3c927901a4
FW retraction is extended onto swap retraction invoked by 'G10 S1'. Bookkeeping of the retract state of all extruders allows for having one extruder fw standard retracted while another extruder is swap retracted. An LCD menu item for the swap retract and recover length was added.
251 lines
7.4 KiB
C
251 lines
7.4 KiB
C
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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// License: GPL
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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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#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 AT90USB
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#define HardwareSerial_h // trick to disable the standard HWserial
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#endif
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#if (ARDUINO >= 100)
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# include "Arduino.h"
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#else
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# include "WProgram.h"
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//Arduino < 1.0.0 does not define this, so we need to do it ourselves
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# define analogInputToDigitalPin(p) ((p) + A0)
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#endif
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#ifdef AT90USB
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#include "HardwareSerial.h"
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#endif
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#include "MarlinSerial.h"
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#ifndef cbi
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#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
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#endif
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#ifndef sbi
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#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
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#endif
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#include "WString.h"
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#ifdef AT90USB
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#ifdef BTENABLED
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#define MYSERIAL bt
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#else
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#define MYSERIAL Serial
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#endif // BTENABLED
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#else
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#define MYSERIAL MSerial
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#endif
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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) (MYSERIAL.print(x),MYSERIAL.write('\n'))
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#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
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const char errormagic[] PROGMEM ="Error:";
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const char echomagic[] PROGMEM ="echo:";
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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, 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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//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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{
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char ch=pgm_read_byte(str);
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while(ch)
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{
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MYSERIAL.write(ch);
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ch=pgm_read_byte(++str);
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}
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}
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void get_command();
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void process_commands();
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void manage_inactivity();
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#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
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&& defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
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#define enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
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#define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
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#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
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#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
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#define disable_x() { WRITE(X_ENABLE_PIN,!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 defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
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#ifdef Y_DUAL_STEPPER_DRIVERS
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#define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
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#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
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#else
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#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
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#define disable_y() { WRITE(Y_ENABLE_PIN,!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 defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
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#ifdef Z_DUAL_STEPPER_DRIVERS
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#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
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#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
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#else
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#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
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#define disable_z() { WRITE(Z_ENABLE_PIN,!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 defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
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#define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
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#define disable_e0() WRITE(E0_ENABLE_PIN,!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) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
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#define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
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#define disable_e1() WRITE(E1_ENABLE_PIN,!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) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
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#define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
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#define disable_e2() WRITE(E2_ENABLE_PIN,!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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enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3};
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void FlushSerialRequestResend();
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void ClearToSend();
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void get_coordinates();
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#ifdef DELTA
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void calculate_delta(float cartesian[3]);
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extern float delta[3];
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#endif
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void prepare_move();
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void kill();
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void Stop();
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bool IsStopped();
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void enquecommand(const char *cmd); //put an ASCII command at the end of the current buffer.
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void enquecommand_P(const char *cmd); //put an ASCII command 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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void refresh_cmd_timeout(void);
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#ifdef 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 //CRITICAL_SECTION_START
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extern float homing_feedrate[];
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extern bool axis_relative_modes[];
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extern int feedmultiply;
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extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
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extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
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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 add_homeing[3];
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#ifdef DELTA
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extern float endstop_adj[3];
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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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void recalc_delta_settings(float radius, float diagonal_rod);
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#endif
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extern float min_pos[3];
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extern float max_pos[3];
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extern bool axis_known_position[3];
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extern float zprobe_zoffset;
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extern int fanSpeed;
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#ifdef BARICUDA
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extern int ValvePressure;
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extern int EtoPPressure;
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#endif
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#ifdef FAN_SOFT_PWM
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extern unsigned char fanSpeedSoftPwm;
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#endif
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#ifdef FWRETRACT
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extern bool autoretract_enabled;
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extern bool retracted[EXTRUDERS];
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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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extern unsigned long starttime;
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extern unsigned long stoptime;
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// Handling multiple extruders pins
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extern uint8_t active_extruder;
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#ifdef 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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#endif
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