Skip to content
Snippets Groups Projects
Marlin.h 10.4 KiB
Newer Older
  • Learn to ignore specific revisions
  •  * Marlin 3D Printer Firmware
    
     * Copyright (c) 2019 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/>.
     *
     */
    
    Scott Lahteine's avatar
    Scott Lahteine committed
    #include "inc/MarlinConfig.h"
    
    #ifdef DEBUG_GCODE_PARSER
    
    Scott Lahteine's avatar
    Scott Lahteine committed
      #include "gcode/parser.h"
    
    Scott Lahteine's avatar
    Scott Lahteine committed
    #include <math.h>
    #include <stdio.h>
    #include <stdlib.h>
    
    
    #if HAS_DRIVER(L6470)
      #include "libs/L6470/L6470_Marlin.h"
      extern uint8_t axis_known_position;
    #endif
    
    
    Scott Lahteine's avatar
    Scott Lahteine committed
    void stop();
    
    
    Scott Lahteine's avatar
    Scott Lahteine committed
    void idle(
    
      #if ENABLED(ADVANCED_PAUSE_FEATURE)
    
        bool no_stepper_sleep = false  // pass true to keep steppers from disabling on timeout
    
    Scott Lahteine's avatar
    Scott Lahteine committed
      #endif
    );
    
    void manage_inactivity(const bool ignore_stepper_queue=false);
    
    Erik van der Zalm's avatar
    Erik van der Zalm committed
    
    
    //
    // X, Y, Z Stepper enable / disable
    //
    #if AXIS_DRIVER_TYPE_X(L6470)
      extern L6470 stepperX;
      #define X_enable  NOOP
      #define X_disable stepperX.free()
    #elif HAS_X_ENABLE
      #define X_enable  X_ENABLE_WRITE( X_ENABLE_ON)
      #define X_disable X_ENABLE_WRITE(!X_ENABLE_ON)
    #else
      #define X_enable  NOOP
      #define X_disable NOOP
    #endif
    
    #if AXIS_DRIVER_TYPE_X2(L6470)
      extern L6470 stepperX2;
      #define X2_enable  NOOP
      #define X2_disable stepperX2.free()
    #elif HAS_X2_ENABLE
      #define X2_enable  X2_ENABLE_WRITE( X_ENABLE_ON)
      #define X2_disable X2_ENABLE_WRITE(!X_ENABLE_ON)
    #else
      #define X2_enable  NOOP
      #define X2_disable NOOP
    #endif
    
    #define  enable_X() do{ X_enable; X2_enable; }while(0)
    #define disable_X() do{ X_disable; X2_disable; CBI(axis_known_position, X_AXIS); }while(0)
    
    #if AXIS_DRIVER_TYPE_Y(L6470)
      extern L6470 stepperY;
      #define Y_enable  NOOP
      #define Y_disable stepperY.free()
    #elif HAS_Y_ENABLE
      #define Y_enable  Y_ENABLE_WRITE( Y_ENABLE_ON)
      #define Y_disable Y_ENABLE_WRITE(!Y_ENABLE_ON)
    #else
      #define Y_enable  NOOP
      #define Y_disable NOOP
    #endif
    
    #if AXIS_DRIVER_TYPE_Y2(L6470)
      extern L6470 stepperY2;
      #define Y2_enable  NOOP
      #define Y2_disable stepperY2.free()
    #elif HAS_Y2_ENABLE
      #define Y2_enable  Y2_ENABLE_WRITE( Y_ENABLE_ON)
      #define Y2_disable Y2_ENABLE_WRITE(!Y_ENABLE_ON)
    #else
      #define Y2_enable  NOOP
      #define Y2_disable NOOP
    #endif
    
    #define  enable_Y() do{ Y_enable; Y2_enable; }while(0)
    #define disable_Y() do{ Y_disable; Y2_disable; CBI(axis_known_position, Y_AXIS); }while(0)
    
    #if AXIS_DRIVER_TYPE_Z(L6470)
      extern L6470 stepperZ;
      #define Z_enable  NOOP
      #define Z_disable stepperZ.free()
    #elif HAS_Z_ENABLE
      #define Z_enable  Z_ENABLE_WRITE( Z_ENABLE_ON)
      #define Z_disable Z_ENABLE_WRITE(!Z_ENABLE_ON)
    #else
      #define Z_enable  NOOP
      #define Z_disable NOOP
    #endif
    
    #if AXIS_DRIVER_TYPE_Z2(L6470)
      extern L6470 stepperZ2;
      #define Z2_enable  NOOP
      #define Z2_disable stepperZ2.free()
    #elif HAS_Z2_ENABLE
      #define Z2_enable  Z2_ENABLE_WRITE( Z_ENABLE_ON)
      #define Z2_disable Z2_ENABLE_WRITE(!Z_ENABLE_ON)
    #else
      #define Z2_enable  NOOP
      #define Z2_disable NOOP
    #endif
    
    #if AXIS_DRIVER_TYPE_Z3(L6470)
      extern L6470 stepperZ3;
      #define Z3_enable  NOOP
      #define Z3_disable stepperZ3.free()
    #elif HAS_Z3_ENABLE
      #define Z3_enable  Z3_ENABLE_WRITE( Z_ENABLE_ON)
      #define Z3_disable Z3_ENABLE_WRITE(!Z_ENABLE_ON)
    #else
      #define Z3_enable  NOOP
      #define Z3_disable NOOP
    #endif
    
    #define  enable_Z() do{ Z_enable; Z2_enable; Z3_enable; }while(0)
    #define disable_Z() do{ Z_disable; Z2_disable; Z3_disable; CBI(axis_known_position, Z_AXIS); }while(0)
    
    //
    // Extruder Stepper enable / disable
    //
    
    // define the individual enables/disables
    #if AXIS_DRIVER_TYPE_E0(L6470)
      extern L6470 stepperE0;
      #define  E0_enable NOOP
      #define E0_disable do{ stepperE0.free(); CBI(axis_known_position, E_AXIS); }while(0)
    #elif HAS_E0_ENABLE
      #define  E0_enable E0_ENABLE_WRITE( E_ENABLE_ON)
      #define E0_disable E0_ENABLE_WRITE(!E_ENABLE_ON)
    #else
      #define  E0_enable NOOP
      #define E0_disable NOOP
    #endif
    
    #if AXIS_DRIVER_TYPE_E1(L6470)
      extern L6470 stepperE1;
      #define  E1_enable NOOP
      #define E1_disable do{ stepperE1.free(); CBI(axis_known_position, E_AXIS); }while(0)
    #elif E_STEPPERS > 1 && HAS_E1_ENABLE
      #define  E1_enable E1_ENABLE_WRITE( E_ENABLE_ON)
      #define E1_disable E1_ENABLE_WRITE(!E_ENABLE_ON)
    #else
      #define  E1_enable NOOP
      #define E1_disable NOOP
    #endif
    
    #if AXIS_DRIVER_TYPE_E2(L6470)
      extern L6470 stepperE2;
      #define  E2_enable NOOP
      #define E2_disable do{ stepperE2.free(); CBI(axis_known_position, E_AXIS); }while(0)
    #elif E_STEPPERS > 2 && HAS_E2_ENABLE
      #define  E2_enable E2_ENABLE_WRITE( E_ENABLE_ON)
      #define E2_disable E2_ENABLE_WRITE(!E_ENABLE_ON)
    #else
      #define  E2_enable NOOP
      #define E2_disable NOOP
    #endif
    
    #if AXIS_DRIVER_TYPE_E3(L6470)
      extern L6470 stepperE3;
      #define  E3_enable NOOP
      #define E3_disable do{ stepperE3.free(); CBI(axis_known_position, E_AXIS); }while(0)
    #elif E_STEPPERS > 3 && HAS_E3_ENABLE
      #define  E3_enable E3_ENABLE_WRITE( E_ENABLE_ON)
      #define E3_disable E3_ENABLE_WRITE(!E_ENABLE_ON)
    #else
      #define  E3_enable NOOP
      #define E3_disable NOOP
    #endif
    
    #if AXIS_DRIVER_TYPE_E4(L6470)
      extern L6470 stepperE4;
      #define  E4_enable NOOP
      #define E4_disable do{ stepperE4.free(); CBI(axis_known_position, E_AXIS); }while(0)
    #elif E_STEPPERS > 4 && HAS_E4_ENABLE
      #define  E4_enable E4_ENABLE_WRITE( E_ENABLE_ON)
      #define E4_disable E4_ENABLE_WRITE(!E_ENABLE_ON)
    #else
      #define  E4_enable NOOP
      #define E4_disable NOOP
    #endif
    
    #if AXIS_DRIVER_TYPE_E5(L6470)
      extern L6470 stepperE5;
      #define  E5_enable NOOP
      #define E5_disable do{ stepperE5.free(); CBI(axis_known_position, E_AXIS); }while(0)
    #elif E_STEPPERS > 5 && HAS_E5_ENABLE
      #define  E5_enable E5_ENABLE_WRITE( E_ENABLE_ON)
      #define E5_disable E5_ENABLE_WRITE(!E_ENABLE_ON)
    #else
      #define  E5_enable NOOP
      #define E5_disable NOOP
    #endif
    
    #if ENABLED(MIXING_EXTRUDER)
    
      /**
       * Mixing steppers synchronize their enable (and direction) together
       */
      #if MIXING_STEPPERS > 5
        #define  enable_E0() { E0_enable;  E1_enable;  E2_enable;  E3_enable;  E4_enable;  E5_enable; }
        #define disable_E0() { E0_disable; E1_disable; E2_disable; E3_disable; E4_disable; E5_disable; }
      #elif MIXING_STEPPERS > 4
        #define  enable_E0() { E0_enable;  E1_enable;  E2_enable;  E3_enable;  E4_enable; }
        #define disable_E0() { E0_disable; E1_disable; E2_disable; E3_disable; E4_disable; }
      #elif MIXING_STEPPERS > 3
        #define  enable_E0() { E0_enable;  E1_enable;  E2_enable;  E3_enable; }
        #define disable_E0() { E0_disable; E1_disable; E2_disable; E3_disable; }
      #elif MIXING_STEPPERS > 2
        #define  enable_E0() { E0_enable;  E1_enable;  E2_enable; }
        #define disable_E0() { E0_disable; E1_disable; E2_disable; }
      #else
        #define  enable_E0() { E0_enable;  E1_enable; }
        #define disable_E0() { E0_disable; E1_disable; }
      #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
      #define  enable_E4() NOOP
      #define disable_E4() NOOP
      #define  enable_E5() NOOP
      #define disable_E5() NOOP
    
    #else // !MIXING_EXTRUDER
    
      #if HAS_E0_ENABLE
        #define  enable_E0() E0_enable
        #define disable_E0() E0_disable
      #else
        #define  enable_E0() NOOP
        #define disable_E0() NOOP
      #endif
    
      #if E_STEPPERS > 1 && HAS_E1_ENABLE
        #define  enable_E1() E1_enable
        #define disable_E1() E1_disable
      #else
        #define  enable_E1() NOOP
        #define disable_E1() NOOP
      #endif
    
      #if E_STEPPERS > 2 && HAS_E2_ENABLE
        #define  enable_E2() E2_enable
        #define disable_E2() E2_disable
      #else
        #define  enable_E2() NOOP
        #define disable_E2() NOOP
      #endif
    
      #if E_STEPPERS > 3 && HAS_E3_ENABLE
        #define  enable_E3() E3_enable
        #define disable_E3() E3_disable
      #else
        #define  enable_E3() NOOP
        #define disable_E3() NOOP
      #endif
    
      #if E_STEPPERS > 4 && HAS_E4_ENABLE
        #define  enable_E4() E4_enable
        #define disable_E4() E4_disable
      #else
        #define  enable_E4() NOOP
        #define disable_E4() NOOP
      #endif
    
      #if E_STEPPERS > 5 && HAS_E5_ENABLE
        #define  enable_E5() E5_enable
        #define disable_E5() E5_disable
      #else
        #define  enable_E5() NOOP
        #define disable_E5() NOOP
      #endif
    
    #endif // !MIXING_EXTRUDER
    
    
    Scott Lahteine's avatar
    Scott Lahteine committed
    #if ENABLED(EXPERIMENTAL_I2CBUS)
      #include "feature/twibus.h"
      extern TWIBus i2c;
    #endif
    
    
    #if ENABLED(G38_PROBE_TARGET)
    
      extern uint8_t G38_move;          // Flag to tell the ISR that G38 is in progress, and the type
      extern bool G38_did_trigger;      // Flag from the ISR to indicate the endstop changed
    
    /**
     * The axis order in all axis related arrays is X, Y, Z, E
     */
    
    void enable_all_steppers();
    
    void disable_e_stepper(const uint8_t e);
    
    void disable_e_steppers();
    
    void disable_all_steppers();
    
    
    void kill(PGM_P const lcd_msg=nullptr);
    
    extern bool Running;
    inline bool IsRunning() { return  Running; }
    inline bool IsStopped() { return !Running; }
    
    Erik van der Zalm's avatar
    Erik van der Zalm committed
    
    
    extern bool wait_for_heatup;
    
    #if HAS_RESUME_CONTINUE
    
      extern bool wait_for_user;
    
    #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
    
      extern bool suspend_auto_report;
    #endif
    
    
    // Inactivity shutdown timer
    extern millis_t max_inactive_time, stepper_inactive_time;
    
    
    #if ENABLED(USE_CONTROLLER_FAN)
    
      extern uint8_t controllerfan_speed;
    
    #if HAS_POWER_SWITCH
      extern bool powersupply_on;
    
      #define PSU_PIN_ON()  do{ OUT_WRITE(PS_ON_PIN,  PSU_ACTIVE_HIGH); powersupply_on = true; }while(0)
      #define PSU_PIN_OFF() do{ OUT_WRITE(PS_ON_PIN, !PSU_ACTIVE_HIGH); powersupply_on = false; }while(0)
    
      #if ENABLED(AUTO_POWER_CONTROL)
        #define PSU_ON()  powerManager.power_on()
        #define PSU_OFF() powerManager.power_off()
      #else
        #define PSU_ON()  PSU_PIN_ON()
        #define PSU_OFF() PSU_PIN_OFF()
      #endif
    #endif
    
    
    bool pin_is_protected(const pin_t pin);
    
    void protected_pin_err();
    
    Scott Lahteine's avatar
    Scott Lahteine committed
    
    
    Phr3d13's avatar
    Phr3d13 committed
    #if HAS_SUICIDE
      inline void suicide() { OUT_WRITE(SUICIDE_PIN, LOW); }
    #endif
    
    #if HAS_FILAMENT_SENSOR
    
      void event_filament_runout();
    #endif
    
    #if ENABLED(G29_RETRY_AND_RECOVER)
      void event_probe_recover();
      void event_probe_failure();