Firmware/Marlin/Marlin.h
fmalpartida b5a964fcc5 Initial SAV MkI (RepRap CloneWars board) integration.
Included support for BT dongle on AT90USB boards.
Added LCD Shift Register LCD control
Included support for RepRap Clone Wars project board (SAV MKI).
2013-10-30 11:45:32 +01:00

241 lines
6.5 KiB
C

// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: 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"
//Arduino < 1.0.0 does not define this, so we need to do it ourselfs
# 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
extern HardwareSerial bt;
#define MYSERIAL bt
#else
#define MYSERIAL Serial
#endif // BTENABLED
#endif
#ifdef AT90USB
#define MYSERIAL Serial
#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_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
const char errormagic[] PROGMEM ="Error:";
const char echomagic[] PROGMEM ="echo:";
#define SERIAL_ERROR_START (serialprintPGM(errormagic))
#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
#define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
#define SERIAL_ECHO_START (serialprintPGM(echomagic))
#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(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 Programmemory. 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);
}
}
void get_command();
void process_commands();
void manage_inactivity();
#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
&& defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
#define enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
#define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); } while (0)
#elif 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)
#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); }
#else
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
#endif
#else
#define enable_y() ;
#define disable_y() ;
#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); }
#else
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
#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};
void FlushSerialRequestResend();
void ClearToSend();
void get_coordinates();
#ifdef DELTA
void calculate_delta(float cartesian[3]);
extern float delta[3];
#endif
void prepare_move();
void kill();
void Stop();
bool IsStopped();
void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
void enquecommand_P(const char *cmd); //put an ascii command at the end of the current buffer, read from flash
void prepare_arc_move(char isclockwise);
void clamp_to_software_endstops(float target[3]);
#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)
extern float current_position[NUM_AXIS] ;
extern float add_homeing[3];
#ifdef DELTA
extern float endstop_adj[3];
#endif
extern float min_pos[3];
extern float max_pos[3];
extern int fanSpeed;
#ifdef BARICUDA
extern int ValvePressure;
extern int EtoPPressure;
#endif
#ifdef FAN_SOFT_PWM
extern unsigned char fanSpeedSoftPwm;
#endif
#ifdef FWRETRACT
extern bool autoretract_enabled;
extern bool retracted;
extern float retract_length, retract_feedrate, retract_zlift;
extern float retract_recover_length, retract_recover_feedrate;
#endif
extern unsigned long starttime;
extern unsigned long stoptime;
// Handling multiple extruders pins
extern uint8_t active_extruder;
#endif