134 lines
4.6 KiB
C
134 lines
4.6 KiB
C
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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// Licence: GPL
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//Check Version of Arduino and then include the right libraries
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include <WProgram.h>
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#endif
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#include "fastio.h"
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extern "C" void __cxa_pure_virtual();
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#define FORCE_INLINE __attribute__((always_inline)) inline
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#if X_ENABLE_PIN > -1
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#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
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#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
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#else
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#define enable_x() ;
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#define disable_x() ;
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#endif
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#if Y_ENABLE_PIN > -1
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#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
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#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
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#else
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#define enable_y() ;
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#define disable_y() ;
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#endif
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#if Z_ENABLE_PIN > -1
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#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
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#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
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#else
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#define enable_z() ;
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#define disable_z() ;
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#endif
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#if E_ENABLE_PIN > -1
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#define enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
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#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
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#else
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#define enable_e() ;
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#define disable_e() ;
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#endif
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#define X_AXIS 0
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#define Y_AXIS 1
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#define Z_AXIS 2
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#define E_AXIS 3
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// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
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// the source g-code and may never actually be reached if acceleration management is active.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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unsigned long step_event_count; // The number of step events required to complete this block
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long accelerate_until; // The index of the step event on which to stop acceleration
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long decelerate_after; // The index of the step event on which to start decelerating
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long acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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#ifdef ADVANCE
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long advance_rate;
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volatile long initial_advance;
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volatile long final_advance;
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float advance;
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#endif
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// Fields used by the motion planner to manage acceleration
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// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
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float nominal_speed; // The nominal speed for this block in mm/min
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float entry_speed; // Entry speed at previous-current junction in mm/min
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float max_entry_speed; // Maximum allowable junction entry speed in mm/min
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float millimeters; // The total travel of this block in mm
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float acceleration; // acceleration mm/sec^2
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unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
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unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
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// Settings for the trapezoid generator
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long nominal_rate; // The nominal step rate for this block in step_events/sec
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long initial_rate; // The jerk-adjusted step rate at start of block
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long final_rate; // The minimal rate at exit
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long acceleration_st; // acceleration steps/sec^2
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volatile char busy;
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} block_t;
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void FlushSerialRequestResend();
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void ClearToSend();
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void analogWrite_check(uint8_t check_pin, int val);
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void showString (PGM_P s);
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void manage_inactivity(byte debug);
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void get_command();
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void get_coordinates();
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void prepare_move();
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void prepare_arc_move(char isclockwise);
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FORCE_INLINE void process_commands();
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#ifdef USE_ARC_FUNCTION
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FORCE_INLINE void get_arc_coordinates();
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#endif
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void kill(byte debug);
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void check_axes_activity();
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void plan_init();
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void st_init();
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void tp_init();
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void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
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void plan_set_position(float x, float y, float z, float e);
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void st_wake_up();
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void st_synchronize();
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void st_set_position(const long &x, const long &y, const long &z, const long &e);
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void check_buffer_while_arc();
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#ifdef SDSUPPORT
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void print_disk_info(void);
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#endif //SDSUPPORT
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#ifdef DEBUG
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void log_message(char* message);
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void log_bool(char* message, bool value);
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void log_int(char* message, int value);
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void log_long(char* message, long value);
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void log_float(char* message, float value);
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void log_uint(char* message, unsigned int value);
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void log_ulong(char* message, unsigned long value);
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#endif
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