Firmware2/Marlin/Marlin.h

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// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// License: GPL
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#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>
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#include <avr/pgmspace.h>
#include <avr/eeprom.h>
#include <avr/interrupt.h>
#include "fastio.h"
#include "Configuration.h"
#if (ARDUINO >= 100)
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#define BIT(b) (1<<(b))
#define TEST(n,b) (((n)&BIT(b))!=0)
#define RADIANS(d) ((d)*M_PI/180.0)
#define DEGREES(r) ((d)*180.0/M_PI)
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#define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
#define NOMORE(v,n) do{ if (v > n) v = n; }while(0)
typedef unsigned long millis_t;
// Arduino < 1.0.0 does not define this, so we need to do it ourselves
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p) + 0xA0)
#endif
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#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
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#else
#define MYSERIAL MSerial
#endif
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#define SERIAL_CHAR(x) MYSERIAL.write(x)
#define SERIAL_EOL SERIAL_CHAR('\n')
#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),MYSERIAL.write('\n'); }while(0)
#define SERIAL_PROTOCOLLNPGM(x) do{ serialprintPGM(PSTR(x)),MYSERIAL.write('\n'); }while(0)
extern const char errormagic[] PROGMEM;
extern const char echomagic[] PROGMEM;
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#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)
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#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)
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#define SERIAL_ECHOPAIR(name,value) do{ serial_echopair_P(PSTR(name),(value)); }while(0)
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) {
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char ch;
while ((ch = pgm_read_byte(str))) {
MYSERIAL.write(ch);
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str++;
}
}
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void get_command();
void process_commands();
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void manage_inactivity(bool ignore_stepper_queue=false);
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#if defined(DUAL_X_CARRIAGE) && HAS_X_ENABLE && 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)
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#elif HAS_X_ENABLE
#define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
#define disable_x() { X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
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#else
#define enable_x() ;
#define disable_x() ;
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#endif
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#if HAS_Y_ENABLE
#ifdef Y_DUAL_STEPPER_DRIVERS
#define enable_y() { Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }
#define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
#else
#define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
#define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
#endif
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#else
#define enable_y() ;
#define disable_y() ;
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#endif
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#if HAS_Z_ENABLE
#ifdef Z_DUAL_STEPPER_DRIVERS
#define enable_z() { Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }
#define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
#else
#define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
#define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
#endif
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#else
#define enable_z() ;
#define disable_z() ;
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#endif
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#if HAS_E0_ENABLE
#define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
#define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
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#else
#define enable_e0() /* nothing */
#define disable_e0() /* nothing */
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#endif
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#if (EXTRUDERS > 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() /* nothing */
#define disable_e1() /* nothing */
#endif
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#if (EXTRUDERS > 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() /* nothing */
#define disable_e2() /* nothing */
#endif
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#if (EXTRUDERS > 3) && HAS_E3_ENABLE
#define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
#define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
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#else
#define enable_e3() /* nothing */
#define disable_e3() /* nothing */
#endif
/**
* The axis order in all axis related arrays is X, Y, Z, E
*/
#define NUM_AXIS 4
/**
* Axis indices as enumerated constants
*
* A_AXIS and B_AXIS are used by COREXY printers
* X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
*/
enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
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void enable_all_steppers();
void disable_all_steppers();
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void FlushSerialRequestResend();
void ClearToSend();
void get_coordinates();
#ifdef DELTA
void calculate_delta(float cartesian[3]);
#ifdef ENABLE_AUTO_BED_LEVELING
extern int delta_grid_spacing[2];
void adjust_delta(float cartesian[3]);
#endif
extern float delta[3];
#endif
#ifdef SCARA
void calculate_delta(float cartesian[3]);
void calculate_SCARA_forward_Transform(float f_scara[3]);
#endif
void reset_bed_level();
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void prepare_move();
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void kill();
void Stop();
#ifdef FILAMENT_RUNOUT_SENSOR
void filrunout();
#endif
/**
* Debug flags - not yet widely applied
*/
enum DebugFlags {
DEBUG_ECHO = BIT(0),
DEBUG_INFO = BIT(1),
DEBUG_ERRORS = BIT(2),
DEBUG_DRYRUN = BIT(3),
DEBUG_COMMUNICATION = BIT(4)
};
extern uint8_t marlin_debug_flags;
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extern bool Running;
inline bool IsRunning() { return Running; }
inline bool IsStopped() { return !Running; }
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bool enqueuecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
void enqueuecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
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void prepare_arc_move(char isclockwise);
void clamp_to_software_endstops(float target[3]);
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extern millis_t previous_cmd_ms;
inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
#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
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extern float homing_feedrate[];
extern bool axis_relative_modes[];
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extern int feedrate_multiplier;
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 home_offset[3];
#ifdef DELTA
extern float endstop_adj[3];
extern float delta_radius;
extern float delta_diagonal_rod;
extern float delta_segments_per_second;
void recalc_delta_settings(float radius, float diagonal_rod);
#elif defined(Z_DUAL_ENDSTOPS)
extern float z_endstop_adj;
#endif
#ifdef SCARA
extern float axis_scaling[3]; // Build size scaling
#endif
M206: always use homing ("homeing") offsets Previously the parameters set in M206 would only be used if a G82 command was sent with specific axis home values. This limits its usefulness. Really, we should have a way to adjust the XYZ homing of a machine in the eeprom. So as the first stage of this, make M206 affect every home command. The values set using M206 are now added to the configuration variables [XYZ]_HOME_POS. This is achieved by replacing all uses of [XYZ]_HOME_POS in the code by a new home_pos[] which includes the adjustment. We also have to adjust the uses of [XYZ]_{MIN,MAX}_POS similarly - see below. To allow axis_is_at_home to be written as a function taking an axis index rather than a macro taking an axis letter, we provide constant arrays in program memory containing the values of [XYZ]_{MIN,MAX,HOME}_POS from the compiled-in configuration. This is done with some helper macros to deal with the declaration (XYZ_CONSTS_FROM_CONFIG) and definition of the inline function which does the program memory access. We also introduce the overloaded function read_pgm_any, whose instances are produced with DEFINE_PGM_READ_ANY, which allows the access functions to automatically produce the correct type. The type- and pointer-massaging code in the access function boils down, when compiled, to a simple program memory access. A question arises: if the M206 offset is set, should this adjustment to the home position shift or change the possible range of movement permitted by the software endstops ? The documentation in Configuration.h describes these limits as: // Travel limits after homing Since this is a file containing physical limits, and actual suggested values for these configuration parameters appear to include a certain amount of slop, I've taken the view that these should be regarded as nominal physical distances from the limit switches, and that the permissible travel should be unaffected by M206. So for example with the (rather unrealistic) #define X_HOME_DIR -1 #define X_MIN_POS -20 #define X_HOME_POS 0 #define X_MAX_POS 100 no matter the setting of M206 X, the machine would be permitted to move from 20mm "beyond" the limit switch trigger point in the negative X direction and 100mm away from the limit switch in the positive X direction, for a total travel of 120mm. With M206 X-10 that would be considered to correspond to X coordinates -30 to +90. With M206 X+10 that would be considered to correspond to X coordinates -10 to +110. fixes #200 (in ErikZalm/Marlin). Signed-off-by: Ian Jackson <ijackson@chiark.greenend.org.uk>
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extern float min_pos[3];
extern float max_pos[3];
extern bool axis_known_position[3];
#ifdef ENABLE_AUTO_BED_LEVELING
extern float zprobe_zoffset;
#endif
#ifdef PREVENT_DANGEROUS_EXTRUDE
extern float extrude_min_temp;
#endif
extern int fanSpeed;
#ifdef BARICUDA
extern int ValvePressure;
extern int EtoPPressure;
#endif
#ifdef FAN_SOFT_PWM
extern unsigned char fanSpeedSoftPwm;
#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; //ring buffer index. used by planner, temperature, and main code
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
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extern millis_t print_job_start_ms;
extern millis_t print_job_stop_ms;
// 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
extern void calculate_volumetric_multipliers();
#endif //MARLIN_H