Marlin.h 13 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. extern FILE _lcdout;
  51. #define lcdout (&_lcdout)
  52. extern FILE _uartout;
  53. #define uartout (&_uartout)
  54. #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
  55. #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
  56. #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
  57. #define SERIAL_PROTOCOLRPGM(x) (serialprintPGM((x)))
  58. #define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
  59. #define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
  60. #define SERIAL_PROTOCOLLNRPGM(x) (serialprintPGM((x)),MYSERIAL.write('\n'))
  61. extern const char errormagic[] PROGMEM;
  62. extern const char echomagic[] PROGMEM;
  63. #define SERIAL_ERROR_START (serialprintPGM(errormagic))
  64. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  65. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  66. #define SERIAL_ERRORRPGM(x) SERIAL_PROTOCOLRPGM(x)
  67. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  68. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  69. #define SERIAL_ERRORLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  70. #define SERIAL_ECHO_START (serialprintPGM(echomagic))
  71. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  72. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  73. #define SERIAL_ECHORPGM(x) SERIAL_PROTOCOLRPGM(x)
  74. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  75. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  76. #define SERIAL_ECHOLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
  77. #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
  78. void serial_echopair_P(const char *s_P, float v);
  79. void serial_echopair_P(const char *s_P, double v);
  80. void serial_echopair_P(const char *s_P, unsigned long v);
  81. //Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  82. FORCE_INLINE void serialprintPGM(const char *str)
  83. {
  84. char ch=pgm_read_byte(str);
  85. while(ch)
  86. {
  87. MYSERIAL.write(ch);
  88. ch=pgm_read_byte(++str);
  89. }
  90. }
  91. bool is_buffer_empty();
  92. void get_command();
  93. void process_commands();
  94. void ramming();
  95. void manage_inactivity(bool ignore_stepper_queue=false);
  96. #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  97. #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  98. #define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
  99. #else
  100. #define enable_x() ;
  101. #define disable_x() ;
  102. #endif
  103. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  104. #ifdef Y_DUAL_STEPPER_DRIVERS
  105. #define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
  106. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  107. #else
  108. #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
  109. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  110. #endif
  111. #else
  112. #define enable_y() ;
  113. #define disable_y() ;
  114. #endif
  115. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  116. #if defined(Z_AXIS_ALWAYS_ON)
  117. #ifdef Z_DUAL_STEPPER_DRIVERS
  118. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  119. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  120. #else
  121. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  122. #define disable_z() ;
  123. #endif
  124. #else
  125. #ifdef Z_DUAL_STEPPER_DRIVERS
  126. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  127. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  128. #else
  129. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  130. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  131. #endif
  132. #endif
  133. #else
  134. #define enable_z() ;
  135. #define disable_z() ;
  136. #endif
  137. //#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  138. //#ifdef Z_DUAL_STEPPER_DRIVERS
  139. //#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  140. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  141. //#else
  142. //#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  143. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  144. //#endif
  145. //#else
  146. //#define enable_z() ;
  147. //#define disable_z() ;
  148. //#endif
  149. #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  150. #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
  151. #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
  152. #else
  153. #define enable_e0() /* nothing */
  154. #define disable_e0() /* nothing */
  155. #endif
  156. #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  157. #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
  158. #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
  159. #else
  160. #define enable_e1() /* nothing */
  161. #define disable_e1() /* nothing */
  162. #endif
  163. #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  164. #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
  165. #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
  166. #else
  167. #define enable_e2() /* nothing */
  168. #define disable_e2() /* nothing */
  169. #endif
  170. enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
  171. #define X_AXIS_MASK 1
  172. #define Y_AXIS_MASK 2
  173. #define Z_AXIS_MASK 4
  174. #define E_AXIS_MASK 8
  175. #define X_HEAD_MASK 16
  176. #define Y_HEAD_MASK 32
  177. void FlushSerialRequestResend();
  178. void ClearToSend();
  179. void update_currents();
  180. void get_coordinates();
  181. void prepare_move();
  182. void kill(const char *full_screen_message = NULL, unsigned char id = 0);
  183. void Stop();
  184. bool IsStopped();
  185. //put an ASCII command at the end of the current buffer.
  186. void enquecommand(const char *cmd, bool from_progmem = false);
  187. //put an ASCII command at the end of the current buffer, read from flash
  188. #define enquecommand_P(cmd) enquecommand(cmd, true)
  189. void enquecommand_front(const char *cmd, bool from_progmem = false);
  190. //put an ASCII command at the end of the current buffer, read from flash
  191. #define enquecommand_P(cmd) enquecommand(cmd, true)
  192. #define enquecommand_front_P(cmd) enquecommand_front(cmd, true)
  193. void repeatcommand_front();
  194. // Remove all lines from the command queue.
  195. void cmdqueue_reset();
  196. void prepare_arc_move(char isclockwise);
  197. void clamp_to_software_endstops(float target[3]);
  198. void refresh_cmd_timeout(void);
  199. // Timer counter, incremented by the 1ms Arduino timer.
  200. // The standard Arduino timer() function returns this value atomically
  201. // by disabling / enabling interrupts. This is costly, if the interrupts are known
  202. // to be disabled.
  203. extern volatile unsigned long timer0_millis;
  204. // An unsynchronized equivalent to a standard Arduino millis() function.
  205. // To be used inside an interrupt routine.
  206. FORCE_INLINE unsigned long millis_nc() { return timer0_millis; }
  207. #ifdef FAST_PWM_FAN
  208. void setPwmFrequency(uint8_t pin, int val);
  209. #endif
  210. #ifndef CRITICAL_SECTION_START
  211. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  212. #define CRITICAL_SECTION_END SREG = _sreg;
  213. #endif //CRITICAL_SECTION_START
  214. extern float homing_feedrate[];
  215. extern bool axis_relative_modes[];
  216. extern int feedmultiply;
  217. extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
  218. extern bool volumetric_enabled;
  219. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  220. 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.
  221. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  222. extern float current_position[NUM_AXIS] ;
  223. extern float destination[NUM_AXIS] ;
  224. extern float add_homing[3];
  225. extern float min_pos[3];
  226. extern float max_pos[3];
  227. extern bool axis_known_position[3];
  228. extern float zprobe_zoffset;
  229. extern int fanSpeed;
  230. extern void homeaxis(int axis, uint8_t cnt = 1, uint8_t* pstep = 0);
  231. #ifdef FAN_SOFT_PWM
  232. extern unsigned char fanSpeedSoftPwm;
  233. #endif
  234. #ifdef FWRETRACT
  235. extern bool autoretract_enabled;
  236. extern bool retracted[EXTRUDERS];
  237. extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
  238. extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
  239. #endif
  240. #ifdef HOST_KEEPALIVE_FEATURE
  241. extern uint8_t host_keepalive_interval;
  242. #endif
  243. extern unsigned long starttime;
  244. extern unsigned long stoptime;
  245. extern int bowden_length[4];
  246. extern bool is_usb_printing;
  247. extern bool homing_flag;
  248. extern bool temp_cal_active;
  249. extern bool loading_flag;
  250. extern unsigned int usb_printing_counter;
  251. extern unsigned long kicktime;
  252. extern unsigned long total_filament_used;
  253. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time);
  254. extern unsigned int heating_status;
  255. extern unsigned int status_number;
  256. extern unsigned int heating_status_counter;
  257. extern bool custom_message;
  258. extern unsigned int custom_message_type;
  259. extern unsigned int custom_message_state;
  260. extern char snmm_filaments_used;
  261. extern unsigned long PingTime;
  262. extern unsigned long NcTime;
  263. extern bool no_response;
  264. extern uint8_t important_status;
  265. extern uint8_t saved_filament_type;
  266. extern bool fan_state[2];
  267. extern int fan_edge_counter[2];
  268. extern int fan_speed[2];
  269. // Handling multiple extruders pins
  270. extern uint8_t active_extruder;
  271. #endif
  272. //Long pause
  273. extern int saved_feedmultiply;
  274. extern float HotendTempBckp;
  275. extern int fanSpeedBckp;
  276. extern float pause_lastpos[4];
  277. extern unsigned long pause_time;
  278. extern unsigned long start_pause_print;
  279. extern unsigned long t_fan_rising_edge;
  280. extern bool mesh_bed_leveling_flag;
  281. extern bool mesh_bed_run_from_menu;
  282. extern bool sortAlpha;
  283. extern char dir_names[3][9];
  284. // save/restore printing
  285. extern bool saved_printing;
  286. extern void calculate_extruder_multipliers();
  287. // Similar to the default Arduino delay function,
  288. // but it keeps the background tasks running.
  289. extern void delay_keep_alive(unsigned int ms);
  290. extern void check_babystep();
  291. extern void long_pause();
  292. #ifdef DIS
  293. void d_setup();
  294. float d_ReadData();
  295. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
  296. #endif
  297. float temp_comp_interpolation(float temperature);
  298. void temp_compensation_apply();
  299. void temp_compensation_start();
  300. void show_fw_version_warnings();
  301. void erase_eeprom_section(uint16_t offset, uint16_t bytes);
  302. uint8_t check_printer_version();
  303. #ifdef PINDA_THERMISTOR
  304. float temp_compensation_pinda_thermistor_offset(float temperature_pinda);
  305. #endif //PINDA_THERMISTOR
  306. void wait_for_heater(long codenum);
  307. void serialecho_temperatures();
  308. bool check_commands();
  309. void uvlo_();
  310. void recover_print(uint8_t automatic);
  311. void setup_uvlo_interrupt();
  312. #if defined(TACH_1) && TACH_1 >-1
  313. void setup_fan_interrupt();
  314. #endif
  315. extern void recover_machine_state_after_power_panic();
  316. extern void restore_print_from_eeprom();
  317. extern void position_menu();
  318. extern void print_world_coordinates();
  319. extern void print_physical_coordinates();
  320. extern void print_mesh_bed_leveling_table();
  321. #ifdef PAT9125
  322. extern void fsensor_init();
  323. #endif //PAT9125
  324. #ifdef HOST_KEEPALIVE_FEATURE
  325. // States for managing Marlin and host communication
  326. // Marlin sends messages if blocked or busy
  327. /*enum MarlinBusyState {
  328. NOT_BUSY, // Not in a handler
  329. IN_HANDLER, // Processing a GCode
  330. IN_PROCESS, // Known to be blocking command input (as in G29)
  331. PAUSED_FOR_USER, // Blocking pending any input
  332. PAUSED_FOR_INPUT // Blocking pending text input (concept)
  333. };*/
  334. #define NOT_BUSY 1
  335. #define IN_HANDLER 2
  336. #define IN_PROCESS 3
  337. #define PAUSED_FOR_USER 4
  338. #define PAUSED_FOR_INPUT 5
  339. #define KEEPALIVE_STATE(n) do { busy_state = n;} while (0)
  340. extern void host_keepalive();
  341. //extern MarlinBusyState busy_state;
  342. extern int busy_state;
  343. #endif //HOST_KEEPALIVE_FEATURE
  344. #ifdef TMC2130
  345. #define FORCE_HIGH_POWER_START force_high_power_mode(true)
  346. #define FORCE_HIGH_POWER_END force_high_power_mode(false)
  347. void force_high_power_mode(bool start_high_power_section);
  348. #endif //TMC2130
  349. // G-codes
  350. void gcode_G28(bool home_x, bool home_y, bool home_z, bool calib);
  351. bool gcode_M45(bool onlyZ, int8_t verbosity_level);
  352. void gcode_M114();
  353. void gcode_M701();
  354. #define UVLO !(PINE & (1<<4))
  355. void proc_commands();