Marlin.h 14 KB

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440441442443444445446447448449450451452453454455456457458459460461462463464465466467468469470471472473474475476477478479480481482483484485
  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. #include "Timer.h"
  19. #ifndef AT90USB
  20. #define HardwareSerial_h // trick to disable the standard HWserial
  21. #endif
  22. #if (ARDUINO >= 100)
  23. # include "Arduino.h"
  24. #else
  25. # include "WProgram.h"
  26. #endif
  27. // Arduino < 1.0.0 does not define this, so we need to do it ourselves
  28. #ifndef analogInputToDigitalPin
  29. # define analogInputToDigitalPin(p) ((p) + A0)
  30. #endif
  31. #ifdef AT90USB
  32. #include "HardwareSerial.h"
  33. #endif
  34. #include "MarlinSerial.h"
  35. #ifndef cbi
  36. #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
  37. #endif
  38. #ifndef sbi
  39. #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
  40. #endif
  41. //#include "WString.h"
  42. #ifdef AT90USB
  43. #ifdef BTENABLED
  44. #define MYSERIAL bt
  45. #else
  46. #define MYSERIAL Serial
  47. #endif // BTENABLED
  48. #else
  49. #define MYSERIAL MSerial
  50. #endif
  51. #include "lcd.h"
  52. #ifdef __cplusplus
  53. extern "C" {
  54. #endif
  55. extern FILE _uartout;
  56. #ifdef __cplusplus
  57. }
  58. #endif
  59. #define uartout (&_uartout)
  60. #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
  61. #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
  62. #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
  63. #define SERIAL_PROTOCOLRPGM(x) (serialprintPGM((x)))
  64. #define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
  65. #define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
  66. #define SERIAL_PROTOCOLLNRPGM(x) (serialprintPGM((x)),MYSERIAL.write('\n'))
  67. extern const char errormagic[] PROGMEM;
  68. extern const char echomagic[] PROGMEM;
  69. #define SERIAL_ERROR_START (serialprintPGM(errormagic))
  70. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  71. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  72. #define SERIAL_ERRORRPGM(x) SERIAL_PROTOCOLRPGM(x)
  73. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  74. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  75. #define SERIAL_ERRORLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  76. #define SERIAL_ECHO_START (serialprintPGM(echomagic))
  77. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  78. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  79. #define SERIAL_ECHORPGM(x) SERIAL_PROTOCOLRPGM(x)
  80. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  81. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  82. #define SERIAL_ECHOLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  83. #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
  84. void serial_echopair_P(const char *s_P, float v);
  85. void serial_echopair_P(const char *s_P, double v);
  86. void serial_echopair_P(const char *s_P, unsigned long v);
  87. //Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  88. FORCE_INLINE void serialprintPGM(const char *str)
  89. {
  90. char ch=pgm_read_byte(str);
  91. while(ch)
  92. {
  93. MYSERIAL.write(ch);
  94. ch=pgm_read_byte(++str);
  95. }
  96. }
  97. bool is_buffer_empty();
  98. void get_command();
  99. void process_commands();
  100. void ramming();
  101. void manage_inactivity(bool ignore_stepper_queue=false);
  102. #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  103. #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  104. #define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
  105. #else
  106. #define enable_x() ;
  107. #define disable_x() ;
  108. #endif
  109. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  110. #ifdef Y_DUAL_STEPPER_DRIVERS
  111. #define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
  112. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  113. #else
  114. #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
  115. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  116. #endif
  117. #else
  118. #define enable_y() ;
  119. #define disable_y() ;
  120. #endif
  121. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  122. #if defined(Z_AXIS_ALWAYS_ON)
  123. #ifdef Z_DUAL_STEPPER_DRIVERS
  124. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  125. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  126. #else
  127. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  128. #define disable_z() {}
  129. #endif
  130. #else
  131. #ifdef Z_DUAL_STEPPER_DRIVERS
  132. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  133. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  134. #else
  135. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  136. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  137. #endif
  138. #endif
  139. #else
  140. #define enable_z() {}
  141. #define disable_z() {}
  142. #endif
  143. //#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  144. //#ifdef Z_DUAL_STEPPER_DRIVERS
  145. //#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  146. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  147. //#else
  148. //#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  149. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  150. //#endif
  151. //#else
  152. //#define enable_z() ;
  153. //#define disable_z() ;
  154. //#endif
  155. #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  156. #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
  157. #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
  158. #else
  159. #define enable_e0() /* nothing */
  160. #define disable_e0() /* nothing */
  161. #endif
  162. #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  163. #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
  164. #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
  165. #else
  166. #define enable_e1() /* nothing */
  167. #define disable_e1() /* nothing */
  168. #endif
  169. #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  170. #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
  171. #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
  172. #else
  173. #define enable_e2() /* nothing */
  174. #define disable_e2() /* nothing */
  175. #endif
  176. enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
  177. #define X_AXIS_MASK 1
  178. #define Y_AXIS_MASK 2
  179. #define Z_AXIS_MASK 4
  180. #define E_AXIS_MASK 8
  181. #define X_HEAD_MASK 16
  182. #define Y_HEAD_MASK 32
  183. void FlushSerialRequestResend();
  184. void ClearToSend();
  185. void update_currents();
  186. void get_coordinates();
  187. void prepare_move();
  188. void kill(const char *full_screen_message = NULL, unsigned char id = 0);
  189. void Stop();
  190. bool IsStopped();
  191. //put an ASCII command at the end of the current buffer.
  192. void enquecommand(const char *cmd, bool from_progmem = false);
  193. //put an ASCII command at the end of the current buffer, read from flash
  194. #define enquecommand_P(cmd) enquecommand(cmd, true)
  195. //put an ASCII command at the begin of the current buffer
  196. void enquecommand_front(const char *cmd, bool from_progmem = false);
  197. //put an ASCII command at the begin of the current buffer, read from flash
  198. #define enquecommand_front_P(cmd) enquecommand_front(cmd, true)
  199. void repeatcommand_front();
  200. // Remove all lines from the command queue.
  201. void cmdqueue_reset();
  202. void prepare_arc_move(char isclockwise);
  203. void clamp_to_software_endstops(float target[3]);
  204. void refresh_cmd_timeout(void);
  205. // Timer counter, incremented by the 1ms Arduino timer.
  206. // The standard Arduino timer() function returns this value atomically
  207. // by disabling / enabling interrupts. This is costly, if the interrupts are known
  208. // to be disabled.
  209. extern volatile unsigned long timer0_millis;
  210. // An unsynchronized equivalent to a standard Arduino millis() function.
  211. // To be used inside an interrupt routine.
  212. FORCE_INLINE unsigned long millis_nc() { return timer0_millis; }
  213. #ifdef FAST_PWM_FAN
  214. void setPwmFrequency(uint8_t pin, int val);
  215. #endif
  216. #ifndef CRITICAL_SECTION_START
  217. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  218. #define CRITICAL_SECTION_END SREG = _sreg;
  219. #endif //CRITICAL_SECTION_START
  220. extern float homing_feedrate[];
  221. extern bool axis_relative_modes[];
  222. extern int feedmultiply;
  223. extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
  224. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  225. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  226. extern float current_position[NUM_AXIS] ;
  227. extern float destination[NUM_AXIS] ;
  228. extern float min_pos[3];
  229. extern float max_pos[3];
  230. extern bool axis_known_position[3];
  231. extern int fanSpeed;
  232. extern void homeaxis(int axis, uint8_t cnt = 1, uint8_t* pstep = 0);
  233. extern int8_t lcd_change_fil_state;
  234. #ifdef FAN_SOFT_PWM
  235. extern unsigned char fanSpeedSoftPwm;
  236. #endif
  237. #ifdef FWRETRACT
  238. extern bool retracted[EXTRUDERS];
  239. extern float retract_length_swap;
  240. extern float retract_recover_length_swap;
  241. #endif
  242. #ifdef HOST_KEEPALIVE_FEATURE
  243. extern uint8_t host_keepalive_interval;
  244. #endif
  245. extern unsigned long starttime;
  246. extern unsigned long stoptime;
  247. extern int bowden_length[4];
  248. extern bool is_usb_printing;
  249. extern bool homing_flag;
  250. extern bool temp_cal_active;
  251. extern bool loading_flag;
  252. extern unsigned int usb_printing_counter;
  253. extern unsigned long kicktime;
  254. extern unsigned long total_filament_used;
  255. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time);
  256. extern unsigned int heating_status;
  257. extern unsigned int status_number;
  258. extern unsigned int heating_status_counter;
  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 unsigned long pause_time;
  273. extern unsigned long start_pause_print;
  274. extern unsigned long t_fan_rising_edge;
  275. extern bool mesh_bed_leveling_flag;
  276. extern bool mesh_bed_run_from_menu;
  277. extern bool sortAlpha;
  278. extern char dir_names[3][9];
  279. extern int8_t lcd_change_fil_state;
  280. // save/restore printing
  281. extern bool saved_printing;
  282. //save/restore printing in case that mmu is not responding
  283. extern bool mmu_print_saved;
  284. //estimated time to end of the print
  285. extern uint8_t print_percent_done_normal;
  286. extern uint16_t print_time_remaining_normal;
  287. extern uint8_t print_percent_done_silent;
  288. extern uint16_t print_time_remaining_silent;
  289. #define PRINT_TIME_REMAINING_INIT 0xffff
  290. extern uint16_t mcode_in_progress;
  291. extern uint16_t gcode_in_progress;
  292. extern bool wizard_active; //autoload temporarily disabled during wizard
  293. extern LongTimer safetyTimer;
  294. #define PRINT_PERCENT_DONE_INIT 0xff
  295. #define PRINTER_ACTIVE (IS_SD_PRINTING || is_usb_printing || isPrintPaused || (custom_message_type == CUSTOM_MSG_TYPE_TEMCAL) || saved_printing || (lcd_commands_type == LCD_COMMAND_V2_CAL) || card.paused || mmu_print_saved)
  296. #define CHECK_FSENSOR ((IS_SD_PRINTING || is_usb_printing) && (mcode_in_progress != 600) && !saved_printing && e_active())
  297. extern void calculate_extruder_multipliers();
  298. // Similar to the default Arduino delay function,
  299. // but it keeps the background tasks running.
  300. extern void delay_keep_alive(unsigned int ms);
  301. extern void check_babystep();
  302. extern void long_pause();
  303. extern void crashdet_stop_and_save_print();
  304. #ifdef DIS
  305. void d_setup();
  306. float d_ReadData();
  307. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
  308. #endif
  309. float temp_comp_interpolation(float temperature);
  310. void temp_compensation_apply();
  311. void temp_compensation_start();
  312. void show_fw_version_warnings();
  313. uint8_t check_printer_version();
  314. #ifdef PINDA_THERMISTOR
  315. float temp_compensation_pinda_thermistor_offset(float temperature_pinda);
  316. #endif //PINDA_THERMISTOR
  317. void serialecho_temperatures();
  318. bool check_commands();
  319. void uvlo_();
  320. void uvlo_tiny();
  321. void recover_print(uint8_t automatic);
  322. void setup_uvlo_interrupt();
  323. #if defined(TACH_1) && TACH_1 >-1
  324. void setup_fan_interrupt();
  325. #endif
  326. //extern void recover_machine_state_after_power_panic();
  327. extern void recover_machine_state_after_power_panic(bool bTiny);
  328. extern void restore_print_from_eeprom();
  329. extern void position_menu();
  330. extern void print_world_coordinates();
  331. extern void print_physical_coordinates();
  332. extern void print_mesh_bed_leveling_table();
  333. extern void stop_and_save_print_to_ram(float z_move, float e_move);
  334. extern void restore_print_from_ram_and_continue(float e_move);
  335. //estimated time to end of the print
  336. extern uint16_t print_time_remaining();
  337. extern uint8_t calc_percent_done();
  338. #ifdef HOST_KEEPALIVE_FEATURE
  339. // States for managing Marlin and host communication
  340. // Marlin sends messages if blocked or busy
  341. /*enum MarlinBusyState {
  342. NOT_BUSY, // Not in a handler
  343. IN_HANDLER, // Processing a GCode
  344. IN_PROCESS, // Known to be blocking command input (as in G29)
  345. PAUSED_FOR_USER, // Blocking pending any input
  346. PAUSED_FOR_INPUT // Blocking pending text input (concept)
  347. };*/
  348. #define NOT_BUSY 1
  349. #define IN_HANDLER 2
  350. #define IN_PROCESS 3
  351. #define PAUSED_FOR_USER 4
  352. #define PAUSED_FOR_INPUT 5
  353. #define KEEPALIVE_STATE(n) do { busy_state = n;} while (0)
  354. extern void host_keepalive();
  355. //extern MarlinBusyState busy_state;
  356. extern int busy_state;
  357. #endif //HOST_KEEPALIVE_FEATURE
  358. #ifdef TMC2130
  359. #define FORCE_HIGH_POWER_START force_high_power_mode(true)
  360. #define FORCE_HIGH_POWER_END force_high_power_mode(false)
  361. void force_high_power_mode(bool start_high_power_section);
  362. #endif //TMC2130
  363. // G-codes
  364. 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);
  365. void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis);
  366. bool gcode_M45(bool onlyZ, int8_t verbosity_level);
  367. void gcode_M114();
  368. void gcode_M701();
  369. #define UVLO !(PINE & (1<<4))
  370. void proc_commands();
  371. void M600_load_filament();
  372. void M600_load_filament_movements();
  373. void M600_wait_for_user(float HotendTempBckp);
  374. void M600_check_state();
  375. void load_filament_final_feed();