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- // 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"
-
- #if (ARDUINO >= 100)
- #include "Arduino.h"
- #else
- #include "WProgram.h"
- #endif
-
- #define BIT(b) (1<<(b))
- #define TEST(n,b) (((n)&BIT(b))!=0)
-
- // 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 { X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); } while (0)
- #define disable_x() do { X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
- #elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
- #define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
- #define disable_x() { X_ENABLE_WRITE(!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() { Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }
- #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
- #else
- #define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
- #define disable_y() { Y_ENABLE_WRITE(!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() { Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }
- #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
- #else
- #define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
- #define disable_z() { Z_ENABLE_WRITE(!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() E0_ENABLE_WRITE(E_ENABLE_ON)
- #define disable_e0() E0_ENABLE_WRITE(!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() E1_ENABLE_WRITE(E_ENABLE_ON)
- #define disable_e1() E1_ENABLE_WRITE(!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() E2_ENABLE_WRITE(E_ENABLE_ON)
- #define disable_e2() E2_ENABLE_WRITE(!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() E3_ENABLE_WRITE(E_ENABLE_ON)
- #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_e3() /* nothing */
- #define disable_e3() /* nothing */
- #endif
-
- 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};
- //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]);
- #ifdef ENABLE_AUTO_BED_LEVELING
- extern int delta_grid_spacing[2];
- void adjust_delta(float cartesian[3]);
- #endif
- extern float delta[3];
- void prepare_move_raw();
- #endif
- #ifdef SCARA
- void calculate_delta(float cartesian[3]);
- void calculate_SCARA_forward_Transform(float f_scara[3]);
- #endif
- void reset_bed_level();
- void prepare_move();
- void kill();
- void Stop();
-
- #ifdef FILAMENT_RUNOUT_SENSOR
- void filrunout();
- #endif
-
- 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 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 home_offset[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);
- #elif defined(Z_DUAL_ENDSTOPS)
- extern float z_endstop_adj;
- #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];
- #ifdef ENABLE_AUTO_BED_LEVELING
- extern float zprobe_zoffset;
- #endif
- 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; //ring buffer index. used by planner, temperature, and main code
- 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
-
- extern void calculate_volumetric_multipliers();
-
- #endif //MARLIN_H
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