My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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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. #include <math.h>
  25. #include <stdio.h>
  26. #include <stdlib.h>
  27. #include <string.h>
  28. #include <inttypes.h>
  29. #include <util/delay.h>
  30. #include <avr/pgmspace.h>
  31. #include <avr/eeprom.h>
  32. #include <avr/interrupt.h>
  33. #include "MarlinConfig.h"
  34. #include "enum.h"
  35. #include "types.h"
  36. #include "fastio.h"
  37. #include "utility.h"
  38. #ifdef USBCON
  39. #include "HardwareSerial.h"
  40. #if ENABLED(BLUETOOTH)
  41. #define MYSERIAL bluetoothSerial
  42. #else
  43. #define MYSERIAL Serial
  44. #endif // BLUETOOTH
  45. #else
  46. #include "MarlinSerial.h"
  47. #define MYSERIAL customizedSerial
  48. #endif
  49. #include "WString.h"
  50. #if ENABLED(PRINTCOUNTER)
  51. #include "printcounter.h"
  52. #else
  53. #include "stopwatch.h"
  54. #endif
  55. extern const char echomagic[] PROGMEM;
  56. extern const char errormagic[] PROGMEM;
  57. #define SERIAL_CHAR(x) (MYSERIAL.write(x))
  58. #define SERIAL_EOL SERIAL_CHAR('\n')
  59. #define SERIAL_PROTOCOLCHAR(x) SERIAL_CHAR(x)
  60. #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
  61. #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
  62. #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
  63. #define SERIAL_PROTOCOLLN(x) do{ MYSERIAL.print(x); SERIAL_EOL; }while(0)
  64. #define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x "\n")))
  65. #define SERIAL_PROTOCOLPAIR(name, value) (serial_echopair_P(PSTR(name),(value)))
  66. #define SERIAL_PROTOCOLLNPAIR(name, value) do{ SERIAL_PROTOCOLPAIR(name, value); SERIAL_EOL; }while(0)
  67. #define SERIAL_ECHO_START (serialprintPGM(echomagic))
  68. #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
  69. #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
  70. #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
  71. #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  72. #define SERIAL_ECHOPAIR(name,value) SERIAL_PROTOCOLPAIR(name, value)
  73. #define SERIAL_ECHOLNPAIR(name, value) SERIAL_PROTOCOLLNPAIR(name, value)
  74. #define SERIAL_ECHO_F(x,y) SERIAL_PROTOCOL_F(x,y)
  75. #define SERIAL_ERROR_START (serialprintPGM(errormagic))
  76. #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
  77. #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
  78. #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
  79. #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
  80. void serial_echopair_P(const char* s_P, const char *v);
  81. void serial_echopair_P(const char* s_P, char v);
  82. void serial_echopair_P(const char* s_P, int v);
  83. void serial_echopair_P(const char* s_P, long v);
  84. void serial_echopair_P(const char* s_P, float v);
  85. void serial_echopair_P(const char* s_P, double v);
  86. void serial_echopair_P(const char* s_P, unsigned int v);
  87. void serial_echopair_P(const char* s_P, unsigned long v);
  88. FORCE_INLINE void serial_echopair_P(const char* s_P, uint8_t v) { serial_echopair_P(s_P, (int)v); }
  89. FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopair_P(s_P, (int)v); }
  90. FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); }
  91. FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(s_P, (unsigned long)v); }
  92. // Things to write to serial from Program memory. Saves 400 to 2k of RAM.
  93. FORCE_INLINE void serialprintPGM(const char* str) {
  94. while (char ch = pgm_read_byte(str++)) MYSERIAL.write(ch);
  95. }
  96. void idle(
  97. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  98. bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
  99. #endif
  100. );
  101. void manage_inactivity(bool ignore_stepper_queue = false);
  102. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  103. extern bool extruder_duplication_enabled;
  104. #endif
  105. #if HAS_X2_ENABLE
  106. #define enable_x() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
  107. #define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
  108. #elif HAS_X_ENABLE
  109. #define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
  110. #define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
  111. #else
  112. #define enable_x() NOOP
  113. #define disable_x() NOOP
  114. #endif
  115. #if HAS_Y2_ENABLE
  116. #define enable_y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
  117. #define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
  118. #elif HAS_Y_ENABLE
  119. #define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
  120. #define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
  121. #else
  122. #define enable_y() NOOP
  123. #define disable_y() NOOP
  124. #endif
  125. #if HAS_Z2_ENABLE
  126. #define enable_z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
  127. #define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
  128. #elif HAS_Z_ENABLE
  129. #define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
  130. #define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
  131. #else
  132. #define enable_z() NOOP
  133. #define disable_z() NOOP
  134. #endif
  135. #if ENABLED(MIXING_EXTRUDER)
  136. /**
  137. * Mixing steppers synchronize their enable (and direction) together
  138. */
  139. #if MIXING_STEPPERS > 3
  140. #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); }
  141. #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); }
  142. #elif MIXING_STEPPERS > 2
  143. #define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
  144. #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
  145. #else
  146. #define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
  147. #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
  148. #endif
  149. #define enable_e1() NOOP
  150. #define disable_e1() NOOP
  151. #define enable_e2() NOOP
  152. #define disable_e2() NOOP
  153. #define enable_e3() NOOP
  154. #define disable_e3() NOOP
  155. #else // !MIXING_EXTRUDER
  156. #if HAS_E0_ENABLE
  157. #define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
  158. #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
  159. #else
  160. #define enable_e0() NOOP
  161. #define disable_e0() NOOP
  162. #endif
  163. #if E_STEPPERS > 1 && HAS_E1_ENABLE
  164. #define enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
  165. #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
  166. #else
  167. #define enable_e1() NOOP
  168. #define disable_e1() NOOP
  169. #endif
  170. #if E_STEPPERS > 2 && HAS_E2_ENABLE
  171. #define enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
  172. #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
  173. #else
  174. #define enable_e2() NOOP
  175. #define disable_e2() NOOP
  176. #endif
  177. #if E_STEPPERS > 3 && HAS_E3_ENABLE
  178. #define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
  179. #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
  180. #else
  181. #define enable_e3() NOOP
  182. #define disable_e3() NOOP
  183. #endif
  184. #endif // !MIXING_EXTRUDER
  185. #if ENABLED(G38_PROBE_TARGET)
  186. extern bool G38_move, // flag to tell the interrupt handler that a G38 command is being run
  187. G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
  188. #endif
  189. /**
  190. * The axis order in all axis related arrays is X, Y, Z, E
  191. */
  192. #define _AXIS(AXIS) AXIS ##_AXIS
  193. void enable_all_steppers();
  194. void disable_all_steppers();
  195. void FlushSerialRequestResend();
  196. void ok_to_send();
  197. void kill(const char*);
  198. void quickstop_stepper();
  199. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  200. void handle_filament_runout();
  201. #endif
  202. extern uint8_t marlin_debug_flags;
  203. #define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
  204. extern bool Running;
  205. inline bool IsRunning() { return Running; }
  206. inline bool IsStopped() { return !Running; }
  207. 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
  208. void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return when the command has been enqueued
  209. 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
  210. void clear_command_queue();
  211. extern millis_t previous_cmd_ms;
  212. inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
  213. #if ENABLED(FAST_PWM_FAN)
  214. void setPwmFrequency(uint8_t pin, int val);
  215. #endif
  216. /**
  217. * Feedrate scaling and conversion
  218. */
  219. extern int feedrate_percentage;
  220. #define MMM_TO_MMS(MM_M) ((MM_M)/60.0)
  221. #define MMS_TO_MMM(MM_S) ((MM_S)*60.0)
  222. #define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
  223. extern bool axis_relative_modes[];
  224. extern bool volumetric_enabled;
  225. extern int flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
  226. 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.
  227. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
  228. extern bool axis_known_position[XYZ]; // axis[n].is_known
  229. extern bool axis_homed[XYZ]; // axis[n].is_homed
  230. extern volatile bool wait_for_heatup;
  231. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  232. extern volatile bool wait_for_user;
  233. #endif
  234. extern float current_position[NUM_AXIS];
  235. // Workspace offsets
  236. #if DISABLED(NO_WORKSPACE_OFFSETS)
  237. extern float position_shift[XYZ],
  238. home_offset[XYZ],
  239. workspace_offset[XYZ];
  240. #define LOGICAL_POSITION(POS, AXIS) ((POS) + workspace_offset[AXIS])
  241. #define RAW_POSITION(POS, AXIS) ((POS) - workspace_offset[AXIS])
  242. #else
  243. #define LOGICAL_POSITION(POS, AXIS) (POS)
  244. #define RAW_POSITION(POS, AXIS) (POS)
  245. #endif
  246. #define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
  247. #define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
  248. #define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
  249. #define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
  250. #define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
  251. #define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
  252. #define RAW_CURRENT_POSITION(AXIS) RAW_POSITION(current_position[AXIS], AXIS)
  253. #if HOTENDS > 1
  254. extern float hotend_offset[XYZ][HOTENDS];
  255. #endif
  256. // Software Endstops
  257. extern float soft_endstop_min[XYZ];
  258. extern float soft_endstop_max[XYZ];
  259. #if HAS_SOFTWARE_ENDSTOPS
  260. extern bool soft_endstops_enabled;
  261. void clamp_to_software_endstops(float target[XYZ]);
  262. #else
  263. #define soft_endstops_enabled false
  264. #define clamp_to_software_endstops(x) NOOP
  265. #endif
  266. #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
  267. void update_software_endstops(const AxisEnum axis);
  268. #endif
  269. // GCode support for external objects
  270. bool code_seen(char);
  271. int code_value_int();
  272. float code_value_temp_abs();
  273. float code_value_temp_diff();
  274. #if IS_KINEMATIC
  275. extern float delta[ABC];
  276. void inverse_kinematics(const float logical[XYZ]);
  277. #endif
  278. #if ENABLED(DELTA)
  279. extern float endstop_adj[ABC],
  280. delta_radius,
  281. delta_diagonal_rod,
  282. delta_segments_per_second,
  283. delta_diagonal_rod_trim[ABC],
  284. delta_tower_angle_trim[ABC],
  285. delta_clip_start_height;
  286. void recalc_delta_settings(float radius, float diagonal_rod);
  287. #elif IS_SCARA
  288. void forward_kinematics_SCARA(const float &a, const float &b);
  289. #endif
  290. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  291. extern int bilinear_grid_spacing[2], bilinear_start[2];
  292. extern float bed_level_grid[ABL_GRID_MAX_POINTS_X][ABL_GRID_MAX_POINTS_Y];
  293. float bilinear_z_offset(float logical[XYZ]);
  294. void set_bed_leveling_enabled(bool enable=true);
  295. #endif
  296. #if PLANNER_LEVELING
  297. void reset_bed_level();
  298. #endif
  299. #if ENABLED(Z_DUAL_ENDSTOPS)
  300. extern float z_endstop_adj;
  301. #endif
  302. #if HAS_BED_PROBE
  303. extern float zprobe_zoffset;
  304. #endif
  305. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  306. extern uint8_t host_keepalive_interval;
  307. #endif
  308. #if FAN_COUNT > 0
  309. extern int fanSpeeds[FAN_COUNT];
  310. #endif
  311. #if ENABLED(BARICUDA)
  312. extern int baricuda_valve_pressure;
  313. extern int baricuda_e_to_p_pressure;
  314. #endif
  315. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  316. extern bool filament_sensor; // Flag that filament sensor readings should control extrusion
  317. extern float filament_width_nominal, // Theoretical filament diameter i.e., 3.00 or 1.75
  318. filament_width_meas; // Measured filament diameter
  319. extern int8_t measurement_delay[]; // Ring buffer to delay measurement
  320. extern int filwidth_delay_index[2]; // Ring buffer indexes. Used by planner, temperature, and main code
  321. extern int meas_delay_cm; // Delay distance
  322. #endif
  323. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  324. extern FilamentChangeMenuResponse filament_change_menu_response;
  325. #endif
  326. #if ENABLED(PID_EXTRUSION_SCALING)
  327. extern int lpq_len;
  328. #endif
  329. #if ENABLED(FWRETRACT)
  330. extern bool autoretract_enabled;
  331. extern bool retracted[EXTRUDERS]; // extruder[n].retracted
  332. extern float retract_length, retract_length_swap, retract_feedrate_mm_s, retract_zlift;
  333. extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate_mm_s;
  334. #endif
  335. // Print job timer
  336. #if ENABLED(PRINTCOUNTER)
  337. extern PrintCounter print_job_timer;
  338. #else
  339. extern Stopwatch print_job_timer;
  340. #endif
  341. // Handling multiple extruders pins
  342. extern uint8_t active_extruder;
  343. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  344. void print_heaterstates();
  345. #endif
  346. #if ENABLED(MIXING_EXTRUDER)
  347. extern float mixing_factor[MIXING_STEPPERS];
  348. #endif
  349. void calculate_volumetric_multipliers();
  350. /**
  351. * Blocking movement and shorthand functions
  352. */
  353. void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
  354. void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
  355. void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
  356. void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
  357. #endif //MARLIN_H