Firmware2/Marlin/Marlin.h

406 lines
14 KiB
C
Raw Normal View History

/**
2016-03-24 19:01:20 +01:00
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
2012-06-02 20:44:17 +02:00
#ifndef MARLIN_H
#define MARLIN_H
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <inttypes.h>
#include <util/delay.h>
2011-12-22 12:38:50 +01:00
#include <avr/pgmspace.h>
#include <avr/eeprom.h>
#include <avr/interrupt.h>
#include "MarlinConfig.h"
#include "enum.h"
#include "types.h"
#include "fastio.h"
2016-07-26 05:53:36 +02:00
#include "utility.h"
#ifdef USBCON
#include "HardwareSerial.h"
2016-07-26 05:53:36 +02:00
#if ENABLED(BLUETOOTH)
#define MYSERIAL bluetoothSerial
#else
#define MYSERIAL Serial
#endif // BLUETOOTH
#else
#include "MarlinSerial.h"
#define MYSERIAL customizedSerial
#endif
#include "WString.h"
2016-04-27 03:13:27 +02:00
#if ENABLED(PRINTCOUNTER)
#include "printcounter.h"
#else
#include "stopwatch.h"
#endif
extern const char echomagic[] PROGMEM;
2016-08-12 12:22:02 +02:00
extern const char errormagic[] PROGMEM;
2016-08-12 12:22:02 +02:00
#define SERIAL_CHAR(x) (MYSERIAL.write(x))
#define SERIAL_EOL SERIAL_CHAR('\n')
2016-08-12 12:22:02 +02:00
#define SERIAL_PROTOCOLCHAR(x) SERIAL_CHAR(x)
#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) do{ MYSERIAL.print(x); SERIAL_EOL; }while(0)
#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x "\n")))
#define SERIAL_PROTOCOLPAIR(name, value) (serial_echopair_P(PSTR(name),(value)))
#define SERIAL_PROTOCOLLNPAIR(name, value) do{ SERIAL_PROTOCOLPAIR(name, value); SERIAL_EOL; }while(0)
#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_PROTOCOLPAIR(name, value)
#define SERIAL_ECHOLNPAIR(name, value) SERIAL_PROTOCOLLNPAIR(name, value)
#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)
2016-08-05 17:17:06 +02:00
void serial_echopair_P(const char* s_P, const char *v);
2016-07-15 10:57:02 +02:00
void serial_echopair_P(const char* s_P, char v);
void serial_echopair_P(const char* s_P, int v);
void serial_echopair_P(const char* s_P, long v);
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);
2016-07-28 23:51:18 +02:00
FORCE_INLINE void serial_echopair_P(const char* s_P, uint8_t v) { serial_echopair_P(s_P, (int)v); }
2016-07-25 02:46:19 +02:00
FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopair_P(s_P, (int)v); }
2016-04-07 07:40:45 +02:00
FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); }
FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(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) {
2016-08-21 05:38:47 +02:00
while (char ch = pgm_read_byte(str++)) MYSERIAL.write(ch);
}
2016-03-19 06:22:40 +01:00
void idle(
#if ENABLED(FILAMENT_CHANGE_FEATURE)
bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
2016-03-19 06:22:40 +01:00
#endif
);
2015-05-27 05:08:21 +02:00
void manage_inactivity(bool ignore_stepper_queue = false);
2011-08-12 22:28:35 +02:00
2016-07-20 19:30:10 +02:00
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
extern bool extruder_duplication_enabled;
#endif
2016-07-11 19:19:07 +02:00
#if HAS_X2_ENABLE
#define enable_x() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
#define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
2015-04-04 00:31:35 +02:00
#elif HAS_X_ENABLE
#define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
2016-07-11 19:19:07 +02:00
#define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
2011-08-12 22:28:35 +02:00
#else
2016-07-11 19:19:07 +02:00
#define enable_x() NOOP
#define disable_x() NOOP
2011-08-12 22:28:35 +02:00
#endif
2016-07-11 19:19:07 +02:00
#if HAS_Y2_ENABLE
#define enable_y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
#define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
#elif HAS_Y_ENABLE
#define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
#define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
2011-08-12 22:28:35 +02:00
#else
2016-07-11 19:19:07 +02:00
#define enable_y() NOOP
#define disable_y() NOOP
2011-08-12 22:28:35 +02:00
#endif
2016-07-11 19:19:07 +02:00
#if HAS_Z2_ENABLE
#define enable_z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
#define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
#elif HAS_Z_ENABLE
#define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
#define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
2011-08-12 22:28:35 +02:00
#else
2016-07-11 19:19:07 +02:00
#define enable_z() NOOP
#define disable_z() NOOP
2011-08-12 22:28:35 +02:00
#endif
#if ENABLED(MIXING_EXTRUDER)
/**
* Mixing steppers synchronize their enable (and direction) together
*/
#if MIXING_STEPPERS > 3
#define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); E3_ENABLE_WRITE( E_ENABLE_ON); }
#define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); E3_ENABLE_WRITE(!E_ENABLE_ON); }
#elif MIXING_STEPPERS > 2
#define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
#define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
#else
#define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
#define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
#endif
2016-07-11 19:19:07 +02:00
#define enable_e1() NOOP
#define disable_e1() NOOP
#define enable_e2() NOOP
#define disable_e2() NOOP
#define enable_e3() NOOP
#define disable_e3() NOOP
#else // !MIXING_EXTRUDER
#if HAS_E0_ENABLE
#define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
#define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
#else
#define enable_e0() NOOP
#define disable_e0() NOOP
#endif
#if E_STEPPERS > 1 && HAS_E1_ENABLE
#define enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
#define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
#else
#define enable_e1() NOOP
#define disable_e1() NOOP
#endif
#if E_STEPPERS > 2 && HAS_E2_ENABLE
#define enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
#define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
#else
#define enable_e2() NOOP
#define disable_e2() NOOP
#endif
#if E_STEPPERS > 3 && HAS_E3_ENABLE
#define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
#define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
#else
#define enable_e3() NOOP
#define disable_e3() NOOP
#endif
#endif // !MIXING_EXTRUDER
2016-09-29 22:06:01 +02:00
#if ENABLED(G38_PROBE_TARGET)
2016-09-26 08:30:34 +02:00
extern bool G38_move, // flag to tell the interrupt handler that a G38 command is being run
G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
#endif
/**
* The axis order in all axis related arrays is X, Y, Z, E
*/
#define _AXIS(AXIS) AXIS ##_AXIS
void enable_all_steppers();
void disable_all_steppers();
2011-08-12 22:28:35 +02:00
void FlushSerialRequestResend();
void ok_to_send();
2011-08-12 22:28:35 +02:00
void kill(const char*);
void quickstop_stepper();
2016-06-03 02:11:54 +02:00
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
2016-04-18 08:16:49 +02:00
void handle_filament_runout();
#endif
extern uint8_t marlin_debug_flags;
2016-03-30 04:50:01 +02:00
#define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
2015-04-08 09:56:19 +02:00
extern bool Running;
inline bool IsRunning() { return Running; }
inline bool IsStopped() { return !Running; }
2011-08-12 22:28:35 +02:00
2016-02-21 02:35:35 +01:00
bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); //put a single ASCII command at the end of the current buffer or return false when it is full
void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return when the command has been enqueued
2016-02-21 02:35:35 +01:00
void enqueue_and_echo_commands_P(const char* cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
void clear_command_queue();
2015-04-13 03:07:08 +02:00
extern millis_t previous_cmd_ms;
inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
#if ENABLED(FAST_PWM_FAN)
void setPwmFrequency(uint8_t pin, int val);
#endif
2011-08-12 22:28:35 +02:00
2016-07-16 03:49:34 +02:00
/**
* Feedrate scaling and conversion
*/
extern int feedrate_percentage;
#define MMM_TO_MMS(MM_M) ((MM_M)/60.0)
#define MMS_TO_MMM(MM_S) ((MM_S)*60.0)
#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
2016-07-16 03:49:34 +02:00
extern bool axis_relative_modes[];
extern bool volumetric_enabled;
2016-08-19 05:13:47 +02:00
extern int flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
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
2016-08-21 05:38:32 +02:00
extern bool axis_known_position[XYZ]; // axis[n].is_known
extern bool axis_homed[XYZ]; // axis[n].is_homed
2016-07-07 04:59:19 +02:00
extern volatile bool wait_for_heatup;
2016-09-12 03:51:53 +02:00
#if ENABLED(EMERGENCY_PARSER) && DISABLED(ULTIPANEL)
extern volatile bool wait_for_user;
#endif
2016-07-25 01:34:01 +02:00
extern float current_position[NUM_AXIS];
2016-08-21 05:38:32 +02:00
extern float position_shift[XYZ];
extern float home_offset[XYZ];
// Software Endstops
void update_software_endstops(AxisEnum axis);
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
extern bool soft_endstops_enabled;
void clamp_to_software_endstops(float target[XYZ]);
#else
#define soft_endstops_enabled false
#define clamp_to_software_endstops(x) NOOP
#endif
extern float soft_endstop_min[XYZ];
extern float soft_endstop_max[XYZ];
2016-07-25 01:34:01 +02:00
#define LOGICAL_POSITION(POS, AXIS) (POS + home_offset[AXIS] + position_shift[AXIS])
#define RAW_POSITION(POS, AXIS) (POS - home_offset[AXIS] - position_shift[AXIS])
#define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
#define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
#define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
#define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
#define RAW_CURRENT_POSITION(AXIS) RAW_POSITION(current_position[AXIS], AXIS)
2016-04-28 03:06:32 +02:00
// GCode support for external objects
bool code_seen(char);
int code_value_int();
float code_value_temp_abs();
float code_value_temp_diff();
2016-04-28 03:06:32 +02:00
2016-09-12 10:48:29 +02:00
#if IS_KINEMATIC
2016-08-21 05:38:32 +02:00
extern float delta[ABC];
void inverse_kinematics(const float logical[XYZ]);
2016-09-12 10:48:29 +02:00
#endif
#if ENABLED(DELTA)
2016-09-15 07:27:31 +02:00
extern float endstop_adj[ABC],
2016-09-12 10:48:29 +02:00
delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_diagonal_rod_trim_tower_1,
delta_diagonal_rod_trim_tower_2,
delta_diagonal_rod_trim_tower_3;
void recalc_delta_settings(float radius, float diagonal_rod);
#elif IS_SCARA
2016-09-12 10:48:29 +02:00
void forward_kinematics_SCARA(const float &a, const float &b);
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
extern int bilinear_grid_spacing[2];
float bilinear_z_offset(float logical[XYZ]);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
2015-07-15 04:49:43 +02:00
extern float z_endstop_adj;
#endif
2016-06-15 03:05:20 +02:00
#if HAS_BED_PROBE
extern float zprobe_zoffset;
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
extern uint8_t host_keepalive_interval;
#endif
2016-03-06 03:27:45 +01:00
#if FAN_COUNT > 0
extern int fanSpeeds[FAN_COUNT];
#endif
#if ENABLED(BARICUDA)
2016-04-18 08:12:15 +02:00
extern int baricuda_valve_pressure;
extern int baricuda_e_to_p_pressure;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
2016-09-06 06:57:12 +02:00
extern bool filament_sensor; // Flag that filament sensor readings should control extrusion
extern float filament_width_nominal, // Theoretical filament diameter i.e., 3.00 or 1.75
filament_width_meas; // Measured filament diameter
extern int8_t measurement_delay[]; // Ring buffer to delay measurement
extern int filwidth_delay_index[2]; // Ring buffer indexes. Used by planner, temperature, and main code
extern int meas_delay_cm; // Delay distance
#endif
#if ENABLED(FILAMENT_CHANGE_FEATURE)
extern FilamentChangeMenuResponse filament_change_menu_response;
#endif
#if ENABLED(PID_EXTRUSION_SCALING)
2015-08-31 04:04:30 +02:00
extern int lpq_len;
#endif
#if ENABLED(FWRETRACT)
extern bool autoretract_enabled;
2015-07-15 04:49:43 +02:00
extern bool retracted[EXTRUDERS]; // extruder[n].retracted
2016-06-22 12:27:31 +02:00
extern float retract_length, retract_length_swap, retract_feedrate_mm_s, retract_zlift;
2016-07-16 03:49:34 +02:00
extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate_mm_s;
#endif
// Print job timer
2016-04-27 03:13:27 +02:00
#if ENABLED(PRINTCOUNTER)
extern PrintCounter print_job_timer;
#else
extern Stopwatch print_job_timer;
#endif
// Handling multiple extruders pins
extern uint8_t active_extruder;
2016-04-04 01:18:49 +02:00
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
void print_heaterstates();
#endif
#if ENABLED(MIXING_EXTRUDER)
extern float mixing_factor[MIXING_STEPPERS];
#endif
void calculate_volumetric_multipliers();
/**
* Blocking movement and shorthand functions
*/
void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
#endif //MARLIN_H