My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin.h 9.1KB

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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. #include "pins.h"
  18. #ifndef AT90USB
  19. #define HardwareSerial_h // trick to disable the standard HWserial
  20. #endif
  21. #if (ARDUINO >= 100)
  22. #include "Arduino.h"
  23. #else
  24. #include "WProgram.h"
  25. #endif
  26. #define BIT(b) (1<<(b))
  27. #define TEST(n,b) (((n)&BIT(b))!=0)
  28. // Arduino < 1.0.0 does not define this, so we need to do it ourselves
  29. #ifndef analogInputToDigitalPin
  30. #define analogInputToDigitalPin(p) ((p) + 0xA0)
  31. #endif
  32. #ifdef AT90USB
  33. #include "HardwareSerial.h"
  34. #endif
  35. #include "MarlinSerial.h"
  36. #ifndef cbi
  37. #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
  38. #endif
  39. #ifndef sbi
  40. #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
  41. #endif
  42. #include "WString.h"
  43. #ifdef AT90USB
  44. #ifdef BTENABLED
  45. #define MYSERIAL bt
  46. #else
  47. #define MYSERIAL Serial
  48. #endif // BTENABLED
  49. #else
  50. #define MYSERIAL MSerial
  51. #endif
  52. #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
  53. #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
  54. #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
  55. #define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
  56. #define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
  57. extern const char errormagic[] PROGMEM;
  58. extern const char echomagic[] PROGMEM;
  59. #define SERIAL_ERROR_START (serialprintPGM(errormagic))
  60. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  61. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  62. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  63. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  64. #define SERIAL_ECHO_START (serialprintPGM(echomagic))
  65. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  66. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  67. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  68. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  69. #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
  70. #define SERIAL_EOL MYSERIAL.write('\n')
  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. {
  77. char ch=pgm_read_byte(str);
  78. while(ch)
  79. {
  80. MYSERIAL.write(ch);
  81. ch=pgm_read_byte(++str);
  82. }
  83. }
  84. void get_command();
  85. void process_commands();
  86. void manage_inactivity(bool ignore_stepper_queue=false);
  87. #if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
  88. && defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  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 defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  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 defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  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 defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  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 defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  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) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  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) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  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) && defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
  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. enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
  151. //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.
  152. void FlushSerialRequestResend();
  153. void ClearToSend();
  154. void get_coordinates();
  155. #ifdef DELTA
  156. void calculate_delta(float cartesian[3]);
  157. #ifdef ENABLE_AUTO_BED_LEVELING
  158. extern int delta_grid_spacing[2];
  159. void adjust_delta(float cartesian[3]);
  160. #endif
  161. extern float delta[3];
  162. void prepare_move_raw();
  163. #endif
  164. #ifdef SCARA
  165. void calculate_delta(float cartesian[3]);
  166. void calculate_SCARA_forward_Transform(float f_scara[3]);
  167. #endif
  168. void reset_bed_level();
  169. void prepare_move();
  170. void kill();
  171. void Stop();
  172. #ifdef FILAMENT_RUNOUT_SENSOR
  173. void filrunout();
  174. #endif
  175. bool IsStopped();
  176. bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
  177. void enquecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
  178. void prepare_arc_move(char isclockwise);
  179. void clamp_to_software_endstops(float target[3]);
  180. void refresh_cmd_timeout(void);
  181. #ifdef FAST_PWM_FAN
  182. void setPwmFrequency(uint8_t pin, int val);
  183. #endif
  184. #ifndef CRITICAL_SECTION_START
  185. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  186. #define CRITICAL_SECTION_END SREG = _sreg;
  187. #endif //CRITICAL_SECTION_START
  188. extern float homing_feedrate[];
  189. extern bool axis_relative_modes[];
  190. extern int feedmultiply;
  191. extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
  192. extern bool volumetric_enabled;
  193. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  194. 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.
  195. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  196. extern float current_position[NUM_AXIS] ;
  197. extern float add_homing[3];
  198. #ifdef DELTA
  199. extern float endstop_adj[3];
  200. extern float delta_radius;
  201. extern float delta_diagonal_rod;
  202. extern float delta_segments_per_second;
  203. void recalc_delta_settings(float radius, float diagonal_rod);
  204. #endif
  205. #ifdef SCARA
  206. extern float axis_scaling[3]; // Build size scaling
  207. #endif
  208. extern float min_pos[3];
  209. extern float max_pos[3];
  210. extern bool axis_known_position[3];
  211. extern float zprobe_zoffset;
  212. extern int fanSpeed;
  213. #ifdef BARICUDA
  214. extern int ValvePressure;
  215. extern int EtoPPressure;
  216. #endif
  217. #ifdef FAN_SOFT_PWM
  218. extern unsigned char fanSpeedSoftPwm;
  219. #endif
  220. #ifdef FILAMENT_SENSOR
  221. extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75
  222. extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
  223. extern float filament_width_meas; //holds the filament diameter as accurately measured
  224. extern signed char measurement_delay[]; //ring buffer to delay measurement
  225. extern int delay_index1, delay_index2; //index into ring buffer
  226. extern float delay_dist; //delay distance counter
  227. extern int meas_delay_cm; //delay distance
  228. #endif
  229. #ifdef FWRETRACT
  230. extern bool autoretract_enabled;
  231. extern bool retracted[EXTRUDERS];
  232. extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
  233. extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
  234. #endif
  235. extern unsigned long starttime;
  236. extern unsigned long stoptime;
  237. // Handling multiple extruders pins
  238. extern uint8_t active_extruder;
  239. #ifdef DIGIPOT_I2C
  240. extern void digipot_i2c_set_current( int channel, float current );
  241. extern void digipot_i2c_init();
  242. #endif
  243. #endif
  244. extern void calculate_volumetric_multipliers();