410 lines
12 KiB
C
410 lines
12 KiB
C
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
|
|
// License: GPL
|
|
|
|
#ifndef MARLIN_H
|
|
#define MARLIN_H
|
|
|
|
#define FORCE_INLINE __attribute__((always_inline)) inline
|
|
|
|
#include <math.h>
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <inttypes.h>
|
|
|
|
#include <util/delay.h>
|
|
#include <avr/pgmspace.h>
|
|
#include <avr/eeprom.h>
|
|
#include <avr/interrupt.h>
|
|
|
|
|
|
#include "fastio.h"
|
|
#include "Configuration.h"
|
|
#include "pins.h"
|
|
|
|
#ifndef AT90USB
|
|
#define HardwareSerial_h // trick to disable the standard HWserial
|
|
#endif
|
|
|
|
#if (ARDUINO >= 100)
|
|
# include "Arduino.h"
|
|
#else
|
|
# include "WProgram.h"
|
|
#endif
|
|
|
|
// Arduino < 1.0.0 does not define this, so we need to do it ourselves
|
|
#ifndef analogInputToDigitalPin
|
|
# define analogInputToDigitalPin(p) ((p) + A0)
|
|
#endif
|
|
|
|
#ifdef AT90USB
|
|
#include "HardwareSerial.h"
|
|
#endif
|
|
|
|
#include "MarlinSerial.h"
|
|
|
|
#ifndef cbi
|
|
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
|
|
#endif
|
|
#ifndef sbi
|
|
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
|
|
#endif
|
|
|
|
#include "WString.h"
|
|
|
|
#ifdef AT90USB
|
|
#ifdef BTENABLED
|
|
#define MYSERIAL bt
|
|
#else
|
|
#define MYSERIAL Serial
|
|
#endif // BTENABLED
|
|
#else
|
|
#define MYSERIAL MSerial
|
|
#endif
|
|
|
|
#define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
|
|
#define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
|
|
#define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
|
|
#define SERIAL_PROTOCOLRPGM(x) (serialprintPGM((x)))
|
|
#define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
|
|
#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
|
|
#define SERIAL_PROTOCOLLNRPGM(x) (serialprintPGM((x)),MYSERIAL.write('\n'))
|
|
|
|
|
|
extern const char errormagic[] PROGMEM;
|
|
extern const char echomagic[] PROGMEM;
|
|
|
|
#define SERIAL_ERROR_START (serialprintPGM(errormagic))
|
|
#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
|
|
#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
|
|
#define SERIAL_ERRORRPGM(x) SERIAL_PROTOCOLRPGM(x)
|
|
#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
|
|
#define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
|
|
#define SERIAL_ERRORLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
|
|
|
|
#define SERIAL_ECHO_START (serialprintPGM(echomagic))
|
|
#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
|
|
#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
|
|
#define SERIAL_ECHORPGM(x) SERIAL_PROTOCOLRPGM(x)
|
|
#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
|
|
#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
|
|
#define SERIAL_ECHOLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
|
|
|
|
#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
|
|
|
|
void serial_echopair_P(const char *s_P, float v);
|
|
void serial_echopair_P(const char *s_P, double v);
|
|
void serial_echopair_P(const char *s_P, unsigned long v);
|
|
|
|
|
|
//Things to write to serial from Program memory. Saves 400 to 2k of RAM.
|
|
FORCE_INLINE void serialprintPGM(const char *str)
|
|
{
|
|
char ch=pgm_read_byte(str);
|
|
while(ch)
|
|
{
|
|
MYSERIAL.write(ch);
|
|
ch=pgm_read_byte(++str);
|
|
}
|
|
}
|
|
|
|
bool is_buffer_empty();
|
|
void get_command();
|
|
void process_commands();
|
|
void ramming();
|
|
|
|
void manage_inactivity(bool ignore_stepper_queue=false);
|
|
|
|
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
|
|
#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
|
|
#define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
|
|
#else
|
|
#define enable_x() ;
|
|
#define disable_x() ;
|
|
#endif
|
|
|
|
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
|
|
#ifdef Y_DUAL_STEPPER_DRIVERS
|
|
#define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
|
|
#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
|
|
#else
|
|
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
|
|
#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
|
|
#endif
|
|
#else
|
|
#define enable_y() ;
|
|
#define disable_y() ;
|
|
#endif
|
|
|
|
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
|
|
#if defined(Z_AXIS_ALWAYS_ON)
|
|
#ifdef Z_DUAL_STEPPER_DRIVERS
|
|
#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
|
|
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
|
|
#else
|
|
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
|
|
#define disable_z() ;
|
|
#endif
|
|
#else
|
|
#ifdef Z_DUAL_STEPPER_DRIVERS
|
|
#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
|
|
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
|
|
#else
|
|
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
|
|
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
|
|
#endif
|
|
#endif
|
|
#else
|
|
#define enable_z() ;
|
|
#define disable_z() ;
|
|
#endif
|
|
|
|
|
|
|
|
|
|
//#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
|
|
//#ifdef Z_DUAL_STEPPER_DRIVERS
|
|
//#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
|
|
//#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
|
|
//#else
|
|
//#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
|
|
//#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
|
|
//#endif
|
|
//#else
|
|
//#define enable_z() ;
|
|
//#define disable_z() ;
|
|
//#endif
|
|
|
|
|
|
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
|
|
#define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
|
|
#define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e0() /* nothing */
|
|
#define disable_e0() /* nothing */
|
|
#endif
|
|
|
|
#if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
|
|
#define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
|
|
#define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e1() /* nothing */
|
|
#define disable_e1() /* nothing */
|
|
#endif
|
|
|
|
#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
|
|
#define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
|
|
#define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e2() /* nothing */
|
|
#define disable_e2() /* nothing */
|
|
#endif
|
|
|
|
|
|
enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
|
|
#define X_AXIS_MASK 1
|
|
#define Y_AXIS_MASK 2
|
|
#define Z_AXIS_MASK 4
|
|
#define E_AXIS_MASK 8
|
|
#define X_HEAD_MASK 16
|
|
#define Y_HEAD_MASK 32
|
|
|
|
|
|
void FlushSerialRequestResend();
|
|
void ClearToSend();
|
|
|
|
void get_coordinates();
|
|
void prepare_move();
|
|
void kill(const char *full_screen_message = NULL, unsigned char id = 0);
|
|
void Stop();
|
|
|
|
bool IsStopped();
|
|
|
|
//put an ASCII command at the end of the current buffer.
|
|
void enquecommand(const char *cmd, bool from_progmem = false);
|
|
//put an ASCII command at the end of the current buffer, read from flash
|
|
#define enquecommand_P(cmd) enquecommand(cmd, true)
|
|
void enquecommand_front(const char *cmd, bool from_progmem = false);
|
|
//put an ASCII command at the end of the current buffer, read from flash
|
|
#define enquecommand_P(cmd) enquecommand(cmd, true)
|
|
#define enquecommand_front_P(cmd) enquecommand_front(cmd, true)
|
|
void repeatcommand_front();
|
|
// Remove all lines from the command queue.
|
|
void cmdqueue_reset();
|
|
|
|
void prepare_arc_move(char isclockwise);
|
|
void clamp_to_software_endstops(float target[3]);
|
|
void refresh_cmd_timeout(void);
|
|
|
|
#ifdef FAST_PWM_FAN
|
|
void setPwmFrequency(uint8_t pin, int val);
|
|
#endif
|
|
|
|
#ifndef CRITICAL_SECTION_START
|
|
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
|
|
#define CRITICAL_SECTION_END SREG = _sreg;
|
|
#endif //CRITICAL_SECTION_START
|
|
|
|
extern float homing_feedrate[];
|
|
extern bool axis_relative_modes[];
|
|
extern int feedmultiply;
|
|
extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
|
|
extern bool volumetric_enabled;
|
|
extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
|
|
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.
|
|
extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
|
|
extern float current_position[NUM_AXIS] ;
|
|
extern float destination[NUM_AXIS] ;
|
|
extern float add_homing[3];
|
|
extern float min_pos[3];
|
|
extern float max_pos[3];
|
|
extern bool axis_known_position[3];
|
|
extern float zprobe_zoffset;
|
|
extern int fanSpeed;
|
|
extern void homeaxis(int axis);
|
|
|
|
|
|
#ifdef FAN_SOFT_PWM
|
|
extern unsigned char fanSpeedSoftPwm;
|
|
#endif
|
|
|
|
#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
|
|
extern unsigned char lcdSoftPwm;
|
|
extern unsigned char lcdBlinkDelay;
|
|
#endif
|
|
|
|
#ifdef FILAMENT_SENSOR
|
|
extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75
|
|
extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
|
|
extern float filament_width_meas; //holds the filament diameter as accurately measured
|
|
extern signed char measurement_delay[]; //ring buffer to delay measurement
|
|
extern int delay_index1, delay_index2; //index into ring buffer
|
|
extern float delay_dist; //delay distance counter
|
|
extern int meas_delay_cm; //delay distance
|
|
#endif
|
|
|
|
#ifdef FWRETRACT
|
|
extern bool autoretract_enabled;
|
|
extern bool retracted[EXTRUDERS];
|
|
extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
|
|
extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
|
|
#endif
|
|
|
|
#ifdef HOST_KEEPALIVE_FEATURE
|
|
extern uint8_t host_keepalive_interval;
|
|
#endif
|
|
|
|
extern unsigned long starttime;
|
|
extern unsigned long stoptime;
|
|
extern int bowden_length[4];
|
|
extern bool is_usb_printing;
|
|
extern bool homing_flag;
|
|
extern bool temp_cal_active;
|
|
extern bool loading_flag;
|
|
extern unsigned int usb_printing_counter;
|
|
|
|
extern unsigned long kicktime;
|
|
|
|
extern unsigned long total_filament_used;
|
|
void save_statistics(unsigned long _total_filament_used, unsigned long _total_print_time);
|
|
extern unsigned int heating_status;
|
|
extern unsigned int status_number;
|
|
extern unsigned int heating_status_counter;
|
|
extern bool custom_message;
|
|
extern unsigned int custom_message_type;
|
|
extern unsigned int custom_message_state;
|
|
extern char snmm_filaments_used;
|
|
extern unsigned long PingTime;
|
|
|
|
extern bool fan_state[2];
|
|
extern int fan_edge_counter[2];
|
|
extern int fan_speed[2];
|
|
|
|
// Handling multiple extruders pins
|
|
extern uint8_t active_extruder;
|
|
|
|
#ifdef DIGIPOT_I2C
|
|
extern void digipot_i2c_set_current( int channel, float current );
|
|
extern void digipot_i2c_init();
|
|
#endif
|
|
|
|
#endif
|
|
|
|
//Long pause
|
|
extern int saved_feedmultiply;
|
|
extern float HotendTempBckp;
|
|
extern int fanSpeedBckp;
|
|
extern float pause_lastpos[4];
|
|
extern unsigned long pause_time;
|
|
extern unsigned long start_pause_print;
|
|
extern unsigned long t_fan_rising_edge;
|
|
|
|
extern bool mesh_bed_leveling_flag;
|
|
extern bool mesh_bed_run_from_menu;
|
|
|
|
extern float distance_from_min[2];
|
|
|
|
extern void calculate_volumetric_multipliers();
|
|
|
|
// Similar to the default Arduino delay function,
|
|
// but it keeps the background tasks running.
|
|
extern void delay_keep_alive(unsigned int ms);
|
|
|
|
extern void check_babystep();
|
|
|
|
extern void long_pause();
|
|
|
|
#ifdef DIS
|
|
|
|
void d_setup();
|
|
float d_ReadData();
|
|
void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
|
|
|
|
#endif
|
|
float temp_comp_interpolation(float temperature);
|
|
void temp_compensation_apply();
|
|
void temp_compensation_start();
|
|
|
|
#ifdef PINDA_THERMISTOR
|
|
float temp_compensation_pinda_thermistor_offset(float temperature_pinda);
|
|
#endif //PINDA_THERMISTOR
|
|
|
|
void wait_for_heater(long codenum);
|
|
void serialecho_temperatures();
|
|
|
|
void uvlo_();
|
|
void recover_print(uint8_t automatic);
|
|
void setup_uvlo_interrupt();
|
|
void setup_fan_interrupt();
|
|
|
|
extern void recover_machine_state_after_power_panic();
|
|
extern void restore_print_from_eeprom();
|
|
extern void position_menu();
|
|
|
|
extern void print_world_coordinates();
|
|
extern void print_physical_coordinates();
|
|
extern void print_mesh_bed_leveling_table();
|
|
|
|
#ifdef HOST_KEEPALIVE_FEATURE
|
|
|
|
// States for managing Marlin and host communication
|
|
// Marlin sends messages if blocked or busy
|
|
enum MarlinBusyState {
|
|
NOT_BUSY, // Not in a handler
|
|
IN_HANDLER, // Processing a GCode
|
|
IN_PROCESS, // Known to be blocking command input (as in G29)
|
|
PAUSED_FOR_USER, // Blocking pending any input
|
|
PAUSED_FOR_INPUT // Blocking pending text input (concept)
|
|
};
|
|
|
|
#define KEEPALIVE_STATE(n) do { busy_state = n;} while (0)
|
|
extern void host_keepalive();
|
|
extern MarlinBusyState busy_state;
|
|
|
|
#endif //HOST_KEEPALIVE_FEATURE
|
|
|
|
// G-codes
|
|
bool gcode_M45(bool onlyZ);
|
|
void gcode_M701();
|
|
|
|
#define UVLO !(PINE & (1<<4)) |