CAN/FDCAN bus host and toolhead

Marlin/Configuration.h

@@ -124,6 +124,10 @@
   //#define RS485_BUS_BUFFER_SIZE 128
 #endif
 
+// Enable CAN bus support and protocol
+//#define CAN_MASTER
+//#define CAN_TOOLHEAD
+
 // 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_MASTER)
+  #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_MASTER) // 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_Send_Gcode_2params('M', 401, 0, 0, 0, 0); // Deploy Angle: Send "M401" instead, enables interrupt etc.
+    else if (value == angles[1])
+      CAN_Send_Gcode_2params('M', 402, 0, 0, 0, 0); // Stow Angle: Send "M402" instead, enables interrupt etc.
+    else
+      CAN_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/shared/CAN.h

@@ -0,0 +1,50 @@
+/**
+ * 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_DEBUG // Define to show gcodes send to HEAD
+
+#define SOUND_OK   880
+#define SOUND_ERROR 40
+
+extern uint32_t CAN_io_state; // CAN virtual IO variable
+
+#define CAN_IO_MASK                0b11111 // Masks for the 5 virtual IO bits
+#define CAN_PROBE_MASK                   1 // Virtual IO bit
+#define CAN_FILAMENT_MASK                2 // Virtual IO bit
+#define CAN_X_ENDSTOP_MASK               4 // Virtual IO bit
+#define CAN_Y_ENDSTOP_MASK               8 // Virtual IO bit
+#define CAN_Z_ENDSTOP_MAS               16 // Virtual IO bit
+#define CAN_STRING_MESSAGE_MASK         32 // Signals the head sends a string message
+#define CAN_REQUEST_SETUP_MASK          64 // Signals the head requests setup information
+#define CAN_TMC_OT_MASK                128 // Signals the head signals a TMC Over Temp error
+#define CAN_CAN_REQUEST_TIME_SYNC_MASK 256 // Signals the head requested a time sync
+#define CAN_ERROR_MASK                 512 // Signals the head encountered an error
+
+HAL_StatusTypeDef CAN1_Start(); // FUNCTION PROTOTYPES
+HAL_StatusTypeDef CAN1_Stop();
+HAL_StatusTypeDef CAN_Send_Gcode();
+HAL_StatusTypeDef CAN_Send_Gcode_2params(uint32_t Gcode_type, uint32_t Gcode_no, uint32_t parameter1, float value1, uint32_t parameter2, float value2);
+void CAN_Send_Setup();   // Send host configuration to head
+void CAN_Idle();         // Idle CAN task

Marlin/src/HAL/shared/FDCAN.h

@@ -0,0 +1,48 @@
+#pragma once
+
+// IMPORTANT NOTES
+// ===============
+// In \Users\<username>\.platformio\packages\framework-arduinoststm32@4.20600.231001\libraries\SrcWrapper\src\HardwareTimer.cpp
+// Add function "__weak" in front of "void TIM16_IRQHandler(void)"
+// NOTE: Every CAN message is accepted in FIFO0 if: 1. No Standard/Extended filters are set. 2. No global filters is set.
+
+#define CAN_IO_MASK                               0b11111 // Virtual IO Mask, 5 bits are used for IO signalling
+#define CAN_PROBE_BIT                                   0 // Virtual IO bit
+#define CAN_FILAMENT_BIT                                1 // Virtual IO bit
+#define CAN_X_ENDSTOP_BIT                               2 // Virtual IO bit
+#define CAN_Y_ENDSTOP_BIT                               3 // Virtual IO bit
+#define CAN_Z_ENDSTOP_BIT                               4 // Virtual IO bit
+#define CAN_STRING_MESSAGE_BIT                          5 // Signals the head sends a string message
+#define CAN_REQUEST_SETUP_BIT                           6 // Signals the head requests setup information
+#define CAN_TMC_OT_BIT                                  7 // Signals the head encountered a TMC Over Temp error
+#define CAN_REQUEST_TIME_SYNC_BIT                       8 // Signals a request for time sync
+#define CAN_ERROR_BIT                                   9 // Signals the head encountered an error
+
+#define GCODE_TYPE_D                                    0
+#define GCODE_TYPE_G                                    1
+#define GCODE_TYPE_M                                    2
+#define GCODE_TYPE_T                                    3
+
+#define IDENTIFIER_PARAMTER1_OFFSET                     0
+#define IDENTIFIER_PARAMTER2_OFFSET                     5
+#define IDENTIFIER_GCODE_NUMBER_OFFSET                 10 
+#define IDENTIFIER_GCODE_TYPE_OFFSET                   23
+#define IDENTIFIER_PARAMETER_COUNT_OFFSET              25
+
+#define DATALENGTH_OFFSET                              16
+
+#define IDENTIFIER_PARAMETER_COUNT_MASK             0b111
+#define IDENTIFIER_PARAMETER_MASK                 0b11111
+#define IDENTIFIER_GCODE_TYPE_MASK                   0b11 // GCODE TYPE
+#define IDENTIFIER_GCODE_NUMBER_MASK      0b1111111111111 // GCODE NUMBER ONLY
+#define IDENTIFIER_GCODE_MASK           0b111111111111111 // GCODE TYPE AND NUMBER
+
+#define STDID_FIFO_BIT                      0b10000000000
+
+// ERROR CODES
+#define CAN_ERROR_FIFO_OVERFLOW                         1
+#define CAN_ERROR_INCOMPLETE_GCODE_RECEIVED             2
+#define CAN_ERROR_MARLIN_CMD_BUFFER_OVERFLOW            4
+
+HAL_StatusTypeDef CAN_Send_String(const char * message); // Send CAN string to host
+HAL_StatusTypeDef FDCAN2_Start(void); // Start the CAN bus

Marlin/src/MarlinCore.cpp

@@ -34,6 +34,14 @@
 #include "HAL/shared/esp_wifi.h"
 #include "HAL/shared/cpu_exception/exception_hook.h"
 
+#if ENABLED(CAN_MASTER)
+  #include "HAL/shared/CAN.h"
+#endif
+
+#if ENABLED(CAN_TOOLHEAD)
+  #include "HAL/shared/FDCAN.h"
+#endif
+
 #if ENABLED(WIFISUPPORT)
   #include "HAL/shared/esp_wifi.h"
 #endif
@@ -882,6 +890,16 @@ void idle(const bool no_stepper_sleep/*=false*/) {
   // Manage Fixed-time Motion Control
   TERN_(FT_MOTION, ftMotion.loop());
 
+#if ENABLED(CAN_MASTER)
+  void CAN_idle(); // Function Prototype
+  CAN_idle();      // Call CAN idle task
+#endif
+
+#if ENABLED(CAN_TOOLHEAD)
+  void FDCAN_idle(); // Function prototype
+  FDCAN_idle();      // Call FDCAN idle task
+#endif // CAN_TOOLHEAD
+
   IDLE_DONE:
   TERN_(MARLIN_DEV_MODE, idle_depth--);
 
@@ -1190,7 +1208,21 @@ void setup() {
       while (!MYSERIAL3.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
     #endif
   #endif
-  SERIAL_ECHOLNPGM("start");
+  SERIAL_ECHOLNPGM("start\n");
+
+  #if ENABLED(CAN_MASTER)
+    SERIAL_ECHOLN(
+      F(">>> CAN1 Start: "),
+      CAN1_Start() == HAL_OK ? F("OK") : F("FAILED!")
+    );
+  #endif
+
+  #if ENABLED(CAN_TOOLHEAD)
+    SERIAL_ECHOLN(
+      F(">>> FDCAN2 Start: "),
+       FDCAN2_Start() == HAL_OK ?  F("OK") : F("FAILED!")
+      );
+  #endif
 
   // Set up these pins early to prevent suicide
   #if HAS_KILL

Marlin/src/feature/runout.h

@@ -33,6 +33,10 @@
 #include "pause.h" // for did_pause_print
 #include "../MarlinCore.h" // for printingIsActive()
 
+#if ENABLED(CAN_MASTER)
+  #include "../HAL/shared/CAN.h"
+#endif
+
 #include "../inc/MarlinConfig.h"
 
 #if ENABLED(EXTENSIBLE_UI)
@@ -53,6 +57,12 @@
 
 #define FILAMENT_IS_OUT() (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_STATE)
 
+#if ENABLED(CAN_MASTER)
+  #define RUNOUT_STATE(N) bool(CAN_io_state & CAN_FILAMENT_MASK)  // CAN Virtual Filament Runout pin
+#else
+  #define RUNOUT_STATE(N) READ(FIL_RUNOUT##N##_PIN)               // DIO Filament Runout pin
+#endif
+
 typedef Flags<
           #if NUM_MOTION_SENSORS > NUM_RUNOUT_SENSORS
             NUM_MOTION_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_MASTER)
+  #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_MASTER)
+    if (CAN_Send_Gcode() != HAL_OK) { // Send command to head
+      SERIAL_ECHOLN(F("Error: CAN failed to send \""), parser.command_ptr, '"');
+      #ifndef 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/temp/M306.cpp

@@ -57,16 +57,34 @@ 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_MASTER) // MPC Autotune info
+
+        SERIAL_ECHOLNPGM(
+          ">>> Forwarding M306 to head board\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 M306 settings to CAN host
+        #endif
+      #endif
+
       return;
     }
   #endif
@@ -91,6 +109,11 @@ void GcodeSuite::M306_report(const bool forReplay/*=true*/) {
   TERN_(MARLIN_SMALL_BUILD, return);
 
   report_heading(forReplay, F("Model predictive control"));
+
+  #if ENABLED(CAN_MASTER) // 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 +128,24 @@ 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),
+                                   '\n');
+
+      HAL_StatusTypeDef CAN_Send_String(const char * message); // Function Prototype
+      CAN_Send_String(buffer);
+    }
+  #endif // CAN_TOOLHEAD
 }
 
 #endif // MPCTEMP

Marlin/src/module/endstops.cpp

@@ -58,6 +58,10 @@
   #include "probe.h"
 #endif
 
+#if HAS_FILAMENT_SENSOR && !MULTI_FILAMENT_SENSOR
+  #include "../feature/runout.h"
+#endif
+
 #define DEBUG_OUT ALL(USE_SENSORLESS, DEBUG_LEVELING_FEATURE)
 #include "../core/debug_out.h"
 
@@ -77,6 +81,12 @@ Endstops::endstop_mask_t Endstops::live_state = 0;
   #else
     #define READ_ENDSTOP(P) READ(P)
   #endif
+#elif ENABLED(CAN_MASTER) // Read virtual CAN IO Probe status if needed
+  #if HAS_BED_PROBE
+    #define READ_ENDSTOP(P) ((P == Z_MIN_PIN) ? PROBE_READ() : READ(P))
+  #else
+    #define READ_ENDSTOP(P) READ(P)
+  #endif
 #else
   #define READ_ENDSTOP(P) READ(P)
 #endif
@@ -525,8 +535,11 @@ void __O2 Endstops::report_states() {
       print_es_state(extDigitalRead(pin) != state);
     }
     #undef _CASE_RUNOUT
+
   #elif HAS_FILAMENT_SENSOR
-    print_es_state(READ(FIL_RUNOUT1_PIN) != FIL_RUNOUT1_STATE, F(STR_FILAMENT));
+
+    print_es_state(RUNOUT_STATE(1) != FIL_RUNOUT1_STATE, F(STR_FILAMENT));
+
   #endif
 
   TERN_(BLTOUCH, bltouch._reset_SW_mode());
@@ -664,6 +677,12 @@ void Endstops::update() {
     // When closing the gap check the enabled probe
     if (probe_switch_activated())
       UPDATE_LIVE_STATE(Z, TERN(USE_Z_MIN_PROBE, MIN_PROBE, MIN));
+
+    #if ENABLED(CAN_TOOLHEAD)
+      HAL_StatusTypeDef CAN_Send_Message(bool TempUpdate); // Function Prototype
+      CAN_Send_Message(false); // Send Virtual IO update without temperature report
+    #endif // CAN_TOOLHEAD
+
   #endif
 
   #if USE_Z_MAX