395 lines
13 KiB
C
395 lines
13 KiB
C
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef MARLIN_H
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#define MARLIN_H
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <inttypes.h>
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#include <util/delay.h>
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#include <avr/pgmspace.h>
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#include <avr/eeprom.h>
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#include <avr/interrupt.h>
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#include "MarlinConfig.h"
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#include "enum.h"
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#include "types.h"
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#include "fastio.h"
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#include "utility.h"
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#include "serial.h"
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#if ENABLED(PRINTCOUNTER)
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#include "printcounter.h"
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#else
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#include "stopwatch.h"
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#endif
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void idle(
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#if ENABLED(FILAMENT_CHANGE_FEATURE)
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bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
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#endif
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);
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void manage_inactivity(bool ignore_stepper_queue = false);
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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extern bool extruder_duplication_enabled;
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#endif
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#if HAS_X2_ENABLE
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#define enable_x() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
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#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
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#define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
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#define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
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#else
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#define enable_x() NOOP
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#define disable_x() NOOP
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#endif
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#if HAS_Y2_ENABLE
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#define enable_y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
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#define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
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#elif HAS_Y_ENABLE
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#define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
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#define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
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#else
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#define enable_y() NOOP
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#define disable_y() NOOP
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#endif
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#if HAS_Z2_ENABLE
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#define enable_z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
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#define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
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#elif HAS_Z_ENABLE
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#define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
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#define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
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#else
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#define enable_z() NOOP
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#define disable_z() NOOP
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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/**
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* Mixing steppers synchronize their enable (and direction) together
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*/
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#if MIXING_STEPPERS > 3
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#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); }
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#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); }
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#elif MIXING_STEPPERS > 2
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#define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
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#else
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#define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
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#endif
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#define enable_e1() NOOP
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#define disable_e1() NOOP
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#define enable_e2() NOOP
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#define disable_e2() NOOP
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#define enable_e3() NOOP
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#define disable_e3() NOOP
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#define enable_e4() NOOP
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#define disable_e4() NOOP
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#else // !MIXING_EXTRUDER
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#if HAS_E0_ENABLE
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#define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e0() NOOP
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#define disable_e0() NOOP
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#endif
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#if E_STEPPERS > 1 && HAS_E1_ENABLE
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#define enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e1() NOOP
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#define disable_e1() NOOP
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#endif
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#if E_STEPPERS > 2 && HAS_E2_ENABLE
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#define enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e2() NOOP
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#define disable_e2() NOOP
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#endif
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#if E_STEPPERS > 3 && HAS_E3_ENABLE
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#define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e3() NOOP
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#define disable_e3() NOOP
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#endif
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#if E_STEPPERS > 4 && HAS_E4_ENABLE
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#define enable_e4() E4_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_e4() E4_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_e4() NOOP
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#define disable_e4() NOOP
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#endif
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#endif // !MIXING_EXTRUDER
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#if ENABLED(G38_PROBE_TARGET)
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extern bool G38_move, // flag to tell the interrupt handler that a G38 command is being run
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G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
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#endif
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/**
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* The axis order in all axis related arrays is X, Y, Z, E
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*/
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#define _AXIS(AXIS) AXIS ##_AXIS
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void enable_all_steppers();
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void disable_e_steppers();
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void disable_all_steppers();
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void FlushSerialRequestResend();
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void ok_to_send();
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void kill(const char*);
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void quickstop_stepper();
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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void handle_filament_runout();
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#endif
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extern uint8_t marlin_debug_flags;
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#define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
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extern bool Running;
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inline bool IsRunning() { return Running; }
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inline bool IsStopped() { return !Running; }
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bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); // Add a single command to the end of the buffer. Return false on failure.
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void enqueue_and_echo_commands_P(const char * const cmd); // Set one or more commands to be prioritized over the next Serial/SD command.
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void clear_command_queue();
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extern millis_t previous_cmd_ms;
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inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
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#if ENABLED(FAST_PWM_FAN)
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void setPwmFrequency(uint8_t pin, int val);
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#endif
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/**
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* Feedrate scaling and conversion
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*/
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extern int feedrate_percentage;
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#define MMM_TO_MMS(MM_M) ((MM_M)/60.0)
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#define MMS_TO_MMM(MM_S) ((MM_S)*60.0)
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#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
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extern bool axis_relative_modes[];
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extern bool volumetric_enabled;
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extern int flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
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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.
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extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
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extern bool axis_known_position[XYZ]; // axis[n].is_known
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extern bool axis_homed[XYZ]; // axis[n].is_homed
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extern volatile bool wait_for_heatup;
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#if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
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extern volatile bool wait_for_user;
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#endif
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extern float current_position[NUM_AXIS];
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// Workspace offsets
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#if DISABLED(NO_WORKSPACE_OFFSETS)
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extern float position_shift[XYZ],
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home_offset[XYZ],
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workspace_offset[XYZ];
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#define LOGICAL_POSITION(POS, AXIS) ((POS) + workspace_offset[AXIS])
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#define RAW_POSITION(POS, AXIS) ((POS) - workspace_offset[AXIS])
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#else
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#define LOGICAL_POSITION(POS, AXIS) (POS)
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#define RAW_POSITION(POS, AXIS) (POS)
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#endif
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#define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
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#define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
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#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
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#define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
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#define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
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#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
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#define RAW_CURRENT_POSITION(AXIS) RAW_POSITION(current_position[AXIS], AXIS)
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#if HOTENDS > 1
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extern float hotend_offset[XYZ][HOTENDS];
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#endif
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// Software Endstops
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extern float soft_endstop_min[XYZ];
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extern float soft_endstop_max[XYZ];
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#if HAS_SOFTWARE_ENDSTOPS
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extern bool soft_endstops_enabled;
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void clamp_to_software_endstops(float target[XYZ]);
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#else
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#define soft_endstops_enabled false
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#define clamp_to_software_endstops(x) NOOP
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#endif
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#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
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void update_software_endstops(const AxisEnum axis);
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#endif
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// GCode support for external objects
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bool code_seen(char);
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int code_value_int();
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float code_value_temp_abs();
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float code_value_temp_diff();
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#if IS_KINEMATIC
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extern float delta[ABC];
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void inverse_kinematics(const float logical[XYZ]);
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#endif
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#if ENABLED(DELTA)
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extern float endstop_adj[ABC],
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delta_radius,
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delta_diagonal_rod,
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delta_segments_per_second,
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delta_diagonal_rod_trim[ABC],
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delta_tower_angle_trim[ABC],
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delta_clip_start_height;
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void recalc_delta_settings(float radius, float diagonal_rod);
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#elif IS_SCARA
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void forward_kinematics_SCARA(const float &a, const float &b);
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#endif
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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extern int bilinear_grid_spacing[2], bilinear_start[2];
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extern float bed_level_grid[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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float bilinear_z_offset(float logical[XYZ]);
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void set_bed_leveling_enabled(bool enable=true);
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#endif
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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struct linear_fit {
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double A, B, D;
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};
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struct linear_fit *lsf_linear_fit( double *, double *, double *, int );
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#endif
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#if PLANNER_LEVELING
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void reset_bed_level();
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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extern float z_endstop_adj;
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#endif
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#if HAS_BED_PROBE
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extern float zprobe_zoffset;
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#define DEPLOY_PROBE() set_probe_deployed(true)
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#define STOW_PROBE() set_probe_deployed(false)
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#endif
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#if ENABLED(HOST_KEEPALIVE_FEATURE)
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extern MarlinBusyState busy_state;
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#define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
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#else
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#define KEEPALIVE_STATE(n) NOOP
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#endif
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#if FAN_COUNT > 0
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extern int fanSpeeds[FAN_COUNT];
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#endif
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#if ENABLED(BARICUDA)
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extern int baricuda_valve_pressure;
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extern int baricuda_e_to_p_pressure;
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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extern bool filament_sensor; // Flag that filament sensor readings should control extrusion
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extern float filament_width_nominal, // Theoretical filament diameter i.e., 3.00 or 1.75
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filament_width_meas; // Measured filament diameter
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extern int8_t measurement_delay[]; // Ring buffer to delay measurement
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extern int filwidth_delay_index[2]; // Ring buffer indexes. Used by planner, temperature, and main code
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extern int meas_delay_cm; // Delay distance
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#endif
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#if ENABLED(FILAMENT_CHANGE_FEATURE)
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extern FilamentChangeMenuResponse filament_change_menu_response;
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#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
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extern int lpq_len;
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#endif
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#if ENABLED(FWRETRACT)
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extern bool autoretract_enabled;
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extern bool retracted[EXTRUDERS]; // extruder[n].retracted
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extern float retract_length, retract_length_swap, retract_feedrate_mm_s, retract_zlift;
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extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate_mm_s;
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#endif
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// Print job timer
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#if ENABLED(PRINTCOUNTER)
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extern PrintCounter print_job_timer;
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#else
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extern Stopwatch print_job_timer;
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#endif
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// Handling multiple extruders pins
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extern uint8_t active_extruder;
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#if HAS_TEMP_HOTEND || HAS_TEMP_BED
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void print_heaterstates();
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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extern float mixing_factor[MIXING_STEPPERS];
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#endif
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void calculate_volumetric_multipliers();
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/**
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* Blocking movement and shorthand functions
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*/
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void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
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void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
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void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
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void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
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#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
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bool axis_unhomed_error(const bool x, const bool y, const bool z);
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#endif
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#endif //MARLIN_H
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