511 lines
15 KiB
C
Executable File
511 lines
15 KiB
C
Executable File
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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// License: GPL
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#ifndef MARLIN_H
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#define MARLIN_H
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#define FORCE_INLINE __attribute__((always_inline)) inline
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <inttypes.h>
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#include <util/delay.h>
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#include <avr/pgmspace.h>
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#include <avr/eeprom.h>
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#include <avr/interrupt.h>
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#include "system_timer.h"
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#include "fastio.h"
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#include "Configuration.h"
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#include "pins.h"
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#include "Timer.h"
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extern uint8_t mbl_z_probe_nr;
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#ifndef AT90USB
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#define HardwareSerial_h // trick to disable the standard HWserial
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#endif
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#if (ARDUINO >= 100)
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# include "Arduino.h"
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#else
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# include "WProgram.h"
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#endif
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// Arduino < 1.0.0 does not define this, so we need to do it ourselves
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#ifndef analogInputToDigitalPin
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# define analogInputToDigitalPin(p) ((p) + A0)
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#endif
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#ifdef AT90USB
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#include "HardwareSerial.h"
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#endif
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#include "MarlinSerial.h"
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#ifndef cbi
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#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
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#endif
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#ifndef sbi
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#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
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#endif
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//#include "WString.h"
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#ifdef AT90USB
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#ifdef BTENABLED
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#define MYSERIAL bt
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#else
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#define MYSERIAL Serial
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#endif // BTENABLED
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#else
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#define MYSERIAL MSerial
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#endif
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#include "lcd.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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extern FILE _uartout;
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#ifdef __cplusplus
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}
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#endif
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#define uartout (&_uartout)
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#define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
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#define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
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#define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
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#define SERIAL_PROTOCOLRPGM(x) (serialprintPGM((x)))
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#define SERIAL_PROTOCOLLN(x) (MYSERIAL.println(x)/*,MYSERIAL.write('\n')*/)
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#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.println()/*write('\n')*/)
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#define SERIAL_PROTOCOLLNRPGM(x) (serialprintPGM((x)),MYSERIAL.println()/*write('\n')*/)
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extern const char errormagic[] PROGMEM;
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extern const char echomagic[] PROGMEM;
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#define SERIAL_ERROR_START (serialprintPGM(errormagic))
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#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
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#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
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#define SERIAL_ERRORRPGM(x) SERIAL_PROTOCOLRPGM(x)
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#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
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#define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
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#define SERIAL_ERRORLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
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#define SERIAL_ECHO_START (serialprintPGM(echomagic))
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#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
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#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
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#define SERIAL_ECHORPGM(x) SERIAL_PROTOCOLRPGM(x)
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#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
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#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
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#define SERIAL_ECHOLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
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#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
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void serial_echopair_P(const char *s_P, float v);
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void serial_echopair_P(const char *s_P, double v);
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void serial_echopair_P(const char *s_P, unsigned long v);
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//Things to write to serial from Program memory. Saves 400 to 2k of RAM.
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// Making this FORCE_INLINE is not a good idea when running out of FLASH
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// I'd rather skip a few CPU ticks than 5.5KB (!!) of FLASH
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void serialprintPGM(const char *str);
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bool is_buffer_empty();
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void get_command();
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void process_commands();
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void ramming();
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void manage_inactivity(bool ignore_stepper_queue=false);
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#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
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#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
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#define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
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#else
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#define enable_x() ;
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#define disable_x() ;
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#endif
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#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
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#ifdef Y_DUAL_STEPPER_DRIVERS
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#define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
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#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
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#else
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#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
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#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
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#endif
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#else
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#define enable_y() ;
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#define disable_y() ;
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#endif
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#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
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#if defined(Z_AXIS_ALWAYS_ON)
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#ifdef Z_DUAL_STEPPER_DRIVERS
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#define poweron_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
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#define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
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#else
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#define poweron_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
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#define poweroff_z() {}
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#endif
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#else
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#ifdef Z_DUAL_STEPPER_DRIVERS
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#define poweron_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
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#define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
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#else
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#define poweron_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
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#define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
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#endif
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#endif
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#else
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#define poweron_z() {}
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#define poweroff_z() {}
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#endif
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#ifndef PSU_Delta
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#define enable_z() poweron_z()
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#define disable_z() poweroff_z()
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#else
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void init_force_z();
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void check_force_z();
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void enable_force_z();
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void disable_force_z();
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#define enable_z() enable_force_z()
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#define disable_z() disable_force_z()
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#endif // PSU_Delta
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//#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
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//#ifdef Z_DUAL_STEPPER_DRIVERS
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//#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
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//#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
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//#else
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//#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
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//#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
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//#endif
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//#else
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//#define enable_z() ;
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//#define disable_z() ;
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//#endif
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#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
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#define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
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#define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
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#else
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#define enable_e0() /* nothing */
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#define disable_e0() /* nothing */
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#endif
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#if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
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#define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
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#define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
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#else
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#define enable_e1() /* nothing */
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#define disable_e1() /* nothing */
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#endif
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#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
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#define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
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#define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
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#else
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#define enable_e2() /* nothing */
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#define disable_e2() /* nothing */
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#endif
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#define FARM_FILAMENT_COLOR_NONE 99;
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enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
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#define X_AXIS_MASK 1
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#define Y_AXIS_MASK 2
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#define Z_AXIS_MASK 4
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#define E_AXIS_MASK 8
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#define X_HEAD_MASK 16
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#define Y_HEAD_MASK 32
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void FlushSerialRequestResend();
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void ClearToSend();
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void update_currents();
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void get_coordinates();
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void prepare_move();
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void kill(const char *full_screen_message = NULL, unsigned char id = 0);
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void Stop();
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bool IsStopped();
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void finishAndDisableSteppers();
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//put an ASCII command at the end of the current buffer.
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void enquecommand(const char *cmd, bool from_progmem = false);
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//put an ASCII command at the end of the current buffer, read from flash
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#define enquecommand_P(cmd) enquecommand(cmd, true)
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//put an ASCII command at the begin of the current buffer
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void enquecommand_front(const char *cmd, bool from_progmem = false);
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//put an ASCII command at the begin of the current buffer, read from flash
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#define enquecommand_front_P(cmd) enquecommand_front(cmd, true)
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void repeatcommand_front();
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// Remove all lines from the command queue.
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void cmdqueue_reset();
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void prepare_arc_move(char isclockwise);
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void clamp_to_software_endstops(float target[3]);
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void refresh_cmd_timeout(void);
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// Timer counter, incremented by the 1ms Arduino timer.
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// The standard Arduino timer() function returns this value atomically
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// by disabling / enabling interrupts. This is costly, if the interrupts are known
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// to be disabled.
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#ifdef SYSTEM_TIMER_2
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extern volatile unsigned long timer2_millis;
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#else //SYSTEM_TIMER_2
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extern volatile unsigned long timer0_millis;
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#endif //SYSTEM_TIMER_2
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// An unsynchronized equivalent to a standard Arduino _millis() function.
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// To be used inside an interrupt routine.
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FORCE_INLINE unsigned long millis_nc() {
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#ifdef SYSTEM_TIMER_2
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return timer2_millis;
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#else //SYSTEM_TIMER_2
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return timer0_millis;
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#endif //SYSTEM_TIMER_2
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}
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#ifdef FAST_PWM_FAN
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void setPwmFrequency(uint8_t pin, int val);
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#endif
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extern bool fans_check_enabled;
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extern float homing_feedrate[];
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extern uint8_t axis_relative_modes;
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extern float feedrate;
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extern int feedmultiply;
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extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
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extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
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extern float extruder_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
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extern float current_position[NUM_AXIS] ;
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extern float destination[NUM_AXIS] ;
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extern float min_pos[3];
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extern float max_pos[3];
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extern bool axis_known_position[3];
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extern int fanSpeed;
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extern int8_t lcd_change_fil_state;
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extern float default_retraction;
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#ifdef TMC2130
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void homeaxis(int axis, uint8_t cnt = 1, uint8_t* pstep = 0);
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#else
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void homeaxis(int axis, uint8_t cnt = 1);
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#endif //TMC2130
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#ifdef FAN_SOFT_PWM
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extern unsigned char fanSpeedSoftPwm;
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#endif
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#ifdef FWRETRACT
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extern bool retracted[EXTRUDERS];
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extern float retract_length_swap;
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extern float retract_recover_length_swap;
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#endif
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extern uint8_t host_keepalive_interval;
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extern unsigned long starttime;
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extern unsigned long stoptime;
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extern int bowden_length[4];
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extern bool is_usb_printing;
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extern bool homing_flag;
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extern bool loading_flag;
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extern unsigned int usb_printing_counter;
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extern unsigned long kicktime;
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extern unsigned long total_filament_used;
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void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time);
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extern unsigned int heating_status;
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extern unsigned int status_number;
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extern unsigned int heating_status_counter;
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extern char snmm_filaments_used;
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extern unsigned long PingTime;
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extern unsigned long NcTime;
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extern bool no_response;
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extern uint8_t important_status;
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extern uint8_t saved_filament_type;
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extern bool fan_state[2];
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extern int fan_edge_counter[2];
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extern int fan_speed[2];
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// Handling multiple extruders pins
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extern uint8_t active_extruder;
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//Long pause
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extern unsigned long pause_time;
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extern unsigned long start_pause_print;
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extern unsigned long t_fan_rising_edge;
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extern bool mesh_bed_leveling_flag;
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extern bool mesh_bed_run_from_menu;
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extern bool sortAlpha;
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extern char dir_names[3][9];
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extern int8_t lcd_change_fil_state;
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// save/restore printing
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extern bool saved_printing;
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extern uint8_t saved_printing_type;
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#define PRINTING_TYPE_SD 0
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#define PRINTING_TYPE_USB 1
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#define PRINTING_TYPE_NONE 2
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//save/restore printing in case that mmu is not responding
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extern bool mmu_print_saved;
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//estimated time to end of the print
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extern uint8_t print_percent_done_normal;
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extern uint16_t print_time_remaining_normal;
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extern uint8_t print_percent_done_silent;
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extern uint16_t print_time_remaining_silent;
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#define PRINT_TIME_REMAINING_INIT 0xffff
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extern uint16_t mcode_in_progress;
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extern uint16_t gcode_in_progress;
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extern LongTimer safetyTimer;
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#define PRINT_PERCENT_DONE_INIT 0xff
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#define PRINTER_ACTIVE (IS_SD_PRINTING || is_usb_printing || isPrintPaused || (custom_message_type == CustomMsg::TempCal) || saved_printing || (lcd_commands_type == LcdCommands::Layer1Cal) || mmu_print_saved)
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//! Beware - mcode_in_progress is set as soon as the command gets really processed,
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//! which is not the same as posting the M600 command into the command queue
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//! There can be a considerable lag between posting M600 and its real processing which might result
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//! in posting multiple M600's into the command queue
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//! Instead, the fsensor uses another state variable :( , which is set to true, when the M600 command is enqued
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//! and is reset to false when the fsensor returns into its filament runout finished handler
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//! I'd normally change this macro, but who knows what would happen in the MMU :)
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#define CHECK_FSENSOR ((IS_SD_PRINTING || is_usb_printing) && (mcode_in_progress != 600) && !saved_printing && e_active())
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extern void calculate_extruder_multipliers();
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// Similar to the default Arduino delay function,
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// but it keeps the background tasks running.
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extern void delay_keep_alive(unsigned int ms);
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extern void check_babystep();
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extern void long_pause();
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extern void crashdet_stop_and_save_print();
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#ifdef HEATBED_ANALYSIS
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void d_setup();
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float d_ReadData();
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void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
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void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
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#endif //HEATBED_ANALYSIS
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float temp_comp_interpolation(float temperature);
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void show_fw_version_warnings();
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uint8_t check_printer_version();
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#ifdef PINDA_THERMISTOR
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float temp_compensation_pinda_thermistor_offset(float temperature_pinda);
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#endif //PINDA_THERMISTOR
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void serialecho_temperatures();
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bool check_commands();
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void uvlo_();
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void uvlo_tiny();
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void recover_print(uint8_t automatic);
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void setup_uvlo_interrupt();
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#if defined(TACH_1) && TACH_1 >-1
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void setup_fan_interrupt();
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#endif
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extern bool recover_machine_state_after_power_panic();
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extern void restore_print_from_eeprom(bool mbl_was_active);
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extern void position_menu();
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extern void print_world_coordinates();
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extern void print_physical_coordinates();
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extern void print_mesh_bed_leveling_table();
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extern void stop_and_save_print_to_ram(float z_move, float e_move);
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extern void restore_print_from_ram_and_continue(float e_move);
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extern void cancel_saved_printing();
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//estimated time to end of the print
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extern uint16_t print_time_remaining();
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extern uint8_t calc_percent_done();
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// States for managing Marlin and host communication
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// Marlin sends messages if blocked or busy
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/*enum MarlinBusyState {
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NOT_BUSY, // Not in a handler
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IN_HANDLER, // Processing a GCode
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IN_PROCESS, // Known to be blocking command input (as in G29)
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PAUSED_FOR_USER, // Blocking pending any input
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PAUSED_FOR_INPUT // Blocking pending text input (concept)
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};*/
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#define NOT_BUSY 1
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#define IN_HANDLER 2
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#define IN_PROCESS 3
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#define PAUSED_FOR_USER 4
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#define PAUSED_FOR_INPUT 5
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#define KEEPALIVE_STATE(n) do { busy_state = n;} while (0)
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extern void host_keepalive();
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//extern MarlinBusyState busy_state;
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extern int8_t busy_state;
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#ifdef TMC2130
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#define FORCE_HIGH_POWER_START force_high_power_mode(true)
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#define FORCE_HIGH_POWER_END force_high_power_mode(false)
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void force_high_power_mode(bool start_high_power_section);
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#endif //TMC2130
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// G-codes
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bool gcode_M45(bool onlyZ, int8_t verbosity_level);
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void gcode_M114();
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void gcode_M701();
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#define UVLO !(PINE & (1<<4))
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void proc_commands();
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void M600_load_filament();
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void M600_load_filament_movements();
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void M600_wait_for_user(float HotendTempBckp);
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void M600_check_state(float nozzle_temp);
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void load_filament_final_feed();
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void marlin_wait_for_click();
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void raise_z_above(float target, bool plan=true);
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#endif
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