Marlin.h

// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// License: GPL
 
#ifndef MARLIN_H
#define MARLIN_H
 
#include "macros.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 "system_timer.h"
#include "fastio.h"
#include "Configuration.h"
#include "pins.h"
#include "Timer.h"
#include "mmu2.h"
#include "printer_state.h"
 
#ifndef AT90USB
#define  HardwareSerial_h // trick to disable the standard HWserial
#endif
 
#if (ARDUINO >= 100)
# include "Arduino.h"
#else
# include "WProgram.h"
#endif
 
// Arduino < 1.0.0 does not define this, so we need to do it ourselves
#ifndef analogInputToDigitalPin
# define analogInputToDigitalPin(p) ((p) + A0)
#endif
 
#ifdef AT90USB
#include "HardwareSerial.h"
#endif
 
#include "MarlinSerial.h"
 
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif
 
//#include "WString.h"
 
#ifdef AT90USB
   #ifdef BTENABLED
         #define MYSERIAL bt
   #else
         #define MYSERIAL Serial
   #endif // BTENABLED
#else
  #define MYSERIAL MSerial
#endif
 
#include "lcd.h"
 
#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_PROTOCOLRPGM(x) (serialprintPGM((x)))
#define SERIAL_PROTOCOLLN(x) (MYSERIAL.println(x))
#define SERIAL_PROTOCOLLNPGM(x) (serialprintlnPGM(PSTR(x)))
#define SERIAL_PROTOCOLLNRPGM(x) (serialprintlnPGM((x)))
 
 
extern const char errormagic[] PROGMEM;
extern const char echomagic[] PROGMEM;
 
#define SERIAL_ERROR_START (serialprintPGM(errormagic))
#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
#define SERIAL_ERRORRPGM(x) SERIAL_PROTOCOLRPGM(x)
#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
#define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
#define SERIAL_ERRORLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
 
#define SERIAL_ECHO_START (serialprintPGM(echomagic))
#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
#define SERIAL_ECHORPGM(x) SERIAL_PROTOCOLRPGM(x)
#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
#define SERIAL_ECHOLNRPGM(x) SERIAL_PROTOCOLLNRPGM(x)
 
#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
 
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);
 
 
//Things to write to serial from Program memory. Saves 400 to 2k of RAM.
// Making this FORCE_INLINE is not a good idea when running out of FLASH
// I'd rather skip a few CPU ticks than 5.5KB (!!) of FLASH
void serialprintPGM(const char *str);
 
//The "ln" variant of the function above.
void serialprintlnPGM(const char *str);
 
bool is_buffer_empty();
void process_commands();
void ramming();
 
void manage_inactivity(bool ignore_stepper_queue=false);
 
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  #define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
#else
  #define enable_x() ;
  #define disable_x() ;
#endif
 
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
  #ifdef Y_DUAL_STEPPER_DRIVERS
    #define  enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN,  Y_ENABLE_ON); }
    #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  #else
    #define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
    #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  #endif
#else
  #define enable_y() ;
  #define disable_y() ;
#endif
 
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1 
    #if defined(Z_AXIS_ALWAYS_ON)
          #ifdef Z_DUAL_STEPPER_DRIVERS
            #define  poweron_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
            #define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
          #else
            #define  poweron_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
            #define poweroff_z() {}
          #endif
    #else
        #ifdef Z_DUAL_STEPPER_DRIVERS
            #define  poweron_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
            #define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
        #else
            #define  poweron_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
            #define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
        #endif
    #endif
#else
    #define  poweron_z() {}
    #define poweroff_z() {}
#endif
 
#ifndef PSU_Delta
    #define  enable_z()  poweron_z()
    #define disable_z() poweroff_z()
#else
    extern bool bEnableForce_z; // Used by ultralcd stealth toggle
    void init_force_z();
    void check_force_z();
    void enable_force_z();
    void disable_force_z();
    #define  enable_z()  enable_force_z()
    #define disable_z() disable_force_z()
#endif // PSU_Delta
 
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
  #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
  #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
#else
  #define enable_e0()  /* nothing */
  #define disable_e0() /* nothing */
#endif
 
enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
#define X_AXIS_MASK  1
#define Y_AXIS_MASK  2
#define Z_AXIS_MASK  4
#define E_AXIS_MASK  8
#define X_HEAD_MASK 16
#define Y_HEAD_MASK 32
 
 
void FlushSerialRequestResend();
void ClearToSend();
void update_currents();
 
void kill(const char *full_screen_message = NULL);
void finishAndDisableSteppers();
 
void UnconditionalStop();                   // Stop heaters, motion and clear current print status
void ConditionalStop();                     // Similar to UnconditionalStop, but doesn't disable heaters
void ThermalStop(bool allow_pause = false); // Emergency stop used by overtemp functions which allows
                                            // recovery (with pause=true)
bool IsStopped();                           // Returns true if the print has been stopped
 
//put an ASCII command at the end of the current buffer, read from flash
#define enquecommand_P(cmd) enquecommand(cmd, true)
 
//put an ASCII command at the begin of the current buffer, read from flash
#define enquecommand_front_P(cmd) enquecommand_front(cmd, true)
 
void clamp_to_software_endstops(float target[3]);
void refresh_cmd_timeout(void);
 
#ifdef FAST_PWM_FAN
void setPwmFrequency(uint8_t pin, int val);
#endif
 
enum class HeatingStatus : uint8_t
{
    NO_HEATING = 0,
    EXTRUDER_HEATING = 1,
    EXTRUDER_HEATING_COMPLETE = 2,
    BED_HEATING = 3,
    BED_HEATING_COMPLETE = 4,
};
 
extern HeatingStatus heating_status;
 
extern bool fans_check_enabled;
constexpr float homing_feedrate[] = HOMING_FEEDRATE;
extern uint8_t axis_relative_modes;
extern float feedrate;
extern int feedmultiply;
extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
extern float extruder_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
extern float current_position[NUM_AXIS] ;
extern float destination[NUM_AXIS] ;
extern float min_pos[3];
extern float max_pos[3];
extern bool axis_known_position[3];
extern uint8_t fanSpeed; 
extern uint8_t newFanSpeed;
extern float default_retraction;
 
void get_coordinates();
void prepare_move(uint16_t start_segment_idx = 0);
void prepare_arc_move(bool isclockwise, uint16_t start_segment_idx = 0);
uint16_t restore_interrupted_gcode();
 
float __attribute__((noinline)) get_feedrate_mm_s(const float feedrate_mm_min);
 
#ifdef TMC2130
void check_Z_crash(void);
void homeaxis(uint8_t axis, uint8_t cnt = 1, uint8_t* pstep = 0);
#else
void homeaxis(uint8_t axis, uint8_t cnt = 1);
#endif //TMC2130
 
#ifdef FWRETRACT
extern bool retracted[EXTRUDERS];
extern float retract_length_swap;
extern float retract_recover_length_swap;
#endif
 
extern ShortTimer usb_timer;
extern bool processing_tcode;
extern bool homing_flag;
extern uint32_t total_filament_used; // mm/100 or 10um
 
void save_statistics();
 
extern int fan_edge_counter[2];
extern int fan_speed[2];
 
// Active extruder becomes a #define to make the whole firmware compilable.
// We may even remove the references to it wherever possible in the future
#define active_extruder 0
 
extern bool mesh_bed_leveling_flag;
extern bool did_pause_print;
 
// save/restore printing
extern bool saved_printing;
extern uint32_t saved_sdpos;
extern uint8_t saved_printing_type;
 
extern uint16_t saved_extruder_temperature; 
extern uint8_t saved_bed_temperature; 
extern bool saved_extruder_relative_mode;
extern uint8_t saved_fan_speed; 
extern float saved_pos[NUM_AXIS];
extern uint16_t saved_feedrate2;
 
//estimated time to end of the print
extern uint8_t print_percent_done_normal;
extern uint8_t print_percent_done_silent;
extern uint16_t print_time_remaining_normal;
extern uint16_t print_time_remaining_silent;
extern uint16_t print_time_to_change_normal;
extern uint16_t print_time_to_change_silent;
 
#define PRINT_TIME_REMAINING_INIT 0xffff
 
extern LongTimer safetyTimer;
 
#define PRINT_PERCENT_DONE_INIT 0xff
 
// Returns true if there is a print running. It does not matter if
// the print is paused, that still counts as a "running" print.
bool printJobOngoing();
 
// Make debug_printer_states available everywhere
#ifdef DEBUG_PRINTER_STATES
void debug_printer_states();
#endif //DEBUG_PRINTER_STATES
 
// Printing is paused according to SD or host indicators
bool printingIsPaused();
 
bool printer_active();
 
bool printer_recovering();
 
bool check_fsensor();
 
bool babystep_allowed();
 
bool babystep_allowed_strict();
 
extern void calculate_extruder_multipliers();
 
// Similar to the default Arduino delay function, 
// but it keeps the background tasks running.
extern void delay_keep_alive(unsigned int ms);
 
extern void check_babystep();
 
extern void long_pause();
extern void crashdet_stop_and_save_print();
 
#ifdef HEATBED_ANALYSIS
void d_setup();
float d_ReadData();
void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_points_num, float shift_x, float shift_y);
#endif //HEATBED_ANALYSIS
float temp_comp_interpolation(float temperature);
#if 0
void show_fw_version_warnings();
#endif
uint8_t check_printer_version();
 
#ifdef PINDA_THERMISTOR
float temp_compensation_pinda_thermistor_offset(float temperature_pinda);
#endif //PINDA_THERMISTOR
 
void serialecho_temperatures();
bool check_commands();
 
extern void print_world_coordinates();
extern void print_physical_coordinates();
extern void print_mesh_bed_leveling_table();
 
void save_print_file_state();
void restore_print_file_state();
void save_planner_global_state();
void refresh_print_state_in_ram();
 
void refresh_saved_feedrate_multiplier_in_ram();
void clear_print_state_in_ram();
extern void stop_and_save_print_to_ram(float z_move, float e_move);
void restore_file_from_sd();
void restore_extruder_temperature_from_ram();
extern void restore_print_from_ram_and_continue(float e_move);
extern void cancel_saved_printing();
 
// Define some coordinates outside the clamp limits (making them invalid past the parsing stage) so
// that they can be used later for various logical checks
#define X_COORD_INVALID (X_MIN_POS-1)
#define SAVED_START_POSITION_UNSET X_COORD_INVALID
extern float saved_start_position[NUM_AXIS];
extern uint16_t saved_segment_idx;
extern bool isPartialBackupAvailable;
 
 
//estimated time to end of the print
extern uint8_t calc_percent_done();
 
 
 
// States for managing Marlin and host communication
// Marlin sends messages if blocked or busy
/*enum MarlinBusyState {
    NOT_BUSY,           // Not in a handler
    IN_HANDLER,         // Processing a GCode
    IN_PROCESS,         // Known to be blocking command input (as in G29)
    PAUSED_FOR_USER,    // Blocking pending any input
    PAUSED_FOR_INPUT    // Blocking pending text input (concept)
};*/
 
#define NOT_BUSY          1
#define IN_HANDLER        2
#define IN_PROCESS        3
#define PAUSED_FOR_USER   4
#define PAUSED_FOR_INPUT  5
 
#define KEEPALIVE_STATE(n) do { busy_state = n;} while (0)
extern void host_keepalive();
extern void host_autoreport();
//extern MarlinBusyState busy_state;
extern int8_t busy_state;
 
 
#ifdef TMC2130
 
#define FORCE_HIGH_POWER_START  force_high_power_mode(true)
#define FORCE_HIGH_POWER_END    force_high_power_mode(false)
 
void force_high_power_mode(bool start_high_power_section);
void change_power_mode_live(uint8_t mode);
 
#endif //TMC2130
 
// G-codes
 
bool gcode_M45(bool onlyZ, int8_t verbosity_level);
void gcode_M114();
#if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
void gcode_M123();
#endif //FANCHECK and TACH_0 and TACH_1
void gcode_M701(float fastLoadLength, uint8_t mmuSlotIndex);
 
#define UVLO !(PINE & (1<<4))
 
 
void M600_load_filament();
void M600_load_filament_movements();
void M600_wait_for_user();
bool M600_check_state_and_repeat();
void load_filament_final_feed();
void marlin_wait_for_click();
float raise_z(float delta);
void raise_z_above(float target);
 
extern "C" void softReset();
void stack_error();
 
extern uint32_t IP_address;
#endif