Commit 83930887 authored by Torbjørn Ludvigsen's avatar Torbjørn Ludvigsen 👷

Removes HangprinterMarlin

parent 88d3291b
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#ifndef CONFIG_STORE_H
#define CONFIG_STORE_H
#include "Configuration.h"
void Config_ResetDefault();
#ifndef DISABLE_M503
void Config_PrintSettings(bool forReplay=false);
#else
FORCE_INLINE void Config_PrintSettings(bool forReplay=false) {}
#endif
#ifdef EEPROM_SETTINGS
void Config_StoreSettings();
void Config_RetrieveSettings();
#else
FORCE_INLINE void Config_StoreSettings() {}
FORCE_INLINE void Config_RetrieveSettings() { Config_ResetDefault(); Config_PrintSettings(); }
#endif
#endif // __CONFIG_STORE_H
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/* -*- c++ -*- */
/*
Reprap firmware 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/>.
*/
/*
This firmware is a mashup between Sprinter and grbl.
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
/* All the implementation is done in *.cpp files to get better compatibility with avr-gcc without the Arduino IDE */
/* Use this file to help the Arduino IDE find which Arduino libraries are needed and to keep documentation on GCode */
#include "Configuration.h"
#include "pins.h"
#if defined(HAVE_TMC2130)
#include <SPI.h>
#include <TMC2130Stepper.h>
#endif //defined(HAVE_TMC2130)
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// License: GPL
#ifndef MARLIN_H
#define MARLIN_H
#define FORCE_INLINE __attribute__((always_inline)) inline
#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 "fastio.h"
#include "Configuration.h"
#include "pins.h"
#define HardwareSerial_h // trick to disable the standard HWserial
#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) + 0xA0)
#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"
#define MYSERIAL MSerial
#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_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))
#define SERIAL_CHAR(x) ((void)MYSERIAL.write(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_ERRORLN(x) SERIAL_PROTOCOLLN(x)
#define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
#define SERIAL_ECHO_START (serialprintPGM(echomagic))
#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
#define SERIAL_EOL SERIAL_ECHOLN("")
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.
FORCE_INLINE void serialprintPGM(const char *str)
{
char ch=pgm_read_byte(str);
while(ch)
{
MYSERIAL.write(ch);
ch=pgm_read_byte(++str);
}
}
void get_command();
void process_commands();
void manage_inactivity();
// Hangprinter needs all motors to be constantly enabled so it doesn't fall down */
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
#define disable_x() /* nothing for Hangprinter... { 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
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
#define disable_y() /* nothing for Hangprinter... { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; } */
#else
#define enable_y() ;
#define disable_y() ;
#endif
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
#define disable_z() /* nothing for Hangprinter... { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; } */
#else
#define enable_z() ;
#define disable_z() ;
#endif
#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
#if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
#define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
#define disable_e1() /* nothing for Hangprinter... WRITE(E1_ENABLE_PIN,!E_ENABLE_ON) */
#else
#define enable_e1() /* nothing */
#define disable_e1() /* nothing */
#endif
#define enable_e2() /* nothing */
#define disable_e2() /* nothing */
#define enable_e3() /* nothing */
#define disable_e3() /* nothing */
// Note that E_AXIS and E_CARTH are different numbers
// arrays that need to use E_CARTH instead of E_AXIS is difference[4], destination[4], current_position[4]. tobben 10 sep 2015
enum AxisEnum {A_AXIS=0, B_AXIS=1, C_AXIS=2, D_AXIS=3, E_AXIS=4};
enum CarthesianEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_CARTH=3};
void FlushSerialRequestResend();
void ClearToSend();
void get_coordinates();
void calculate_line_lengths(float cartesian[3], float line_lengths[4]);
extern float line_lengths[DIRS];
void prepare_move();
void kill();
void Stop();
bool IsStopped();
void enquecommand(const char *cmd); //put an ASCII command at the end of the current buffer.
void enquecommand_P(const char *cmd); //put an ASCII command at the end of the current buffer, read from flash
void refresh_cmd_timeout(void);
#ifdef FAST_PWM_FAN
void setPwmFrequency(uint8_t pin, int val);
#endif
#ifndef CRITICAL_SECTION_START
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
#define CRITICAL_SECTION_END SREG = _sreg;
#endif //CRITICAL_SECTION_START
extern float homing_feedrate[];
extern bool axis_relative_modes[];
extern int feedmultiply;
extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
extern bool volumetric_enabled;
extern int extruder_multiply[1]; // sets extrude multiply factor (in percent) for each extruder individually
extern float filament_size[1]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
extern float volumetric_multiplier[1]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
extern float current_position[4]; // Holds the current position in gcode Carthesian xyze coords
extern float add_homing[DIRS];
#ifdef DELTA
extern float endstop_adj[DIRS];
extern float delta_radius;
extern float delta_diagonal_rod;
extern float delta_segments_per_second;
void recalc_delta_settings(float radius, float diagonal_rod);
#endif
extern float min_pos[DIRS];
extern float max_pos[DIRS];
extern bool axis_known_position[DIRS];
extern float zprobe_zoffset;
extern int fanSpeed;
#ifdef FAN_SOFT_PWM
extern unsigned char fanSpeedSoftPwm;
#endif
extern unsigned long starttime;
extern unsigned long stoptime;
// Handling multiple extruders pins
extern uint8_t active_extruder;
#endif
extern void calculate_volumetric_multipliers();
extern float anchor_A_x;
extern float anchor_A_y;
extern float anchor_A_z;
extern float anchor_B_x;
extern float anchor_B_y;
extern float anchor_B_z;
extern float anchor_C_x;
extern float anchor_C_y;
extern float anchor_C_z;
extern float anchor_D_z;
/*
HardwareSerial.cpp - Hardware serial library for Wiring
Copyright (c) 2006 Nicholas Zambetti. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Modified 23 November 2006 by David A. Mellis
Modified 28 September 2010 by Mark Sproul
*/
#include "Marlin.h"
#include "MarlinSerial.h"
// this next line disables the entire HardwareSerial.cpp,
// this is so I can support Attiny series and any other chip without a UART
#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
#if UART_PRESENT(SERIAL_PORT)
ring_buffer rx_buffer = { { 0 }, 0, 0 };
#endif
FORCE_INLINE void store_char(unsigned char c) {
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != rx_buffer.tail) {
rx_buffer.buffer[rx_buffer.head] = c;
rx_buffer.head = i;
}
}
//#elif defined(SIG_USART_RECV)
#if defined(M_USARTx_RX_vect)
// fixed by Mark Sproul this is on the 644/644p
//SIGNAL(SIG_USART_RECV)
SIGNAL(M_USARTx_RX_vect) {
unsigned char c = M_UDRx;
store_char(c);
}
#endif
// Constructors ////////////////////////////////////////////////////////////////
MarlinSerial::MarlinSerial() { }
// Public Methods //////////////////////////////////////////////////////////////
void MarlinSerial::begin(long baud) {
uint16_t baud_setting;
bool useU2X = true;
#if F_CPU == 16000000UL && SERIAL_PORT == 0
// hard-coded exception for compatibility with the bootloader shipped
// with the Duemilanove and previous boards and the firmware on the 8U2
// on the Uno and Mega 2560.
if (baud == 57600) {
useU2X = false;
}
#endif
if (useU2X) {
M_UCSRxA = 1 << M_U2Xx;
baud_setting = (F_CPU / 4 / baud - 1) / 2;
} else {
M_UCSRxA = 0;
baud_setting = (F_CPU / 8 / baud - 1) / 2;
}
// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
M_UBRRxH = baud_setting >> 8;
M_UBRRxL = baud_setting;
sbi(M_UCSRxB, M_RXENx);
sbi(M_UCSRxB, M_TXENx);
sbi(M_UCSRxB, M_RXCIEx);
}
void MarlinSerial::end() {
cbi(M_UCSRxB, M_RXENx);
cbi(M_UCSRxB, M_TXENx);
cbi(M_UCSRxB, M_RXCIEx);
}
int MarlinSerial::peek(void) {
if (rx_buffer.head == rx_buffer.tail) {
return -1;
} else {
return rx_buffer.buffer[rx_buffer.tail];
}
}
int MarlinSerial::read(void) {
// if the head isn't ahead of the tail, we don't have any characters
if (rx_buffer.head == rx_buffer.tail) {
return -1;
}
else {
unsigned char c = rx_buffer.buffer[rx_buffer.tail];
rx_buffer.tail = (unsigned int)(rx_buffer.tail + 1) % RX_BUFFER_SIZE;
return c;
}
}
void MarlinSerial::flush() {
// don't reverse this or there may be problems if the RX interrupt
// occurs after reading the value of rx_buffer_head but before writing
// the value to rx_buffer_tail; the previous value of rx_buffer_head
// may be written to rx_buffer_tail, making it appear as if the buffer
// don't reverse this or there may be problems if the RX interrupt
// occurs after reading the value of rx_buffer_head but before writing
// the value to rx_buffer_tail; the previous value of rx_buffer_head
// may be written to rx_buffer_tail, making it appear as if the buffer
// were full, not empty.
rx_buffer.head = rx_buffer.tail;
}
/// imports from print.h
void MarlinSerial::print(char c, int base) {
print((long) c, base);
}
void MarlinSerial::print(unsigned char b, int base) {
print((unsigned long) b, base);
}
void MarlinSerial::print(int n, int base) {
print((long) n, base);
}
void MarlinSerial::print(unsigned int n, int base) {
print((unsigned long) n, base);
}
void MarlinSerial::print(long n, int base) {
if (base == 0) {
write(n);
}
else if (base == 10) {
if (n < 0) {
print('-');
n = -n;
}
printNumber(n, 10);
} else {
printNumber(n, base);
}
}
void MarlinSerial::print(unsigned long n, int base) {
if (base == 0) write(n);
else printNumber(n, base);
}
void MarlinSerial::print(double n, int digits) {
printFloat(n, digits);
}
void MarlinSerial::println(void) {
print('\r');
print('\n');
}
void MarlinSerial::println(const String &s) {
print(s);
println();
}
void MarlinSerial::println(const char c[]) {
print(c);
println();
}
void MarlinSerial::println(char c, int base) {
print(c, base);
println();
}
void MarlinSerial::println(unsigned char b, int base) {
print(b, base);
println();
}
void MarlinSerial::println(int n, int base) {
print(n, base);
println();
}
void MarlinSerial::println(unsigned int n, int base) {
print(n, base);
println();
}
void MarlinSerial::println(long n, int base) {
print(n, base);
println();
}
void MarlinSerial::println(unsigned long n, int base) {
print(n, base);
println();
}
void MarlinSerial::println(double n, int digits) {
print(n, digits);
println();
}
// Private Methods /////////////////////////////////////////////////////////////
void MarlinSerial::printNumber(unsigned long n, uint8_t base) {
unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
unsigned long i = 0;
if (n == 0) {
print('0');
return;
}
while (n > 0) {
buf[i++] = n % base;
n /= base;
}
for (; i > 0; i--)
print((char) (buf[i - 1] < 10 ?
'0' + buf[i - 1] :
'A' + buf[i - 1] - 10));
}
void MarlinSerial::printFloat(double number, uint8_t digits) {
// Handle negative numbers
if (number < 0.0) {
print('-');
number = -number;
}
// Round correctly so that print(1.999, 2) prints as "2.00"
double rounding = 0.5;
for (uint8_t i = 0; i < digits; ++i)
rounding /= 10.0;
number += rounding;
// Extract the integer part of the number and print it
unsigned long int_part = (unsigned long)number;
double remainder = number - (double)int_part;
print(int_part);
// Print the decimal point, but only if there are digits beyond
if (digits > 0)
print(".");
// Extract digits from the remainder one at a time
while (digits-- > 0) {
remainder *= 10.0;
int toPrint = int(remainder);
print(toPrint);
remainder -= toPrint;
}
}
// Preinstantiate Objects //////////////////////////////////////////////////////
MarlinSerial MSerial;
#endif // whole file
/*
HardwareSerial.h - Hardware serial library for Wiring
Copyright (c) 2006 Nicholas Zambetti. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Modified 28 September 2010 by Mark Sproul
*/
#ifndef MarlinSerial_h
#define MarlinSerial_h
#include "Marlin.h"
#ifndef SERIAL_PORT
#define SERIAL_PORT 0
#endif
// The presence of the UBRRH register is used to detect a UART.
#define UART_PRESENT(port) ((port == 0 && (defined(UBRRH) || defined(UBRR0H))) || \
(port == 1 && defined(UBRR1H)) || (port == 2 && defined(UBRR2H)) || \
(port == 3 && defined(UBRR3H)))
// These are macros to build serial port register names for the selected SERIAL_PORT (C preprocessor
// requires two levels of indirection to expand macro values properly)
#define SERIAL_REGNAME(registerbase,number,suffix) SERIAL_REGNAME_INTERNAL(registerbase,number,suffix)
#if SERIAL_PORT == 0 && (!defined(UBRR0H) || !defined(UDR0)) // use un-numbered registers if necessary
#define SERIAL_REGNAME_INTERNAL(registerbase,number,suffix) registerbase##suffix
#else
#define SERIAL_REGNAME_INTERNAL(registerbase,number,suffix) registerbase##number##suffix
#endif
// Registers used by MarlinSerial class (these are expanded
// depending on selected serial port
#define M_UCSRxA SERIAL_REGNAME(UCSR,SERIAL_PORT,A) // defines M_UCSRxA to be UCSRnA where n is the serial port number
#define M_UCSRxB SERIAL_REGNAME(UCSR,SERIAL_PORT,B)
#define M_RXENx SERIAL_REGNAME(RXEN,SERIAL_PORT,)
#define M_TXENx SERIAL_REGNAME(TXEN,SERIAL_PORT,)
#define M_RXCIEx SERIAL_REGNAME(RXCIE,SERIAL_PORT,)
#define M_UDREx SERIAL_REGNAME(UDRE,SERIAL_PORT,)
#define M_UDRx SERIAL_REGNAME(UDR,SERIAL_PORT,)
#define M_UBRRxH SERIAL_REGNAME(UBRR,SERIAL_PORT,H)
#define M_UBRRxL SERIAL_REGNAME(UBRR,SERIAL_PORT,L)
#define M_RXCx SERIAL_REGNAME(RXC,SERIAL_PORT,)
#define M_USARTx_RX_vect SERIAL_REGNAME(USART,SERIAL_PORT,_RX_vect)
#define M_U2Xx SERIAL_REGNAME(U2X,SERIAL_PORT,)
#define DEC 10
#define HEX 16
#define OCT 8
#define BIN 2
#define BYTE 0
// Define constants and variables for buffering incoming serial data. We're
// using a ring buffer (I think), in which rx_buffer_head is the index of the
// location to which to write the next incoming character and rx_buffer_tail
// is the index of the location from which to read.
#define RX_BUFFER_SIZE 128
struct ring_buffer {
unsigned char buffer[RX_BUFFER_SIZE];
int head;
int tail;
};
#if UART_PRESENT(SERIAL_PORT)
extern ring_buffer rx_buffer;
#endif
class MarlinSerial { //: public Stream
public:
MarlinSerial();
void begin(long);
void end();
int peek(void);
int read(void);
void flush(void);
FORCE_INLINE int available(void) {
return (unsigned int)(RX_BUFFER_SIZE + rx_buffer.head - rx_buffer.tail) % RX_BUFFER_SIZE;
}
FORCE_INLINE void write(uint8_t c) {
while (!((M_UCSRxA) & (1 << M_UDREx)))
;
M_UDRx = c;
}
FORCE_INLINE void checkRx(void) {
if ((M_UCSRxA & (1<<M_RXCx)) != 0) {
unsigned char c = M_UDRx;
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != rx_buffer.tail) {
rx_buffer.buffer[rx_buffer.head] = c;
rx_buffer.head = i;
}
}
}
private:
void printNumber(unsigned long, uint8_t);
void printFloat(double, uint8_t);
public:
FORCE_INLINE void write(const char *str) { while (*str) write(*str++); }
FORCE_INLINE void write(const uint8_t *buffer, size_t size) { while (size--) write(*buffer++); }
FORCE_INLINE void print(const String &s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
FORCE_INLINE void print(const char *str) { write(str); }
void print(char, int = BYTE);
void print(unsigned char, int = BYTE);
void print(int, int = DEC);
void print(unsigned int, int = DEC);
void print(long, int = DEC);
void print(unsigned long, int = DEC);
void print(double, int = 2);
void println(const String &s);
void println(const char[]);
void println(char, int = BYTE);
void println(unsigned char, int = BYTE);