384 lines
12 KiB
C
384 lines
12 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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#define FORCE_INLINE __attribute__((always_inline)) inline
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/**
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* Compiler warning on unused variable.
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*/
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#define UNUSED(x) (void) (x)
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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 <string.h>
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#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"
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#include "Configuration.h"
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#include "pins.h"
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#ifndef SANITYCHECK_H
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#error Your Configuration.h and Configuration_adv.h files are outdated!
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#endif
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#include "Arduino.h"
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typedef unsigned long millis_t;
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// Arduino < 1.0.0 does not define this, so we need to do it ourselves
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#ifndef analogInputToDigitalPin
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#define analogInputToDigitalPin(p) ((p) + 0xA0)
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#endif
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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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#include "stopwatch.h"
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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
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#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)
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#define SERIAL_EOL SERIAL_CHAR('\n')
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#define SERIAL_PROTOCOLCHAR(x) SERIAL_CHAR(x)
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#define SERIAL_PROTOCOL(x) MYSERIAL.print(x)
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#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y)
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#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x))
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#define SERIAL_PROTOCOLLN(x) do{ MYSERIAL.print(x); SERIAL_EOL; }while(0)
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#define SERIAL_PROTOCOLLNPGM(x) do{ serialprintPGM(PSTR(x)); SERIAL_EOL; }while(0)
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extern const char errormagic[] PROGMEM;
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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)
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#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
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#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
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#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)
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#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
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#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
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#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);
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void serial_echopair_P(const char* s_P, long v);
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void serial_echopair_P(const char* s_P, float v);
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void serial_echopair_P(const char* s_P, double v);
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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); }
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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;
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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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}
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void idle(
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#if ENABLED(FILAMENTCHANGEENABLE)
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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) && 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)
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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() { X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
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#else
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#define enable_x() ;
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#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); }
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#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)
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#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() ;
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#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); }
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#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)
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#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() ;
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#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 */
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#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
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#define enable_e1() /* nothing */
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#define disable_e1() /* nothing */
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#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
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#define enable_e2() /* nothing */
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#define disable_e2() /* nothing */
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#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
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#define enable_e3() /* nothing */
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#define disable_e3() /* nothing */
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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 NUM_AXIS 4
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/**
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* Axis indices as enumerated constants
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*
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* A_AXIS and B_AXIS are used by COREXY printers
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* 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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*/
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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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enum EndstopEnum {X_MIN = 0, Y_MIN = 1, Z_MIN = 2, Z_MIN_PROBE = 3, X_MAX = 4, Y_MAX = 5, Z_MAX = 6, Z2_MIN = 7, Z2_MAX = 8};
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void enable_all_steppers();
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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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void Stop();
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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void filrunout();
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#endif
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/**
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* Debug flags - not yet widely applied
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*/
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enum DebugFlags {
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DEBUG_NONE = 0,
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DEBUG_ECHO = _BV(0),
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DEBUG_INFO = _BV(1),
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DEBUG_ERRORS = _BV(2),
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DEBUG_DRYRUN = _BV(3),
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DEBUG_COMMUNICATION = _BV(4),
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DEBUG_LEVELING = _BV(5)
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};
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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;
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inline bool IsRunning() { return Running; }
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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;
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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();
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#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 min_pos[3]; // axis[n].min_pos
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extern float max_pos[3]; // axis[n].max_pos
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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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#if ENABLED(DELTA)
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#ifndef DELTA_RADIUS_TRIM_TOWER_1
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#define DELTA_RADIUS_TRIM_TOWER_1 0.0
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#endif
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#ifndef DELTA_RADIUS_TRIM_TOWER_2
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#define DELTA_RADIUS_TRIM_TOWER_2 0.0
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#endif
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#ifndef DELTA_RADIUS_TRIM_TOWER_3
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#define DELTA_RADIUS_TRIM_TOWER_3 0.0
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#endif
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_1
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
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#endif
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_2
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
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#endif
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
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#endif
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extern float delta[3];
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extern float endstop_adj[3]; // axis[n].endstop_adj
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extern float delta_radius;
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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;
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extern float delta_diagonal_rod_trim_tower_2;
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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);
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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extern int delta_grid_spacing[2];
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void adjust_delta(float cartesian[3]);
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#endif
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#elif ENABLED(SCARA)
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extern float axis_scaling[3]; // Build size scaling
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void calculate_delta(float cartesian[3]);
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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;
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#endif
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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extern float zprobe_zoffset;
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#endif
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#if ENABLED(HOST_KEEPALIVE_FEATURE)
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extern uint8_t host_keepalive_interval;
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#endif
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#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
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extern float extrude_min_temp;
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#endif
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#if FAN_COUNT > 0
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extern int fanSpeeds[FAN_COUNT];
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#endif
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#if ENABLED(BARICUDA)
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extern int ValvePressure;
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extern int EtoPPressure;
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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
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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
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#endif
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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extern int lpq_len;
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#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;
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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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extern Stopwatch print_job_timer;
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// Handling multiple extruders pins
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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();
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#endif
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extern void calculate_volumetric_multipliers();
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#endif //MARLIN_H
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