331 lines
10 KiB
C
331 lines
10 KiB
C
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef __MARLIN_H__
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#define __MARLIN_H__
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#include <math.h>
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#include <stdio.h>
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#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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);
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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;
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#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)
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#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)
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#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
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#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)
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#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)
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#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
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#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)
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#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)
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#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
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#define disable_Z() NOOP
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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/**
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* Mixing steppers synchronize their enable (and direction) together
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*/
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#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); }
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#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); }
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#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); }
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#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
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#define disable_E1() NOOP
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#define enable_E2() NOOP
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#define disable_E2() NOOP
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#define enable_E3() NOOP
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#define disable_E3() NOOP
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#define enable_E4() NOOP
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#define disable_E4() NOOP
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#else // !MIXING_EXTRUDER
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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() NOOP
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#define disable_E0() NOOP
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#endif
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#if E_STEPPERS > 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
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#define enable_E1() NOOP
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#define disable_E1() NOOP
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#endif
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#if E_STEPPERS > 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
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#define enable_E2() NOOP
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#define disable_E2() NOOP
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#endif
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#if E_STEPPERS > 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
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#define enable_E3() NOOP
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#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)
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#define disable_E4() E4_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_E4() NOOP
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#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
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G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
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#endif
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/**
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* The axis order in all axis related arrays is X, Y, Z, E
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*/
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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;
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inline bool IsRunning() { return Running; }
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inline bool IsStopped() { return !Running; }
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/**
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* Feedrate scaling and conversion
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*/
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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];
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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;
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#endif
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// Hotend Offsets
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#if HOTENDS > 1
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extern float hotend_offset[XYZ][HOTENDS];
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#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);
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#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
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#if ENABLED(DELTA)
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extern float endstop_adj[ABC],
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delta_radius,
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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],
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z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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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;
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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();
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bool leveling_is_active();
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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)
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void set_z_fade_height(const float zfh);
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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extern float z_endstop_adj;
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#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)
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#define STOW_PROBE() set_probe_deployed(false)
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#else
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#define DEPLOY_PROBE()
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#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)
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extern bool fans_paused;
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extern int16_t paused_fanSpeeds[FAN_COUNT];
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#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
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extern float filament_width_nominal, // Theoretical filament diameter i.e., 3.00 or 1.75
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filament_width_meas; // Measured filament diameter
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extern uint8_t meas_delay_cm, // Delay distance
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measurement_delay[]; // Ring buffer to delay measurement
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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)
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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;
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#endif
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// Print job timer
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#if ENABLED(PRINTCOUNTER)
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extern PrintCounter print_job_timer;
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#else
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extern Stopwatch print_job_timer;
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#endif
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#if HAS_TEMP_HOTEND || HAS_TEMP_BED
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void print_heaterstates();
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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extern float mixing_factor[MIXING_STEPPERS];
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#if MIXING_VIRTUAL_TOOLS > 1
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extern float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
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#endif
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#endif
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void calculate_volumetric_multipliers();
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/**
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* Blocking movement and shorthand functions
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*/
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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);
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void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
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void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
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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__
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