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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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# include <math.h>
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# include <stdio.h>
# include <stdlib.h>
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# include "inc/MarlinConfig.h"
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# ifdef DEBUG_GCODE_PARSER
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# include "gcode/parser.h"
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# endif
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# if ENABLED(PRINTCOUNTER)
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# include "module/printcounter.h"
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# else
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# include "libs/stopwatch.h"
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# endif
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void stop ( ) ;
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void idle (
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# if ENABLED(ADVANCED_PAUSE_FEATURE)
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bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
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# endif
) ;
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void manage_inactivity ( bool ignore_stepper_queue = false ) ;
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# if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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extern bool extruder_duplication_enabled ;
# endif
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# if 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() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
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# else
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# define enable_X() NOOP
# define disable_X() NOOP
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# endif
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# if HAS_Y2_ENABLE
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# 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)
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# elif HAS_Y_ENABLE
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# 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)
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# else
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# define enable_Y() NOOP
# define disable_Y() NOOP
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# endif
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# if HAS_Z2_ENABLE
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# 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)
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# elif HAS_Z_ENABLE
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# 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)
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# else
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# define enable_Z() NOOP
# define disable_Z() NOOP
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# endif
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# if ENABLED(MIXING_EXTRUDER)
/**
* Mixing steppers synchronize their enable ( and direction ) together
*/
# if MIXING_STEPPERS > 3
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# 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); }
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# elif MIXING_STEPPERS > 2
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# 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); }
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# else
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# 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); }
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# endif
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# define enable_E1() NOOP
# define disable_E1() NOOP
# define enable_E2() NOOP
# define disable_E2() NOOP
# define enable_E3() NOOP
# define disable_E3() NOOP
# define enable_E4() NOOP
# define disable_E4() NOOP
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# else // !MIXING_EXTRUDER
# if HAS_E0_ENABLE
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# define enable_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
# define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
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# else
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# define enable_E0() NOOP
# define disable_E0() NOOP
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# endif
# if E_STEPPERS > 1 && HAS_E1_ENABLE
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# define enable_E1() E1_ENABLE_WRITE( E_ENABLE_ON)
# define disable_E1() E1_ENABLE_WRITE(!E_ENABLE_ON)
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# else
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# define enable_E1() NOOP
# define disable_E1() NOOP
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# endif
# if E_STEPPERS > 2 && HAS_E2_ENABLE
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# define enable_E2() E2_ENABLE_WRITE( E_ENABLE_ON)
# define disable_E2() E2_ENABLE_WRITE(!E_ENABLE_ON)
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# else
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# define enable_E2() NOOP
# define disable_E2() NOOP
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# endif
# if E_STEPPERS > 3 && HAS_E3_ENABLE
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# define enable_E3() E3_ENABLE_WRITE( E_ENABLE_ON)
# define disable_E3() E3_ENABLE_WRITE(!E_ENABLE_ON)
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# else
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# define enable_E3() NOOP
# define disable_E3() NOOP
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# endif
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# if E_STEPPERS > 4 && HAS_E4_ENABLE
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# define enable_E4() E4_ENABLE_WRITE( E_ENABLE_ON)
# define disable_E4() E4_ENABLE_WRITE(!E_ENABLE_ON)
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# else
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# define enable_E4() NOOP
# define disable_E4() NOOP
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# endif
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# endif // !MIXING_EXTRUDER
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# if ENABLED(G38_PROBE_TARGET)
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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
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# endif
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/**
* The axis order in all axis related arrays is X , Y , Z , E
*/
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# define _AXIS(AXIS) AXIS ##_AXIS
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void enable_all_steppers ( ) ;
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void disable_e_steppers ( ) ;
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void disable_all_steppers ( ) ;
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void kill ( const char * ) ;
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void quickstop_stepper ( ) ;
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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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extern bool Running ;
inline bool IsRunning ( ) { return Running ; }
inline bool IsStopped ( ) { return ! Running ; }
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/**
* Feedrate scaling and conversion
*/
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extern int16_t feedrate_percentage ;
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# define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
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extern bool volumetric_enabled ;
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extern int16_t flow_percentage [ EXTRUDERS ] ; // Extrusion factor for each extruder
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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 bool axis_known_position [ XYZ ] ;
extern bool axis_homed [ XYZ ] ;
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extern volatile bool wait_for_heatup ;
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# if HAS_RESUME_CONTINUE
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extern volatile bool wait_for_user ;
# endif
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// Hotend Offsets
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# if HOTENDS > 1
extern float hotend_offset [ XYZ ] [ HOTENDS ] ;
# endif
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// Software Endstops
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extern float soft_endstop_min [ XYZ ] , soft_endstop_max [ XYZ ] ;
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# if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
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void update_software_endstops ( const AxisEnum axis ) ;
# endif
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# if IS_KINEMATIC
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extern float delta [ ABC ] ;
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void inverse_kinematics ( const float logical [ XYZ ] ) ;
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# endif
# if ENABLED(DELTA)
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extern float endstop_adj [ ABC ] ,
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delta_radius ,
delta_diagonal_rod ,
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delta_calibration_radius ,
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delta_segments_per_second ,
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delta_tower_angle_trim [ 2 ] ,
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delta_clip_start_height ;
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void recalc_delta_settings ( float radius , float diagonal_rod ) ;
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# elif IS_SCARA
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void forward_kinematics_SCARA ( const float & a , const float & b ) ;
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# endif
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# if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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extern int bilinear_grid_spacing [ 2 ] , bilinear_start [ 2 ] ;
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extern float bilinear_grid_factor [ 2 ] ,
z_values [ GRID_MAX_POINTS_X ] [ GRID_MAX_POINTS_Y ] ;
float bilinear_z_offset ( const float logical [ XYZ ] ) ;
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# endif
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# if ENABLED(AUTO_BED_LEVELING_UBL)
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typedef struct { double A , B , D ; } linear_fit ;
linear_fit * lsf_linear_fit ( double x [ ] , double y [ ] , double z [ ] , const int ) ;
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# endif
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# if HAS_LEVELING
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bool leveling_is_valid ( ) ;
bool leveling_is_active ( ) ;
void set_bed_leveling_enabled ( const bool enable = true ) ;
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void reset_bed_level ( ) ;
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# endif
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# if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
void set_z_fade_height ( const float zfh ) ;
# 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 HAS_BED_PROBE
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extern float zprobe_zoffset ;
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void refresh_zprobe_zoffset ( const bool no_babystep = false ) ;
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# define DEPLOY_PROBE() set_probe_deployed(true)
# define STOW_PROBE() set_probe_deployed(false)
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# else
# define DEPLOY_PROBE()
# define STOW_PROBE()
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# endif
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# if FAN_COUNT > 0
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extern int16_t fanSpeeds [ FAN_COUNT ] ;
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# if ENABLED(PROBING_FANS_OFF)
extern bool fans_paused ;
extern int16_t paused_fanSpeeds [ FAN_COUNT ] ;
# endif
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# endif
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# if ENABLED(BARICUDA)
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extern uint8_t baricuda_valve_pressure , baricuda_e_to_p_pressure ;
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# endif
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# if ENABLED(FILAMENT_WIDTH_SENSOR)
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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
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extern uint8_t meas_delay_cm , // Delay distance
measurement_delay [ ] ; // Ring buffer to delay measurement
extern int8_t filwidth_delay_index [ 2 ] ; // Ring buffer indexes. Used by planner, temperature, and main code
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# endif
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# if ENABLED(ADVANCED_PAUSE_FEATURE)
extern AdvancedPauseMenuResponse advanced_pause_menu_response ;
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# endif
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# if ENABLED(PID_EXTRUSION_SCALING)
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extern int lpq_len ;
# 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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# if HAS_TEMP_HOTEND || HAS_TEMP_BED
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void print_heaterstates ( ) ;
# endif
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# if ENABLED(MIXING_EXTRUDER)
extern float mixing_factor [ MIXING_STEPPERS ] ;
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# if MIXING_VIRTUAL_TOOLS > 1
extern float mixing_virtual_tool_mix [ MIXING_VIRTUAL_TOOLS ] [ MIXING_STEPPERS ] ;
# endif
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# endif
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void calculate_volumetric_multipliers ( ) ;
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/**
* Blocking movement and shorthand functions
*/
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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 ) ;
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# if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
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bool axis_unhomed_error ( const bool x = true , const bool y = true , const bool z = true ) ;
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# endif
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# endif // __MARLIN_H__