299 lines
9.2 KiB
C
299 lines
9.2 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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#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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#endif
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#define BIT(b) (1<<(b))
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#define TEST(n,b) (((n)&BIT(b))!=0)
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#define RADIANS(d) ((d)*M_PI/180.0)
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#define DEGREES(r) ((d)*180.0/M_PI)
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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 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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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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#define SERIAL_EOL MYSERIAL.write('\n')
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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(bool ignore_stepper_queue=false);
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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 { 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 defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
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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 defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
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#ifdef 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 defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
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#ifdef 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 defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
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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) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
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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) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
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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) && defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
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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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enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
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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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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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#ifdef ENABLE_AUTO_BED_LEVELING
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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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extern float delta[3];
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void prepare_move_raw();
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#endif
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#ifdef SCARA
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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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void reset_bed_level();
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void prepare_move();
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void kill();
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void Stop();
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#ifdef FILAMENT_RUNOUT_SENSOR
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void filrunout();
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#endif
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bool IsStopped();
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bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
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void enquecommands_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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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 bool volumetric_enabled;
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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 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];
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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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#elif defined(Z_DUAL_ENDSTOPS)
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extern float z_endstop_adj;
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#endif
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#ifdef SCARA
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extern float axis_scaling[3]; // Build size scaling
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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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#ifdef ENABLE_AUTO_BED_LEVELING
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extern float zprobe_zoffset;
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#endif
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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 FILAMENT_SENSOR
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extern float filament_width_nominal; //holds the theoretical filament diameter ie., 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 signed char measurement_delay[]; //ring buffer to delay measurement
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extern int delay_index1, delay_index2; //ring buffer index. used by planner, temperature, and main code
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extern float delay_dist; //delay distance counter
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extern int meas_delay_cm; //delay distance
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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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extern void calculate_volumetric_multipliers();
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#endif //MARLIN_H
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