399 lines
13 KiB
C
399 lines
13 KiB
C
/**
|
|
* 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/>.
|
|
*
|
|
*/
|
|
#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>
|
|
#include <avr/pgmspace.h>
|
|
#include <avr/eeprom.h>
|
|
#include <avr/interrupt.h>
|
|
|
|
#include "MarlinConfig.h"
|
|
|
|
#include "enum.h"
|
|
#include "types.h"
|
|
#include "fastio.h"
|
|
#include "utility.h"
|
|
|
|
#ifdef USBCON
|
|
#include "HardwareSerial.h"
|
|
#if ENABLED(BLUETOOTH)
|
|
#define MYSERIAL bluetoothSerial
|
|
#else
|
|
#define MYSERIAL Serial
|
|
#endif // BLUETOOTH
|
|
#else
|
|
#include "MarlinSerial.h"
|
|
#define MYSERIAL customizedSerial
|
|
#endif
|
|
|
|
#include "WString.h"
|
|
|
|
#if ENABLED(PRINTCOUNTER)
|
|
#include "printcounter.h"
|
|
#else
|
|
#include "stopwatch.h"
|
|
#endif
|
|
|
|
#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); SERIAL_EOL; }while(0)
|
|
#define SERIAL_PROTOCOLLNPGM(x) do{ serialprintPGM(PSTR(x "\n")); }while(0)
|
|
|
|
#define SERIAL_PROTOCOLPAIR(name, value) SERIAL_ECHOPAIR(name, value)
|
|
|
|
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_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, 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);
|
|
FORCE_INLINE void serial_echopair_P(const char* s_P, uint8_t v) { serial_echopair_P(s_P, (int)v); }
|
|
FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopair_P(s_P, (int)v); }
|
|
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) {
|
|
char ch;
|
|
while ((ch = pgm_read_byte(str))) {
|
|
MYSERIAL.write(ch);
|
|
str++;
|
|
}
|
|
}
|
|
|
|
void idle(
|
|
#if ENABLED(FILAMENT_CHANGE_FEATURE)
|
|
bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
|
|
#endif
|
|
);
|
|
|
|
void manage_inactivity(bool ignore_stepper_queue = false);
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
|
|
extern bool extruder_duplication_enabled;
|
|
#endif
|
|
|
|
#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)
|
|
#elif HAS_X_ENABLE
|
|
#define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
|
|
#define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
|
|
#else
|
|
#define enable_x() NOOP
|
|
#define disable_x() NOOP
|
|
#endif
|
|
|
|
#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)
|
|
#else
|
|
#define enable_y() NOOP
|
|
#define disable_y() NOOP
|
|
#endif
|
|
|
|
#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)
|
|
#else
|
|
#define enable_z() NOOP
|
|
#define disable_z() NOOP
|
|
#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
|
|
#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
|
|
|
|
/**
|
|
* 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();
|
|
|
|
void FlushSerialRequestResend();
|
|
void ok_to_send();
|
|
|
|
void reset_bed_level();
|
|
void kill(const char*);
|
|
|
|
void quickstop_stepper();
|
|
|
|
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
|
|
void handle_filament_runout();
|
|
#endif
|
|
|
|
extern uint8_t marlin_debug_flags;
|
|
#define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
|
|
|
|
extern bool Running;
|
|
inline bool IsRunning() { return Running; }
|
|
inline bool IsStopped() { return !Running; }
|
|
|
|
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
|
|
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();
|
|
|
|
void clamp_to_software_endstops(float target[3]);
|
|
|
|
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
|
|
|
|
/**
|
|
* 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 MMM_SCALED(MM_M) ((MM_M)*feedrate_percentage*0.01)
|
|
#define MMS_SCALED(MM_S) MMM_SCALED(MM_S)
|
|
#define MMM_TO_MMS_SCALED(MM_M) (MMS_SCALED(MMM_TO_MMS(MM_M)))
|
|
|
|
extern bool axis_relative_modes[];
|
|
extern bool volumetric_enabled;
|
|
extern int extruder_multiplier[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 bool axis_known_position[3]; // axis[n].is_known
|
|
extern bool axis_homed[3]; // axis[n].is_homed
|
|
extern volatile bool wait_for_heatup;
|
|
|
|
extern float current_position[NUM_AXIS];
|
|
extern float position_shift[3];
|
|
extern float home_offset[3];
|
|
extern float sw_endstop_min[3];
|
|
extern float sw_endstop_max[3];
|
|
|
|
#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)
|
|
|
|
// GCode support for external objects
|
|
bool code_seen(char);
|
|
int code_value_int();
|
|
float code_value_temp_abs();
|
|
float code_value_temp_diff();
|
|
|
|
#if ENABLED(DELTA)
|
|
extern float delta[3];
|
|
extern float endstop_adj[3]; // axis[n].endstop_adj
|
|
extern float delta_radius;
|
|
extern float delta_diagonal_rod;
|
|
extern float delta_segments_per_second;
|
|
extern float delta_diagonal_rod_trim_tower_1;
|
|
extern float delta_diagonal_rod_trim_tower_2;
|
|
extern float delta_diagonal_rod_trim_tower_3;
|
|
void inverse_kinematics(const float cartesian[3]);
|
|
void recalc_delta_settings(float radius, float diagonal_rod);
|
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
|
|
extern int delta_grid_spacing[2];
|
|
void adjust_delta(float cartesian[3]);
|
|
#endif
|
|
#elif ENABLED(SCARA)
|
|
extern float delta[3];
|
|
extern float axis_scaling[3]; // Build size scaling
|
|
void inverse_kinematics(const float cartesian[3]);
|
|
void forward_kinematics_SCARA(float f_scara[3]);
|
|
#endif
|
|
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
extern float z_endstop_adj;
|
|
#endif
|
|
|
|
#if HAS_BED_PROBE
|
|
extern float zprobe_zoffset;
|
|
#endif
|
|
|
|
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
|
extern uint8_t host_keepalive_interval;
|
|
#endif
|
|
|
|
#if FAN_COUNT > 0
|
|
extern int fanSpeeds[FAN_COUNT];
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
extern int baricuda_valve_pressure;
|
|
extern int baricuda_e_to_p_pressure;
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
extern float filament_width_nominal; //holds the theoretical filament diameter i.e., 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 int8_t measurement_delay[]; //ring buffer to delay measurement
|
|
extern int filwidth_delay_index1, filwidth_delay_index2; //ring buffer index. 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)
|
|
extern int lpq_len;
|
|
#endif
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
extern bool autoretract_enabled;
|
|
extern bool retracted[EXTRUDERS]; // extruder[n].retracted
|
|
extern float retract_length, retract_length_swap, retract_feedrate_mm_s, retract_zlift;
|
|
extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate_mm_s;
|
|
#endif
|
|
|
|
// Print job timer
|
|
#if ENABLED(PRINTCOUNTER)
|
|
extern PrintCounter print_job_timer;
|
|
#else
|
|
extern Stopwatch print_job_timer;
|
|
#endif
|
|
|
|
// Handling multiple extruders pins
|
|
extern uint8_t active_extruder;
|
|
|
|
#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();
|
|
|
|
// Buzzer
|
|
#if HAS_BUZZER && PIN_EXISTS(BEEPER)
|
|
#include "buzzer.h"
|
|
#endif
|
|
|
|
/**
|
|
* Blocking movement and shorthand functions
|
|
*/
|
|
inline void do_blocking_move_to(float x, float y, float z, float fr_mm_m=0.0);
|
|
inline void do_blocking_move_to_x(float x, float fr_mm_m=0.0);
|
|
inline void do_blocking_move_to_z(float z, float fr_mm_m=0.0);
|
|
inline void do_blocking_move_to_xy(float x, float y, float fr_mm_m=0.0);
|
|
|
|
#endif //MARLIN_H
|