My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin.h 12KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. #ifndef MARLIN_H
  23. #define MARLIN_H
  24. #define FORCE_INLINE __attribute__((always_inline)) inline
  25. /**
  26. * Compiler warning on unused variable.
  27. */
  28. #define UNUSED(x) (void) (x)
  29. #include <math.h>
  30. #include <stdio.h>
  31. #include <stdlib.h>
  32. #include <string.h>
  33. #include <inttypes.h>
  34. #include <util/delay.h>
  35. #include <avr/pgmspace.h>
  36. #include <avr/eeprom.h>
  37. #include <avr/interrupt.h>
  38. #include "fastio.h"
  39. #include "Configuration.h"
  40. #include "pins.h"
  41. #ifndef SANITYCHECK_H
  42. #error "Your Configuration.h and Configuration_adv.h files are outdated!"
  43. #endif
  44. #include "Arduino.h"
  45. typedef unsigned long millis_t;
  46. #ifdef USBCON
  47. #include "HardwareSerial.h"
  48. #endif
  49. #include "MarlinSerial.h"
  50. #include "WString.h"
  51. #if ENABLED(PRINTCOUNTER)
  52. #include "printcounter.h"
  53. #else
  54. #include "stopwatch.h"
  55. #endif
  56. #ifdef USBCON
  57. #if ENABLED(BLUETOOTH)
  58. #define MYSERIAL bluetoothSerial
  59. #else
  60. #define MYSERIAL Serial
  61. #endif // BLUETOOTH
  62. #else
  63. #define MYSERIAL customizedSerial
  64. #endif
  65. #define SERIAL_CHAR(x) MYSERIAL.write(x)
  66. #define SERIAL_EOL SERIAL_CHAR('\n')
  67. #define SERIAL_PROTOCOLCHAR(x) SERIAL_CHAR(x)
  68. #define SERIAL_PROTOCOL(x) MYSERIAL.print(x)
  69. #define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y)
  70. #define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x))
  71. #define SERIAL_PROTOCOLLN(x) do{ MYSERIAL.print(x); SERIAL_EOL; }while(0)
  72. #define SERIAL_PROTOCOLLNPGM(x) do{ serialprintPGM(PSTR(x "\n")); }while(0)
  73. #define SERIAL_PROTOCOLPAIR(name, value) SERIAL_ECHOPAIR(name, value)
  74. extern const char errormagic[] PROGMEM;
  75. extern const char echomagic[] PROGMEM;
  76. #define SERIAL_ERROR_START serialprintPGM(errormagic)
  77. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  78. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  79. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  80. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  81. #define SERIAL_ECHO_START serialprintPGM(echomagic)
  82. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  83. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  84. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  85. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  86. #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
  87. void serial_echopair_P(const char* s_P, int v);
  88. void serial_echopair_P(const char* s_P, long v);
  89. void serial_echopair_P(const char* s_P, float v);
  90. void serial_echopair_P(const char* s_P, double v);
  91. void serial_echopair_P(const char* s_P, unsigned long v);
  92. FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); }
  93. FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(s_P, (unsigned long)v); }
  94. // Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  95. FORCE_INLINE void serialprintPGM(const char* str) {
  96. char ch;
  97. while ((ch = pgm_read_byte(str))) {
  98. MYSERIAL.write(ch);
  99. str++;
  100. }
  101. }
  102. void idle(
  103. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  104. bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
  105. #endif
  106. );
  107. void manage_inactivity(bool ignore_stepper_queue = false);
  108. #if ENABLED(DUAL_X_CARRIAGE)
  109. extern bool extruder_duplication_enabled;
  110. #endif
  111. #if HAS_X2_ENABLE
  112. #define enable_x() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
  113. #define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
  114. #elif HAS_X_ENABLE
  115. #define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
  116. #define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
  117. #else
  118. #define enable_x() NOOP
  119. #define disable_x() NOOP
  120. #endif
  121. #if HAS_Y2_ENABLE
  122. #define enable_y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
  123. #define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
  124. #elif HAS_Y_ENABLE
  125. #define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
  126. #define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
  127. #else
  128. #define enable_y() NOOP
  129. #define disable_y() NOOP
  130. #endif
  131. #if HAS_Z2_ENABLE
  132. #define enable_z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
  133. #define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
  134. #elif HAS_Z_ENABLE
  135. #define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
  136. #define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
  137. #else
  138. #define enable_z() NOOP
  139. #define disable_z() NOOP
  140. #endif
  141. #if HAS_E0_ENABLE
  142. #define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
  143. #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
  144. #else
  145. #define enable_e0() NOOP
  146. #define disable_e0() NOOP
  147. #endif
  148. #if (EXTRUDERS > 1) && HAS_E1_ENABLE
  149. #define enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
  150. #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
  151. #else
  152. #define enable_e1() NOOP
  153. #define disable_e1() NOOP
  154. #endif
  155. #if (EXTRUDERS > 2) && HAS_E2_ENABLE
  156. #define enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
  157. #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
  158. #else
  159. #define enable_e2() NOOP
  160. #define disable_e2() NOOP
  161. #endif
  162. #if (EXTRUDERS > 3) && HAS_E3_ENABLE
  163. #define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
  164. #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
  165. #else
  166. #define enable_e3() NOOP
  167. #define disable_e3() NOOP
  168. #endif
  169. /**
  170. * The axis order in all axis related arrays is X, Y, Z, E
  171. */
  172. #define NUM_AXIS 4
  173. /**
  174. * Axis indices as enumerated constants
  175. *
  176. * A_AXIS and B_AXIS are used by COREXY printers
  177. * 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.
  178. */
  179. enum AxisEnum {NO_AXIS = -1, X_AXIS = 0, A_AXIS = 0, Y_AXIS = 1, B_AXIS = 1, Z_AXIS = 2, C_AXIS = 2, E_AXIS = 3, X_HEAD = 4, Y_HEAD = 5, Z_HEAD = 5};
  180. #define _AXIS(AXIS) AXIS ##_AXIS
  181. typedef enum { LINEARUNIT_MM = 0, LINEARUNIT_INCH = 1 } LinearUnit;
  182. typedef enum { TEMPUNIT_C = 0, TEMPUNIT_K = 1, TEMPUNIT_F = 2 } TempUnit;
  183. void enable_all_steppers();
  184. void disable_all_steppers();
  185. void FlushSerialRequestResend();
  186. void ok_to_send();
  187. void reset_bed_level();
  188. void kill(const char*);
  189. void quickstop_stepper();
  190. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  191. void handle_filament_runout();
  192. #endif
  193. /**
  194. * Debug flags - not yet widely applied
  195. */
  196. enum DebugFlags {
  197. DEBUG_NONE = 0,
  198. DEBUG_ECHO = _BV(0), ///< Echo commands in order as they are processed
  199. DEBUG_INFO = _BV(1), ///< Print messages for code that has debug output
  200. DEBUG_ERRORS = _BV(2), ///< Not implemented
  201. DEBUG_DRYRUN = _BV(3), ///< Ignore temperature setting and E movement commands
  202. DEBUG_COMMUNICATION = _BV(4), ///< Not implemented
  203. DEBUG_LEVELING = _BV(5) ///< Print detailed output for homing and leveling
  204. };
  205. extern uint8_t marlin_debug_flags;
  206. #define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
  207. extern bool Running;
  208. inline bool IsRunning() { return Running; }
  209. inline bool IsStopped() { return !Running; }
  210. bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); //put a single ASCII command at the end of the current buffer or return false when it is full
  211. void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return when the command has been enqueued
  212. void enqueue_and_echo_commands_P(const char* cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
  213. void clear_command_queue();
  214. void clamp_to_software_endstops(float target[3]);
  215. extern millis_t previous_cmd_ms;
  216. inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
  217. #if ENABLED(FAST_PWM_FAN)
  218. void setPwmFrequency(uint8_t pin, int val);
  219. #endif
  220. #ifndef CRITICAL_SECTION_START
  221. #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
  222. #define CRITICAL_SECTION_END SREG = _sreg;
  223. #endif
  224. extern bool axis_relative_modes[];
  225. extern int feedrate_multiplier;
  226. extern bool volumetric_enabled;
  227. extern int extruder_multiplier[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
  228. 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.
  229. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  230. extern float current_position[NUM_AXIS];
  231. extern float home_offset[3]; // axis[n].home_offset
  232. extern float sw_endstop_min[3]; // axis[n].sw_endstop_min
  233. extern float sw_endstop_max[3]; // axis[n].sw_endstop_max
  234. extern bool axis_known_position[3]; // axis[n].is_known
  235. extern bool axis_homed[3]; // axis[n].is_homed
  236. extern volatile bool wait_for_heatup;
  237. // GCode support for external objects
  238. bool code_seen(char);
  239. int code_value_int();
  240. float code_value_temp_abs();
  241. float code_value_temp_diff();
  242. #if ENABLED(DELTA)
  243. extern float delta[3];
  244. extern float endstop_adj[3]; // axis[n].endstop_adj
  245. extern float delta_radius;
  246. extern float delta_diagonal_rod;
  247. extern float delta_segments_per_second;
  248. extern float delta_diagonal_rod_trim_tower_1;
  249. extern float delta_diagonal_rod_trim_tower_2;
  250. extern float delta_diagonal_rod_trim_tower_3;
  251. void calculate_delta(float cartesian[3]);
  252. void recalc_delta_settings(float radius, float diagonal_rod);
  253. float delta_safe_distance_from_top();
  254. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  255. extern int delta_grid_spacing[2];
  256. void adjust_delta(float cartesian[3]);
  257. #endif
  258. #elif ENABLED(SCARA)
  259. extern float axis_scaling[3]; // Build size scaling
  260. void calculate_delta(float cartesian[3]);
  261. void calculate_SCARA_forward_Transform(float f_scara[3]);
  262. #endif
  263. #if ENABLED(Z_DUAL_ENDSTOPS)
  264. extern float z_endstop_adj;
  265. #endif
  266. #if HAS_BED_PROBE
  267. extern float zprobe_zoffset;
  268. #endif
  269. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  270. extern uint8_t host_keepalive_interval;
  271. #endif
  272. #if FAN_COUNT > 0
  273. extern int fanSpeeds[FAN_COUNT];
  274. #endif
  275. #if ENABLED(BARICUDA)
  276. extern int baricuda_valve_pressure;
  277. extern int baricuda_e_to_p_pressure;
  278. #endif
  279. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  280. extern float filament_width_nominal; //holds the theoretical filament diameter i.e., 3.00 or 1.75
  281. extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
  282. extern float filament_width_meas; //holds the filament diameter as accurately measured
  283. extern int8_t measurement_delay[]; //ring buffer to delay measurement
  284. extern int filwidth_delay_index1, filwidth_delay_index2; //ring buffer index. used by planner, temperature, and main code
  285. extern int meas_delay_cm; //delay distance
  286. #endif
  287. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  288. enum FilamentChangeMenuResponse {
  289. FILAMENT_CHANGE_RESPONSE_WAIT_FOR,
  290. FILAMENT_CHANGE_RESPONSE_EXTRUDE_MORE,
  291. FILAMENT_CHANGE_RESPONSE_RESUME_PRINT
  292. };
  293. extern FilamentChangeMenuResponse filament_change_menu_response;
  294. #endif
  295. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  296. extern int lpq_len;
  297. #endif
  298. #if ENABLED(FWRETRACT)
  299. extern bool autoretract_enabled;
  300. extern bool retracted[EXTRUDERS]; // extruder[n].retracted
  301. extern float retract_length, retract_length_swap, retract_feedrate_mm_s, retract_zlift;
  302. extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
  303. #endif
  304. // Print job timer
  305. #if ENABLED(PRINTCOUNTER)
  306. extern PrintCounter print_job_timer;
  307. #else
  308. extern Stopwatch print_job_timer;
  309. #endif
  310. // Handling multiple extruders pins
  311. extern uint8_t active_extruder;
  312. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  313. void print_heaterstates();
  314. #endif
  315. void calculate_volumetric_multipliers();
  316. // Buzzer
  317. #if HAS_BUZZER
  318. #if ENABLED(SPEAKER)
  319. #include "speaker.h"
  320. extern Speaker buzzer;
  321. #else
  322. #include "buzzer.h"
  323. extern Buzzer buzzer;
  324. #endif
  325. #endif
  326. void safe_delay(uint16_t del);
  327. #endif //MARLIN_H