-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathRepetier.h
1012 lines (888 loc) · 29 KB
/
Repetier.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
This file is part of Repetier-Firmware.
Repetier-Firmware 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.
Repetier-Firmware 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 Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
*/
#ifndef _REPETIER_H
#define _REPETIER_H
#include <math.h>
#include <stdint.h>
#define REPETIER_VERSION "0.92.9"
// ##########################################################################################
// ## Debug configuration ##
// ##########################################################################################
// These are run time switchable debug flags
enum debugFlags {DEB_ECHO = 0x1, DEB_INFO = 0x2, DEB_ERROR = 0x4,DEB_DRYRUN = 0x8,
DEB_COMMUNICATION = 0x10, DEB_NOMOVES = 0x20, DEB_DEBUG = 0x40
};
/** Uncomment, to see detailed data for every move. Only for debugging purposes! */
//#define DEBUG_QUEUE_MOVE
/** write infos about path planner changes */
//#define DEBUG_PLANNER
/** Allows M111 to set bit 5 (16) which disables all commands except M111. This can be used
to test your data throughput or search for communication problems. */
#define INCLUDE_DEBUG_COMMUNICATION 1
/** Allows M111 so set bit 6 (32) which disables moves, at the first tried step. In combination
with a dry run, you can test the speed of path computations, which are still performed. */
#define INCLUDE_DEBUG_NO_MOVE 1
/** Writes the free RAM to output, if it is less then at the last test. Should always return
values >500 for safety, since it doesn't catch every function call. Nice to tweak cache
usage or for searching for memory induced errors. Switch it off for production, it costs execution time. */
//#define DEBUG_FREE_MEMORY
//#define DEBUG_ADVANCE
/** If enabled, writes the created generic table to serial port at startup. */
//#define DEBUG_GENERIC
/** If enabled, steps to move and moved steps are compared. */
//#define DEBUG_STEPCOUNT
/** This enables code to make M666 drop an ok, so you get problems with communication. It is to test host robustness. */
//#define DEBUG_COM_ERRORS
/** Adds a menu point in quick settings to write debug informations to the host in case of hangs where the ui still works. */
//#define DEBUG_PRINT
//#define DEBUG_DELTA_OVERFLOW
//#define DEBUG_DELTA_REALPOS
//#define DEBUG_SPLIT
//#define DEBUG_JAM
// Find the longest segment length during a print
//#define DEBUG_SEGMENT_LENGTH
// Find the maximum real jerk during a print
//#define DEBUG_REAL_JERK
// Debug reason for not mounting a sd card
//#define DEBUG_SD_ERROR
// Uncomment the following line to enable debugging. You can better control debugging below the following line
//#define DEBUG
#define CARTESIAN 0
#define XY_GANTRY 1
#define YX_GANTRY 2
#define DELTA 3
#define TUGA 4
#define BIPOD 5
#define XZ_GANTRY 8
#define ZX_GANTRY 9
#define GANTRY_FAKE 10
#define WIZARD_STACK_SIZE 8
#define IGNORE_COORDINATE 999999
// Uncomment if no analyzer is connected
//#define ANALYZER
// Channel->pin assignments
#define ANALYZER_CH0 63 // New move
#define ANALYZER_CH1 40 // Step loop
#define ANALYZER_CH2 53 // X Step
#define ANALYZER_CH3 65 // Y Step
#define ANALYZER_CH4 59 // X Direction
#define ANALYZER_CH5 64 // Y Direction
#define ANALYZER_CH6 58 // xsig
#define ANALYZER_CH7 57 // ysig
#ifdef ANALYZER
#define ANALYZER_ON(a) {WRITE(a,HIGH);}
#define ANALYZER_OFF(a) {WRITE(a,LOW);}
#else
#define ANALYZER_ON(a)
#define ANALYZER_OFF(a)
#endif
#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
#define E_AXIS 3
#define VIRTUAL_AXIS 4
// How big an array to hold X_AXIS..<MAX_AXIS>
#define Z_AXIS_ARRAY 3
#define E_AXIS_ARRAY 4
#define VIRTUAL_AXIS_ARRAY 5
#define A_TOWER 0
#define B_TOWER 1
#define C_TOWER 2
#define TOWER_ARRAY 3
#define E_TOWER_ARRAY 4
#define ANALOG_REF_AREF 0
#define ANALOG_REF_AVCC _BV(REFS0)
#define ANALOG_REF_INT_1_1 _BV(REFS1)
#define ANALOG_REF_INT_2_56 _BV(REFS0) | _BV(REFS1)
#define ANALOG_REF ANALOG_REF_AVCC
#define HOME_ORDER_XYZ 1
#define HOME_ORDER_XZY 2
#define HOME_ORDER_YXZ 3
#define HOME_ORDER_YZX 4
#define HOME_ORDER_ZXY 5
#define HOME_ORDER_ZYX 6
#define HOME_ORDER_ZXYTZ 7 // Needs hot hotend for correct homing
#define HOME_ORDER_XYTZ 8 // Needs hot hotend for correct homing
#define NO_CONTROLLER 0
#define UICONFIG_CONTROLLER 1
#define CONTROLLER_SMARTRAMPS 2
#define CONTROLLER_ADAFRUIT 3
#define CONTROLLER_FOLTYN 4
#define CONTROLLER_VIKI 5
#define CONTROLLER_MEGATRONIC 6
#define CONTROLLER_RADDS 7
#define CONTROLLER_PIBOT20X4 8
#define CONTROLLER_PIBOT16X2 9
#define CONTROLLER_GADGETS3D_SHIELD 10
#define CONTROLLER_REPRAPDISCOUNT_GLCD 11
#define CONTROLLER_FELIX 12
#define CONTROLLER_RAMBO 13
#define CONTROLLER_OPENHARDWARE_LCD2004 14
#define CONTROLLER_SANGUINOLOLU_PANELOLU2 15
#define CONTROLLER_GAMEDUINO2 16
#define CONTROLLER_MIREGLI 17
#define CONTROLLER_GATE_3NOVATICA 18
#define CONTROLLER_SPARKLCD 19
#define CONTROLLER_BAM_DICE_DUE 20
#define CONTROLLER_VIKI2 21
#define CONTROLLER_LCD_MP_PHARAOH_DUE 22
#define CONTROLLER_SPARKLCD_ADAPTER 23
#define CONTROLLER_ZONESTAR 24
#define CONTROLLER_MINI12864 25
#define CONTROLLER_FELIX_DUE 405
//direction flags
#define X_DIRPOS 1
#define Y_DIRPOS 2
#define Z_DIRPOS 4
#define E_DIRPOS 8
#define XYZ_DIRPOS 7
//step flags
#define XSTEP 16
#define YSTEP 32
#define ZSTEP 64
#define ESTEP 128
//combo's
#define XYZ_STEP 112
#define XY_STEP 48
#define XYZE_STEP 240
#define E_STEP_DIRPOS 136
#define Y_STEP_DIRPOS 34
#define X_STEP_DIRPOS 17
#define Z_STEP_DIRPOS 68
// add pid control
#define TEMP_PID 1
#define PRINTER_MODE_FFF 0
#define PRINTER_MODE_LASER 1
#define PRINTER_MODE_CNC 2
#define ILLEGAL_Z_PROBE -888
// we can not prevent this as some configurations need a parameter and others not
#pragma GCC diagnostic ignored "-Wunused-parameter"
#pragma GCC diagnostic ignored "-Wunused-variable"
#include "Configuration.h"
#ifndef SHARED_EXTRUDER_HEATER
#define SHARED_EXTRUDER_HEATER 0
#endif
#ifndef DUAL_X_AXIS
#define DUAL_X_AXIS 0
#endif
#if SHARED_EXTRUDER_HEATER || MIXING_EXTRUDER
#undef EXT1_HEATER_PIN
#undef EXT2_HEATER_PIN
#undef EXT3_HEATER_PIN
#undef EXT4_HEATER_PIN
#undef EXT5_HEATER_PIN
#define EXT1_HEATER_PIN -1
#define EXT2_HEATER_PIN -1
#define EXT3_HEATER_PIN -1
#define EXT4_HEATER_PIN -1
#define EXT5_HEATER_PIN -1
#endif
#ifndef BOARD_FAN_SPEED
#define BOARD_FAN_SPEED
#endif
#ifndef MAX_JERK_DISTANCE
#define MAX_JERK_DISTANCE 0.6
#endif
#define XY_GANTRY 1
#define YX_GANTRY 2
#define DELTA 3
#define TUGA 4
#define BIPOD 5
#define XZ_GANTRY 8
#define ZX_GANTRY 9
#if defined(FAST_COREXYZ) && !(DRIVE_SYSTEM==XY_GANTRY || DRIVE_SYSTEM==YX_GANTRY || DRIVE_SYSTEM==XZ_GANTRY || DRIVE_SYSTEM==ZX_GANTRY || DRIVE_SYSTEM==GANTRY_FAKE)
#undef FAST_COREXYZ
#endif
#ifdef FAST_COREXYZ
#if DELTA_SEGMENTS_PER_SECOND_PRINT < 30
#undef DELTA_SEGMENTS_PER_SECOND_PRINT
#define DELTA_SEGMENTS_PER_SECOND_PRINT 30 // core is linear, no subsegments needed
#endif
#if DELTA_SEGMENTS_PER_SECOND_MOVE < 30
#undef DELTA_SEGMENTS_PER_SECOND_MOVE
#define DELTA_SEGMENTS_PER_SECOND_MOVE 30
#endif
#endif
inline void memcopy2(void *dest,void *source) {
*((int16_t*)dest) = *((int16_t*)source);
}
inline void memcopy4(void *dest,void *source) {
*((int32_t*)dest) = *((int32_t*)source);
}
#ifndef JSON_OUTPUT
#define JSON_OUTPUT 0
#endif
#if !defined(ZPROBE_MIN_TEMPERATURE) && defined(ZHOME_MIN_TEMPERATURE)
#define ZPROBE_MIN_TEMPERATURE ZHOME_MIN_TEMPERATURE
#endif
#if FEATURE_Z_PROBE && Z_PROBE_PIN < 0
#error You need to define Z_PROBE_PIN to use z probe!
#endif
#if DISTORTION_CORRECTION
#if !FEATURE_Z_PROBE
#error Distortion correction requires the z probe feature to be enabled and configured!
#endif
#endif
#ifndef MAX_ROOM_TEMPERATURE
#define MAX_ROOM_TEMPERATURE 40
#endif
#ifndef ZHOME_X_POS
#define ZHOME_X_POS IGNORE_COORDINATE
#endif
#ifndef ZHOME_Y_POS
#define ZHOME_Y_POS IGNORE_COORDINATE
#endif
// MS1 MS2 Stepper Driver Micro stepping mode table
#define MICROSTEP1 LOW,LOW
#define MICROSTEP2 HIGH,LOW
#define MICROSTEP4 LOW,HIGH
#define MICROSTEP8 HIGH,HIGH
#if (MOTHERBOARD == 501)
#define MICROSTEP16 LOW,LOW
#else
#define MICROSTEP16 HIGH,HIGH
#endif
#define MICROSTEP32 HIGH,HIGH
#define GCODE_BUFFER_SIZE 1
#ifndef FEATURE_BABYSTEPPING
#define FEATURE_BABYSTEPPING 0
#define BABYSTEP_MULTIPLICATOR 1
#endif
#if !defined(Z_PROBE_REPETITIONS) || Z_PROBE_REPETITIONS < 1
#define Z_PROBE_SWITCHING_DISTANCE 0.5 // Distance to safely untrigger probe
#define Z_PROBE_REPETITIONS 1
#endif
#ifndef MINMAX_HARDWARE_ENDSTOP_Z2
#define MINMAX_HARDWARE_ENDSTOP_Z2 0
#define Z2_MINMAX_PIN -1
#endif
#define SPEED_MIN_MILLIS 400
#define SPEED_MAX_MILLIS 60
#define SPEED_MAGNIFICATION 100.0f
#define SOFTWARE_LEVELING (defined(FEATURE_SOFTWARE_LEVELING) && (DRIVE_SYSTEM==DELTA))
/** \brief Horizontal distance bridged by the diagonal push rod when the end effector is in the center. It is pretty close to 50% of the push rod length (250 mm).
*/
#if !defined(ROD_RADIUS) && DRIVE_SYSTEM == DELTA
#define ROD_RADIUS (PRINTER_RADIUS-END_EFFECTOR_HORIZONTAL_OFFSET-CARRIAGE_HORIZONTAL_OFFSET)
#endif
#ifndef UI_SPEEDDEPENDENT_POSITIONING
#define UI_SPEEDDEPENDENT_POSITIONING true
#endif
#if DRIVE_SYSTEM==DELTA || DRIVE_SYSTEM==TUGA || DRIVE_SYSTEM==BIPOD || defined(FAST_COREXYZ)
#define NONLINEAR_SYSTEM 1
#else
#define NONLINEAR_SYSTEM 0
#endif
#ifdef FEATURE_Z_PROBE
#define MANUAL_CONTROL 1
#endif
#define GANTRY ( DRIVE_SYSTEM==XY_GANTRY || DRIVE_SYSTEM==YX_GANTRY || DRIVE_SYSTEM==XZ_GANTRY || DRIVE_SYSTEM==ZX_GANTRY || DRIVE_SYSTEM==GANTRY_FAKE)
//Step to split a circle in small Lines
#ifndef MM_PER_ARC_SEGMENT
#define MM_PER_ARC_SEGMENT 1
#define MM_PER_ARC_SEGMENT_BIG 3
#else
#define MM_PER_ARC_SEGMENT_BIG MM_PER_ARC_SEGMENT
#endif
//After this count of steps a new SIN / COS calculation is started to correct the circle interpolation
#define N_ARC_CORRECTION 25
// Test for shared cooler
#if NUM_EXTRUDER == 6 && EXT0_EXTRUDER_COOLER_PIN > -1 && EXT0_EXTRUDER_COOLER_PIN == EXT1_EXTRUDER_COOLER_PIN && EXT2_EXTRUDER_COOLER_PIN == EXT3_EXTRUDER_COOLER_PIN && EXT4_EXTRUDER_COOLER_PIN == EXT5_EXTRUDER_COOLER_PIN && EXT0_EXTRUDER_COOLER_PIN == EXT2_EXTRUDER_COOLER_PIN && EXT0_EXTRUDER_COOLER_PIN == EXT4_EXTRUDER_COOLER_PIN
#define SHARED_COOLER 1
#elif NUM_EXTRUDER == 5 && EXT0_EXTRUDER_COOLER_PIN > -1 && EXT0_EXTRUDER_COOLER_PIN == EXT1_EXTRUDER_COOLER_PIN && EXT2_EXTRUDER_COOLER_PIN == EXT3_EXTRUDER_COOLER_PIN && EXT3_EXTRUDER_COOLER_PIN == EXT5_EXTRUDER_COOLER_PIN && EXT0_EXTRUDER_COOLER_PIN == EXT2_EXTRUDER_COOLER_PIN
#define SHARED_COOLER 1
#elif NUM_EXTRUDER == 4 && EXT0_EXTRUDER_COOLER_PIN > -1 && EXT0_EXTRUDER_COOLER_PIN == EXT1_EXTRUDER_COOLER_PIN && EXT2_EXTRUDER_COOLER_PIN == EXT3_EXTRUDER_COOLER_PIN && EXT0_EXTRUDER_COOLER_PIN == EXT2_EXTRUDER_COOLER_PIN
#define SHARED_COOLER 1
#elif NUM_EXTRUDER == 3 && EXT0_EXTRUDER_COOLER_PIN > -1 && EXT0_EXTRUDER_COOLER_PIN == EXT1_EXTRUDER_COOLER_PIN && EXT2_EXTRUDER_COOLER_PIN == EXT0_EXTRUDER_COOLER_PIN
#define SHARED_COOLER 1
#elif NUM_EXTRUDER == 2 && EXT0_EXTRUDER_COOLER_PIN > -1 && EXT0_EXTRUDER_COOLER_PIN == EXT1_EXTRUDER_COOLER_PIN
#define SHARED_COOLER 1
#else
#define SHARED_COOLER 0
#endif
#ifndef START_STEP_WITH_HIGH
#define START_STEP_WITH_HIGH 1
#endif
#if NUM_EXTRUDER > 0 && EXT0_TEMPSENSOR_TYPE == 101
#define SUPPORT_MAX6675
#endif
#if NUM_EXTRUDER > 0 && EXT0_TEMPSENSOR_TYPE == 102
#define SUPPORT_MAX31855
#endif
// Test for shared coolers between extruders and mainboard
#if EXT0_EXTRUDER_COOLER_PIN > -1 && EXT0_EXTRUDER_COOLER_PIN == FAN_BOARD_PIN
#define SHARED_COOLER_BOARD_EXT 1
#else
#define SHARED_COOLER_BOARD_EXT 0
#endif
#if defined(UI_SERVO_CONTROL) && UI_SERVO_CONTROL > FEATURE_SERVO
#undef UI_SERVO_CONTROL
#define UI_SERVO_CONTROL FEATURE_SERVO
#endif
#if (defined(EXT0_JAM_PIN) && EXT0_JAM_PIN > -1) || (defined(EXT1_JAM_PIN) && EXT1_JAM_PIN > -1) || (defined(EXT2_JAM_PIN) && EXT2_JAM_PIN > -1) || (defined(EXT3_JAM_PIN) && EXT3_JAM_PIN > -1) || (defined(EXT4_JAM_PIN) && EXT4_JAM_PIN > -1) || (defined(EXT5_JAM_PIN) && EXT5_JAM_PIN > -1)
#define EXTRUDER_JAM_CONTROL 1
#else
#define EXTRUDER_JAM_CONTROL 0
#endif
#ifndef JAM_METHOD
#define JAM_METHOD 1
#endif
#if NUM_EXTRUDER > 0 && EXT0_TEMPSENSOR_TYPE < 101
#define EXT0_ANALOG_INPUTS 1
#define EXT0_SENSOR_INDEX 0
#define EXT0_ANALOG_CHANNEL EXT0_TEMPSENSOR_PIN
#define ACCOMMA0 ,
#else
#define ACCOMMA0
#define EXT0_ANALOG_INPUTS 0
#define EXT0_SENSOR_INDEX EXT0_TEMPSENSOR_PIN
#define EXT0_ANALOG_CHANNEL
#endif
#if NUM_EXTRUDER > 1 && EXT1_TEMPSENSOR_TYPE < 101
#define EXT1_ANALOG_INPUTS 1
#define EXT1_SENSOR_INDEX EXT0_ANALOG_INPUTS
#define EXT1_ANALOG_CHANNEL ACCOMMA0 EXT1_TEMPSENSOR_PIN
#define ACCOMMA1 ,
#else
#define ACCOMMA1 ACCOMMA0
#define EXT1_ANALOG_INPUTS 0
#define EXT1_SENSOR_INDEX EXT1_TEMPSENSOR_PIN
#define EXT1_ANALOG_CHANNEL
#endif
#if NUM_EXTRUDER > 2 && EXT2_TEMPSENSOR_TYPE < 101
#define EXT2_ANALOG_INPUTS 1
#define EXT2_SENSOR_INDEX EXT0_ANALOG_INPUTS+EXT1_ANALOG_INPUTS
#define EXT2_ANALOG_CHANNEL ACCOMMA1 EXT2_TEMPSENSOR_PIN
#define ACCOMMA2 ,
#else
#define ACCOMMA2 ACCOMMA1
#define EXT2_ANALOG_INPUTS 0
#define EXT2_SENSOR_INDEX EXT2_TEMPSENSOR_PIN
#define EXT2_ANALOG_CHANNEL
#endif
#if NUM_EXTRUDER > 3 && EXT3_TEMPSENSOR_TYPE < 101
#define EXT3_ANALOG_INPUTS 1
#define EXT3_SENSOR_INDEX EXT0_ANALOG_INPUTS+EXT1_ANALOG_INPUTS+EXT2_ANALOG_INPUTS
#define EXT3_ANALOG_CHANNEL ACCOMMA2 EXT3_TEMPSENSOR_PIN
#define ACCOMMA3 ,
#else
#define ACCOMMA3 ACCOMMA2
#define EXT3_ANALOG_INPUTS 0
#define EXT3_SENSOR_INDEX EXT3_TEMPSENSOR_PIN
#define EXT3_ANALOG_CHANNEL
#endif
#if NUM_EXTRUDER > 4 && EXT4_TEMPSENSOR_TYPE < 101
#define EXT4_ANALOG_INPUTS 1
#define EXT4_SENSOR_INDEX EXT0_ANALOG_INPUTS+EXT1_ANALOG_INPUTS+EXT2_ANALOG_INPUTS+EXT3_ANALOG_INPUTS
#define EXT4_ANALOG_CHANNEL ACCOMMA3 EXT4_TEMPSENSOR_PIN
#define ACCOMMA4 ,
#else
#define ACCOMMA4 ACCOMMA3
#define EXT4_ANALOG_INPUTS 0
#define EXT4_SENSOR_INDEX EXT4_TEMPSENSOR_PIN
#define EXT4_ANALOG_CHANNEL
#endif
#if NUM_EXTRUDER > 5 && EXT5_TEMPSENSOR_TYPE < 101
#define EXT5_ANALOG_INPUTS 1
#define EXT5_SENSOR_INDEX EXT0_ANALOG_INPUTS+EXT1_ANALOG_INPUTS+EXT2_ANALOG_INPUTS+EXT3_ANALOG_INPUTS+EXT4_ANALOG_INPUTS
#define EXT5_ANALOG_CHANNEL ACCOMMA4 EXT5_TEMPSENSOR_PIN
#define ACCOMMA5 ,
#else
#define ACCOMMA5 ACCOMMA4
#define EXT5_ANALOG_INPUTS 0
#define EXT5_SENSOR_INDEX EXT5_TEMPSENSOR_PIN
#define EXT5_ANALOG_CHANNEL
#endif
#if HAVE_HEATED_BED && HEATED_BED_SENSOR_TYPE < 101
#define BED_ANALOG_INPUTS 1
#define BED_SENSOR_INDEX EXT0_ANALOG_INPUTS+EXT1_ANALOG_INPUTS+EXT2_ANALOG_INPUTS+EXT3_ANALOG_INPUTS+EXT4_ANALOG_INPUTS+EXT5_ANALOG_INPUTS
#define BED_ANALOG_CHANNEL ACCOMMA5 HEATED_BED_SENSOR_PIN
#define BED_KOMMA ,
#else
#define BED_ANALOG_INPUTS 0
#define BED_SENSOR_INDEX HEATED_BED_SENSOR_PIN
#define BED_ANALOG_CHANNEL
#define BED_KOMMA ACCOMMA5
#endif
#if FAN_THERMO_THERMISTOR_PIN > -1 && FAN_THERMO_PIN > -1
#define THERMO_ANALOG_INPUTS 1
#define THERMO_ANALOG_INDEX EXT0_ANALOG_INPUTS+EXT1_ANALOG_INPUTS+EXT2_ANALOG_INPUTS+EXT3_ANALOG_INPUTS+EXT4_ANALOG_INPUTS+EXT5_ANALOG_INPUTS+BED_ANALOG_INPUTS
#define THERMO_ANALOG_CHANNEL BED_KOMMA FAN_THERMO_THERMISTOR_PIN
#define THERMO_COMMA ,
#else
#define THERMO_ANALOG_INPUTS 0
#define THERMO_ANALOG_CHANNEL
#define THERMO_COMMA BED_KOMMA
#endif
#if defined(ADC_KEYPAD_PIN) && (ADC_KEYPAD_PIN > -1)
#define KEYPAD_ANALOG_INPUTS 1
#define KEYPAD_ANALOG_INDEX EXT0_ANALOG_INPUTS+EXT1_ANALOG_INPUTS+EXT2_ANALOG_INPUTS+EXT3_ANALOG_INPUTS+EXT4_ANALOG_INPUTS+EXT5_ANALOG_INPUTS+BED_ANALOG_INPUTS+THERMO_ANALOG_INPUTS
#define KEYPAD_ANALOG_CHANNEL THERMO_COMMA ADC_KEYPAD_PIN
#else
#define KEYPAD_ANALOG_INPUTS 0
#define KEYPAD_ANALOG_CHANNEL
#endif
#ifndef DEBUG_FREE_MEMORY
#define DEBUG_MEMORY
#else
#define DEBUG_MEMORY Commands::checkFreeMemory();
#endif
/** \brief number of analog input signals. Normally 1 for each temperature sensor */
#define ANALOG_INPUTS (EXT0_ANALOG_INPUTS+EXT1_ANALOG_INPUTS+EXT2_ANALOG_INPUTS+EXT3_ANALOG_INPUTS+EXT4_ANALOG_INPUTS+EXT5_ANALOG_INPUTS+BED_ANALOG_INPUTS+THERMO_ANALOG_INPUTS+KEYPAD_ANALOG_INPUTS)
#if ANALOG_INPUTS > 0
/** Channels are the MUX-part of ADMUX register */
#define ANALOG_INPUT_CHANNELS {EXT0_ANALOG_CHANNEL EXT1_ANALOG_CHANNEL EXT2_ANALOG_CHANNEL EXT3_ANALOG_CHANNEL EXT4_ANALOG_CHANNEL EXT5_ANALOG_CHANNEL BED_ANALOG_CHANNEL THERMO_ANALOG_CHANNEL KEYPAD_ANALOG_CHANNEL}
#endif
#define MENU_MODE_SD_MOUNTED 1
#define MENU_MODE_SD_PRINTING 2
#define MENU_MODE_SD_PAUSED 4
#define MENU_MODE_FAN_RUNNING 8
#define MENU_MODE_PRINTING 16
#define MENU_MODE_FULL_PID 32
#define MENU_MODE_DEADTIME 64
#ifndef BENDING_CORRECTION_A
#define BENDING_CORRECTION_A 0
#endif
#ifndef BENDING_CORRECTION_B
#define BENDING_CORRECTION_B 0
#endif
#ifndef BENDING_CORRECTION_C
#define BENDING_CORRECTION_C 0
#endif
#ifndef Z_ACCELERATION_TOP
#define Z_ACCELERATION_TOP 0
#endif
#include "HAL.h"
#include "gcode.h"
#define MAX_VFAT_ENTRIES (2)
/** Total size of the buffer used to store the long filenames */
#define LONG_FILENAME_LENGTH (13*MAX_VFAT_ENTRIES+1)
#define SD_MAX_FOLDER_DEPTH 2
#include "ui.h"
#include "Communication.h"
#if UI_DISPLAY_TYPE != DISPLAY_U8G
#if (defined(USER_KEY1_PIN) && (USER_KEY1_PIN==UI_DISPLAY_D5_PIN || USER_KEY1_PIN==UI_DISPLAY_D6_PIN || USER_KEY1_PIN==UI_DISPLAY_D7_PIN)) || (defined(USER_KEY2_PIN) && (USER_KEY2_PIN==UI_DISPLAY_D5_PIN || USER_KEY2_PIN==UI_DISPLAY_D6_PIN || USER_KEY2_PIN==UI_DISPLAY_D7_PIN)) || (defined(USER_KEY3_PIN) && (USER_KEY3_PIN==UI_DISPLAY_D5_PIN || USER_KEY3_PIN==UI_DISPLAY_D6_PIN || USER_KEY3_PIN==UI_DISPLAY_D7_PIN)) || (defined(USER_KEY4_PIN) && (USER_KEY4_PIN==UI_DISPLAY_D5_PIN || USER_KEY4_PIN==UI_DISPLAY_D6_PIN || USER_KEY4_PIN==UI_DISPLAY_D7_PIN))
#error You cannot use DISPLAY_D5_PIN, DISPLAY_D6_PIN or DISPLAY_D7_PIN for "User Keys" with character LCD display
#endif
#endif
#ifndef SDCARDDETECT
#define SDCARDDETECT -1
#endif
#ifndef SDSUPPORT
#define SDSUPPORT 0
#endif
#if SDSUPPORT
#include "SdFat.h"
#endif
#if ENABLE_BACKLASH_COMPENSATION && DRIVE_SYSTEM != CARTESIAN
#undef ENABLE_BACKLASH_COMPENSATION
#define ENABLE_BACKLASH_COMPENSATION false
#endif
#define uint uint16_t
#define uint8 uint8_t
#define int8 int8_t
#define uint32 uint32_t
#define int32 int32_t
#undef min
#undef max
class RMath
{
public:
static inline float min(float a,float b)
{
if(a < b) return a;
return b;
}
static inline float max(float a,float b)
{
if(a < b) return b;
return a;
}
static inline int32_t min(int32_t a,int32_t b)
{
if(a < b) return a;
return b;
}
static inline int32_t min(int32_t a,int32_t b, int32_t c)
{
if(a < b) return a < c ? a : c;
return b<c ? b : c;
}
static inline float min(float a,float b, float c)
{
if(a < b) return a < c ? a : c;
return b < c ? b : c;
}
static inline int32_t max(int32_t a,int32_t b)
{
if(a < b) return b;
return a;
}
static inline int min(int a,int b)
{
if(a < b) return a;
return b;
}
static inline uint16_t min(uint16_t a,uint16_t b)
{
if(a < b) return a;
return b;
}
static inline int16_t max(int16_t a,int16_t b)
{
if(a < b) return b;
return a;
}
static inline uint16_t max(uint16_t a,uint16_t b)
{
if(a < b) return b;
return a;
}
static inline unsigned long absLong(long a)
{
return a >= 0 ? a : -a;
}
static inline int32_t sqr(int32_t a)
{
return a*a;
}
static inline uint32_t sqr(uint32_t a)
{
return a*a;
}
#ifdef SUPPORT_64_BIT_MATH
static inline int64_t sqr(int64_t a)
{
return a*a;
}
static inline uint64_t sqr(uint64_t a)
{
return a*a;
}
#endif
static inline float sqr(float a)
{
return a*a;
}
};
class RVector3
{
public:
float x, y, z;
RVector3(float _x = 0,float _y = 0,float _z = 0):x(_x),y(_y),z(_z) {};
RVector3(const RVector3 &a):x(a.x),y(a.y),z(a.z) {};
/* const float &operator[](std::size_t idx) const
{
if(idx == 0) return x;
if(idx == 1) return y;
return z;
};
float &operator[](std::size_t idx)
{
switch(idx) {
case 0: return x;
case 1: return y;
case 2: return z;
}
return 0;
};*/
inline bool operator==(const RVector3 &rhs)
{
return x==rhs.x && y==rhs.y && z==rhs.z;
}
inline bool operator!=(const RVector3 &rhs)
{
return !(*this==rhs);
}
inline RVector3& operator=(const RVector3 &rhs)
{
if(this!=&rhs)
{
x = rhs.x;
y = rhs.y;
z = rhs.z;
}
return *this;
}
inline RVector3& operator+=(const RVector3 &rhs)
{
x += rhs.x;
y += rhs.y;
z += rhs.z;
return *this;
}
inline RVector3& operator-=(const RVector3 &rhs)
{
x -= rhs.x;
y -= rhs.y;
z -= rhs.z;
return *this;
}
inline RVector3 operator-() const
{
return RVector3(-x,-y,-z);
}
inline float length() const
{
return sqrt(x * x + y * y + z * z);
}
inline float lengthSquared() const
{
return (x*x+y*y+z*z);
}
inline RVector3 cross(const RVector3 &b) const
{
return RVector3(y*b.z-z*b.y,z*b.x-x*b.z,x*b.y-y*b.x);
}
inline float scalar(const RVector3 &b) const
{
return (x*b.x+y*b.y+z*b.z);
}
inline RVector3 scale(float factor) const
{
return RVector3(x*factor,y*factor,z*factor);
}
inline void scaleIntern(float factor)
{
x*=factor;
y*=factor;
z*=factor;
}
inline void setMinimum(const RVector3 &b)
{
x = RMath::min(x,b.x);
y = RMath::min(y,b.y);
z = RMath::min(z,b.z);
}
inline void setMaximum(const RVector3 &b)
{
x = RMath::max(x,b.x);
y = RMath::max(y,b.y);
z = RMath::max(z,b.z);
}
inline float distance(const RVector3 &b) const
{
float dx = b.x-x,dy = b.y-y, dz = b.z-z;
return (sqrt(dx*dx+dy*dy+dz*dz));
}
inline float angle(RVector3 &direction)
{
return static_cast<float>(acos(scalar(direction)/(length()*direction.length())));
}
inline RVector3 normalize() const
{
float len = length();
if(len != 0) len = static_cast<float>(1.0/len);
return RVector3(x*len,y*len,z*len);
}
inline RVector3 interpolatePosition(const RVector3 &b, float pos) const
{
float pos2 = 1.0f - pos;
return RVector3(x * pos2 + b.x * pos, y * pos2 + b.y * pos, z * pos2 + b.z * pos);
}
inline RVector3 interpolateDirection(const RVector3 &b,float pos) const
{
//float pos2 = 1.0f - pos;
float dot = scalar(b);
if (dot > 0.9995 || dot < -0.9995)
return interpolatePosition(b,pos); // cases cause trouble, use linear interpolation here
float theta = acos(dot) * pos; // interpolated position
float st = sin(theta);
RVector3 t(b);
t -= scale(dot);
float lengthSq = t.lengthSquared();
float dl = st * ((lengthSq < 0.0001f) ? 1.0f : 1.0f / sqrt(lengthSq));
t.scaleIntern(dl);
t += scale(cos(theta));
return t.normalize();
}
};
inline RVector3 operator+(RVector3 lhs, const RVector3& rhs) // first arg by value, second by const ref
{
lhs.x += rhs.x;
lhs.y += rhs.y;
lhs.z += rhs.z;
return lhs;
}
inline RVector3 operator-(RVector3 lhs, const RVector3& rhs) // first arg by value, second by const ref
{
lhs.x -= rhs.x;
lhs.y -= rhs.y;
lhs.z -= rhs.z;
return lhs;
}
inline RVector3 operator*(const RVector3 &lhs,float rhs) {
return lhs.scale(rhs);
}
inline RVector3 operator*(float lhs,const RVector3 &rhs) {
return rhs.scale(lhs);
}
extern const uint8 osAnalogInputChannels[] PROGMEM;
//extern uint8 osAnalogInputCounter[ANALOG_INPUTS];
//extern uint osAnalogInputBuildup[ANALOG_INPUTS];
//extern uint8 osAnalogInputPos; // Current sampling position
#if ANALOG_INPUTS > 0
extern volatile uint osAnalogInputValues[ANALOG_INPUTS];
#endif
#define PWM_HEATED_BED NUM_EXTRUDER
#define PWM_BOARD_FAN PWM_HEATED_BED+1
#define PWM_FAN1 PWM_BOARD_FAN+1
#define PWM_FAN2 PWM_FAN1+1
#define PWM_FAN_THERMO PWM_FAN2+1
#define NUM_PWM PWM_FAN_THERMO+1
extern uint8_t pwm_pos[NUM_PWM]; // 0-NUM_EXTRUDER = Heater 0-NUM_EXTRUDER of extruder, NUM_EXTRUDER = Heated bed, NUM_EXTRUDER+1 Board fan, NUM_EXTRUDER+2 = Fan
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
extern int maxadv;
#endif
extern int maxadv2;
extern float maxadvspeed;
#endif
#include "Extruder.h"
void manage_inactivity(uint8_t debug);
extern void finishNextSegment();
#if NONLINEAR_SYSTEM
extern uint8_t transformCartesianStepsToDeltaSteps(long cartesianPosSteps[], long deltaPosSteps[]);
#if SOFTWARE_LEVELING
extern void calculatePlane(long factors[], long p1[], long p2[], long p3[]);
extern float calcZOffset(long factors[], long pointX, long pointY);
#endif
#endif
extern void linear_move(long steps_remaining[]);
#ifndef FEATURE_DITTO_PRINTING
#define FEATURE_DITTO_PRINTING false
#endif
#if FEATURE_DITTO_PRINTING && (NUM_EXTRUDER > 4 || NUM_EXTRUDER < 2)
#error Ditto printing requires 2 - 4 extruder.
#endif
extern millis_t previousMillisCmd;
extern millis_t maxInactiveTime;
extern millis_t stepperInactiveTime;
extern void setupTimerInterrupt();
extern void motorCurrentControlInit();
extern void microstepInit();
#include "Printer.h"
#include "motion.h"
extern long baudrate;
#include "HAL.h"
extern unsigned int counterPeriodical;
extern volatile uint8_t executePeriodical;
extern uint8_t counter250ms;
extern void writeMonitor();
#if FEATURE_FAN_CONTROL
extern uint8_t fanKickstart;
#endif
#if FEATURE_FAN2_CONTROL
extern uint8_t fan2Kickstart;
#endif
#if SDSUPPORT
extern char tempLongFilename[LONG_FILENAME_LENGTH+1];
extern char fullName[LONG_FILENAME_LENGTH*SD_MAX_FOLDER_DEPTH+SD_MAX_FOLDER_DEPTH+1];
#define SHORT_FILENAME_LENGTH 14
#include "SdFat.h"
enum LsAction {LS_SerialPrint,LS_Count,LS_GetFilename};
class SDCard
{
public:
SdFat fat;
//Sd2Card card; // ~14 Byte
//SdVolume volume;
//SdFile root;
//SdFile dir[SD_MAX_FOLDER_DEPTH+1];
SdFile file;
#if JSON_OUTPUT
GCodeFileInfo fileInfo;
#endif
uint32_t filesize;
uint32_t sdpos;
//char fullName[13*SD_MAX_FOLDER_DEPTH+13]; // Fill name
char *shortname; // Pointer to start of filename itself
char *pathend; // File to char where pathname in fullname ends
uint8_t sdmode; // true if we are printing from sd card, 2 = stop accepting new commands
bool sdactive;
//int16_t n;
bool savetosd;
SdBaseFile parentFound;
SDCard();
void initsd();
void writeCommand(GCode *code);
bool selectFile(const char *filename,bool silent=false);
void mount();
void unmount();
void startPrint();
void pausePrint(bool intern = false);
void continuePrint(bool intern = false);
void stopPrint();
inline void setIndex(uint32_t newpos)
{
if(!sdactive) return;
sdpos = newpos;
file.seekSet(sdpos);
}
void printStatus();
void ls();
#if JSON_OUTPUT
void lsJSON(const char *filename);
void JSONFileInfo(const char *filename);
static void printEscapeChars(const char *s);
#endif
void startWrite(char *filename);
void deleteFile(char *filename);
void finishWrite();
char *createFilename(char *buffer,const dir_t &p);
void makeDirectory(char *filename);
bool showFilename(const uint8_t *name);
void automount();
#ifdef GLENN_DEBUG
void writeToFile();
#endif
private:
uint8_t lsRecursive(SdBaseFile *parent,uint8_t level,char *findFilename);
// SdFile *getDirectory(char* name);
};
extern SDCard sd;
#endif
extern volatile int waitRelax; // Delay filament relax at the end of print, could be a simple timeout
extern void updateStepsParameter(PrintLine *p/*,uint8_t caller*/);
#ifdef DEBUG_PRINT
extern int debugWaitLoop;
#endif
#if NONLINEAR_SYSTEM
#define NUM_AXIS 4
#endif
#define STR(s) #s
#define XSTR(s) STR(s)
#include "Commands.h"
#include "Eeprom.h"
#if CPU_ARCH == ARCH_AVR
#define DELAY1MICROSECOND __asm__("nop\n\t""nop\n\t""nop\n\t""nop\n\t""nop\n\t""nop\n\t")
#define DELAY2MICROSECOND __asm__("nop\n\t""nop\n\t""nop\n\t""nop\n\t""nop\n\t""nop\n\tnop\n\t""nop\n\t""nop\n\t""nop\n\t""nop\n\t""nop\n\t")
#else
#define DELAY1MICROSECOND HAL::delayMicroseconds(1);
#define DELAY2MICROSECOND HAL::delayMicroseconds(2);
#endif
#ifdef FAST_INTEGER_SQRT
#define SQRT(x) ( HAL::integerSqrt(x) )