Marlin.h 10 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. #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
  51. #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
  52. #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
  53. #define SERIAL_PROTOCOLRPGM(x) (serialprintPGM((x)))
  54. #define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
  55. #define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
  56. #define SERIAL_PROTOCOLLNRPGM(x) (serialprintPGM((x)),MYSERIAL.write('\n'))
  57. extern const char errormagic[] PROGMEM;
  58. extern const char echomagic[] PROGMEM;
  59. #define SERIAL_ERROR_START (serialprintPGM(errormagic))
  60. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  61. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  62. #define SERIAL_ERRORRPGM(x) SERIAL_PROTOCOLRPGM(x)
  63. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  64. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  65. #define SERIAL_ERRORLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  66. #define SERIAL_ECHO_START (serialprintPGM(echomagic))
  67. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  68. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  69. #define SERIAL_ECHORPGM(x) SERIAL_PROTOCOLRPGM(x)
  70. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  71. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  72. #define SERIAL_ECHOLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  73. #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
  74. void serial_echopair_P(const char *s_P, float v);
  75. void serial_echopair_P(const char *s_P, double v);
  76. void serial_echopair_P(const char *s_P, unsigned long v);
  77. //Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  78. FORCE_INLINE void serialprintPGM(const char *str)
  79. {
  80. char ch=pgm_read_byte(str);
  81. while(ch)
  82. {
  83. MYSERIAL.write(ch);
  84. ch=pgm_read_byte(++str);
  85. }
  86. }
  87. void get_command();
  88. void process_commands();
  89. void manage_inactivity(bool ignore_stepper_queue=false);
  90. #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  91. #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  92. #define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
  93. #else
  94. #define enable_x() ;
  95. #define disable_x() ;
  96. #endif
  97. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  98. #ifdef Y_DUAL_STEPPER_DRIVERS
  99. #define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
  100. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  101. #else
  102. #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
  103. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  104. #endif
  105. #else
  106. #define enable_y() ;
  107. #define disable_y() ;
  108. #endif
  109. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  110. #if defined(Z_AXIS_ALWAYS_ON)
  111. #ifdef Z_DUAL_STEPPER_DRIVERS
  112. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  113. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  114. #else
  115. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  116. #define disable_z() ;
  117. #endif
  118. #else
  119. #ifdef Z_DUAL_STEPPER_DRIVERS
  120. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  121. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  122. #else
  123. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  124. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  125. #endif
  126. #endif
  127. #else
  128. #define enable_z() ;
  129. #define disable_z() ;
  130. #endif
  131. //#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  132. //#ifdef Z_DUAL_STEPPER_DRIVERS
  133. //#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  134. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  135. //#else
  136. //#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  137. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  138. //#endif
  139. //#else
  140. //#define enable_z() ;
  141. //#define disable_z() ;
  142. //#endif
  143. #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  144. #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
  145. #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
  146. #else
  147. #define enable_e0() /* nothing */
  148. #define disable_e0() /* nothing */
  149. #endif
  150. #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  151. #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
  152. #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
  153. #else
  154. #define enable_e1() /* nothing */
  155. #define disable_e1() /* nothing */
  156. #endif
  157. #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  158. #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
  159. #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
  160. #else
  161. #define enable_e2() /* nothing */
  162. #define disable_e2() /* nothing */
  163. #endif
  164. enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
  165. void FlushSerialRequestResend();
  166. void ClearToSend();
  167. void get_coordinates();
  168. void prepare_move();
  169. void kill(const char *full_screen_message = NULL);
  170. void Stop();
  171. bool IsStopped();
  172. //put an ASCII command at the end of the current buffer.
  173. void enquecommand(const char *cmd, bool from_progmem = false);
  174. //put an ASCII command at the end of the current buffer, read from flash
  175. #define enquecommand_P(cmd) enquecommand(cmd, true)
  176. void enquecommand_front(const char *cmd, bool from_progmem = false);
  177. //put an ASCII command at the end of the current buffer, read from flash
  178. #define enquecommand_P(cmd) enquecommand(cmd, true)
  179. #define enquecommand_front_P(cmd) enquecommand_front(cmd, true)
  180. void repeatcommand_front();
  181. // Remove all lines from the command queue.
  182. void cmdqueue_reset();
  183. void prepare_arc_move(char isclockwise);
  184. void clamp_to_software_endstops(float target[3]);
  185. void refresh_cmd_timeout(void);
  186. #ifdef FAST_PWM_FAN
  187. void setPwmFrequency(uint8_t pin, int val);
  188. #endif
  189. #ifndef CRITICAL_SECTION_START
  190. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  191. #define CRITICAL_SECTION_END SREG = _sreg;
  192. #endif //CRITICAL_SECTION_START
  193. extern float homing_feedrate[];
  194. extern bool axis_relative_modes[];
  195. extern int feedmultiply;
  196. extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
  197. extern bool volumetric_enabled;
  198. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  199. 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.
  200. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  201. extern float current_position[NUM_AXIS] ;
  202. extern float destination[NUM_AXIS] ;
  203. extern float add_homing[3];
  204. extern float min_pos[3];
  205. extern float max_pos[3];
  206. extern bool axis_known_position[3];
  207. extern float zprobe_zoffset;
  208. extern int fanSpeed;
  209. extern void homeaxis(int axis);
  210. #ifdef FAN_SOFT_PWM
  211. extern unsigned char fanSpeedSoftPwm;
  212. #endif
  213. #ifdef FILAMENT_SENSOR
  214. extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75
  215. extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
  216. extern float filament_width_meas; //holds the filament diameter as accurately measured
  217. extern signed char measurement_delay[]; //ring buffer to delay measurement
  218. extern int delay_index1, delay_index2; //index into ring buffer
  219. extern float delay_dist; //delay distance counter
  220. extern int meas_delay_cm; //delay distance
  221. #endif
  222. #ifdef FWRETRACT
  223. extern bool autoretract_enabled;
  224. extern bool retracted[EXTRUDERS];
  225. extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
  226. extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
  227. #endif
  228. extern unsigned long starttime;
  229. extern unsigned long stoptime;
  230. extern bool is_usb_printing;
  231. extern unsigned int usb_printing_counter;
  232. extern unsigned long total_filament_used;
  233. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time);
  234. extern unsigned int heating_status;
  235. extern unsigned int heating_status_counter;
  236. extern bool custom_message;
  237. extern unsigned int custom_message_type;
  238. extern unsigned int custom_message_state;
  239. // Handling multiple extruders pins
  240. extern uint8_t active_extruder;
  241. #ifdef DIGIPOT_I2C
  242. extern void digipot_i2c_set_current( int channel, float current );
  243. extern void digipot_i2c_init();
  244. #endif
  245. #endif
  246. extern void calculate_volumetric_multipliers();
  247. // Similar to the default Arduino delay function,
  248. // but it keeps the background tasks running.
  249. extern void delay_keep_alive(int ms);