My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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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. // Arduino < 1.0.0 does not define this, so we need to do it ourselves
  25. #ifndef analogInputToDigitalPin
  26. #define analogInputToDigitalPin(p) ((p) + 0xA0)
  27. #endif
  28. #ifdef AT90USB
  29. #include "HardwareSerial.h"
  30. #endif
  31. #include "MarlinSerial.h"
  32. #ifndef cbi
  33. #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
  34. #endif
  35. #ifndef sbi
  36. #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
  37. #endif
  38. #include "WString.h"
  39. #ifdef AT90USB
  40. #ifdef BTENABLED
  41. #define MYSERIAL bt
  42. #else
  43. #define MYSERIAL Serial
  44. #endif // BTENABLED
  45. #else
  46. #define MYSERIAL MSerial
  47. #endif
  48. #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
  49. #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
  50. #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
  51. #define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
  52. #define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
  53. extern const char errormagic[] PROGMEM;
  54. extern const char echomagic[] PROGMEM;
  55. #define SERIAL_ERROR_START (serialprintPGM(errormagic))
  56. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  57. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  58. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  59. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  60. #define SERIAL_ECHO_START (serialprintPGM(echomagic))
  61. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  62. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  63. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  64. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  65. #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
  66. #define SERIAL_EOL MYSERIAL.write('\n')
  67. void serial_echopair_P(const char *s_P, float v);
  68. void serial_echopair_P(const char *s_P, double v);
  69. void serial_echopair_P(const char *s_P, unsigned long v);
  70. //Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  71. FORCE_INLINE void serialprintPGM(const char *str)
  72. {
  73. char ch=pgm_read_byte(str);
  74. while(ch)
  75. {
  76. MYSERIAL.write(ch);
  77. ch=pgm_read_byte(++str);
  78. }
  79. }
  80. void get_command();
  81. void process_commands();
  82. void manage_inactivity(bool ignore_stepper_queue=false);
  83. #if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
  84. && defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  85. #define enable_x() do { X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); } while (0)
  86. #define disable_x() do { X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
  87. #elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  88. #define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
  89. #define disable_x() { X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
  90. #else
  91. #define enable_x() ;
  92. #define disable_x() ;
  93. #endif
  94. #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  95. #ifdef Y_DUAL_STEPPER_DRIVERS
  96. #define enable_y() { Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }
  97. #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  98. #else
  99. #define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
  100. #define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  101. #endif
  102. #else
  103. #define enable_y() ;
  104. #define disable_y() ;
  105. #endif
  106. #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  107. #ifdef Z_DUAL_STEPPER_DRIVERS
  108. #define enable_z() { Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }
  109. #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  110. #else
  111. #define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
  112. #define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  113. #endif
  114. #else
  115. #define enable_z() ;
  116. #define disable_z() ;
  117. #endif
  118. #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  119. #define enable_e0() E0_ENABLE_WRITE(E_ENABLE_ON)
  120. #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
  121. #else
  122. #define enable_e0() /* nothing */
  123. #define disable_e0() /* nothing */
  124. #endif
  125. #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  126. #define enable_e1() E1_ENABLE_WRITE(E_ENABLE_ON)
  127. #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
  128. #else
  129. #define enable_e1() /* nothing */
  130. #define disable_e1() /* nothing */
  131. #endif
  132. #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  133. #define enable_e2() E2_ENABLE_WRITE(E_ENABLE_ON)
  134. #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
  135. #else
  136. #define enable_e2() /* nothing */
  137. #define disable_e2() /* nothing */
  138. #endif
  139. #if (EXTRUDERS > 3) && defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
  140. #define enable_e3() E3_ENABLE_WRITE(E_ENABLE_ON)
  141. #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
  142. #else
  143. #define enable_e3() /* nothing */
  144. #define disable_e3() /* nothing */
  145. #endif
  146. 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};
  147. //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.
  148. void FlushSerialRequestResend();
  149. void ClearToSend();
  150. void get_coordinates();
  151. #ifdef DELTA
  152. void calculate_delta(float cartesian[3]);
  153. #ifdef ENABLE_AUTO_BED_LEVELING
  154. extern int delta_grid_spacing[2];
  155. void adjust_delta(float cartesian[3]);
  156. #endif
  157. extern float delta[3];
  158. void prepare_move_raw();
  159. #endif
  160. #ifdef SCARA
  161. void calculate_delta(float cartesian[3]);
  162. void calculate_SCARA_forward_Transform(float f_scara[3]);
  163. #endif
  164. void reset_bed_level();
  165. void prepare_move();
  166. void kill();
  167. void Stop();
  168. #ifdef FILAMENT_RUNOUT_SENSOR
  169. void filrunout();
  170. #endif
  171. bool IsStopped();
  172. bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
  173. void enquecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
  174. void prepare_arc_move(char isclockwise);
  175. void clamp_to_software_endstops(float target[3]);
  176. void refresh_cmd_timeout(void);
  177. #ifdef FAST_PWM_FAN
  178. void setPwmFrequency(uint8_t pin, int val);
  179. #endif
  180. #ifndef CRITICAL_SECTION_START
  181. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  182. #define CRITICAL_SECTION_END SREG = _sreg;
  183. #endif //CRITICAL_SECTION_START
  184. extern float homing_feedrate[];
  185. extern bool axis_relative_modes[];
  186. extern int feedmultiply;
  187. extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
  188. extern bool volumetric_enabled;
  189. extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  190. 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.
  191. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  192. extern float current_position[NUM_AXIS] ;
  193. extern float home_offset[3];
  194. #ifdef DELTA
  195. extern float endstop_adj[3];
  196. extern float delta_radius;
  197. extern float delta_diagonal_rod;
  198. extern float delta_segments_per_second;
  199. void recalc_delta_settings(float radius, float diagonal_rod);
  200. #elif defined(Z_DUAL_ENDSTOPS)
  201. extern float z_endstop_adj;
  202. #endif
  203. #ifdef SCARA
  204. extern float axis_scaling[3]; // Build size scaling
  205. #endif
  206. extern float min_pos[3];
  207. extern float max_pos[3];
  208. extern bool axis_known_position[3];
  209. #ifdef ENABLE_AUTO_BED_LEVELING
  210. extern float zprobe_zoffset;
  211. #endif
  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; //ring buffer index. used by planner, temperature, and main code
  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. extern void calculate_volumetric_multipliers();
  244. #endif //MARLIN_H