src/ArduinoAVR/Repetier/Repetier.h

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/*
    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

#define REPETIER_VERSION "0.91"

// ##########################################################################################
// ##                                  Debug configuration                                 ##
// ##########################################################################################

//#define DEBUG_QUEUE_MOVE
#define INCLUDE_DEBUG_COMMUNICATION

#define INCLUDE_DEBUG_NO_MOVE

//#define DEBUG_FREE_MEMORY
//#define DEBUG_ADVANCE
//#define DEBUG_OPS
//#define DEBUG_GENERIC
//#define DEBUG_STEPCOUNT
#define DEBUG_COM_ERRORS
//#define DEBUG_DELTA_OVERFLOW
// Add write debug to quicksettings menu to debug some vars during hang
//#define DEBUG_PRINT
//#define DEBUG_SPLIT

// Uncomment the following line to enable debugging. You can better control debugging below the following line
//#define DEBUG


// 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


// Bits of the ADC converter
#define ANALOG_INPUT_BITS 10
// Build median from 2^ANALOG_INPUT_SAMPLE samples
#define ANALOG_INPUT_SAMPLE 5
#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

// MS1 MS2 Stepper Driver Microstepping mode table
#define MICROSTEP1 LOW,LOW
#define MICROSTEP2 HIGH,LOW
#define MICROSTEP4 LOW,HIGH
#define MICROSTEP8 HIGH,HIGH
#define MICROSTEP16 HIGH,HIGH

#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 TEMP_PID true // add pid control


#include "Configuration.h"

#define SPEED_MIN_MILLIS 300
#define SPEED_MAX_MILLIS 50
#define SPEED_MAGNIFICATION 100.0f

#ifndef UI_SPEEDDEPENDENT_POSITIONING
#define UI_SPEEDDEPENDENT_POSITIONING true
#endif

#if DRIVE_SYSTEM==3 || DRIVE_SYSTEM==4
#define NONLINEAR_SYSTEM true
#else
#define NONLINEAR_SYSTEM false
#endif

#ifdef FEATURE_Z_PROBE
#define MANUAL_CONTROL true
#endif

#if DRIVE_SYSTEM==1 || DRIVE_SYSTEM==2
#define XY_GANTRY
#endif

//Step to split a cirrcle 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 caluclation is startet to correct the circle interpolation
#define N_ARC_CORRECTION 25

#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==true && 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
#undef KOMMA
#define KOMMA ,
#else
#define BED_ANALOG_INPUTS 0
#define BED_SENSOR_INDEX HEATED_BED_SENSOR_PIN
#define BED_ANALOG_CHANNEL
#endif

#ifndef DEBUG_FREE_MEMORY
#define DEBUG_MEMORY
#else
#define DEBUG_MEMORY Commands::checkFreeMemory();
#endif

#define ANALOG_INPUTS (EXT0_ANALOG_INPUTS+EXT1_ANALOG_INPUTS+EXT2_ANALOG_INPUTS+EXT3_ANALOG_INPUTS+EXT4_ANALOG_INPUTS+EXT5_ANALOG_INPUTS+BED_ANALOG_INPUTS)
#if ANALOG_INPUTS>0

#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}
#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

#include "HAL.h"
#include "gcode.h"
#define MAX_VFAT_ENTRIES (2)

#define LONG_FILENAME_LENGTH (13*MAX_VFAT_ENTRIES+1)
#define SD_MAX_FOLDER_DEPTH 2

#include "ui.h"
#include "Communication.h"

#ifndef SDSUPPORT
#define SDSUPPORT false
#endif
#if SDSUPPORT
#include "SdFat.h"
#endif
#ifndef SDSUPPORT
#define SDSUPPORT false
#endif
#if SDSUPPORT
#include "SdFat.h"
#endif

#if ENABLE_BACKLASH_COMPENSATION && DRIVE_SYSTEM!=0
#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

#define IGNORE_COORDINATE 99999

#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 long min(long a,long b) {
        if(a<b) return a;
        return b;
    }
    static inline long max(long a,long 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 int max(int a,int b) {
        if(a<b) return b;
        return a;
    }
    static inline unsigned int min(unsigned int a,unsigned int b) {
        if(a<b) return a;
        return b;
    }
    static inline unsigned int max(unsigned int a,unsigned int b) {
        if(a<b) return b;
        return a;
    }
};

extern const uint8 osAnalogInputChannels[] PROGMEM;
extern uint8 osAnalogInputCounter[ANALOG_INPUTS];
extern uint osAnalogInputBuildup[ANALOG_INPUTS];
extern uint8 osAnalogInputPos; // Current sampling position
extern volatile uint osAnalogInputValues[ANALOG_INPUTS];
extern uint8_t pwm_pos[NUM_EXTRUDER+3]; // 0-NUM_EXTRUDER = Heater 0-NUM_EXTRUDER of extruder, NUM_EXTRUDER = Heated bed, NUM_EXTRUDER+1 Board fan, NUM_EXTRUDER+2 = Fan
#ifdef USE_ADVANCE
#ifdef 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[]);
#ifdef 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!=2
#error Ditto printing requires exactly 2 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;
#if OS_ANALOG_INPUTS>0
// Get last result for pin x
extern volatile uint osAnalogInputValues[OS_ANALOG_INPUTS];
#endif

#include "HAL.h"


extern unsigned int counterPeriodical;
extern volatile uint8_t executePeriodical;
extern uint8_t counter250ms;
extern void writeMonitor();



#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;
  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
  bool sdmode;  // true if we are printing from sd card
  bool sdactive;
  //int16_t n;
  bool savetosd;
  SdBaseFile parentFound;

  SDCard();
  void initsd();
  void writeCommand(GCode *code);
  bool selectFile(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();
  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*/);


#if NONLINEAR_SYSTEM
#define NUM_AXIS 4
#endif

#define STR(s) #s
#define XSTR(s) STR(s)
#include "Commands.h"
#include "Eeprom.h"

#endif