My Marlin configs for Fabrikator Mini and CTC i3 Pro B
選択できるのは25トピックまでです。 トピックは、先頭が英数字で、英数字とダッシュ('-')を使用した35文字以内のものにしてください。

Marlin.h 8.7KB

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  1. // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
  2. // License: GPL
  3. #ifndef MARLIN_H
  4. #define MARLIN_H
  5. #define FORCE_INLINE __attribute__((always_inline)) inline
  6. #include <math.h>
  7. #include <stdio.h>
  8. #include <stdlib.h>
  9. #include <string.h>
  10. #include <inttypes.h>
  11. #include <util/delay.h>
  12. #include <avr/pgmspace.h>
  13. #include <avr/eeprom.h>
  14. #include <avr/interrupt.h>
  15. #include "fastio.h"
  16. #include "Configuration.h"
  17. #include "pins.h"
  18. #ifndef AT90USB
  19. #define HardwareSerial_h // trick to disable the standard HWserial
  20. #endif
  21. #if (ARDUINO >= 100)
  22. # include "Arduino.h"
  23. #else
  24. # include "WProgram.h"
  25. #endif
  26. // Arduino < 1.0.0 does not define this, so we need to do it ourselves
  27. #ifndef analogInputToDigitalPin
  28. # define analogInputToDigitalPin(p) ((p) + A0)
  29. #endif
  30. #ifdef AT90USB
  31. #include "HardwareSerial.h"
  32. #endif
  33. #include "MarlinSerial.h"
  34. #ifndef cbi
  35. #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
  36. #endif
  37. #ifndef sbi
  38. #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
  39. #endif
  40. #include "WString.h"
  41. #ifdef AT90USB
  42. #ifdef BTENABLED
  43. #define MYSERIAL bt
  44. #else
  45. #define MYSERIAL Serial
  46. #endif // BTENABLED
  47. #else
  48. #define MYSERIAL MSerial
  49. #endif
  50. #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
  51. #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
  52. #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
  53. #define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
  54. #define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
  55. extern const char errormagic[] PROGMEM;
  56. extern const char echomagic[] PROGMEM;
  57. #define SERIAL_ERROR_START (serialprintPGM(errormagic))
  58. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  59. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  60. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  61. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  62. #define SERIAL_ECHO_START (serialprintPGM(echomagic))
  63. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  64. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  65. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  66. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  67. #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
  68. void serial_echopair_P(const char *s_P, float v);
  69. void serial_echopair_P(const char *s_P, double v);
  70. void serial_echopair_P(const char *s_P, unsigned long v);
  71. //Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  72. FORCE_INLINE void serialprintPGM(const char *str)
  73. {
  74. char ch=pgm_read_byte(str);
  75. while(ch)
  76. {
  77. MYSERIAL.write(ch);
  78. ch=pgm_read_byte(++str);
  79. }
  80. }
  81. void get_command();
  82. void process_commands();
  83. void manage_inactivity(bool ignore_stepper_queue=false);
  84. #if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
  85. && defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  86. #define enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
  87. #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)
  88. #elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  89. #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  90. #define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
  91. #else
  92. #define enable_x() ;
  93. #define disable_x() ;
  94. #endif
  95. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  96. #ifdef Y_DUAL_STEPPER_DRIVERS
  97. #define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
  98. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  99. #else
  100. #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
  101. #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  102. #endif
  103. #else
  104. #define enable_y() ;
  105. #define disable_y() ;
  106. #endif
  107. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  108. #ifdef Z_DUAL_STEPPER_DRIVERS
  109. #define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
  110. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  111. #else
  112. #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
  113. #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  114. #endif
  115. #else
  116. #define enable_z() ;
  117. #define disable_z() ;
  118. #endif
  119. #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  120. #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
  121. #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
  122. #else
  123. #define enable_e0() /* nothing */
  124. #define disable_e0() /* nothing */
  125. #endif
  126. #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  127. #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
  128. #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
  129. #else
  130. #define enable_e1() /* nothing */
  131. #define disable_e1() /* nothing */
  132. #endif
  133. #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  134. #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
  135. #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
  136. #else
  137. #define enable_e2() /* nothing */
  138. #define disable_e2() /* nothing */
  139. #endif
  140. #if (EXTRUDERS > 3) && defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
  141. #define enable_e3() WRITE(E3_ENABLE_PIN, E_ENABLE_ON)
  142. #define disable_e3() WRITE(E3_ENABLE_PIN,!E_ENABLE_ON)
  143. #else
  144. #define enable_e3() /* nothing */
  145. #define disable_e3() /* nothing */
  146. #endif
  147. enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
  148. void FlushSerialRequestResend();
  149. void ClearToSend();
  150. void get_coordinates();
  151. #ifdef DELTA
  152. void calculate_delta(float cartesian[3]);
  153. extern float delta[3];
  154. #endif
  155. #ifdef SCARA
  156. void calculate_delta(float cartesian[3]);
  157. void calculate_SCARA_forward_Transform(float f_scara[3]);
  158. #endif
  159. void prepare_move();
  160. void kill();
  161. void Stop();
  162. bool IsStopped();
  163. void enquecommand(const char *cmd); //put an ASCII command at the end of the current buffer.
  164. void enquecommand_P(const char *cmd); //put an ASCII command at the end of the current buffer, read from flash
  165. void prepare_arc_move(char isclockwise);
  166. void clamp_to_software_endstops(float target[3]);
  167. void refresh_cmd_timeout(void);
  168. #ifdef FAST_PWM_FAN
  169. void setPwmFrequency(uint8_t pin, int val);
  170. #endif
  171. #ifndef CRITICAL_SECTION_START
  172. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  173. #define CRITICAL_SECTION_END SREG = _sreg;
  174. #endif //CRITICAL_SECTION_START
  175. extern float homing_feedrate[];
  176. extern bool axis_relative_modes[];
  177. extern int feedmultiply;
  178. extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
  179. extern bool volumetric_enabled;
  180. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  181. 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.
  182. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  183. extern float current_position[NUM_AXIS] ;
  184. extern float add_homing[3];
  185. #ifdef DELTA
  186. extern float endstop_adj[3];
  187. extern float delta_radius;
  188. extern float delta_diagonal_rod;
  189. extern float delta_segments_per_second;
  190. void recalc_delta_settings(float radius, float diagonal_rod);
  191. #endif
  192. #ifdef SCARA
  193. extern float axis_scaling[3]; // Build size scaling
  194. #endif
  195. extern float min_pos[3];
  196. extern float max_pos[3];
  197. extern bool axis_known_position[3];
  198. extern float zprobe_zoffset;
  199. extern int fanSpeed;
  200. #ifdef BARICUDA
  201. extern int ValvePressure;
  202. extern int EtoPPressure;
  203. #endif
  204. #ifdef FAN_SOFT_PWM
  205. extern unsigned char fanSpeedSoftPwm;
  206. #endif
  207. #ifdef FILAMENT_SENSOR
  208. extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75
  209. extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
  210. extern float filament_width_meas; //holds the filament diameter as accurately measured
  211. extern signed char measurement_delay[]; //ring buffer to delay measurement
  212. extern int delay_index1, delay_index2; //index into ring buffer
  213. extern float delay_dist; //delay distance counter
  214. extern int meas_delay_cm; //delay distance
  215. #endif
  216. #ifdef FWRETRACT
  217. extern bool autoretract_enabled;
  218. extern bool retracted[EXTRUDERS];
  219. extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
  220. extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
  221. #endif
  222. extern unsigned long starttime;
  223. extern unsigned long stoptime;
  224. // Handling multiple extruders pins
  225. extern uint8_t active_extruder;
  226. #ifdef DIGIPOT_I2C
  227. extern void digipot_i2c_set_current( int channel, float current );
  228. extern void digipot_i2c_init();
  229. #endif
  230. #endif
  231. extern void calculate_volumetric_multipliers();