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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 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/>.
- *
- */
- #ifndef MARLIN_H
- #define MARLIN_H
-
- #include <math.h>
- #include <stdio.h>
- #include <stdlib.h>
- #include <string.h>
- #include <inttypes.h>
-
- #include <util/delay.h>
- #include <avr/pgmspace.h>
- #include <avr/eeprom.h>
- #include <avr/interrupt.h>
-
- #include "MarlinConfig.h"
-
- #include "enum.h"
- #include "types.h"
- #include "fastio.h"
- #include "utility.h"
-
-
- #ifdef USBCON
- #include "HardwareSerial.h"
- #if ENABLED(BLUETOOTH)
- #define MYSERIAL bluetoothSerial
- #else
- #define MYSERIAL Serial
- #endif // BLUETOOTH
- #else
- #include "MarlinSerial.h"
- #define MYSERIAL customizedSerial
- #endif
-
- #include "WString.h"
-
- #if ENABLED(PRINTCOUNTER)
- #include "printcounter.h"
- #else
- #include "stopwatch.h"
- #endif
-
- extern const char echomagic[] PROGMEM;
- extern const char errormagic[] PROGMEM;
-
- #define SERIAL_CHAR(x) (MYSERIAL.write(x))
- #define SERIAL_EOL SERIAL_CHAR('\n')
-
- #define SERIAL_PROTOCOLCHAR(x) SERIAL_CHAR(x)
- #define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
- #define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
- #define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
- #define SERIAL_PROTOCOLLN(x) do{ MYSERIAL.print(x); SERIAL_EOL; }while(0)
- #define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x "\n")))
- #define SERIAL_PROTOCOLPAIR(name, value) (serial_echopair_P(PSTR(name),(value)))
- #define SERIAL_PROTOCOLLNPAIR(name, value) do{ SERIAL_PROTOCOLPAIR(name, value); SERIAL_EOL; }while(0)
-
- #define SERIAL_ECHO_START (serialprintPGM(echomagic))
- #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
- #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
- #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
- #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
- #define SERIAL_ECHOPAIR(name,value) SERIAL_PROTOCOLPAIR(name, value)
- #define SERIAL_ECHOLNPAIR(name, value) SERIAL_PROTOCOLLNPAIR(name, value)
- #define SERIAL_ECHO_F(x,y) SERIAL_PROTOCOL_F(x,y)
-
- #define SERIAL_ERROR_START (serialprintPGM(errormagic))
- #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
- #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
- #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
- #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
-
- void serial_echopair_P(const char* s_P, const char *v);
- void serial_echopair_P(const char* s_P, char v);
- void serial_echopair_P(const char* s_P, int v);
- void serial_echopair_P(const char* s_P, long v);
- void serial_echopair_P(const char* s_P, float v);
- void serial_echopair_P(const char* s_P, double v);
- void serial_echopair_P(const char* s_P, unsigned int v);
- void serial_echopair_P(const char* s_P, unsigned long v);
- FORCE_INLINE void serial_echopair_P(const char* s_P, uint8_t v) { serial_echopair_P(s_P, (int)v); }
- FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopair_P(s_P, (int)v); }
- FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); }
- FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(s_P, (unsigned long)v); }
-
- // Things to write to serial from Program memory. Saves 400 to 2k of RAM.
- FORCE_INLINE void serialprintPGM(const char* str) {
- while (char ch = pgm_read_byte(str++)) MYSERIAL.write(ch);
- }
-
- void idle(
- #if ENABLED(FILAMENT_CHANGE_FEATURE)
- bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
- #endif
- );
-
- void manage_inactivity(bool ignore_stepper_queue = false);
-
- #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
- extern bool extruder_duplication_enabled;
- #endif
-
- #if HAS_X2_ENABLE
- #define enable_x() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
- #define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
- #elif HAS_X_ENABLE
- #define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
- #define disable_x() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
- #else
- #define enable_x() NOOP
- #define disable_x() NOOP
- #endif
-
- #if HAS_Y2_ENABLE
- #define enable_y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
- #define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
- #elif HAS_Y_ENABLE
- #define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
- #define disable_y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
- #else
- #define enable_y() NOOP
- #define disable_y() NOOP
- #endif
-
- #if HAS_Z2_ENABLE
- #define enable_z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
- #define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
- #elif HAS_Z_ENABLE
- #define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
- #define disable_z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
- #else
- #define enable_z() NOOP
- #define disable_z() NOOP
- #endif
-
- #if ENABLED(MIXING_EXTRUDER)
-
- /**
- * Mixing steppers synchronize their enable (and direction) together
- */
- #if MIXING_STEPPERS > 3
- #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); }
- #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); }
- #elif MIXING_STEPPERS > 2
- #define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
- #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
- #else
- #define enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
- #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
- #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
-
- #else // !MIXING_EXTRUDER
-
- #if HAS_E0_ENABLE
- #define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
- #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_e0() NOOP
- #define disable_e0() NOOP
- #endif
-
- #if E_STEPPERS > 1 && HAS_E1_ENABLE
- #define enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
- #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_e1() NOOP
- #define disable_e1() NOOP
- #endif
-
- #if E_STEPPERS > 2 && HAS_E2_ENABLE
- #define enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
- #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_e2() NOOP
- #define disable_e2() NOOP
- #endif
-
- #if E_STEPPERS > 3 && HAS_E3_ENABLE
- #define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
- #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
- #else
- #define enable_e3() NOOP
- #define disable_e3() NOOP
- #endif
-
- #endif // !MIXING_EXTRUDER
-
- #if ENABLED(G38_PROBE_TARGET)
- extern bool G38_move, // flag to tell the interrupt handler that a G38 command is being run
- G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
- #endif
-
- /**
- * The axis order in all axis related arrays is X, Y, Z, E
- */
- #define _AXIS(AXIS) AXIS ##_AXIS
-
- void enable_all_steppers();
- void disable_all_steppers();
-
- void FlushSerialRequestResend();
- void ok_to_send();
-
- void kill(const char*);
-
- void quickstop_stepper();
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR)
- void handle_filament_runout();
- #endif
-
- extern uint8_t marlin_debug_flags;
- #define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
-
- extern bool Running;
- inline bool IsRunning() { return Running; }
- inline bool IsStopped() { return !Running; }
-
- 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
- void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return when the command has been enqueued
- 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
- void clear_command_queue();
-
- extern millis_t previous_cmd_ms;
- inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
-
- #if ENABLED(FAST_PWM_FAN)
- void setPwmFrequency(uint8_t pin, int val);
- #endif
-
- /**
- * Feedrate scaling and conversion
- */
- extern int feedrate_percentage;
-
- #define MMM_TO_MMS(MM_M) ((MM_M)/60.0)
- #define MMS_TO_MMM(MM_S) ((MM_S)*60.0)
- #define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
-
- extern bool axis_relative_modes[];
- extern bool volumetric_enabled;
- extern int flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
- 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.
- extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
- extern bool axis_known_position[XYZ]; // axis[n].is_known
- extern bool axis_homed[XYZ]; // axis[n].is_homed
- extern volatile bool wait_for_heatup;
-
- #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
- extern volatile bool wait_for_user;
- #endif
-
- extern float current_position[NUM_AXIS];
-
- // Workspace offsets
- #if DISABLED(NO_WORKSPACE_OFFSETS)
- extern float position_shift[XYZ],
- home_offset[XYZ],
- workspace_offset[XYZ];
- #define LOGICAL_POSITION(POS, AXIS) ((POS) + workspace_offset[AXIS])
- #define RAW_POSITION(POS, AXIS) ((POS) - workspace_offset[AXIS])
- #else
- #define LOGICAL_POSITION(POS, AXIS) (POS)
- #define RAW_POSITION(POS, AXIS) (POS)
- #endif
-
- #define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
- #define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
- #define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
- #define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
- #define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
- #define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
- #define RAW_CURRENT_POSITION(AXIS) RAW_POSITION(current_position[AXIS], AXIS)
-
- #if HOTENDS > 1
- extern float hotend_offset[XYZ][HOTENDS];
- #endif
-
- // Software Endstops
- extern float soft_endstop_min[XYZ];
- extern float soft_endstop_max[XYZ];
-
- #if HAS_SOFTWARE_ENDSTOPS
- extern bool soft_endstops_enabled;
- void clamp_to_software_endstops(float target[XYZ]);
- #else
- #define soft_endstops_enabled false
- #define clamp_to_software_endstops(x) NOOP
- #endif
-
- #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
- void update_software_endstops(const AxisEnum axis);
- #endif
-
- // GCode support for external objects
- bool code_seen(char);
- int code_value_int();
- float code_value_temp_abs();
- float code_value_temp_diff();
-
- #if IS_KINEMATIC
- extern float delta[ABC];
- void inverse_kinematics(const float logical[XYZ]);
- #endif
-
- #if ENABLED(DELTA)
- extern float endstop_adj[ABC],
- delta_radius,
- delta_diagonal_rod,
- delta_segments_per_second,
- delta_diagonal_rod_trim[ABC],
- delta_tower_angle_trim[ABC],
- delta_clip_start_height;
- void recalc_delta_settings(float radius, float diagonal_rod);
- #elif IS_SCARA
- void forward_kinematics_SCARA(const float &a, const float &b);
- #endif
-
- #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
- extern int bilinear_grid_spacing[2], bilinear_start[2];
- extern float bed_level_grid[ABL_GRID_MAX_POINTS_X][ABL_GRID_MAX_POINTS_Y];
- float bilinear_z_offset(float logical[XYZ]);
- void set_bed_leveling_enabled(bool enable=true);
- #endif
-
- #if PLANNER_LEVELING
- void reset_bed_level();
- #endif
-
- #if ENABLED(Z_DUAL_ENDSTOPS)
- extern float z_endstop_adj;
- #endif
-
- #if HAS_BED_PROBE
- extern float zprobe_zoffset;
- #endif
-
- #if ENABLED(HOST_KEEPALIVE_FEATURE)
- extern uint8_t host_keepalive_interval;
- #endif
-
- #if FAN_COUNT > 0
- extern int fanSpeeds[FAN_COUNT];
- #endif
-
- #if ENABLED(BARICUDA)
- extern int baricuda_valve_pressure;
- extern int baricuda_e_to_p_pressure;
- #endif
-
- #if ENABLED(FILAMENT_WIDTH_SENSOR)
- extern bool filament_sensor; // Flag that filament sensor readings should control extrusion
- extern float filament_width_nominal, // Theoretical filament diameter i.e., 3.00 or 1.75
- filament_width_meas; // Measured filament diameter
- extern int8_t measurement_delay[]; // Ring buffer to delay measurement
- extern int filwidth_delay_index[2]; // Ring buffer indexes. Used by planner, temperature, and main code
- extern int meas_delay_cm; // Delay distance
- #endif
-
- #if ENABLED(FILAMENT_CHANGE_FEATURE)
- extern FilamentChangeMenuResponse filament_change_menu_response;
- #endif
-
- #if ENABLED(PID_EXTRUSION_SCALING)
- extern int lpq_len;
- #endif
-
- #if ENABLED(FWRETRACT)
- extern bool autoretract_enabled;
- extern bool retracted[EXTRUDERS]; // extruder[n].retracted
- extern float retract_length, retract_length_swap, retract_feedrate_mm_s, retract_zlift;
- extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate_mm_s;
- #endif
-
- // Print job timer
- #if ENABLED(PRINTCOUNTER)
- extern PrintCounter print_job_timer;
- #else
- extern Stopwatch print_job_timer;
- #endif
-
- // Handling multiple extruders pins
- extern uint8_t active_extruder;
-
- #if HAS_TEMP_HOTEND || HAS_TEMP_BED
- void print_heaterstates();
- #endif
-
- #if ENABLED(MIXING_EXTRUDER)
- extern float mixing_factor[MIXING_STEPPERS];
- #endif
-
- void calculate_volumetric_multipliers();
-
- /**
- * Blocking movement and shorthand functions
- */
- void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
- void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
- void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
- void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
-
- #endif //MARLIN_H
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