comparison: Marlin.h
Marlin.h
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| 1 // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. | |
| 2 // Licence: GPL | |
| 3 | |
| 4 #ifndef MARLIN_H | |
| 5 #define MARLIN_H | |
| 6 | |
| 7 #define FORCE_INLINE __attribute__((always_inline)) inline | |
| 8 | |
| 9 #include <math.h> | |
| 10 #include <stdio.h> | |
| 11 #include <stdlib.h> | |
| 12 #include <string.h> | |
| 13 #include <inttypes.h> | |
| 14 | |
| 15 #include <util/delay.h> | |
| 16 #include <avr/pgmspace.h> | |
| 17 #include <avr/eeprom.h> | |
| 18 #include <avr/wdt.h> | |
| 19 #include <avr/interrupt.h> | |
| 20 | |
| 21 | |
| 22 #include "fastio.h" | |
| 23 | |
| 24 #include "Configuration.h" | |
| 25 | |
| 26 #ifndef REPRAPPRO_MULTIMATERIALS | |
| 27 #define HardwareSerial_h // trick to disable the standard HWserial | |
| 28 #endif | |
| 29 #include "pins.h" | |
| 30 | |
| 31 #if ARDUINO >= 100 | |
| 32 #include "Arduino.h" | |
| 33 #else | |
| 34 #include "WProgram.h" | |
| 35 #endif | |
| 36 | |
| 37 #include "MarlinSerial.h" | |
| 38 | |
| 39 #ifndef cbi | |
| 40 #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) | |
| 41 #endif | |
| 42 #ifndef sbi | |
| 43 #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) | |
| 44 #endif | |
| 45 | |
| 46 #include "WString.h" | |
| 47 | |
| 48 #ifdef REPRAPPRO_MULTIMATERIALS | |
| 49 #define MYSERIAL Serial | |
| 50 #define MYSERIAL1 Serial1 | |
| 51 #else | |
| 52 | |
| 53 #if MOTHERBOARD == 8 // Teensylu | |
| 54 #define MYSERIAL Serial | |
| 55 #define MYSERIAL1 Serial1 | |
| 56 #else | |
| 57 #define MYSERIAL MSerial | |
| 58 #endif | |
| 59 | |
| 60 #endif | |
| 61 | |
| 62 //this is a unfinsihed attemp to removes a lot of warning messages, see: | |
| 63 // http://www.avrfreaks.net/index.php?name=PNphpBB2&file=printview&t=57011 | |
| 64 //typedef char prog_char PROGMEM; | |
| 65 // //#define PSTR (s ) ((const PROGMEM char *)(s)) | |
| 66 // //# define MYPGM(s) (__extension__({static prog_char __c[] = (s); &__c[0];})) | |
| 67 // //#define MYPGM(s) ((const prog_char *g PROGMEM=s)) | |
| 68 #define MYPGM(s) PSTR(s) | |
| 69 //#define MYPGM(s) (__extension__({static char __c[] __attribute__((__progmem__)) = (s); &__c[0];})) //This is the normal behaviour | |
| 70 //#define MYPGM(s) (__extension__({static prog_char __c[] = (s); &__c[0];})) //this does not work but hides the warnings | |
| 71 | |
| 72 | |
| 73 #define SERIAL_PROTOCOL(x) MYSERIAL.print(x); | |
| 74 #define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y); | |
| 75 #define SERIAL_PROTOCOLPGM(x) serialprintPGM(MYPGM(x)); | |
| 76 #define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');} | |
| 77 #define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(MYPGM(x));MYSERIAL.write('\n');} | |
| 78 | |
| 79 | |
| 80 const char errormagic[] PROGMEM ="Error:"; | |
| 81 const char echomagic[] PROGMEM ="echo:"; | |
| 82 #define SERIAL_ERROR_START serialprintPGM(errormagic); | |
| 83 #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x) | |
| 84 #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x) | |
| 85 #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x) | |
| 86 #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x) | |
| 87 | |
| 88 #define SERIAL_ECHO_START serialprintPGM(echomagic); | |
| 89 #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x) | |
| 90 #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x) | |
| 91 #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x) | |
| 92 #define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x) | |
| 93 | |
| 94 #define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);} | |
| 95 | |
| 96 | |
| 97 //things to write to serial from Programmemory. saves 400 to 2k of RAM. | |
| 98 #define SerialprintPGM(x) serialprintPGM(MYPGM(x)) | |
| 99 FORCE_INLINE void serialprintPGM(const char *str) | |
| 100 { | |
| 101 char ch=pgm_read_byte(str); | |
| 102 while(ch) | |
| 103 { | |
| 104 MYSERIAL.write(ch); | |
| 105 ch=pgm_read_byte(++str); | |
| 106 } | |
| 107 } | |
| 108 | |
| 109 // printing floats to 3DP | |
| 110 FORCE_INLINE void serialPrintFloat( float f){ | |
| 111 SERIAL_ECHO((int)f); | |
| 112 SERIAL_ECHOPGM("."); | |
| 113 int mantissa = (f - (int)f) * 1000; | |
| 114 SERIAL_ECHO( abs(mantissa) ); | |
| 115 } | |
| 116 | |
| 117 void get_command(); | |
| 118 void process_commands(); | |
| 119 | |
| 120 void manage_inactivity(byte debug); | |
| 121 | |
| 122 #if X_ENABLE_PIN > -1 | |
| 123 #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON) | |
| 124 #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON) | |
| 125 #else | |
| 126 #define enable_x() ; | |
| 127 #define disable_x() ; | |
| 128 #endif | |
| 129 | |
| 130 #if Y_ENABLE_PIN > -1 | |
| 131 #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON) | |
| 132 #define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON) | |
| 133 #else | |
| 134 #define enable_y() ; | |
| 135 #define disable_y() ; | |
| 136 #endif | |
| 137 | |
| 138 #if Z_ENABLE_PIN > -1 | |
| 139 #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON) | |
| 140 #define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON) | |
| 141 #else | |
| 142 #define enable_z() ; | |
| 143 #define disable_z() ; | |
| 144 #endif | |
| 145 | |
| 146 #if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1) | |
| 147 #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON) | |
| 148 #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON) | |
| 149 #else | |
| 150 #define enable_e0() /* nothing */ | |
| 151 #define disable_e0() /* nothing */ | |
| 152 #endif | |
| 153 | |
| 154 #if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1) | |
| 155 #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON) | |
| 156 #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON) | |
| 157 #else | |
| 158 #define enable_e1() /* nothing */ | |
| 159 #define disable_e1() /* nothing */ | |
| 160 #endif | |
| 161 | |
| 162 #if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1) | |
| 163 #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON) | |
| 164 #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON) | |
| 165 #else | |
| 166 #define enable_e2() /* nothing */ | |
| 167 #define disable_e2() /* nothing */ | |
| 168 #endif | |
| 169 | |
| 170 | |
| 171 enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3}; | |
| 172 | |
| 173 | |
| 174 void FlushSerialRequestResend(); | |
| 175 void ClearToSend(); | |
| 176 | |
| 177 void get_coordinates(); | |
| 178 void prepare_move(); | |
| 179 void kill(); | |
| 180 void Stop(); | |
| 181 | |
| 182 bool IsStopped(); | |
| 183 | |
| 184 void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer. | |
| 185 void prepare_arc_move(char isclockwise); | |
| 186 | |
| 187 #ifndef CRITICAL_SECTION_START | |
| 188 #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli(); | |
| 189 #define CRITICAL_SECTION_END SREG = _sreg; | |
| 190 #endif //CRITICAL_SECTION_START | |
| 191 | |
| 192 extern float homing_feedrate[]; | |
| 193 extern float fast_home_feedrate[]; | |
| 194 extern bool axis_relative_modes[]; | |
| 195 extern volatile int feedmultiply; | |
| 196 extern int saved_feedmultiply; | |
| 197 extern float current_position[NUM_AXIS] ; | |
| 198 extern float add_homeing[3]; | |
| 199 extern float max_length[3]; | |
| 200 #ifdef ADVANCE | |
| 201 extern float advance_k; | |
| 202 #endif | |
| 203 extern unsigned char FanSpeed; | |
| 204 extern bool m571_enabled; | |
| 205 extern bool n571_enabled; | |
| 206 | |
| 207 extern float destination[NUM_AXIS]; | |
| 208 extern float modified_destination[NUM_AXIS]; | |
| 209 extern float offset[3]; | |
| 210 extern float feedrate, next_feedrate, saved_feedrate; | |
| 211 | |
| 212 | |
| 213 // Handling multiple extruders pins | |
| 214 extern uint8_t active_extruder; | |
| 215 | |
| 216 #endif |
