306.cpp

@@ -27,6 +27,11 @@
 #include "../gcode.h"
 #include "../../lcd/marlinui.h"
 #include "../../module/temperature.h"
+#include "../../libs/numtostr.h"
+
+#if ENABLED(CAN_TOOLHEAD)
+  #include "../../HAL/shared/CAN.h"
+#endif
 
 /**
  * M306: MPC settings and autotune
@@ -57,16 +62,34 @@ void GcodeSuite::M306() {
 
   #if ENABLED(MPC_AUTOTUNE)
     if (parser.seen_test('T')) {
-      Temperature::MPCTuningType tuning_type;
-      const uint8_t type = parser.byteval('S', 0);
-      switch (type) {
-        case 1: tuning_type = Temperature::MPCTuningType::FORCE_DIFFERENTIAL; break;
-        case 2: tuning_type = Temperature::MPCTuningType::FORCE_ASYMPTOTIC; break;
-        default: tuning_type = Temperature::MPCTuningType::AUTO; break;
-      }
-      LCD_MESSAGE(MSG_MPC_AUTOTUNE);
-      thermalManager.MPC_autotune(e, tuning_type);
-      ui.reset_status();
+
+      #if ENABLED(CAN_HOST) // Execute MPC autotune on toolhead
+
+        SERIAL_ECHOLNPGM(
+          ">>> Forwarding M306 to toolhead\n"
+          ">>> Store MPC setup in the host Configuration.h or use M500\n"
+          ">>> MPC heater power is: ", p_float_t(MPC_HEATER_POWER, 1), " Watts\n"
+          ">>> Please wait for the auto tune results..."
+        );
+
+      #else
+
+        Temperature::MPCTuningType tuning_type;
+        const uint8_t type = parser.byteval('S', 0);
+        switch (type) {
+          case 1: tuning_type = Temperature::MPCTuningType::FORCE_DIFFERENTIAL; break;
+          case 2: tuning_type = Temperature::MPCTuningType::FORCE_ASYMPTOTIC; break;
+          default: tuning_type = Temperature::MPCTuningType::AUTO; break;
+        }
+        LCD_MESSAGE(MSG_MPC_AUTOTUNE);
+        thermalManager.MPC_autotune(e, tuning_type);
+        ui.reset_status();
+
+        #if ENABLED(CAN_TOOLHEAD)
+          M306_report(true); // Report MPC autotune results to CAN host
+        #endif
+      #endif
+
       return;
     }
   #endif
@@ -91,6 +114,11 @@ void GcodeSuite::M306_report(const bool forReplay/*=true*/) {
   TERN_(MARLIN_SMALL_BUILD, return);
 
   report_heading(forReplay, F("Model predictive control"));
+
+  #if ENABLED(CAN_HOST) // MPC Autotune info
+    if (forReplay) SERIAL_ECHOLNPGM(">>> Host M306 MPC settings:");
+  #endif
+
   HOTEND_LOOP() {
     report_echo_start(forReplay);
     MPC_t &mpc = thermalManager.temp_hotend[e].mpc;
@@ -105,6 +133,23 @@ void GcodeSuite::M306_report(const bool forReplay/*=true*/) {
     #endif
     SERIAL_ECHOLNPGM(" H", p_float_t(mpc.filament_heat_capacity_permm, 4));
   }
+
+  #if ENABLED(CAN_TOOLHEAD) // Report M306 Autotune results to host
+    if (forReplay) {
+      MPC_t &mpc = thermalManager.temp_hotend[0].mpc;
+      MString<100> buffer(F("M306 E0 P"), p_float_t(mpc.heater_power, 2),
+                                   " C", p_float_t(mpc.block_heat_capacity, 2),
+                                   " R", p_float_t(mpc.sensor_responsiveness, 4),
+                                   " A", p_float_t(mpc.ambient_xfer_coeff_fan0, 4),
+      #if ENABLED(MPC_INCLUDE_FAN)
+                                   " F", p_float_t(mpc.fanCoefficient(), 4),
+      #endif
+                                   " H", p_float_t(mpc.filament_heat_capacity_permm, 4));
+
+    CAN_toolhead_send_string(buffer);
+  }
+#endif // CAN_TOOLHEAD
+
 }
 
 #endif // MPCTEMP

Marlin/src/inc/SanityCheck.h

@@ -245,7 +245,7 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
 #if ENABLED(SERIAL_DMA)
   #ifdef ARDUINO_ARCH_HC32
     // checks for HC32 are located in HAL/HC32/inc/SanityCheck.h
-  #elif DISABLED(HAL_STM32) || NONE(STM32F0xx, STM32F1xx, STM32F2xx, STM32F4xx, STM32F7xx)
+  #elif DISABLED(HAL_STM32) || NONE(STM32F0xx, STM32F1xx, STM32F2xx, STM32F4xx, STM32F7xx, STM32H7xx)
     #error "SERIAL_DMA is only available for some STM32 MCUs and requires HAL/STM32."
   #elif !defined(HAL_UART_MODULE_ENABLED) || defined(HAL_UART_MODULE_ONLY)
     #error "SERIAL_DMA requires STM32 platform HAL UART (without HAL_UART_MODULE_ONLY)."