Marlin.h 14 KB

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  1. // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
  2. // License: GPL
  3. #ifndef MARLIN_H
  4. #define MARLIN_H
  5. #define FORCE_INLINE __attribute__((always_inline)) inline
  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 "fastio.h"
  16. #include "Configuration.h"
  17. #include "pins.h"
  18. #ifndef AT90USB
  19. #define HardwareSerial_h // trick to disable the standard HWserial
  20. #endif
  21. #if (ARDUINO >= 100)
  22. # include "Arduino.h"
  23. #else
  24. # include "WProgram.h"
  25. #endif
  26. // Arduino < 1.0.0 does not define this, so we need to do it ourselves
  27. #ifndef analogInputToDigitalPin
  28. # define analogInputToDigitalPin(p) ((p) + A0)
  29. #endif
  30. #ifdef AT90USB
  31. #include "HardwareSerial.h"
  32. #endif
  33. #include "MarlinSerial.h"
  34. #ifndef cbi
  35. #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
  36. #endif
  37. #ifndef sbi
  38. #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
  39. #endif
  40. //#include "WString.h"
  41. #ifdef AT90USB
  42. #ifdef BTENABLED
  43. #define MYSERIAL bt
  44. #else
  45. #define MYSERIAL Serial
  46. #endif // BTENABLED
  47. #else
  48. #define MYSERIAL MSerial
  49. #endif
  50. #include "lcd.h"
  51. extern FILE _uartout;
  52. #define uartout (&_uartout)
  53. #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
  54. #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
  55. #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
  56. #define SERIAL_PROTOCOLRPGM(x) (serialprintPGM((x)))
  57. #define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
  58. #define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
  59. #define SERIAL_PROTOCOLLNRPGM(x) (serialprintPGM((x)),MYSERIAL.write('\n'))
  60. extern const char errormagic[] PROGMEM;
  61. extern const char echomagic[] PROGMEM;
  62. #define SERIAL_ERROR_START (serialprintPGM(errormagic))
  63. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  64. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  65. #define SERIAL_ERRORRPGM(x) SERIAL_PROTOCOLRPGM(x)
  66. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  67. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  68. #define SERIAL_ERRORLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  69. #define SERIAL_ECHO_START (serialprintPGM(echomagic))
  70. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  71. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  72. #define SERIAL_ECHORPGM(x) SERIAL_PROTOCOLRPGM(x)
  73. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  74. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  75. #define SERIAL_ECHOLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  76. #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
  77. void serial_echopair_P(const char *s_P, float v);
  78. void serial_echopair_P(const char *s_P, double v);
  79. void serial_echopair_P(const char *s_P, unsigned long v);
  80. //Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  81. FORCE_INLINE void serialprintPGM(const char *str)
  82. {
  83. char ch=pgm_read_byte(str);
  84. while(ch)
  85. {
  86. MYSERIAL.write(ch);
  87. ch=pgm_read_byte(++str);
  88. }
  89. }
  90. bool is_buffer_empty();
  91. void get_command();
  92. void process_commands();
  93. void ramming();
  94. void manage_inactivity(bool ignore_stepper_queue=false);
  95. #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  96. #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  97. #define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
  98. #else
  99. #define enable_x() ;
  100. #define disable_x() ;
  101. #endif
  102. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  103. #ifdef Y_DUAL_STEPPER_DRIVERS
  104. #define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
  105. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  106. #else
  107. #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
  108. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  109. #endif
  110. #else
  111. #define enable_y() ;
  112. #define disable_y() ;
  113. #endif
  114. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  115. #if defined(Z_AXIS_ALWAYS_ON)
  116. #ifdef Z_DUAL_STEPPER_DRIVERS
  117. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  118. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  119. #else
  120. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  121. #define disable_z() ;
  122. #endif
  123. #else
  124. #ifdef Z_DUAL_STEPPER_DRIVERS
  125. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  126. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  127. #else
  128. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  129. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  130. #endif
  131. #endif
  132. #else
  133. #define enable_z() ;
  134. #define disable_z() ;
  135. #endif
  136. //#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  137. //#ifdef Z_DUAL_STEPPER_DRIVERS
  138. //#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  139. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  140. //#else
  141. //#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  142. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  143. //#endif
  144. //#else
  145. //#define enable_z() ;
  146. //#define disable_z() ;
  147. //#endif
  148. #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  149. #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
  150. #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
  151. #else
  152. #define enable_e0() /* nothing */
  153. #define disable_e0() /* nothing */
  154. #endif
  155. #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  156. #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
  157. #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
  158. #else
  159. #define enable_e1() /* nothing */
  160. #define disable_e1() /* nothing */
  161. #endif
  162. #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  163. #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
  164. #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
  165. #else
  166. #define enable_e2() /* nothing */
  167. #define disable_e2() /* nothing */
  168. #endif
  169. enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
  170. #define X_AXIS_MASK 1
  171. #define Y_AXIS_MASK 2
  172. #define Z_AXIS_MASK 4
  173. #define E_AXIS_MASK 8
  174. #define X_HEAD_MASK 16
  175. #define Y_HEAD_MASK 32
  176. void FlushSerialRequestResend();
  177. void ClearToSend();
  178. void update_currents();
  179. void get_coordinates();
  180. void prepare_move();
  181. void kill(const char *full_screen_message = NULL, unsigned char id = 0);
  182. void Stop();
  183. bool IsStopped();
  184. //put an ASCII command at the end of the current buffer.
  185. void enquecommand(const char *cmd, bool from_progmem = false);
  186. //put an ASCII command at the end of the current buffer, read from flash
  187. #define enquecommand_P(cmd) enquecommand(cmd, true)
  188. //put an ASCII command at the begin of the current buffer
  189. void enquecommand_front(const char *cmd, bool from_progmem = false);
  190. //put an ASCII command at the begin of the current buffer, read from flash
  191. #define enquecommand_front_P(cmd) enquecommand_front(cmd, true)
  192. void repeatcommand_front();
  193. // Remove all lines from the command queue.
  194. void cmdqueue_reset();
  195. void prepare_arc_move(char isclockwise);
  196. void clamp_to_software_endstops(float target[3]);
  197. void refresh_cmd_timeout(void);
  198. // Timer counter, incremented by the 1ms Arduino timer.
  199. // The standard Arduino timer() function returns this value atomically
  200. // by disabling / enabling interrupts. This is costly, if the interrupts are known
  201. // to be disabled.
  202. extern volatile unsigned long timer0_millis;
  203. // An unsynchronized equivalent to a standard Arduino millis() function.
  204. // To be used inside an interrupt routine.
  205. FORCE_INLINE unsigned long millis_nc() { return timer0_millis; }
  206. #ifdef FAST_PWM_FAN
  207. void setPwmFrequency(uint8_t pin, int val);
  208. #endif
  209. #ifndef CRITICAL_SECTION_START
  210. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  211. #define CRITICAL_SECTION_END SREG = _sreg;
  212. #endif //CRITICAL_SECTION_START
  213. extern float homing_feedrate[];
  214. extern bool axis_relative_modes[];
  215. extern int feedmultiply;
  216. extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
  217. extern bool volumetric_enabled;
  218. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  219. extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
  220. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  221. extern float current_position[NUM_AXIS] ;
  222. extern float destination[NUM_AXIS] ;
  223. extern float add_homing[3];
  224. extern float min_pos[3];
  225. extern float max_pos[3];
  226. extern bool axis_known_position[3];
  227. extern float zprobe_zoffset;
  228. extern int fanSpeed;
  229. extern void homeaxis(int axis, uint8_t cnt = 1, uint8_t* pstep = 0);
  230. #ifdef FAN_SOFT_PWM
  231. extern unsigned char fanSpeedSoftPwm;
  232. #endif
  233. #ifdef FWRETRACT
  234. extern bool autoretract_enabled;
  235. extern bool retracted[EXTRUDERS];
  236. extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
  237. extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
  238. #endif
  239. #ifdef HOST_KEEPALIVE_FEATURE
  240. extern uint8_t host_keepalive_interval;
  241. #endif
  242. extern unsigned long starttime;
  243. extern unsigned long stoptime;
  244. extern int bowden_length[4];
  245. extern bool is_usb_printing;
  246. extern bool homing_flag;
  247. extern bool temp_cal_active;
  248. extern bool loading_flag;
  249. extern unsigned int usb_printing_counter;
  250. extern unsigned long kicktime;
  251. extern unsigned long total_filament_used;
  252. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time);
  253. extern unsigned int heating_status;
  254. extern unsigned int status_number;
  255. extern unsigned int heating_status_counter;
  256. extern bool custom_message;
  257. extern unsigned int custom_message_type;
  258. extern unsigned int custom_message_state;
  259. extern char snmm_filaments_used;
  260. extern unsigned long PingTime;
  261. extern unsigned long NcTime;
  262. extern bool no_response;
  263. extern uint8_t important_status;
  264. extern uint8_t saved_filament_type;
  265. extern bool fan_state[2];
  266. extern int fan_edge_counter[2];
  267. extern int fan_speed[2];
  268. // Handling multiple extruders pins
  269. extern uint8_t active_extruder;
  270. #endif
  271. //Long pause
  272. extern int saved_feedmultiply;
  273. extern float HotendTempBckp;
  274. extern int fanSpeedBckp;
  275. extern float pause_lastpos[4];
  276. extern unsigned long pause_time;
  277. extern unsigned long start_pause_print;
  278. extern unsigned long t_fan_rising_edge;
  279. extern bool mesh_bed_leveling_flag;
  280. extern bool mesh_bed_run_from_menu;
  281. extern bool sortAlpha;
  282. extern char dir_names[3][9];
  283. // save/restore printing
  284. extern bool saved_printing;
  285. //save/restore printing in case that mmu is not responding
  286. extern bool mmu_print_saved;
  287. //estimated time to end of the print
  288. extern uint8_t print_percent_done_normal;
  289. extern uint16_t print_time_remaining_normal;
  290. extern uint8_t print_percent_done_silent;
  291. extern uint16_t print_time_remaining_silent;
  292. #define PRINT_TIME_REMAINING_INIT 65535
  293. #define PRINT_PERCENT_DONE_INIT 255
  294. #define PRINTER_ACTIVE (IS_SD_PRINTING || is_usb_printing || isPrintPaused || (custom_message_type == 4) || saved_printing || (lcd_commands_type == LCD_COMMAND_V2_CAL) || card.paused || mmu_print_saved)
  295. extern void calculate_extruder_multipliers();
  296. // Similar to the default Arduino delay function,
  297. // but it keeps the background tasks running.
  298. extern void delay_keep_alive(unsigned int ms);
  299. extern void check_babystep();
  300. extern void long_pause();
  301. #ifdef DIS
  302. void d_setup();
  303. float d_ReadData();
  304. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
  305. #endif
  306. float temp_comp_interpolation(float temperature);
  307. void temp_compensation_apply();
  308. void temp_compensation_start();
  309. void show_fw_version_warnings();
  310. void erase_eeprom_section(uint16_t offset, uint16_t bytes);
  311. uint8_t check_printer_version();
  312. #ifdef PINDA_THERMISTOR
  313. float temp_compensation_pinda_thermistor_offset(float temperature_pinda);
  314. #endif //PINDA_THERMISTOR
  315. void wait_for_heater(long codenum);
  316. void serialecho_temperatures();
  317. bool check_commands();
  318. void uvlo_();
  319. void uvlo_tiny();
  320. void recover_print(uint8_t automatic);
  321. void setup_uvlo_interrupt();
  322. #if defined(TACH_1) && TACH_1 >-1
  323. void setup_fan_interrupt();
  324. #endif
  325. //extern void recover_machine_state_after_power_panic();
  326. extern void recover_machine_state_after_power_panic(bool bTiny);
  327. extern void restore_print_from_eeprom();
  328. extern void position_menu();
  329. extern void print_world_coordinates();
  330. extern void print_physical_coordinates();
  331. extern void print_mesh_bed_leveling_table();
  332. //estimated time to end of the print
  333. extern uint16_t print_time_remaining();
  334. extern uint8_t print_percent_done();
  335. #ifdef HOST_KEEPALIVE_FEATURE
  336. // States for managing Marlin and host communication
  337. // Marlin sends messages if blocked or busy
  338. /*enum MarlinBusyState {
  339. NOT_BUSY, // Not in a handler
  340. IN_HANDLER, // Processing a GCode
  341. IN_PROCESS, // Known to be blocking command input (as in G29)
  342. PAUSED_FOR_USER, // Blocking pending any input
  343. PAUSED_FOR_INPUT // Blocking pending text input (concept)
  344. };*/
  345. #define NOT_BUSY 1
  346. #define IN_HANDLER 2
  347. #define IN_PROCESS 3
  348. #define PAUSED_FOR_USER 4
  349. #define PAUSED_FOR_INPUT 5
  350. #define KEEPALIVE_STATE(n) do { busy_state = n;} while (0)
  351. extern void host_keepalive();
  352. //extern MarlinBusyState busy_state;
  353. extern int busy_state;
  354. #endif //HOST_KEEPALIVE_FEATURE
  355. #ifdef TMC2130
  356. #define FORCE_HIGH_POWER_START force_high_power_mode(true)
  357. #define FORCE_HIGH_POWER_END force_high_power_mode(false)
  358. void force_high_power_mode(bool start_high_power_section);
  359. #endif //TMC2130
  360. // G-codes
  361. void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_y_value, bool home_z_axis, long home_z_value, bool calib, bool without_mbl);
  362. void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
  363. bool gcode_M45(bool onlyZ, int8_t verbosity_level);
  364. void gcode_M114();
  365. void gcode_M701();
  366. #define UVLO !(PINE & (1<<4))
  367. void proc_commands();
  368. void manage_response(bool move_axes, bool turn_off_nozzle);
  369. bool mmu_get_response(bool timeout, bool clear);
  370. void mmu_not_responding();
  371. void mmu_load_to_nozzle();
  372. void M600_load_filament();
  373. void mmu_M600_load_filament(bool automatic);
  374. void M600_load_filament_movements();
  375. void M600_wait_for_user();
  376. void M600_check_state();