449 lines
13 KiB
C
449 lines
13 KiB
C
// 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 "fastio.h"
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#include "Configuration.h"
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#include "pins.h"
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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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extern FILE _lcdout;
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#define lcdout (&_lcdout)
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extern FILE _uartout;
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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.print(x),MYSERIAL.write('\n'))
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#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
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#define SERIAL_PROTOCOLLNRPGM(x) (serialprintPGM((x)),MYSERIAL.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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FORCE_INLINE void serialprintPGM(const char *str)
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{
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char ch=pgm_read_byte(str);
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while(ch)
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{
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MYSERIAL.write(ch);
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ch=pgm_read_byte(++str);
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}
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}
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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 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() ;
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#endif
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#else
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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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#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(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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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 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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//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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void enquecommand_front(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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#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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extern volatile unsigned long timer0_millis;
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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 timer_nc() { return timer0_millis; }
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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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#ifndef CRITICAL_SECTION_START
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#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
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#define CRITICAL_SECTION_END SREG = _sreg;
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#endif //CRITICAL_SECTION_START
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extern float homing_feedrate[];
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extern bool axis_relative_modes[];
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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 bool volumetric_enabled;
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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 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.
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extern float volumetric_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 add_homing[3];
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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 float zprobe_zoffset;
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extern int fanSpeed;
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extern void homeaxis(int axis);
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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 FILAMENT_SENSOR
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extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75
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extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
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extern float filament_width_meas; //holds the filament diameter as accurately measured
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extern signed char measurement_delay[]; //ring buffer to delay measurement
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extern int delay_index1, delay_index2; //index into ring buffer
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extern float delay_dist; //delay distance counter
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extern int meas_delay_cm; //delay distance
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#endif
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#ifdef FWRETRACT
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extern bool autoretract_enabled;
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extern bool retracted[EXTRUDERS];
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extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
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extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
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#endif
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#ifdef HOST_KEEPALIVE_FEATURE
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extern uint8_t host_keepalive_interval;
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#endif
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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 temp_cal_active;
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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 bool custom_message;
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extern unsigned int custom_message_type;
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extern unsigned int custom_message_state;
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extern char snmm_filaments_used;
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extern unsigned long PingTime;
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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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#ifdef DIGIPOT_I2C
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extern void digipot_i2c_set_current( int channel, float current );
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extern void digipot_i2c_init();
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#endif
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#endif
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//Long pause
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extern int saved_feedmultiply;
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extern float HotendTempBckp;
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extern int fanSpeedBckp;
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extern float pause_lastpos[4];
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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 float distance_from_min[2];
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extern bool sortAlpha;
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extern char dir_names[3][9];
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extern void calculate_volumetric_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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#ifdef DIS
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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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#endif
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float temp_comp_interpolation(float temperature);
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void temp_compensation_apply();
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void temp_compensation_start();
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void show_fw_version_warnings();
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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 wait_for_heater(long codenum);
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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 recover_print(uint8_t automatic);
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void setup_uvlo_interrupt();
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void setup_fan_interrupt();
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extern void recover_machine_state_after_power_panic();
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extern void restore_print_from_eeprom();
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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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#ifdef PAT9125
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extern void fsensor_init();
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#endif //PAT9125
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#ifdef HOST_KEEPALIVE_FEATURE
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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 int busy_state;
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#endif //HOST_KEEPALIVE_FEATURE
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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);
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void gcode_M701();
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#define UVLO !(PINE & (1<<4))
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void extr_unload2();
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