Marlin.h 15 KB

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440441442443444445446447448449450451452453454455456457458459460461462463464465466467468469470471472473474475476477478479480481482483484485486487
  1. // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
  2. // License: GPL
  3. #ifndef MARLIN_H
  4. #define MARLIN_H
  5. #include "macros.h"
  6. #include <math.h>
  7. #include <stdio.h>
  8. #include <stdlib.h>
  9. #include <string.h>
  10. #include <inttypes.h>
  11. #include <util/delay.h>
  12. #include <avr/pgmspace.h>
  13. #include <avr/eeprom.h>
  14. #include <avr/interrupt.h>
  15. #include "system_timer.h"
  16. #include "fastio.h"
  17. #include "Configuration.h"
  18. #include "pins.h"
  19. #include "Timer.h"
  20. #include "mmu2.h"
  21. extern uint8_t mbl_z_probe_nr;
  22. #ifndef AT90USB
  23. #define HardwareSerial_h // trick to disable the standard HWserial
  24. #endif
  25. #if (ARDUINO >= 100)
  26. # include "Arduino.h"
  27. #else
  28. # include "WProgram.h"
  29. #endif
  30. // Arduino < 1.0.0 does not define this, so we need to do it ourselves
  31. #ifndef analogInputToDigitalPin
  32. # define analogInputToDigitalPin(p) ((p) + A0)
  33. #endif
  34. #ifdef AT90USB
  35. #include "HardwareSerial.h"
  36. #endif
  37. #include "MarlinSerial.h"
  38. #ifndef cbi
  39. #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
  40. #endif
  41. #ifndef sbi
  42. #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
  43. #endif
  44. //#include "WString.h"
  45. #ifdef AT90USB
  46. #ifdef BTENABLED
  47. #define MYSERIAL bt
  48. #else
  49. #define MYSERIAL Serial
  50. #endif // BTENABLED
  51. #else
  52. #define MYSERIAL MSerial
  53. #endif
  54. #include "lcd.h"
  55. #ifdef __cplusplus
  56. extern "C" {
  57. #endif
  58. extern FILE _uartout;
  59. #ifdef __cplusplus
  60. }
  61. #endif
  62. #define uartout (&_uartout)
  63. #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
  64. #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
  65. #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
  66. #define SERIAL_PROTOCOLRPGM(x) (serialprintPGM((x)))
  67. #define SERIAL_PROTOCOLLN(x) (MYSERIAL.println(x))
  68. #define SERIAL_PROTOCOLLNPGM(x) (serialprintlnPGM(PSTR(x)))
  69. #define SERIAL_PROTOCOLLNRPGM(x) (serialprintlnPGM((x)))
  70. extern const char errormagic[] PROGMEM;
  71. extern const char echomagic[] PROGMEM;
  72. #define SERIAL_ERROR_START (serialprintPGM(errormagic))
  73. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  74. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  75. #define SERIAL_ERRORRPGM(x) SERIAL_PROTOCOLRPGM(x)
  76. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  77. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  78. #define SERIAL_ERRORLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  79. #define SERIAL_ECHO_START (serialprintPGM(echomagic))
  80. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  81. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  82. #define SERIAL_ECHORPGM(x) SERIAL_PROTOCOLRPGM(x)
  83. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  84. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  85. #define SERIAL_ECHOLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  86. #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
  87. void serial_echopair_P(const char *s_P, float v);
  88. void serial_echopair_P(const char *s_P, double v);
  89. void serial_echopair_P(const char *s_P, unsigned long v);
  90. //Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  91. // Making this FORCE_INLINE is not a good idea when running out of FLASH
  92. // I'd rather skip a few CPU ticks than 5.5KB (!!) of FLASH
  93. void serialprintPGM(const char *str);
  94. //The "ln" variant of the function above.
  95. void serialprintlnPGM(const char *str);
  96. bool is_buffer_empty();
  97. void process_commands();
  98. void ramming();
  99. void manage_inactivity(bool ignore_stepper_queue=false);
  100. #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  101. #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  102. #define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
  103. #else
  104. #define enable_x() ;
  105. #define disable_x() ;
  106. #endif
  107. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  108. #ifdef Y_DUAL_STEPPER_DRIVERS
  109. #define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
  110. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  111. #else
  112. #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
  113. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  114. #endif
  115. #else
  116. #define enable_y() ;
  117. #define disable_y() ;
  118. #endif
  119. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  120. #if defined(Z_AXIS_ALWAYS_ON)
  121. #ifdef Z_DUAL_STEPPER_DRIVERS
  122. #define poweron_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  123. #define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  124. #else
  125. #define poweron_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  126. #define poweroff_z() {}
  127. #endif
  128. #else
  129. #ifdef Z_DUAL_STEPPER_DRIVERS
  130. #define poweron_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  131. #define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  132. #else
  133. #define poweron_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  134. #define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  135. #endif
  136. #endif
  137. #else
  138. #define poweron_z() {}
  139. #define poweroff_z() {}
  140. #endif
  141. #ifndef PSU_Delta
  142. #define enable_z() poweron_z()
  143. #define disable_z() poweroff_z()
  144. #else
  145. void init_force_z();
  146. void check_force_z();
  147. void enable_force_z();
  148. void disable_force_z();
  149. #define enable_z() enable_force_z()
  150. #define disable_z() disable_force_z()
  151. #endif // PSU_Delta
  152. //#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  153. //#ifdef Z_DUAL_STEPPER_DRIVERS
  154. //#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  155. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  156. //#else
  157. //#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  158. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  159. //#endif
  160. //#else
  161. //#define enable_z() ;
  162. //#define disable_z() ;
  163. //#endif
  164. #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  165. #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
  166. #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
  167. #else
  168. #define enable_e0() /* nothing */
  169. #define disable_e0() /* nothing */
  170. #endif
  171. #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  172. #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
  173. #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
  174. #else
  175. #define enable_e1() /* nothing */
  176. #define disable_e1() /* nothing */
  177. #endif
  178. #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  179. #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
  180. #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
  181. #else
  182. #define enable_e2() /* nothing */
  183. #define disable_e2() /* nothing */
  184. #endif
  185. enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
  186. #define X_AXIS_MASK 1
  187. #define Y_AXIS_MASK 2
  188. #define Z_AXIS_MASK 4
  189. #define E_AXIS_MASK 8
  190. #define X_HEAD_MASK 16
  191. #define Y_HEAD_MASK 32
  192. void FlushSerialRequestResend();
  193. void ClearToSend();
  194. void update_currents();
  195. void kill(const char *full_screen_message = NULL, unsigned char id = 0);
  196. void finishAndDisableSteppers();
  197. void UnconditionalStop(); // Stop heaters, motion and clear current print status
  198. void ThermalStop(bool allow_pause = false); // Emergency stop used by overtemp functions which allows
  199. // recovery (with pause=true)
  200. bool IsStopped(); // Returns true if the print has been stopped
  201. //put an ASCII command at the end of the current buffer, read from flash
  202. #define enquecommand_P(cmd) enquecommand(cmd, true)
  203. //put an ASCII command at the begin of the current buffer, read from flash
  204. #define enquecommand_front_P(cmd) enquecommand_front(cmd, true)
  205. void clamp_to_software_endstops(float target[3]);
  206. void refresh_cmd_timeout(void);
  207. #ifdef FAST_PWM_FAN
  208. void setPwmFrequency(uint8_t pin, int val);
  209. #endif
  210. enum class HeatingStatus : uint8_t
  211. {
  212. NO_HEATING = 0,
  213. EXTRUDER_HEATING = 1,
  214. EXTRUDER_HEATING_COMPLETE = 2,
  215. BED_HEATING = 3,
  216. BED_HEATING_COMPLETE = 4,
  217. };
  218. extern HeatingStatus heating_status;
  219. extern bool fans_check_enabled;
  220. extern float homing_feedrate[];
  221. extern uint8_t axis_relative_modes;
  222. extern float feedrate;
  223. extern int feedmultiply;
  224. extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
  225. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  226. extern float extruder_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  227. extern float current_position[NUM_AXIS] ;
  228. extern float destination[NUM_AXIS] ;
  229. extern float min_pos[3];
  230. extern float max_pos[3];
  231. extern bool axis_known_position[3];
  232. extern int fanSpeed;
  233. extern uint8_t newFanSpeed;
  234. extern float default_retraction;
  235. void get_coordinates();
  236. void prepare_move(uint16_t start_segment_idx = 0);
  237. void prepare_arc_move(bool isclockwise, uint16_t start_segment_idx = 0);
  238. uint16_t restore_interrupted_gcode();
  239. #ifdef TMC2130
  240. void homeaxis(uint8_t axis, uint8_t cnt = 1, uint8_t* pstep = 0);
  241. #else
  242. void homeaxis(uint8_t axis, uint8_t cnt = 1);
  243. #endif //TMC2130
  244. #ifdef FWRETRACT
  245. extern bool retracted[EXTRUDERS];
  246. extern float retract_length_swap;
  247. extern float retract_recover_length_swap;
  248. #endif
  249. extern uint8_t host_keepalive_interval;
  250. extern unsigned long starttime;
  251. extern unsigned long stoptime;
  252. extern ShortTimer usb_timer;
  253. extern bool homing_flag;
  254. extern bool loading_flag;
  255. extern unsigned long total_filament_used;
  256. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time);
  257. extern uint8_t heating_status_counter;
  258. extern bool fan_state[2];
  259. extern int fan_edge_counter[2];
  260. extern int fan_speed[2];
  261. // Active extruder becomes a #define to make the whole firmware compilable.
  262. // We may even remove the references to it wherever possible in the future
  263. #define active_extruder 0
  264. //Long pause
  265. extern unsigned long pause_time;
  266. extern unsigned long start_pause_print;
  267. extern unsigned long t_fan_rising_edge;
  268. extern bool mesh_bed_leveling_flag;
  269. // save/restore printing
  270. extern bool saved_printing;
  271. extern uint8_t saved_printing_type;
  272. #define PRINTING_TYPE_SD 0
  273. #define PRINTING_TYPE_USB 1
  274. #define PRINTING_TYPE_NONE 2
  275. extern float saved_extruder_temperature; //!< Active extruder temperature
  276. extern float saved_bed_temperature; //!< Bed temperature
  277. extern int saved_fan_speed; //!< Print fan speed
  278. //save/restore printing in case that mmu is not responding
  279. extern bool mmu_print_saved;
  280. //estimated time to end of the print
  281. extern uint8_t print_percent_done_normal;
  282. extern uint8_t print_percent_done_silent;
  283. extern uint16_t print_time_remaining_normal;
  284. extern uint16_t print_time_remaining_silent;
  285. extern uint16_t print_time_to_change_normal;
  286. extern uint16_t print_time_to_change_silent;
  287. #define PRINT_TIME_REMAINING_INIT 0xffff
  288. extern uint16_t mcode_in_progress;
  289. extern uint16_t gcode_in_progress;
  290. extern LongTimer safetyTimer;
  291. #define PRINT_PERCENT_DONE_INIT 0xff
  292. extern bool printer_active();
  293. //! Beware - mcode_in_progress is set as soon as the command gets really processed,
  294. //! which is not the same as posting the M600 command into the command queue
  295. //! There can be a considerable lag between posting M600 and its real processing which might result
  296. //! in posting multiple M600's into the command queue
  297. //! Instead, the fsensor uses another state variable :( , which is set to true, when the M600 command is enqued
  298. //! and is reset to false when the fsensor returns into its filament runout finished handler
  299. //! I'd normally change this macro, but who knows what would happen in the MMU :)
  300. #define CHECK_FSENSOR ((IS_SD_PRINTING || usb_timer.running()) && (mcode_in_progress != 600) && !saved_printing && e_active())
  301. extern void calculate_extruder_multipliers();
  302. // Similar to the default Arduino delay function,
  303. // but it keeps the background tasks running.
  304. extern void delay_keep_alive(unsigned int ms);
  305. extern void check_babystep();
  306. extern void long_pause();
  307. extern void crashdet_stop_and_save_print();
  308. #ifdef HEATBED_ANALYSIS
  309. void d_setup();
  310. float d_ReadData();
  311. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
  312. void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
  313. #endif //HEATBED_ANALYSIS
  314. float temp_comp_interpolation(float temperature);
  315. #if 0
  316. void show_fw_version_warnings();
  317. #endif
  318. uint8_t check_printer_version();
  319. #ifdef PINDA_THERMISTOR
  320. float temp_compensation_pinda_thermistor_offset(float temperature_pinda);
  321. #endif //PINDA_THERMISTOR
  322. void serialecho_temperatures();
  323. bool check_commands();
  324. void uvlo_();
  325. void uvlo_tiny();
  326. void recover_print(uint8_t automatic);
  327. void setup_uvlo_interrupt();
  328. #if defined(TACH_1) && TACH_1 >-1
  329. void setup_fan_interrupt();
  330. #endif
  331. extern bool recover_machine_state_after_power_panic();
  332. extern void restore_print_from_eeprom(bool mbl_was_active);
  333. extern void position_menu();
  334. extern void print_world_coordinates();
  335. extern void print_physical_coordinates();
  336. extern void print_mesh_bed_leveling_table();
  337. extern void stop_and_save_print_to_ram(float z_move, float e_move);
  338. void restore_extruder_temperature_from_ram();
  339. extern void restore_print_from_ram_and_continue(float e_move);
  340. extern void cancel_saved_printing();
  341. //estimated time to end of the print
  342. extern uint8_t calc_percent_done();
  343. // States for managing Marlin and host communication
  344. // Marlin sends messages if blocked or busy
  345. /*enum MarlinBusyState {
  346. NOT_BUSY, // Not in a handler
  347. IN_HANDLER, // Processing a GCode
  348. IN_PROCESS, // Known to be blocking command input (as in G29)
  349. PAUSED_FOR_USER, // Blocking pending any input
  350. PAUSED_FOR_INPUT // Blocking pending text input (concept)
  351. };*/
  352. #define NOT_BUSY 1
  353. #define IN_HANDLER 2
  354. #define IN_PROCESS 3
  355. #define PAUSED_FOR_USER 4
  356. #define PAUSED_FOR_INPUT 5
  357. #define KEEPALIVE_STATE(n) do { busy_state = n;} while (0)
  358. extern void host_keepalive();
  359. extern void host_autoreport();
  360. //extern MarlinBusyState busy_state;
  361. extern int8_t busy_state;
  362. #ifdef TMC2130
  363. #define FORCE_HIGH_POWER_START force_high_power_mode(true)
  364. #define FORCE_HIGH_POWER_END force_high_power_mode(false)
  365. void force_high_power_mode(bool start_high_power_section);
  366. #endif //TMC2130
  367. // G-codes
  368. bool gcode_M45(bool onlyZ, int8_t verbosity_level);
  369. void gcode_M114();
  370. #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
  371. void gcode_M123();
  372. #endif //FANCHECK and TACH_0 and TACH_1
  373. void gcode_M701(float fastLoadLength, uint8_t mmuSlotIndex);
  374. #define UVLO !(PINE & (1<<4))
  375. void M600_load_filament();
  376. void M600_load_filament_movements();
  377. void M600_wait_for_user(float HotendTempBckp);
  378. void M600_check_state(float nozzle_temp);
  379. void load_filament_final_feed();
  380. void marlin_wait_for_click();
  381. float raise_z(float delta);
  382. void raise_z_above(float target);
  383. extern "C" void softReset();
  384. void stack_error();
  385. extern uint32_t IP_address;
  386. #endif