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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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/>.
- *
- */
- #pragma once
-
- #include "inc/MarlinConfig.h"
-
- #ifdef DEBUG_GCODE_PARSER
- #include "gcode/parser.h"
- #endif
-
- #include <math.h>
- #include <stdio.h>
- #include <stdlib.h>
-
- #if HAS_DRIVER(L6470)
- #include "libs/L6470/L6470_Marlin.h"
- extern uint8_t axis_known_position;
- #endif
-
- 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);
-
- //
- // X, Y, Z Stepper enable / disable
- //
- #if AXIS_DRIVER_TYPE_X(L6470)
- extern L6470 stepperX;
- #define X_enable NOOP
- #define X_disable stepperX.free()
- #elif HAS_X_ENABLE
- #define X_enable X_ENABLE_WRITE( X_ENABLE_ON)
- #define X_disable X_ENABLE_WRITE(!X_ENABLE_ON)
- #else
- #define X_enable NOOP
- #define X_disable NOOP
- #endif
-
- #if AXIS_DRIVER_TYPE_X2(L6470)
- extern L6470 stepperX2;
- #define X2_enable NOOP
- #define X2_disable stepperX2.free()
- #elif HAS_X2_ENABLE
- #define X2_enable X2_ENABLE_WRITE( X_ENABLE_ON)
- #define X2_disable X2_ENABLE_WRITE(!X_ENABLE_ON)
- #else
- #define X2_enable NOOP
- #define X2_disable NOOP
- #endif
-
- #define enable_X() do{ X_enable; X2_enable; }while(0)
- #define disable_X() do{ X_disable; X2_disable; CBI(axis_known_position, X_AXIS); }while(0)
-
- #if AXIS_DRIVER_TYPE_Y(L6470)
- extern L6470 stepperY;
- #define Y_enable NOOP
- #define Y_disable stepperY.free()
- #elif HAS_Y_ENABLE
- #define Y_enable Y_ENABLE_WRITE( Y_ENABLE_ON)
- #define Y_disable Y_ENABLE_WRITE(!Y_ENABLE_ON)
- #else
- #define Y_enable NOOP
- #define Y_disable NOOP
- #endif
-
- #if AXIS_DRIVER_TYPE_Y2(L6470)
- extern L6470 stepperY2;
- #define Y2_enable NOOP
- #define Y2_disable stepperY2.free()
- #elif HAS_Y2_ENABLE
- #define Y2_enable Y2_ENABLE_WRITE( Y_ENABLE_ON)
- #define Y2_disable Y2_ENABLE_WRITE(!Y_ENABLE_ON)
- #else
- #define Y2_enable NOOP
- #define Y2_disable NOOP
- #endif
-
- #define enable_Y() do{ Y_enable; Y2_enable; }while(0)
- #define disable_Y() do{ Y_disable; Y2_disable; CBI(axis_known_position, Y_AXIS); }while(0)
-
- #if AXIS_DRIVER_TYPE_Z(L6470)
- extern L6470 stepperZ;
- #define Z_enable NOOP
- #define Z_disable stepperZ.free()
- #elif HAS_Z_ENABLE
- #define Z_enable Z_ENABLE_WRITE( Z_ENABLE_ON)
- #define Z_disable Z_ENABLE_WRITE(!Z_ENABLE_ON)
- #else
- #define Z_enable NOOP
- #define Z_disable NOOP
- #endif
-
- #if AXIS_DRIVER_TYPE_Z2(L6470)
- extern L6470 stepperZ2;
- #define Z2_enable NOOP
- #define Z2_disable stepperZ2.free()
- #elif HAS_Z2_ENABLE
- #define Z2_enable Z2_ENABLE_WRITE( Z_ENABLE_ON)
- #define Z2_disable Z2_ENABLE_WRITE(!Z_ENABLE_ON)
- #else
- #define Z2_enable NOOP
- #define Z2_disable NOOP
- #endif
-
- #if AXIS_DRIVER_TYPE_Z3(L6470)
- extern L6470 stepperZ3;
- #define Z3_enable NOOP
- #define Z3_disable stepperZ3.free()
- #elif HAS_Z3_ENABLE
- #define Z3_enable Z3_ENABLE_WRITE( Z_ENABLE_ON)
- #define Z3_disable Z3_ENABLE_WRITE(!Z_ENABLE_ON)
- #else
- #define Z3_enable NOOP
- #define Z3_disable NOOP
- #endif
-
- #define enable_Z() do{ Z_enable; Z2_enable; Z3_enable; }while(0)
- #define disable_Z() do{ Z_disable; Z2_disable; Z3_disable; CBI(axis_known_position, Z_AXIS); }while(0)
-
- //
- // Extruder Stepper enable / disable
- //
-
- // define the individual enables/disables
- #if AXIS_DRIVER_TYPE_E0(L6470)
- extern L6470 stepperE0;
- #define E0_enable NOOP
- #define E0_disable do{ stepperE0.free(); CBI(axis_known_position, E_AXIS); }while(0)
- #elif HAS_E0_ENABLE
- #define E0_enable E0_ENABLE_WRITE( E_ENABLE_ON)
- #define E0_disable E0_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define E0_enable NOOP
- #define E0_disable NOOP
- #endif
-
- #if AXIS_DRIVER_TYPE_E1(L6470)
- extern L6470 stepperE1;
- #define E1_enable NOOP
- #define E1_disable do{ stepperE1.free(); CBI(axis_known_position, E_AXIS); }while(0)
- #elif E_STEPPERS > 1 && HAS_E1_ENABLE
- #define E1_enable E1_ENABLE_WRITE( E_ENABLE_ON)
- #define E1_disable E1_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define E1_enable NOOP
- #define E1_disable NOOP
- #endif
-
- #if AXIS_DRIVER_TYPE_E2(L6470)
- extern L6470 stepperE2;
- #define E2_enable NOOP
- #define E2_disable do{ stepperE2.free(); CBI(axis_known_position, E_AXIS); }while(0)
- #elif E_STEPPERS > 2 && HAS_E2_ENABLE
- #define E2_enable E2_ENABLE_WRITE( E_ENABLE_ON)
- #define E2_disable E2_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define E2_enable NOOP
- #define E2_disable NOOP
- #endif
-
- #if AXIS_DRIVER_TYPE_E3(L6470)
- extern L6470 stepperE3;
- #define E3_enable NOOP
- #define E3_disable do{ stepperE3.free(); CBI(axis_known_position, E_AXIS); }while(0)
- #elif E_STEPPERS > 3 && HAS_E3_ENABLE
- #define E3_enable E3_ENABLE_WRITE( E_ENABLE_ON)
- #define E3_disable E3_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define E3_enable NOOP
- #define E3_disable NOOP
- #endif
-
- #if AXIS_DRIVER_TYPE_E4(L6470)
- extern L6470 stepperE4;
- #define E4_enable NOOP
- #define E4_disable do{ stepperE4.free(); CBI(axis_known_position, E_AXIS); }while(0)
- #elif E_STEPPERS > 4 && HAS_E4_ENABLE
- #define E4_enable E4_ENABLE_WRITE( E_ENABLE_ON)
- #define E4_disable E4_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define E4_enable NOOP
- #define E4_disable NOOP
- #endif
-
- #if AXIS_DRIVER_TYPE_E5(L6470)
- extern L6470 stepperE5;
- #define E5_enable NOOP
- #define E5_disable do{ stepperE5.free(); CBI(axis_known_position, E_AXIS); }while(0)
- #elif E_STEPPERS > 5 && HAS_E5_ENABLE
- #define E5_enable E5_ENABLE_WRITE( E_ENABLE_ON)
- #define E5_disable E5_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define E5_enable NOOP
- #define E5_disable NOOP
- #endif
-
- #if ENABLED(MIXING_EXTRUDER)
-
- /**
- * Mixing steppers synchronize their enable (and direction) together
- */
- #if MIXING_STEPPERS > 5
- #define enable_E0() { E0_enable; E1_enable; E2_enable; E3_enable; E4_enable; E5_enable; }
- #define disable_E0() { E0_disable; E1_disable; E2_disable; E3_disable; E4_disable; E5_disable; }
- #elif MIXING_STEPPERS > 4
- #define enable_E0() { E0_enable; E1_enable; E2_enable; E3_enable; E4_enable; }
- #define disable_E0() { E0_disable; E1_disable; E2_disable; E3_disable; E4_disable; }
- #elif MIXING_STEPPERS > 3
- #define enable_E0() { E0_enable; E1_enable; E2_enable; E3_enable; }
- #define disable_E0() { E0_disable; E1_disable; E2_disable; E3_disable; }
- #elif MIXING_STEPPERS > 2
- #define enable_E0() { E0_enable; E1_enable; E2_enable; }
- #define disable_E0() { E0_disable; E1_disable; E2_disable; }
- #else
- #define enable_E0() { E0_enable; E1_enable; }
- #define disable_E0() { E0_disable; E1_disable; }
- #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
- #define enable_E5() NOOP
- #define disable_E5() NOOP
-
- #else // !MIXING_EXTRUDER
-
- #if HAS_E0_ENABLE
- #define enable_E0() E0_enable
- #define disable_E0() E0_disable
- #else
- #define enable_E0() NOOP
- #define disable_E0() NOOP
- #endif
-
- #if E_STEPPERS > 1 && HAS_E1_ENABLE
- #define enable_E1() E1_enable
- #define disable_E1() E1_disable
- #else
- #define enable_E1() NOOP
- #define disable_E1() NOOP
- #endif
-
- #if E_STEPPERS > 2 && HAS_E2_ENABLE
- #define enable_E2() E2_enable
- #define disable_E2() E2_disable
- #else
- #define enable_E2() NOOP
- #define disable_E2() NOOP
- #endif
-
- #if E_STEPPERS > 3 && HAS_E3_ENABLE
- #define enable_E3() E3_enable
- #define disable_E3() E3_disable
- #else
- #define enable_E3() NOOP
- #define disable_E3() NOOP
- #endif
-
- #if E_STEPPERS > 4 && HAS_E4_ENABLE
- #define enable_E4() E4_enable
- #define disable_E4() E4_disable
- #else
- #define enable_E4() NOOP
- #define disable_E4() NOOP
- #endif
-
- #if E_STEPPERS > 5 && HAS_E5_ENABLE
- #define enable_E5() E5_enable
- #define disable_E5() E5_disable
- #else
- #define enable_E5() NOOP
- #define disable_E5() NOOP
- #endif
-
- #endif // !MIXING_EXTRUDER
-
- #if ENABLED(EXPERIMENTAL_I2CBUS)
- #include "feature/twibus.h"
- extern TWIBus i2c;
- #endif
-
- #if ENABLED(G38_PROBE_TARGET)
- extern uint8_t G38_move; // Flag to tell the ISR that G38 is in progress, and the type
- extern bool G38_did_trigger; // Flag from the ISR to indicate the endstop changed
- #endif
-
- /**
- * The axis order in all axis related arrays is X, Y, Z, E
- */
- void enable_all_steppers();
- void disable_e_stepper(const uint8_t e);
- void disable_e_steppers();
- void disable_all_steppers();
-
- void kill(PGM_P const lcd_msg=nullptr);
- void minkill();
-
- void quickstop_stepper();
-
- extern bool Running;
- inline bool IsRunning() { return Running; }
- inline bool IsStopped() { return !Running; }
-
- extern bool wait_for_heatup;
-
- #if HAS_RESUME_CONTINUE
- extern bool wait_for_user;
- #endif
-
- #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
- extern bool suspend_auto_report;
- #endif
-
- // Inactivity shutdown timer
- extern millis_t max_inactive_time, stepper_inactive_time;
-
- #if ENABLED(USE_CONTROLLER_FAN)
- extern uint8_t controllerfan_speed;
- #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);
- void protected_pin_err();
-
- #if HAS_SUICIDE
- inline void suicide() { OUT_WRITE(SUICIDE_PIN, LOW); }
- #endif
-
- #if HAS_FILAMENT_SENSOR
- void event_filament_runout();
- #endif
-
- #if ENABLED(G29_RETRY_AND_RECOVER)
- void event_probe_recover();
- void event_probe_failure();
- #endif
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