Marlin.h 11 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. bool is_buffer_empty();
  88. void get_command();
  89. void process_commands();
  90. void ramming();
  91. void manage_inactivity(bool ignore_stepper_queue=false);
  92. #if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  93. #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  94. #define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
  95. #else
  96. #define enable_x() ;
  97. #define disable_x() ;
  98. #endif
  99. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  100. #ifdef Y_DUAL_STEPPER_DRIVERS
  101. #define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
  102. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  103. #else
  104. #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
  105. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  106. #endif
  107. #else
  108. #define enable_y() ;
  109. #define disable_y() ;
  110. #endif
  111. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  112. #if defined(Z_AXIS_ALWAYS_ON)
  113. #ifdef Z_DUAL_STEPPER_DRIVERS
  114. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  115. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  116. #else
  117. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  118. #define disable_z() ;
  119. #endif
  120. #else
  121. #ifdef Z_DUAL_STEPPER_DRIVERS
  122. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  123. #define disable_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 enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  126. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  127. #endif
  128. #endif
  129. #else
  130. #define enable_z() ;
  131. #define disable_z() ;
  132. #endif
  133. //#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  134. //#ifdef Z_DUAL_STEPPER_DRIVERS
  135. //#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  136. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  137. //#else
  138. //#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  139. //#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  140. //#endif
  141. //#else
  142. //#define enable_z() ;
  143. //#define disable_z() ;
  144. //#endif
  145. #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  146. #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
  147. #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
  148. #else
  149. #define enable_e0() /* nothing */
  150. #define disable_e0() /* nothing */
  151. #endif
  152. #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  153. #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
  154. #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
  155. #else
  156. #define enable_e1() /* nothing */
  157. #define disable_e1() /* nothing */
  158. #endif
  159. #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  160. #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
  161. #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
  162. #else
  163. #define enable_e2() /* nothing */
  164. #define disable_e2() /* nothing */
  165. #endif
  166. enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
  167. void FlushSerialRequestResend();
  168. void ClearToSend();
  169. void get_coordinates();
  170. void prepare_move();
  171. void kill(const char *full_screen_message = NULL, unsigned char id = 0);
  172. void Stop();
  173. bool IsStopped();
  174. //put an ASCII command at the end of the current buffer.
  175. void enquecommand(const char *cmd, bool from_progmem = false);
  176. //put an ASCII command at the end of the current buffer, read from flash
  177. #define enquecommand_P(cmd) enquecommand(cmd, true)
  178. void enquecommand_front(const char *cmd, bool from_progmem = false);
  179. //put an ASCII command at the end of the current buffer, read from flash
  180. #define enquecommand_P(cmd) enquecommand(cmd, true)
  181. #define enquecommand_front_P(cmd) enquecommand_front(cmd, true)
  182. void repeatcommand_front();
  183. // Remove all lines from the command queue.
  184. void cmdqueue_reset();
  185. void prepare_arc_move(char isclockwise);
  186. void clamp_to_software_endstops(float target[3]);
  187. void refresh_cmd_timeout(void);
  188. #ifdef FAST_PWM_FAN
  189. void setPwmFrequency(uint8_t pin, int val);
  190. #endif
  191. #ifndef CRITICAL_SECTION_START
  192. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  193. #define CRITICAL_SECTION_END SREG = _sreg;
  194. #endif //CRITICAL_SECTION_START
  195. extern float homing_feedrate[];
  196. extern bool axis_relative_modes[];
  197. extern int feedmultiply;
  198. extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
  199. extern bool volumetric_enabled;
  200. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  201. 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.
  202. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  203. extern float current_position[NUM_AXIS] ;
  204. extern float destination[NUM_AXIS] ;
  205. extern float add_homing[3];
  206. extern float min_pos[3];
  207. extern float max_pos[3];
  208. extern bool axis_known_position[3];
  209. extern float zprobe_zoffset;
  210. extern int fanSpeed;
  211. extern void homeaxis(int axis);
  212. #ifdef FAN_SOFT_PWM
  213. extern unsigned char fanSpeedSoftPwm;
  214. #endif
  215. #ifdef FILAMENT_SENSOR
  216. extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75
  217. extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
  218. extern float filament_width_meas; //holds the filament diameter as accurately measured
  219. extern signed char measurement_delay[]; //ring buffer to delay measurement
  220. extern int delay_index1, delay_index2; //index into ring buffer
  221. extern float delay_dist; //delay distance counter
  222. extern int meas_delay_cm; //delay distance
  223. #endif
  224. #ifdef FWRETRACT
  225. extern bool autoretract_enabled;
  226. extern bool retracted[EXTRUDERS];
  227. extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
  228. extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
  229. #endif
  230. extern unsigned long starttime;
  231. extern unsigned long stoptime;
  232. extern int bowden_length[4];
  233. extern bool is_usb_printing;
  234. extern bool homing_flag;
  235. extern bool temp_cal_active;
  236. extern bool loading_flag;
  237. extern unsigned int usb_printing_counter;
  238. extern unsigned long kicktime;
  239. extern unsigned long total_filament_used;
  240. void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time);
  241. extern unsigned int heating_status;
  242. extern unsigned int status_number;
  243. extern unsigned int heating_status_counter;
  244. extern bool custom_message;
  245. extern unsigned int custom_message_type;
  246. extern unsigned int custom_message_state;
  247. extern char snmm_filaments_used;
  248. extern unsigned long PingTime;
  249. extern bool fan_state[2];
  250. extern int fan_edge_counter[2];
  251. extern int fan_speed[2];
  252. // Handling multiple extruders pins
  253. extern uint8_t active_extruder;
  254. #ifdef DIGIPOT_I2C
  255. extern void digipot_i2c_set_current( int channel, float current );
  256. extern void digipot_i2c_init();
  257. #endif
  258. #endif
  259. //Long pause
  260. extern int saved_feedmultiply;
  261. extern float HotendTempBckp;
  262. extern int fanSpeedBckp;
  263. extern float pause_lastpos[4];
  264. extern unsigned long pause_time;
  265. extern unsigned long start_pause_print;
  266. extern bool mesh_bed_leveling_flag;
  267. extern bool mesh_bed_run_from_menu;
  268. extern float distance_from_min[3];
  269. extern float angleDiff;
  270. extern void calculate_volumetric_multipliers();
  271. // Similar to the default Arduino delay function,
  272. // but it keeps the background tasks running.
  273. extern void delay_keep_alive(unsigned int ms);
  274. extern void check_babystep();
  275. extern void long_pause();
  276. #ifdef DIS
  277. void d_setup();
  278. float d_ReadData();
  279. void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
  280. #endif
  281. float temp_comp_interpolation(float temperature);
  282. void temp_compensation_apply();
  283. void temp_compensation_start();
  284. void wait_for_heater(long codenum);
  285. void serialecho_temperatures();
  286. void uvlo_();
  287. void recover_print();
  288. void setup_uvlo_interrupt();
  289. extern void save_print_to_eeprom();
  290. extern void restore_print_from_eeprom();
  291. extern void position_menu();
  292. #define UVLO !(PINE & (1<<4))