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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
- #ifndef __MARLIN_H__
- #define __MARLIN_H__
-
- #include "inc/MarlinConfig.h"
-
- #ifdef DEBUG_GCODE_PARSER
- #include "gcode/parser.h"
- #endif
-
- #include <math.h>
- #include <stdio.h>
- #include <stdlib.h>
-
- void stop();
-
- void idle(
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
- #endif
- );
-
- void manage_inactivity(const bool ignore_stepper_queue=false);
-
- #if HAS_X2_ENABLE
- #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 HAS_X_ENABLE
- #define enable_X() X_ENABLE_WRITE( X_ENABLE_ON)
- #define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
- #else
- #define enable_X() NOOP
- #define disable_X() NOOP
- #endif
-
- #if HAS_Y2_ENABLE
- #define enable_Y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
- #define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
- #elif HAS_Y_ENABLE
- #define enable_Y() Y_ENABLE_WRITE( Y_ENABLE_ON)
- #define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
- #else
- #define enable_Y() NOOP
- #define disable_Y() NOOP
- #endif
-
- #if HAS_Z2_ENABLE
- #define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
- #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
- #elif HAS_Z_ENABLE
- #define enable_Z() Z_ENABLE_WRITE( Z_ENABLE_ON)
- #define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
- #else
- #define enable_Z() NOOP
- #define disable_Z() NOOP
- #endif
-
- #if ENABLED(MIXING_EXTRUDER)
-
- /**
- * Mixing steppers synchronize their enable (and direction) together
- */
- #if MIXING_STEPPERS > 3
- #define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); E3_ENABLE_WRITE( E_ENABLE_ON); }
- #define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); E3_ENABLE_WRITE(!E_ENABLE_ON); }
- #elif MIXING_STEPPERS > 2
- #define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
- #define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
- #else
- #define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
- #define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
- #endif
- #define enable_E1() NOOP
- #define disable_E1() NOOP
- #define enable_E2() NOOP
- #define disable_E2() NOOP
- #define enable_E3() NOOP
- #define disable_E3() NOOP
- #define enable_E4() NOOP
- #define disable_E4() NOOP
-
- #else // !MIXING_EXTRUDER
-
- #if HAS_E0_ENABLE
- #define enable_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
- #define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_E0() NOOP
- #define disable_E0() NOOP
- #endif
-
- #if E_STEPPERS > 1 && HAS_E1_ENABLE
- #define enable_E1() E1_ENABLE_WRITE( E_ENABLE_ON)
- #define disable_E1() E1_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_E1() NOOP
- #define disable_E1() NOOP
- #endif
-
- #if E_STEPPERS > 2 && HAS_E2_ENABLE
- #define enable_E2() E2_ENABLE_WRITE( E_ENABLE_ON)
- #define disable_E2() E2_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_E2() NOOP
- #define disable_E2() NOOP
- #endif
-
- #if E_STEPPERS > 3 && HAS_E3_ENABLE
- #define enable_E3() E3_ENABLE_WRITE( E_ENABLE_ON)
- #define disable_E3() E3_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_E3() NOOP
- #define disable_E3() NOOP
- #endif
-
- #if E_STEPPERS > 4 && HAS_E4_ENABLE
- #define enable_E4() E4_ENABLE_WRITE( E_ENABLE_ON)
- #define disable_E4() E4_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_E4() NOOP
- #define disable_E4() NOOP
- #endif
-
- #endif // !MIXING_EXTRUDER
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
- #include "feature/twibus.h"
- extern TWIBus i2c;
- #endif
-
- #if ENABLED(G38_PROBE_TARGET)
- extern bool G38_move, // flag to tell the interrupt handler that a G38 command is being run
- G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
- #endif
-
- /**
- * The axis order in all axis related arrays is X, Y, Z, E
- */
- #define _AXIS(AXIS) AXIS ##_AXIS
-
- void enable_all_steppers();
- void disable_e_stepper(const uint8_t e);
- void disable_e_steppers();
- void disable_all_steppers();
-
- void kill(const char*);
-
- void quickstop_stepper();
-
- extern bool Running;
- inline bool IsRunning() { return Running; }
- inline bool IsStopped() { return !Running; }
-
- extern bool axis_known_position[XYZ];
- extern bool axis_homed[XYZ];
- extern volatile bool wait_for_heatup;
-
- #if HAS_RESUME_CONTINUE
- extern volatile bool wait_for_user;
- #endif
-
- #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
- extern bool suspend_auto_report;
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- typedef struct { double A, B, D; } linear_fit;
- linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int);
- #endif
-
- // Inactivity shutdown timer
- extern millis_t max_inactive_time, stepper_inactive_time;
-
- #if FAN_COUNT > 0
- extern int16_t fanSpeeds[FAN_COUNT];
- #if ENABLED(EXTRA_FAN_SPEED)
- extern int16_t old_fanSpeeds[FAN_COUNT],
- new_fanSpeeds[FAN_COUNT];
- #endif
- #if ENABLED(PROBING_FANS_OFF)
- extern bool fans_paused;
- extern int16_t paused_fanSpeeds[FAN_COUNT];
- #endif
- #endif
-
- #if ENABLED(USE_CONTROLLER_FAN)
- extern uint8_t controllerFanSpeed;
- #endif
-
- #if ENABLED(PID_EXTRUSION_SCALING)
- extern int lpq_len;
- #endif
-
- #if HAS_POWER_SWITCH
- extern bool powersupply_on;
- #define PSU_PIN_ON() do{ OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); powersupply_on = true; }while(0)
- #define PSU_PIN_OFF() do{ OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); powersupply_on = false; }while(0)
- #if ENABLED(AUTO_POWER_CONTROL)
- #define PSU_ON() powerManager.power_on()
- #define PSU_OFF() powerManager.power_off()
- #else
- #define PSU_ON() PSU_PIN_ON()
- #define PSU_OFF() PSU_PIN_OFF()
- #endif
- #endif
-
- bool pin_is_protected(const pin_t pin);
-
- #if HAS_SUICIDE
- inline void suicide() { OUT_WRITE(SUICIDE_PIN, LOW); }
- #endif
-
- #endif // __MARLIN_H__
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