d085725c86
- Moved sanity-checks to Marlin_main.cpp - Applied to other configuration files - Fixed formatting of ABL output - Passing verbose level to probe_pt - Miscellaneous cleanup - Put CONFIG_STEPPERS_TOSHIBA into Configuration.h
287 lines
8.9 KiB
C
287 lines
8.9 KiB
C
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
|
|
// License: GPL
|
|
|
|
#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>
|
|
#include <avr/pgmspace.h>
|
|
#include <avr/eeprom.h>
|
|
#include <avr/interrupt.h>
|
|
|
|
|
|
#include "fastio.h"
|
|
#include "Configuration.h"
|
|
#include "pins.h"
|
|
|
|
#ifndef AT90USB
|
|
#define HardwareSerial_h // trick to disable the standard HWserial
|
|
#endif
|
|
|
|
#if (ARDUINO >= 100)
|
|
#include "Arduino.h"
|
|
#else
|
|
#include "WProgram.h"
|
|
#endif
|
|
|
|
// Arduino < 1.0.0 does not define this, so we need to do it ourselves
|
|
#ifndef analogInputToDigitalPin
|
|
#define analogInputToDigitalPin(p) ((p) + 0xA0)
|
|
#endif
|
|
|
|
#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
|
|
#else
|
|
#define MYSERIAL MSerial
|
|
#endif
|
|
|
|
#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) (MYSERIAL.print(x),MYSERIAL.write('\n'))
|
|
#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
|
|
|
|
|
|
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)))
|
|
|
|
#define SERIAL_EOL MYSERIAL.write('\n')
|
|
|
|
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)
|
|
{
|
|
char ch=pgm_read_byte(str);
|
|
while(ch)
|
|
{
|
|
MYSERIAL.write(ch);
|
|
ch=pgm_read_byte(++str);
|
|
}
|
|
}
|
|
|
|
|
|
void get_command();
|
|
void process_commands();
|
|
|
|
void manage_inactivity(bool ignore_stepper_queue=false);
|
|
|
|
#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
|
|
&& defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|
|
#define enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
|
|
#define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
|
|
#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
|
|
#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
|
|
#define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
|
|
#else
|
|
#define enable_x() ;
|
|
#define disable_x() ;
|
|
#endif
|
|
|
|
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
|
|
#ifdef Y_DUAL_STEPPER_DRIVERS
|
|
#define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
|
|
#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
|
|
#else
|
|
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
|
|
#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
|
|
#endif
|
|
#else
|
|
#define enable_y() ;
|
|
#define disable_y() ;
|
|
#endif
|
|
|
|
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
|
|
#ifdef Z_DUAL_STEPPER_DRIVERS
|
|
#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
|
|
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
|
|
#else
|
|
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
|
|
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
|
|
#endif
|
|
#else
|
|
#define enable_z() ;
|
|
#define disable_z() ;
|
|
#endif
|
|
|
|
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
|
|
#define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
|
|
#define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e0() /* nothing */
|
|
#define disable_e0() /* nothing */
|
|
#endif
|
|
|
|
#if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
|
|
#define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
|
|
#define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e1() /* nothing */
|
|
#define disable_e1() /* nothing */
|
|
#endif
|
|
|
|
#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
|
|
#define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
|
|
#define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e2() /* nothing */
|
|
#define disable_e2() /* nothing */
|
|
#endif
|
|
|
|
#if (EXTRUDERS > 3) && defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
|
|
#define enable_e3() WRITE(E3_ENABLE_PIN, E_ENABLE_ON)
|
|
#define disable_e3() WRITE(E3_ENABLE_PIN,!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e3() /* nothing */
|
|
#define disable_e3() /* nothing */
|
|
#endif
|
|
|
|
enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
|
|
//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.
|
|
|
|
void FlushSerialRequestResend();
|
|
void ClearToSend();
|
|
|
|
void get_coordinates();
|
|
#ifdef DELTA
|
|
void calculate_delta(float cartesian[3]);
|
|
extern float delta[3];
|
|
#endif
|
|
#ifdef SCARA
|
|
void calculate_delta(float cartesian[3]);
|
|
void calculate_SCARA_forward_Transform(float f_scara[3]);
|
|
#endif
|
|
void prepare_move();
|
|
void kill();
|
|
void Stop();
|
|
|
|
bool IsStopped();
|
|
|
|
bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
|
|
void enquecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
|
|
|
|
void prepare_arc_move(char isclockwise);
|
|
void clamp_to_software_endstops(float target[3]);
|
|
|
|
void refresh_cmd_timeout(void);
|
|
|
|
#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 //CRITICAL_SECTION_START
|
|
|
|
extern float homing_feedrate[];
|
|
extern bool axis_relative_modes[];
|
|
extern int feedmultiply;
|
|
extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
|
|
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 add_homing[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);
|
|
#endif
|
|
#ifdef SCARA
|
|
extern float axis_scaling[3]; // Build size scaling
|
|
#endif
|
|
extern float min_pos[3];
|
|
extern float max_pos[3];
|
|
extern bool axis_known_position[3];
|
|
extern float zprobe_zoffset;
|
|
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; //index into ring buffer
|
|
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
|
|
|
|
extern unsigned long starttime;
|
|
extern unsigned long stoptime;
|
|
|
|
// 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
|
|
|
|
#endif
|
|
|
|
extern void calculate_volumetric_multipliers();
|
|
|