My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin.h 9.3KB

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