9980ceb4a3
and the mechanism so that if an endstop is hit it the ISR, the steps_to_be_taken are stored, and some current_block data that will be deleted in the next move If the normal loop() then finds such an event, the position is calculated (floats would have taken too long in the ISR) A serial message is generated.
115 lines
3 KiB
C
115 lines
3 KiB
C
#ifndef __MARLINH
|
|
#define __MARLINH
|
|
|
|
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
|
|
// Licence: GPL
|
|
#include <WProgram.h>
|
|
#include "fastio.h"
|
|
#include <avr/pgmspace.h>
|
|
#include "Configuration.h"
|
|
|
|
//#define SERIAL_ECHO(x) Serial << "echo: " << x;
|
|
//#define SERIAL_ECHOLN(x) Serial << "echo: "<<x<<endl;
|
|
//#define SERIAL_ERROR(x) Serial << "Error: " << x;
|
|
//#define SERIAL_ERRORLN(x) Serial << "Error: " << x<<endl;
|
|
//#define SERIAL_PROTOCOL(x) Serial << x;
|
|
//#define SERIAL_PROTOCOLLN(x) Serial << x<<endl;
|
|
|
|
|
|
|
|
#define SERIAL_PROTOCOL(x) Serial.print(x);
|
|
#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
|
|
#define SERIAL_PROTOCOLLN(x) {Serial.print(x);Serial.write('\n');}
|
|
#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));Serial.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_ECHOPGM(name);SERIAL_ECHO(value);}
|
|
|
|
|
|
//things to write to serial from Programmemory. saves 400 to 2k of RAM.
|
|
#define SerialprintPGM(x) serialprintPGM(PSTR(x))
|
|
inline void serialprintPGM(const char *str)
|
|
{
|
|
char ch=pgm_read_byte(str);
|
|
while(ch)
|
|
{
|
|
Serial.write(ch);
|
|
ch=pgm_read_byte(++str);
|
|
}
|
|
}
|
|
|
|
|
|
void get_command();
|
|
void process_commands();
|
|
|
|
void manage_inactivity(byte debug);
|
|
|
|
#if 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 Y_ENABLE_PIN > -1
|
|
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
|
|
#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
|
|
#else
|
|
#define enable_y() ;
|
|
#define disable_y() ;
|
|
#endif
|
|
|
|
#if Z_ENABLE_PIN > -1
|
|
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
|
|
#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
|
|
#else
|
|
#define enable_z() ;
|
|
#define disable_z() ;
|
|
#endif
|
|
|
|
#if E_ENABLE_PIN > -1
|
|
#define enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
|
|
#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e() ;
|
|
#define disable_e() ;
|
|
#endif
|
|
|
|
enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3};
|
|
|
|
|
|
void FlushSerialRequestResend();
|
|
void ClearToSend();
|
|
|
|
void get_coordinates();
|
|
void prepare_move();
|
|
void kill();
|
|
|
|
void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
|
|
|
|
|
|
#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 float current_position[NUM_AXIS] ;
|
|
|
|
#endif
|