My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin.h 9.8KB

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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. #if (ARDUINO >= 100)
  18. #include "Arduino.h"
  19. #else
  20. #include "WProgram.h"
  21. #endif
  22. #define BIT(b) (1<<(b))
  23. #define TEST(n,b) (((n)&BIT(b))!=0)
  24. #define RADIANS(d) ((d)*M_PI/180.0)
  25. #define DEGREES(r) ((d)*180.0/M_PI)
  26. #define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
  27. #define NOMORE(v,n) do{ if (v > n) v = n; }while(0)
  28. typedef unsigned long millis_t;
  29. // Arduino < 1.0.0 does not define this, so we need to do it ourselves
  30. #ifndef analogInputToDigitalPin
  31. #define analogInputToDigitalPin(p) ((p) + 0xA0)
  32. #endif
  33. #ifdef AT90USB
  34. #include "HardwareSerial.h"
  35. #endif
  36. #include "MarlinSerial.h"
  37. #ifndef cbi
  38. #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
  39. #endif
  40. #ifndef sbi
  41. #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
  42. #endif
  43. #include "WString.h"
  44. #ifdef AT90USB
  45. #ifdef BTENABLED
  46. #define MYSERIAL bt
  47. #else
  48. #define MYSERIAL Serial
  49. #endif // BTENABLED
  50. #else
  51. #define MYSERIAL MSerial
  52. #endif
  53. #define SERIAL_CHAR(x) MYSERIAL.write(x)
  54. #define SERIAL_EOL SERIAL_CHAR('\n')
  55. #define SERIAL_PROTOCOLCHAR(x) SERIAL_CHAR(x)
  56. #define SERIAL_PROTOCOL(x) MYSERIAL.print(x)
  57. #define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y)
  58. #define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x))
  59. #define SERIAL_PROTOCOLLN(x) do{ MYSERIAL.print(x),MYSERIAL.write('\n'); }while(0)
  60. #define SERIAL_PROTOCOLLNPGM(x) do{ serialprintPGM(PSTR(x)),MYSERIAL.write('\n'); }while(0)
  61. extern const char errormagic[] PROGMEM;
  62. extern const char echomagic[] PROGMEM;
  63. #define SERIAL_ERROR_START serialprintPGM(errormagic)
  64. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  65. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  66. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  67. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  68. #define SERIAL_ECHO_START serialprintPGM(echomagic)
  69. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  70. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  71. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  72. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  73. #define SERIAL_ECHOPAIR(name,value) do{ serial_echopair_P(PSTR(name),(value)); }while(0)
  74. void serial_echopair_P(const char *s_P, float v);
  75. void serial_echopair_P(const char *s_P, double v);
  76. void serial_echopair_P(const char *s_P, unsigned long v);
  77. // Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  78. FORCE_INLINE void serialprintPGM(const char *str) {
  79. char ch;
  80. while ((ch = pgm_read_byte(str))) {
  81. MYSERIAL.write(ch);
  82. str++;
  83. }
  84. }
  85. void get_command();
  86. void process_commands();
  87. void manage_inactivity(bool ignore_stepper_queue=false);
  88. #if defined(DUAL_X_CARRIAGE) && HAS_X_ENABLE && HAS_X2_ENABLE
  89. #define enable_x() do { X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); } while (0)
  90. #define disable_x() do { X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
  91. #elif HAS_X_ENABLE
  92. #define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
  93. #define disable_x() { X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
  94. #else
  95. #define enable_x() ;
  96. #define disable_x() ;
  97. #endif
  98. #if HAS_Y_ENABLE
  99. #ifdef Y_DUAL_STEPPER_DRIVERS
  100. #define enable_y() { Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }
  101. #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  102. #else
  103. #define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
  104. #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  105. #endif
  106. #else
  107. #define enable_y() ;
  108. #define disable_y() ;
  109. #endif
  110. #if HAS_Z_ENABLE
  111. #ifdef Z_DUAL_STEPPER_DRIVERS
  112. #define enable_z() { Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }
  113. #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  114. #else
  115. #define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
  116. #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  117. #endif
  118. #else
  119. #define enable_z() ;
  120. #define disable_z() ;
  121. #endif
  122. #if HAS_E0_ENABLE
  123. #define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
  124. #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
  125. #else
  126. #define enable_e0() /* nothing */
  127. #define disable_e0() /* nothing */
  128. #endif
  129. #if (EXTRUDERS > 1) && HAS_E1_ENABLE
  130. #define enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
  131. #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
  132. #else
  133. #define enable_e1() /* nothing */
  134. #define disable_e1() /* nothing */
  135. #endif
  136. #if (EXTRUDERS > 2) && HAS_E2_ENABLE
  137. #define enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
  138. #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
  139. #else
  140. #define enable_e2() /* nothing */
  141. #define disable_e2() /* nothing */
  142. #endif
  143. #if (EXTRUDERS > 3) && HAS_E3_ENABLE
  144. #define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
  145. #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
  146. #else
  147. #define enable_e3() /* nothing */
  148. #define disable_e3() /* nothing */
  149. #endif
  150. /**
  151. * The axis order in all axis related arrays is X, Y, Z, E
  152. */
  153. #define NUM_AXIS 4
  154. /**
  155. * Axis indices as enumerated constants
  156. *
  157. * A_AXIS and B_AXIS are used by COREXY printers
  158. * 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.
  159. */
  160. enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
  161. void enable_all_steppers();
  162. void disable_all_steppers();
  163. void FlushSerialRequestResend();
  164. void ClearToSend();
  165. void get_coordinates();
  166. #ifdef DELTA
  167. void calculate_delta(float cartesian[3]);
  168. #ifdef ENABLE_AUTO_BED_LEVELING
  169. extern int delta_grid_spacing[2];
  170. void adjust_delta(float cartesian[3]);
  171. #endif
  172. extern float delta[3];
  173. #endif
  174. #ifdef SCARA
  175. void calculate_delta(float cartesian[3]);
  176. void calculate_SCARA_forward_Transform(float f_scara[3]);
  177. #endif
  178. void reset_bed_level();
  179. void prepare_move();
  180. void kill();
  181. void Stop();
  182. #ifdef FILAMENT_RUNOUT_SENSOR
  183. void filrunout();
  184. #endif
  185. /**
  186. * Debug flags - not yet widely applied
  187. */
  188. enum DebugFlags {
  189. DEBUG_ECHO = BIT(0),
  190. DEBUG_INFO = BIT(1),
  191. DEBUG_ERRORS = BIT(2),
  192. DEBUG_DRYRUN = BIT(3),
  193. DEBUG_COMMUNICATION = BIT(4)
  194. };
  195. extern uint8_t marlin_debug_flags;
  196. extern bool Running;
  197. inline bool IsRunning() { return Running; }
  198. inline bool IsStopped() { return !Running; }
  199. bool enqueuecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
  200. void enqueuecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
  201. void prepare_arc_move(char isclockwise);
  202. void clamp_to_software_endstops(float target[3]);
  203. extern millis_t previous_cmd_ms;
  204. inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
  205. #ifdef FAST_PWM_FAN
  206. void setPwmFrequency(uint8_t pin, int val);
  207. #endif
  208. #ifndef CRITICAL_SECTION_START
  209. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  210. #define CRITICAL_SECTION_END SREG = _sreg;
  211. #endif
  212. extern float homing_feedrate[];
  213. extern bool axis_relative_modes[];
  214. extern int feedrate_multiplier;
  215. extern bool volumetric_enabled;
  216. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  217. 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.
  218. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  219. extern float current_position[NUM_AXIS];
  220. extern float home_offset[3];
  221. #ifdef DELTA
  222. extern float endstop_adj[3];
  223. extern float delta_radius;
  224. extern float delta_diagonal_rod;
  225. extern float delta_segments_per_second;
  226. void recalc_delta_settings(float radius, float diagonal_rod);
  227. #elif defined(Z_DUAL_ENDSTOPS)
  228. extern float z_endstop_adj;
  229. #endif
  230. #ifdef SCARA
  231. extern float axis_scaling[3]; // Build size scaling
  232. #endif
  233. extern float min_pos[3];
  234. extern float max_pos[3];
  235. extern bool axis_known_position[3];
  236. #ifdef ENABLE_AUTO_BED_LEVELING
  237. extern float zprobe_zoffset;
  238. #endif
  239. #ifdef PREVENT_DANGEROUS_EXTRUDE
  240. extern float extrude_min_temp;
  241. #endif
  242. extern int fanSpeed;
  243. #ifdef BARICUDA
  244. extern int ValvePressure;
  245. extern int EtoPPressure;
  246. #endif
  247. #ifdef FAN_SOFT_PWM
  248. extern unsigned char fanSpeedSoftPwm;
  249. #endif
  250. #ifdef FILAMENT_SENSOR
  251. extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75
  252. extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
  253. extern float filament_width_meas; //holds the filament diameter as accurately measured
  254. extern signed char measurement_delay[]; //ring buffer to delay measurement
  255. extern int delay_index1, delay_index2; //ring buffer index. used by planner, temperature, and main code
  256. extern float delay_dist; //delay distance counter
  257. extern int meas_delay_cm; //delay distance
  258. #endif
  259. #ifdef FWRETRACT
  260. extern bool autoretract_enabled;
  261. extern bool retracted[EXTRUDERS];
  262. extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
  263. extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
  264. #endif
  265. extern millis_t print_job_start_ms;
  266. extern millis_t print_job_stop_ms;
  267. // Handling multiple extruders pins
  268. extern uint8_t active_extruder;
  269. #ifdef DIGIPOT_I2C
  270. extern void digipot_i2c_set_current( int channel, float current );
  271. extern void digipot_i2c_init();
  272. #endif
  273. extern void calculate_volumetric_multipliers();
  274. #endif //MARLIN_H