411 lines
14 KiB
C
411 lines
14 KiB
C
/**
|
|
* Marlin 3D 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/>.
|
|
*
|
|
*/
|
|
#ifndef MARLIN_H
|
|
#define MARLIN_H
|
|
|
|
#include <math.h>
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <inttypes.h>
|
|
|
|
#include <util/delay.h>
|
|
#include <avr/pgmspace.h>
|
|
#include <avr/eeprom.h>
|
|
#include <avr/interrupt.h>
|
|
|
|
#include "MarlinConfig.h"
|
|
|
|
#include "enum.h"
|
|
#include "types.h"
|
|
#include "fastio.h"
|
|
#include "utility.h"
|
|
|
|
#ifdef USBCON
|
|
#include "HardwareSerial.h"
|
|
#if ENABLED(BLUETOOTH)
|
|
#define MYSERIAL bluetoothSerial
|
|
#else
|
|
#define MYSERIAL Serial
|
|
#endif // BLUETOOTH
|
|
#else
|
|
#include "MarlinSerial.h"
|
|
#define MYSERIAL customizedSerial
|
|
#endif
|
|
|
|
#include "WString.h"
|
|
|
|
#if ENABLED(PRINTCOUNTER)
|
|
#include "printcounter.h"
|
|
#else
|
|
#include "stopwatch.h"
|
|
#endif
|
|
|
|
extern const char echomagic[] PROGMEM;
|
|
extern const char errormagic[] PROGMEM;
|
|
|
|
#define SERIAL_CHAR(x) (MYSERIAL.write(x))
|
|
#define SERIAL_EOL SERIAL_CHAR('\n')
|
|
|
|
#define SERIAL_PROTOCOLCHAR(x) SERIAL_CHAR(x)
|
|
#define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
|
|
#define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
|
|
#define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
|
|
#define SERIAL_PROTOCOLLN(x) do{ MYSERIAL.print(x); SERIAL_EOL; }while(0)
|
|
#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x "\n")))
|
|
#define SERIAL_PROTOCOLPAIR(name, value) (serial_echopair_P(PSTR(name),(value)))
|
|
#define SERIAL_PROTOCOLLNPAIR(name, value) do{ SERIAL_PROTOCOLPAIR(name, value); SERIAL_EOL; }while(0)
|
|
|
|
#define SERIAL_ECHO_START (serialprintPGM(echomagic))
|
|
#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
|
|
#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
|
|
#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
|
|
#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
|
|
#define SERIAL_ECHOPAIR(name,value) SERIAL_PROTOCOLPAIR(name, value)
|
|
#define SERIAL_ECHOLNPAIR(name, value) SERIAL_PROTOCOLLNPAIR(name, value)
|
|
|
|
#define SERIAL_ERROR_START (serialprintPGM(errormagic))
|
|
#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
|
|
#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
|
|
#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
|
|
#define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
|
|
|
|
void serial_echopair_P(const char* s_P, const char *v);
|
|
void serial_echopair_P(const char* s_P, char v);
|
|
void serial_echopair_P(const char* s_P, int v);
|
|
void serial_echopair_P(const char* s_P, long v);
|
|
void serial_echopair_P(const char* s_P, float v);
|
|
void serial_echopair_P(const char* s_P, double v);
|
|
void serial_echopair_P(const char* s_P, unsigned long v);
|
|
FORCE_INLINE void serial_echopair_P(const char* s_P, uint8_t v) { serial_echopair_P(s_P, (int)v); }
|
|
FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopair_P(s_P, (int)v); }
|
|
FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); }
|
|
FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(s_P, (unsigned long)v); }
|
|
|
|
// Things to write to serial from Program memory. Saves 400 to 2k of RAM.
|
|
FORCE_INLINE void serialprintPGM(const char* str) {
|
|
while (char ch = pgm_read_byte(str++)) MYSERIAL.write(ch);
|
|
}
|
|
|
|
void idle(
|
|
#if ENABLED(FILAMENT_CHANGE_FEATURE)
|
|
bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
|
|
#endif
|
|
);
|
|
|
|
void manage_inactivity(bool ignore_stepper_queue = false);
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
|
|
extern bool extruder_duplication_enabled;
|
|
#endif
|
|
|
|
#if HAS_X2_ENABLE
|
|
#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)
|
|
#elif HAS_X_ENABLE
|
|
#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)
|
|
#else
|
|
#define enable_x() NOOP
|
|
#define disable_x() NOOP
|
|
#endif
|
|
|
|
#if HAS_Y2_ENABLE
|
|
#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)
|
|
#elif HAS_Y_ENABLE
|
|
#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)
|
|
#else
|
|
#define enable_y() NOOP
|
|
#define disable_y() NOOP
|
|
#endif
|
|
|
|
#if HAS_Z2_ENABLE
|
|
#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)
|
|
#elif HAS_Z_ENABLE
|
|
#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)
|
|
#else
|
|
#define enable_z() NOOP
|
|
#define disable_z() NOOP
|
|
#endif
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
|
|
/**
|
|
* Mixing steppers synchronize their enable (and direction) together
|
|
*/
|
|
#if MIXING_STEPPERS > 3
|
|
#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); }
|
|
#elif MIXING_STEPPERS > 2
|
|
#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); }
|
|
#else
|
|
#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); }
|
|
#endif
|
|
#define enable_e1() NOOP
|
|
#define disable_e1() NOOP
|
|
#define enable_e2() NOOP
|
|
#define disable_e2() NOOP
|
|
#define enable_e3() NOOP
|
|
#define disable_e3() NOOP
|
|
|
|
#else // !MIXING_EXTRUDER
|
|
|
|
#if HAS_E0_ENABLE
|
|
#define enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
|
|
#define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e0() NOOP
|
|
#define disable_e0() NOOP
|
|
#endif
|
|
|
|
#if E_STEPPERS > 1 && HAS_E1_ENABLE
|
|
#define enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
|
|
#define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e1() NOOP
|
|
#define disable_e1() NOOP
|
|
#endif
|
|
|
|
#if E_STEPPERS > 2 && HAS_E2_ENABLE
|
|
#define enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
|
|
#define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e2() NOOP
|
|
#define disable_e2() NOOP
|
|
#endif
|
|
|
|
#if E_STEPPERS > 3 && HAS_E3_ENABLE
|
|
#define enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
|
|
#define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
|
|
#else
|
|
#define enable_e3() NOOP
|
|
#define disable_e3() NOOP
|
|
#endif
|
|
|
|
#endif // !MIXING_EXTRUDER
|
|
|
|
#if ENABLED(G38_PROBE_TARGET)
|
|
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
|
|
#endif
|
|
|
|
/**
|
|
* The axis order in all axis related arrays is X, Y, Z, E
|
|
*/
|
|
#define _AXIS(AXIS) AXIS ##_AXIS
|
|
|
|
void enable_all_steppers();
|
|
void disable_all_steppers();
|
|
|
|
void FlushSerialRequestResend();
|
|
void ok_to_send();
|
|
|
|
void kill(const char*);
|
|
|
|
void quickstop_stepper();
|
|
|
|
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
|
|
void handle_filament_runout();
|
|
#endif
|
|
|
|
extern uint8_t marlin_debug_flags;
|
|
#define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
|
|
|
|
extern bool Running;
|
|
inline bool IsRunning() { return Running; }
|
|
inline bool IsStopped() { return !Running; }
|
|
|
|
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
|
|
void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return when the command has been enqueued
|
|
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
|
|
void clear_command_queue();
|
|
|
|
extern millis_t previous_cmd_ms;
|
|
inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
|
|
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
void setPwmFrequency(uint8_t pin, int val);
|
|
#endif
|
|
|
|
/**
|
|
* Feedrate scaling and conversion
|
|
*/
|
|
extern int feedrate_percentage;
|
|
|
|
#define MMM_TO_MMS(MM_M) ((MM_M)/60.0)
|
|
#define MMS_TO_MMM(MM_S) ((MM_S)*60.0)
|
|
#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
|
|
|
|
extern bool axis_relative_modes[];
|
|
extern bool volumetric_enabled;
|
|
extern int flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
|
|
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.
|
|
extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
|
|
extern bool axis_known_position[XYZ]; // axis[n].is_known
|
|
extern bool axis_homed[XYZ]; // axis[n].is_homed
|
|
extern volatile bool wait_for_heatup;
|
|
|
|
#if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
|
|
extern volatile bool wait_for_user;
|
|
#endif
|
|
|
|
extern float current_position[NUM_AXIS];
|
|
extern float position_shift[XYZ];
|
|
extern float home_offset[XYZ];
|
|
|
|
#if HOTENDS > 1
|
|
extern float hotend_offset[XYZ][HOTENDS];
|
|
#endif
|
|
|
|
// Software Endstops
|
|
void update_software_endstops(AxisEnum axis);
|
|
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
|
|
extern bool soft_endstops_enabled;
|
|
void clamp_to_software_endstops(float target[XYZ]);
|
|
#else
|
|
#define soft_endstops_enabled false
|
|
#define clamp_to_software_endstops(x) NOOP
|
|
#endif
|
|
extern float soft_endstop_min[XYZ];
|
|
extern float soft_endstop_max[XYZ];
|
|
|
|
#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
|
|
#define RAW_POSITION(POS, AXIS) ((POS) - home_offset[AXIS] - position_shift[AXIS])
|
|
#define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
|
|
#define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
|
|
#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
|
|
#define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
|
|
#define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
|
|
#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
|
|
#define RAW_CURRENT_POSITION(AXIS) RAW_POSITION(current_position[AXIS], AXIS)
|
|
|
|
// GCode support for external objects
|
|
bool code_seen(char);
|
|
int code_value_int();
|
|
float code_value_temp_abs();
|
|
float code_value_temp_diff();
|
|
|
|
#if IS_KINEMATIC
|
|
extern float delta[ABC];
|
|
void inverse_kinematics(const float logical[XYZ]);
|
|
#endif
|
|
|
|
#if ENABLED(DELTA)
|
|
extern float endstop_adj[ABC],
|
|
delta_radius,
|
|
delta_diagonal_rod,
|
|
delta_segments_per_second,
|
|
delta_diagonal_rod_trim_tower_1,
|
|
delta_diagonal_rod_trim_tower_2,
|
|
delta_diagonal_rod_trim_tower_3,
|
|
delta_clip_start_height;
|
|
void recalc_delta_settings(float radius, float diagonal_rod);
|
|
#elif IS_SCARA
|
|
void forward_kinematics_SCARA(const float &a, const float &b);
|
|
#endif
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
extern int bilinear_grid_spacing[2];
|
|
float bilinear_z_offset(float logical[XYZ]);
|
|
#endif
|
|
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
extern float z_endstop_adj;
|
|
#endif
|
|
|
|
#if HAS_BED_PROBE
|
|
extern float zprobe_zoffset;
|
|
#endif
|
|
|
|
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
|
extern uint8_t host_keepalive_interval;
|
|
#endif
|
|
|
|
#if FAN_COUNT > 0
|
|
extern int fanSpeeds[FAN_COUNT];
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
extern int baricuda_valve_pressure;
|
|
extern int baricuda_e_to_p_pressure;
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
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
|
|
extern int8_t measurement_delay[]; // Ring buffer to delay measurement
|
|
extern int filwidth_delay_index[2]; // Ring buffer indexes. Used by planner, temperature, and main code
|
|
extern int meas_delay_cm; // Delay distance
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_CHANGE_FEATURE)
|
|
extern FilamentChangeMenuResponse filament_change_menu_response;
|
|
#endif
|
|
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
extern int lpq_len;
|
|
#endif
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
extern bool autoretract_enabled;
|
|
extern bool retracted[EXTRUDERS]; // extruder[n].retracted
|
|
extern float retract_length, retract_length_swap, retract_feedrate_mm_s, retract_zlift;
|
|
extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate_mm_s;
|
|
#endif
|
|
|
|
// Print job timer
|
|
#if ENABLED(PRINTCOUNTER)
|
|
extern PrintCounter print_job_timer;
|
|
#else
|
|
extern Stopwatch print_job_timer;
|
|
#endif
|
|
|
|
// Handling multiple extruders pins
|
|
extern uint8_t active_extruder;
|
|
|
|
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
|
|
void print_heaterstates();
|
|
#endif
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
extern float mixing_factor[MIXING_STEPPERS];
|
|
#endif
|
|
|
|
void calculate_volumetric_multipliers();
|
|
|
|
/**
|
|
* Blocking movement and shorthand functions
|
|
*/
|
|
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);
|
|
|
|
#endif //MARLIN_H
|