MarlinFirmware · thinkyhead · Apr 27, 2021 · Apr 1, 2021 · Apr 1, 2021 · Apr 3, 2021
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -3387,6 +3387,15 @@
   #define POWER_MONITOR_VOLTAGE_OFFSET  0         // Offset (in volts) applied to the calculated voltage
 #endif
 
+/**
+ * Stepper Driver Anti-SNAFU Protection
+ *
+ * If the SAFE_POWER_PIN is defined for your board, Marlin will check
+ * that stepper drivers are properly plugged in before applying power.
+ * Disable protection if your stepper drivers don't support the feature.
+ */
+//#define DISABLE_DRIVER_SAFE_POWER_PROTECT
+
 /**
  * CNC Coordinate Systems
  *

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -232,6 +232,10 @@
   #include "lcd/extui/lib/dgus/DGUSScreenHandler.h"
 #endif
 
+#if HAS_DRIVER_SAFE_POWER_PROTECT
+  #include "feature/stepper_driver_safety.h"
+#endif
+
 PGMSTR(M112_KILL_STR, "M112 Shutdown");
 
 MarlinState marlin_state = MF_INITIALIZING;
@@ -1223,6 +1227,15 @@ void setup() {
     SETUP_RUN(ui.reset_status());     // Load welcome message early. (Retained if no errors exist.)
   #endif
 
+  #if PIN_EXISTS(SAFE_POWER)
+    #if HAS_DRIVER_SAFE_POWER_PROTECT
+      SETUP_RUN(stepper_driver_backward_check());
+    #else
+      SETUP_LOG("SAFE_POWER");
+      OUT_WRITE(SAFE_POWER_PIN, HIGH);
+    #endif
+  #endif
+
   #if ENABLED(PROBE_TARE)
     SETUP_RUN(probe.tare_init());
   #endif
@@ -1467,6 +1480,10 @@ void setup() {
     SETUP_RUN(test_tmc_connection(true, true, true, true));
   #endif
 
+  #if HAS_DRIVER_SAFE_POWER_PROTECT
+    SETUP_RUN(stepper_driver_backward_report());
+  #endif
+
   #if HAS_PRUSA_MMU2
     SETUP_RUN(mmu2.init());
   #endif

diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h
@@ -363,25 +363,26 @@
 #define BOARD_BLACK_STM32F407VE       4204  // BLACK_STM32F407VE
 #define BOARD_BLACK_STM32F407ZE       4205  // BLACK_STM32F407ZE
 #define BOARD_STEVAL_3DP001V1         4206  // STEVAL-3DP001V1 3D PRINTER BOARD
-#define BOARD_BTT_SKR_PRO_V1_1        4207  // BigTreeTech SKR Pro v1.1 (STM32F407ZG)
-#define BOARD_BTT_SKR_PRO_V1_2        4208  // BigTreeTech SKR Pro v1.2 (STM32F407ZG)
-#define BOARD_BTT_BTT002_V1_0         4209  // BigTreeTech BTT002 v1.0 (STM32F407VG)
+#define BOARD_BTT_SKR_PRO_V1_1        4207  // BigTreeTech SKR Pro v1.1 (STM32F407ZGT6)
+#define BOARD_BTT_SKR_PRO_V1_2        4208  // BigTreeTech SKR Pro v1.2 (STM32F407ZGT6)
+#define BOARD_BTT_BTT002_V1_0         4209  // BigTreeTech BTT002 v1.0 (STM32F407VGT6)
 #define BOARD_BTT_E3_RRF              4210  // BigTreeTech E3 RRF (STM32F407VGT6)
-#define BOARD_BTT_GTR_V1_0            4211  // BigTreeTech GTR v1.0 (STM32F407IGT)
-#define BOARD_LERDGE_K                4212  // Lerdge K (STM32F407ZG)
-#define BOARD_LERDGE_S                4213  // Lerdge S (STM32F407VE)
-#define BOARD_LERDGE_X                4214  // Lerdge X (STM32F407VE)
-#define BOARD_VAKE403D                4215  // VAkE 403D (STM32F446VET6)
-#define BOARD_FYSETC_S6               4216  // FYSETC S6 (STM32F446VET6)
-#define BOARD_FYSETC_S6_V2_0          4217  // FYSETC S6 v2.0 (STM32F446VET6)
-#define BOARD_FYSETC_SPIDER           4218  // FYSETC Spider (STM32F446VET6)
-#define BOARD_FLYF407ZG               4219  // FLYF407ZG (STM32F407ZG)
-#define BOARD_MKS_ROBIN2              4220  // MKS_ROBIN2 (STM32F407ZE)
-#define BOARD_MKS_ROBIN_PRO_V2        4221  // MKS Robin Pro V2 (STM32F407VE)
-#define BOARD_MKS_ROBIN_NANO_V3       4222  // MKS Robin Nano V3 (STM32F407VG)
-#define BOARD_ANET_ET4                4223  // ANET ET4 V1.x (STM32F407VGT6)
-#define BOARD_ANET_ET4P               4224  // ANET ET4P V1.x (STM32F407VGT6)
-#define BOARD_FYSETC_CHEETAH_V20      4225  // FYSETC Cheetah V2.0
+#define BOARD_BTT_SKR_V2_0            4211  // BigTreeTech SKR v2.0 (STM32F407VGT6)
+#define BOARD_BTT_GTR_V1_0            4212  // BigTreeTech GTR v1.0 (STM32F407IGT)
+#define BOARD_LERDGE_K                4213  // Lerdge K (STM32F407ZG)
+#define BOARD_LERDGE_S                4214  // Lerdge S (STM32F407VE)
+#define BOARD_LERDGE_X                4215  // Lerdge X (STM32F407VE)
+#define BOARD_VAKE403D                4216  // VAkE 403D (STM32F446VET6)
+#define BOARD_FYSETC_S6               4217  // FYSETC S6 (STM32F446VET6)
+#define BOARD_FYSETC_S6_V2_0          4218  // FYSETC S6 v2.0 (STM32F446VET6)
+#define BOARD_FYSETC_SPIDER           4219  // FYSETC Spider (STM32F446VET6)
+#define BOARD_FLYF407ZG               4220  // FLYF407ZG (STM32F407ZG)
+#define BOARD_MKS_ROBIN2              4221  // MKS_ROBIN2 (STM32F407ZE)
+#define BOARD_MKS_ROBIN_PRO_V2        4222  // MKS Robin Pro V2 (STM32F407VE)
+#define BOARD_MKS_ROBIN_NANO_V3       4223  // MKS Robin Nano V3 (STM32F407VG)
+#define BOARD_ANET_ET4                4224  // ANET ET4 V1.x (STM32F407VGT6)
+#define BOARD_ANET_ET4P               4225 // ANET ET4P V1.x (STM32F407VGT6)
+#define BOARD_FYSETC_CHEETAH_V20      4226  // FYSETC Cheetah V2.0
 
 //
 // ARM Cortex M7

diff --git a/Marlin/src/feature/stepper_driver_safety.cpp b/Marlin/src/feature/stepper_driver_safety.cpp
@@ -0,0 +1,171 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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/>.
+ *
+ */
+#include "../inc/MarlinConfig.h"
+#include "../lcd/marlinui.h"
+
+#if HAS_DRIVER_SAFE_POWER_PROTECT
+
+#include "stepper_driver_safety.h"
+
+static uint32_t axis_plug_backward = 0;
+
+void stepper_driver_backward_error(PGM_P str) {
+  SERIAL_ERROR_START();
+  SERIAL_ECHOPGM_P(str);
+  SERIAL_ECHOLNPGM(" driver is backward!");
+  ui.status_printf_P(2, PSTR(S_FMT S_FMT), str, GET_TEXT(MSG_DRIVER_BACKWARD));
+}
+
+void stepper_driver_backward_check() {
+
+  OUT_WRITE(SAFE_POWER_PIN, LOW);
+
+  #define TEST_BACKWARD(AXIS, BIT) do { \
+      SET_INPUT(AXIS##_ENABLE_PIN); \
+      OUT_WRITE(AXIS##_STEP_PIN, false); \
+      delay(20); \
+      if (READ(AXIS##_ENABLE_PIN) == false) { \
+        SBI(axis_plug_backward, BIT); \
+        stepper_driver_backward_error(PSTR(STRINGIFY(AXIS))); \
+      } \
+    }while(0)
+
+  #if HAS_X_ENABLE
+    TEST_BACKWARD(X, 0);
+  #endif
+  #if HAS_X2_ENABLE
+    TEST_BACKWARD(X2, 1);
+  #endif
+
+  #if HAS_Y_ENABLE
+    TEST_BACKWARD(Y, 2);
+  #endif
+  #if HAS_Y2_ENABLE
+    TEST_BACKWARD(Y2, 3);
+  #endif
+
+  #if HAS_Z_ENABLE
+    TEST_BACKWARD(Z, 4);
+  #endif
+  #if HAS_Z2_ENABLE
+    TEST_BACKWARD(Z2, 5);
+  #endif
+  #if HAS_Z3_ENABLE
+    TEST_BACKWARD(Z3, 6);
+  #endif
+  #if HAS_Z4_ENABLE
+    TEST_BACKWARD(Z4, 7);
+  #endif
+
+  #if HAS_E0_ENABLE
+    TEST_BACKWARD(E0, 8);
+  #endif
+  #if HAS_E1_ENABLE
+    TEST_BACKWARD(E1, 9);
+  #endif
+  #if HAS_E2_ENABLE
+    TEST_BACKWARD(E2, 10);
+  #endif
+  #if HAS_E3_ENABLE
+    TEST_BACKWARD(E3, 11);
+  #endif
+  #if HAS_E4_ENABLE
+    TEST_BACKWARD(E4, 12);
+  #endif
+  #if HAS_E5_ENABLE
+    TEST_BACKWARD(E5, 13);
+  #endif
+  #if HAS_E6_ENABLE
+    TEST_BACKWARD(E6, 14);
+  #endif
+  #if HAS_E7_ENABLE
+    TEST_BACKWARD(E7, 15);
+  #endif
+
+  if (!axis_plug_backward)
+    WRITE(SAFE_POWER_PIN, HIGH);
+}
+
+void stepper_driver_backward_report() {
+  if (!axis_plug_backward) return;
+
+  auto _report_if_backward = [](PGM_P axis, uint8_t bit) {
+    if (TEST(axis_plug_backward, bit))
+      stepper_driver_backward_error(axis);
+  };
+
+  #define REPORT_BACKWARD(axis, bit) _report_if_backward(PSTR(STRINGIFY(axis)), bit)
+
+  #if HAS_X_ENABLE
+    REPORT_BACKWARD(X, 0);
+  #endif
+  #if HAS_X2_ENABLE
+    REPORT_BACKWARD(X2, 1);
+  #endif
+
+  #if HAS_Y_ENABLE
+    REPORT_BACKWARD(Y, 2);
+  #endif
+  #if HAS_Y2_ENABLE
+    REPORT_BACKWARD(Y2, 3);
+  #endif
+
+  #if HAS_Z_ENABLE
+    REPORT_BACKWARD(Z, 4);
+  #endif
+  #if HAS_Z2_ENABLE
+    REPORT_BACKWARD(Z2, 5);
+  #endif
+  #if HAS_Z3_ENABLE
+    REPORT_BACKWARD(Z3, 6);
+  #endif
+  #if HAS_Z4_ENABLE
+    REPORT_BACKWARD(Z4, 7);
+  #endif
+
+  #if HAS_E0_ENABLE
+    REPORT_BACKWARD(E0, 8);
+  #endif
+  #if HAS_E1_ENABLE
+    REPORT_BACKWARD(E1, 9);
+  #endif
+  #if HAS_E2_ENABLE
+    REPORT_BACKWARD(E2, 10);
+  #endif
+  #if HAS_E3_ENABLE
+    REPORT_BACKWARD(E3, 11);
+  #endif
+  #if HAS_E4_ENABLE
+    REPORT_BACKWARD(E4, 12);
+  #endif
+  #if HAS_E5_ENABLE
+    REPORT_BACKWARD(E5, 13);
+  #endif
+  #if HAS_E6_ENABLE
+    REPORT_BACKWARD(E6, 14);
+  #endif
+  #if HAS_E7_ENABLE
+    REPORT_BACKWARD(E7, 15);
+  #endif
+}
+
+#endif // HAS_DRIVER_SAFE_POWER_PROTECT
diff --git a/Marlin/src/feature/stepper_driver_safety.h b/Marlin/src/feature/stepper_driver_safety.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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"
+
+void stepper_driver_backward_check();
+void stepper_driver_backward_report();
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
@@ -3042,3 +3042,7 @@
 #if BUTTONS_EXIST(EN1, EN2, ENC)
   #define HAS_ROTARY_ENCODER 1
 #endif
+
+#if PIN_EXISTS(SAFE_POWER) && DISABLED(DISABLE_DRIVER_SAFE_POWER_PROTECT)
+  #define HAS_DRIVER_SAFE_POWER_PROTECT 1
+#endif
diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h
@@ -706,6 +706,8 @@ namespace Language_en {
   PROGMEM Language_Str MSG_BOTTOM_RIGHT                    = _UxGT("Bottom Right");
   PROGMEM Language_Str MSG_CALIBRATION_COMPLETED           = _UxGT("Calibration Completed");
   PROGMEM Language_Str MSG_CALIBRATION_FAILED              = _UxGT("Calibration Failed");
+
+  PROGMEM Language_Str MSG_DRIVER_BACKWARD                 = _UxGT(" driver backward");
 }
 
 #if FAN_COUNT == 1

diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h
@@ -596,6 +596,8 @@
   #include "stm32f4/pins_BTT_BTT002_V1_0.h"     // STM32F4                                env:BIGTREE_BTT002
 #elif MB(BTT_E3_RRF)
   #include "stm32f4/pins_BTT_E3_RRF.h"          // STM32F4                                env:BIGTREE_E3_RRF
+#elif MB(BTT_SKR_V2_0)
+  #include "stm32f4/pins_BTT_SKR_V2_0.h"        // STM32F4                                env:BIGTREE_SKR_2
 #elif MB(LERDGE_K)
   #include "stm32f4/pins_LERDGE_K.h"            // STM32F4                                env:LERDGEK env:LERDGEK_usb_flash_drive
 #elif MB(LERDGE_S)