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/**
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* Marlin 3 D 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/>.
*
*/
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# ifndef MARLIN_H
# define MARLIN_H
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# define FORCE_INLINE __attribute__((always_inline)) inline
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/**
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* Compiler warning on unused variable .
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*/
# define UNUSED(x) (void) (x)
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# include <math.h>
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# include <stdio.h>
# include <stdlib.h>
# include <string.h>
# include <inttypes.h>
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# include <util/delay.h>
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# include <avr/pgmspace.h>
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# include <avr/eeprom.h>
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# include <avr/interrupt.h>
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# include "fastio.h"
# include "Configuration.h"
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# include "pins.h"
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# ifndef SANITYCHECK_H
# error Your Configuration.h and Configuration_adv.h files are outdated!
# endif
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# include "Arduino.h"
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typedef unsigned long millis_t ;
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# ifdef USBCON
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# include "HardwareSerial.h"
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# endif
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# include "MarlinSerial.h"
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# include "WString.h"
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# if ENABLED(PRINTCOUNTER)
# include "printcounter.h"
# else
# include "stopwatch.h"
# endif
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# ifdef USBCON
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# if ENABLED(BLUETOOTH)
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# define MYSERIAL bluetoothSerial
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# else
# define MYSERIAL Serial
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# endif // BLUETOOTH
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# else
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# define MYSERIAL customizedSerial
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# endif
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# 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))
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# define SERIAL_PROTOCOLLN(x) do{ MYSERIAL.print(x); SERIAL_EOL; }while(0)
# define SERIAL_PROTOCOLLNPGM(x) do{ serialprintPGM(PSTR(x)); SERIAL_EOL; }while(0)
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extern const char errormagic [ ] PROGMEM ;
extern const char echomagic [ ] PROGMEM ;
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# define SERIAL_ERROR_START serialprintPGM(errormagic)
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# 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)
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# define SERIAL_ECHO_START serialprintPGM(echomagic)
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# 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)
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# define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
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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 long v ) ;
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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 ) ; }
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// Things to write to serial from Program memory. Saves 400 to 2k of RAM.
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FORCE_INLINE void serialprintPGM ( const char * str ) {
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char ch ;
while ( ( ch = pgm_read_byte ( str ) ) ) {
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MYSERIAL . write ( ch ) ;
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str + + ;
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}
}
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void idle (
# if ENABLED(FILAMENTCHANGEENABLE)
bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
# endif
) ;
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void manage_inactivity ( bool ignore_stepper_queue = false ) ;
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# if ENABLED(DUAL_X_CARRIAGE) && HAS_X_ENABLE && HAS_X2_ENABLE
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# 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)
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# elif HAS_X_ENABLE
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# define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
# define disable_x() { X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
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# else
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# define enable_x() ;
# define disable_x() ;
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# endif
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# if HAS_Y_ENABLE
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# if ENABLED(Y_DUAL_STEPPER_DRIVERS)
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# define enable_y() { Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }
# define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
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# else
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# define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
# define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
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# endif
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# else
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# define enable_y() ;
# define disable_y() ;
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# endif
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# if HAS_Z_ENABLE
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# if ENABLED(Z_DUAL_STEPPER_DRIVERS)
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# define enable_z() { Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }
# define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
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# else
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# define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
# define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
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# endif
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# else
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# define enable_z() ;
# define disable_z() ;
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# endif
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# if HAS_E0_ENABLE
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# define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
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# define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
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# else
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# define enable_e0() /* nothing */
# define disable_e0() /* nothing */
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# endif
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# if (EXTRUDERS > 1) && HAS_E1_ENABLE
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# define enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
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# define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
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# else
# define enable_e1() /* nothing */
# define disable_e1() /* nothing */
# endif
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# if (EXTRUDERS > 2) && HAS_E2_ENABLE
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# define enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
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# define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
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# else
# define enable_e2() /* nothing */
# define disable_e2() /* nothing */
# endif
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# if (EXTRUDERS > 3) && HAS_E3_ENABLE
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# define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
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# define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
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# else
# define enable_e3() /* nothing */
# define disable_e3() /* nothing */
# endif
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/**
* The axis order in all axis related arrays is X , Y , Z , E
*/
# define NUM_AXIS 4
/**
* Axis indices as enumerated constants
*
* A_AXIS and B_AXIS are used by COREXY printers
* 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 .
*/
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enum AxisEnum { 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 } ;
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# define _AXIS(AXIS) AXIS ##_AXIS
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void enable_all_steppers ( ) ;
void disable_all_steppers ( ) ;
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void FlushSerialRequestResend ( ) ;
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void ok_to_send ( ) ;
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void reset_bed_level ( ) ;
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void prepare_move ( ) ;
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void kill ( const char * ) ;
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# if ENABLED(FILAMENT_RUNOUT_SENSOR)
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void handle_filament_runout ( ) ;
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# endif
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/**
* Debug flags - not yet widely applied
*/
enum DebugFlags {
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DEBUG_NONE = 0 ,
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DEBUG_ECHO = _BV ( 0 ) , ///< Echo commands in order as they are processed
DEBUG_INFO = _BV ( 1 ) , ///< Print messages for code that has debug output
DEBUG_ERRORS = _BV ( 2 ) , ///< Not implemented
DEBUG_DRYRUN = _BV ( 3 ) , ///< Ignore temperature setting and E movement commands
DEBUG_COMMUNICATION = _BV ( 4 ) , ///< Not implemented
DEBUG_LEVELING = _BV ( 5 ) ///< Print detailed output for homing and leveling
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} ;
extern uint8_t marlin_debug_flags ;
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# define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
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extern bool Running ;
inline bool IsRunning ( ) { return Running ; }
inline bool IsStopped ( ) { return ! Running ; }
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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
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void enqueue_and_echo_command_now ( const char * cmd ) ; // enqueue now, only return when the command has been enqueued
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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
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void prepare_arc_move ( char isclockwise ) ;
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void clamp_to_software_endstops ( float target [ 3 ] ) ;
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extern millis_t previous_cmd_ms ;
inline void refresh_cmd_timeout ( ) { previous_cmd_ms = millis ( ) ; }
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# if ENABLED(FAST_PWM_FAN)
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void setPwmFrequency ( uint8_t pin , int val ) ;
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# endif
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# ifndef CRITICAL_SECTION_START
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# define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
# define CRITICAL_SECTION_END SREG = _sreg;
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# endif
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extern bool axis_relative_modes [ ] ;
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extern int feedrate_multiplier ;
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extern bool volumetric_enabled ;
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extern int extruder_multiplier [ EXTRUDERS ] ; // sets extrude multiply factor (in percent) for each extruder individually
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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.
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extern float volumetric_multiplier [ EXTRUDERS ] ; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
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extern float current_position [ NUM_AXIS ] ;
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extern float home_offset [ 3 ] ; // axis[n].home_offset
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extern float sw_endstop_min [ 3 ] ; // axis[n].sw_endstop_min
extern float sw_endstop_max [ 3 ] ; // axis[n].sw_endstop_max
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extern bool axis_known_position [ 3 ] ; // axis[n].is_known
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extern bool axis_homed [ 3 ] ; // axis[n].is_homed
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// GCode support for external objects
extern bool code_seen ( char ) ;
extern float code_value ( ) ;
extern long code_value_long ( ) ;
extern int16_t code_value_short ( ) ;
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# if ENABLED(DELTA)
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extern float delta [ 3 ] ;
extern float endstop_adj [ 3 ] ; // axis[n].endstop_adj
extern float delta_radius ;
extern float delta_diagonal_rod ;
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extern float delta_segments_per_second ;
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extern float delta_diagonal_rod_trim_tower_1 ;
extern float delta_diagonal_rod_trim_tower_2 ;
extern float delta_diagonal_rod_trim_tower_3 ;
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void calculate_delta ( float cartesian [ 3 ] ) ;
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void recalc_delta_settings ( float radius , float diagonal_rod ) ;
# if ENABLED(AUTO_BED_LEVELING_FEATURE)
extern int delta_grid_spacing [ 2 ] ;
void adjust_delta ( float cartesian [ 3 ] ) ;
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# endif
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# elif ENABLED(SCARA)
extern float axis_scaling [ 3 ] ; // Build size scaling
void calculate_delta ( float cartesian [ 3 ] ) ;
void calculate_SCARA_forward_Transform ( float f_scara [ 3 ] ) ;
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# endif
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# if ENABLED(Z_DUAL_ENDSTOPS)
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extern float z_endstop_adj ;
# endif
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# if ENABLED(AUTO_BED_LEVELING_FEATURE)
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extern float zprobe_zoffset ;
# endif
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# if ENABLED(HOST_KEEPALIVE_FEATURE)
extern uint8_t host_keepalive_interval ;
# endif
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# if FAN_COUNT > 0
extern int fanSpeeds [ FAN_COUNT ] ;
# endif
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# if ENABLED(BARICUDA)
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extern int baricuda_valve_pressure ;
extern int baricuda_e_to_p_pressure ;
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# endif
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# if ENABLED(FILAMENT_WIDTH_SENSOR)
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extern float filament_width_nominal ; //holds the theoretical filament diameter i.e., 3.00 or 1.75
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extern bool filament_sensor ; //indicates that filament sensor readings should control extrusion
extern float filament_width_meas ; //holds the filament diameter as accurately measured
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extern int8_t measurement_delay [ ] ; //ring buffer to delay measurement
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extern int filwidth_delay_index1 , filwidth_delay_index2 ; //ring buffer index. used by planner, temperature, and main code
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extern int meas_delay_cm ; //delay distance
# endif
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# if ENABLED(PID_ADD_EXTRUSION_RATE)
extern int lpq_len ;
# endif
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# if ENABLED(FWRETRACT)
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extern bool autoretract_enabled ;
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extern bool retracted [ EXTRUDERS ] ; // extruder[n].retracted
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extern float retract_length , retract_length_swap , retract_feedrate , retract_zlift ;
extern float retract_recover_length , retract_recover_length_swap , retract_recover_feedrate ;
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# endif
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// Print job timer
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# if ENABLED(PRINTCOUNTER)
extern PrintCounter print_job_timer ;
# else
extern Stopwatch print_job_timer ;
# endif
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// Handling multiple extruders pins
extern uint8_t active_extruder ;
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# if ENABLED(DIGIPOT_I2C)
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extern void digipot_i2c_set_current ( int channel , float current ) ;
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extern void digipot_i2c_init ( ) ;
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# endif
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# if HAS_TEMP_HOTEND || HAS_TEMP_BED
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void print_heaterstates ( ) ;
# endif
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extern void calculate_volumetric_multipliers ( ) ;
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# endif //MARLIN_H