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Marlin/Marlin.h

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+// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
+// Licence: GPL
+#include <WProgram.h>
+#include "fastio.h"
+extern "C" void __cxa_pure_virtual();
+void __cxa_pure_virtual(){};
+void get_command();
+void process_commands();
+
+void manage_inactivity(byte debug);
+
+void manage_heater();
+int temp2analogu(int celsius, const short table[][2], int numtemps);
+float analog2tempu(int raw, const short table[][2], int numtemps);
+#ifdef HEATER_USES_THERMISTOR
+    #define HEATERSOURCE 1
+#endif
+#ifdef BED_USES_THERMISTOR
+    #define BEDSOURCE 1
+#endif
+
+#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS)
+#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS)
+
+#if X_ENABLE_PIN > -1
+#define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
+#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
+#else
+#define enable_x() ;
+#define disable_x() ;
+#endif
+#if Y_ENABLE_PIN > -1
+#define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
+#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
+#else
+#define enable_y() ;
+#define disable_y() ;
+#endif
+#if Z_ENABLE_PIN > -1
+#define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
+#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
+#else
+#define enable_z() ;
+#define disable_z() ;
+#endif
+#if E_ENABLE_PIN > -1
+#define  enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
+#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
+#else
+#define enable_e() ;
+#define disable_e() ;
+#endif
+
+#define X_AXIS 0
+#define Y_AXIS 1
+#define Z_AXIS 2
+#define E_AXIS 3
+
+void FlushSerialRequestResend();
+void ClearToSend();
+
+void get_coordinates();
+void prepare_move();
+void linear_move(unsigned long steps_remaining[]);
+void do_step(int axis);
+void kill(byte debug);
+
+// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
+// the source g-code and may never actually be reached if acceleration management is active.
+typedef struct {
+  // Fields used by the bresenham algorithm for tracing the line
+  long steps_x, steps_y, steps_z, steps_e;  // Step count along each axis
+  long step_event_count;                    // The number of step events required to complete this block
+  volatile long accelerate_until;                    // The index of the step event on which to stop acceleration
+  volatile long decelerate_after;                    // The index of the step event on which to start decelerating
+  volatile long acceleration_rate;                   // The acceleration rate used for acceleration calculation
+  unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+
+  long advance_rate;
+  volatile long initial_advance;
+  volatile long final_advance;
+  float advance;
+
+  // Fields used by the motion planner to manage acceleration
+  float speed_x, speed_y, speed_z, speed_e;          // Nominal mm/minute for each axis
+  float nominal_speed;                               // The nominal speed for this block in mm/min  
+  float millimeters;                                 // The total travel of this block in mm
+  float entry_speed;
+
+  // Settings for the trapezoid generator
+  long nominal_rate;                                 // The nominal step rate for this block in step_events/sec 
+  volatile long initial_rate;                                 // The jerk-adjusted step rate at start of block  
+  volatile long final_rate;                                   // The minimal rate at exit
+  long acceleration;                                 // acceleration mm/sec^2
+  volatile char busy;
+} block_t;
+
+void check_axes_activity();
+void plan_init();
+void st_init();
+void tp_init();
+void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
+void plan_set_position(float x, float y, float z, float e);
+void st_wake_up();
+void st_synchronize();
+
+