499 lines
16 KiB
C
499 lines
16 KiB
C
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef MARLIN_H
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#define MARLIN_H
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <inttypes.h>
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#include <util/delay.h>
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#include <avr/pgmspace.h>
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#include <avr/eeprom.h>
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#include <avr/interrupt.h>
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#include "MarlinConfig.h"
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#ifdef DEBUG_GCODE_PARSER
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#include "gcode.h"
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#endif
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#include "enum.h"
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#include "types.h"
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#include "fastio.h"
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#include "utility.h"
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#include "serial.h"
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#if ENABLED(PRINTCOUNTER)
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#include "printcounter.h"
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#else
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#include "stopwatch.h"
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#endif
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void idle(
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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bool no_stepper_sleep = false // pass true to keep steppers from disabling on timeout
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#endif
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);
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void manage_inactivity(bool ignore_stepper_queue = false);
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#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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extern bool extruder_duplication_enabled;
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#endif
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#if HAS_X2_ENABLE
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#define enable_X() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
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#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
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#elif HAS_X_ENABLE
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#define enable_X() X_ENABLE_WRITE( X_ENABLE_ON)
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#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
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#else
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#define enable_X() NOOP
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#define disable_X() NOOP
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#endif
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#if HAS_Y2_ENABLE
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#define enable_Y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
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#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
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#elif HAS_Y_ENABLE
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#define enable_Y() Y_ENABLE_WRITE( Y_ENABLE_ON)
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#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
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#else
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#define enable_Y() NOOP
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#define disable_Y() NOOP
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#endif
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#if HAS_Z2_ENABLE
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#define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
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#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
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#elif HAS_Z_ENABLE
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#define enable_Z() Z_ENABLE_WRITE( Z_ENABLE_ON)
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#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
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#else
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#define enable_Z() NOOP
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#define disable_Z() NOOP
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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/**
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* Mixing steppers synchronize their enable (and direction) together
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*/
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#if MIXING_STEPPERS > 3
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#define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); E3_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); E3_ENABLE_WRITE(!E_ENABLE_ON); }
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#elif MIXING_STEPPERS > 2
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#define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
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#else
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#define enable_E0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
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#define disable_E0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
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#endif
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#define enable_E1() NOOP
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#define disable_E1() NOOP
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#define enable_E2() NOOP
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#define disable_E2() NOOP
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#define enable_E3() NOOP
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#define disable_E3() NOOP
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#define enable_E4() NOOP
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#define disable_E4() NOOP
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#else // !MIXING_EXTRUDER
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#if HAS_E0_ENABLE
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#define enable_E0() E0_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E0() E0_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_E0() NOOP
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#define disable_E0() NOOP
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#endif
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#if E_STEPPERS > 1 && HAS_E1_ENABLE
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#define enable_E1() E1_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E1() E1_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_E1() NOOP
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#define disable_E1() NOOP
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#endif
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#if E_STEPPERS > 2 && HAS_E2_ENABLE
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#define enable_E2() E2_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E2() E2_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_E2() NOOP
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#define disable_E2() NOOP
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#endif
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#if E_STEPPERS > 3 && HAS_E3_ENABLE
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#define enable_E3() E3_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E3() E3_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_E3() NOOP
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#define disable_E3() NOOP
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#endif
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#if E_STEPPERS > 4 && HAS_E4_ENABLE
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#define enable_E4() E4_ENABLE_WRITE( E_ENABLE_ON)
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#define disable_E4() E4_ENABLE_WRITE(!E_ENABLE_ON)
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#else
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#define enable_E4() NOOP
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#define disable_E4() NOOP
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#endif
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#endif // !MIXING_EXTRUDER
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#if ENABLED(G38_PROBE_TARGET)
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extern bool G38_move, // flag to tell the interrupt handler that a G38 command is being run
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G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
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#endif
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/**
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* The axis order in all axis related arrays is X, Y, Z, E
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*/
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#define _AXIS(AXIS) AXIS ##_AXIS
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void enable_all_steppers();
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void disable_e_steppers();
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void disable_all_steppers();
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void FlushSerialRequestResend();
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void ok_to_send();
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void kill(const char*);
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void quickstop_stepper();
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#if ENABLED(FILAMENT_RUNOUT_SENSOR)
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void handle_filament_runout();
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#endif
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extern uint8_t marlin_debug_flags;
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#define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))
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extern bool Running;
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inline bool IsRunning() { return Running; }
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inline bool IsStopped() { return !Running; }
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bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); // Add a single command to the end of the buffer. Return false on failure.
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void enqueue_and_echo_commands_P(const char * const cmd); // Set one or more commands to be prioritized over the next Serial/SD command.
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void clear_command_queue();
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extern millis_t previous_cmd_ms;
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inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
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#if ENABLED(FAST_PWM_FAN)
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void setPwmFrequency(uint8_t pin, int val);
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#endif
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/**
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* Feedrate scaling and conversion
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*/
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extern int16_t feedrate_percentage;
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#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
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extern bool axis_relative_modes[];
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extern bool axis_known_position[XYZ];
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extern bool axis_homed[XYZ];
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extern volatile bool wait_for_heatup;
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#if HAS_RESUME_CONTINUE
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extern volatile bool wait_for_user;
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#endif
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extern float current_position[NUM_AXIS];
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// Workspace offsets
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#if HAS_WORKSPACE_OFFSET
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#if HAS_HOME_OFFSET
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extern float home_offset[XYZ];
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#endif
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#if HAS_POSITION_SHIFT
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extern float position_shift[XYZ];
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#endif
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#endif
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#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
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extern float workspace_offset[XYZ];
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#define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
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#elif HAS_HOME_OFFSET
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#define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
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#elif HAS_POSITION_SHIFT
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#define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
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#else
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#define WORKSPACE_OFFSET(AXIS) 0
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#endif
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#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
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#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
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#if HAS_POSITION_SHIFT || DISABLED(DELTA)
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#define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS)
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#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS)
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#define RAW_X_POSITION(POS) LOGICAL_TO_NATIVE(POS, X_AXIS)
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#define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS)
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#else
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#define LOGICAL_X_POSITION(POS) (POS)
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#define LOGICAL_Y_POSITION(POS) (POS)
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#define RAW_X_POSITION(POS) (POS)
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#define RAW_Y_POSITION(POS) (POS)
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#endif
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#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS)
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#define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS)
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// Hotend Offsets
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#if HOTENDS > 1
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extern float hotend_offset[XYZ][HOTENDS];
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#endif
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// Software Endstops
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extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
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#if HAS_SOFTWARE_ENDSTOPS
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extern bool soft_endstops_enabled;
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void clamp_to_software_endstops(float target[XYZ]);
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#else
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#define soft_endstops_enabled false
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#define clamp_to_software_endstops(x) NOOP
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#endif
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#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
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void update_software_endstops(const AxisEnum axis);
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#endif
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#if ENABLED(CNC_COORDINATE_SYSTEMS)
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#define MAX_COORDINATE_SYSTEMS 9
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extern float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
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bool select_coordinate_system(const int8_t _new);
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#endif
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void report_current_position();
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#if IS_KINEMATIC
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extern float delta[ABC];
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void inverse_kinematics(const float raw[XYZ]);
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#endif
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#if ENABLED(DELTA)
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extern float delta_height,
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delta_endstop_adj[ABC],
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delta_radius,
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delta_diagonal_rod,
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delta_calibration_radius,
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delta_segments_per_second,
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delta_tower_angle_trim[ABC],
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delta_clip_start_height;
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void recalc_delta_settings();
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#elif IS_SCARA
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void forward_kinematics_SCARA(const float &a, const float &b);
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#endif
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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extern int bilinear_grid_spacing[2], bilinear_start[2];
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extern float bilinear_grid_factor[2],
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z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
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float bilinear_z_offset(const float raw[XYZ]);
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#endif
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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typedef struct { double A, B, D; } linear_fit;
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linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int);
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#endif
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#if HAS_LEVELING
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bool leveling_is_valid();
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void set_bed_leveling_enabled(const bool enable=true);
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void reset_bed_level();
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#endif
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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void set_z_fade_height(const float zfh);
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#endif
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#if ENABLED(X_DUAL_ENDSTOPS)
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extern float x_endstop_adj;
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#endif
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#if ENABLED(Y_DUAL_ENDSTOPS)
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extern float y_endstop_adj;
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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extern float z_endstop_adj;
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#endif
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#if HAS_BED_PROBE
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extern float zprobe_zoffset;
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void refresh_zprobe_zoffset(const bool no_babystep=false);
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#define DEPLOY_PROBE() set_probe_deployed(true)
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#define STOW_PROBE() set_probe_deployed(false)
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#else
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#define DEPLOY_PROBE()
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#define STOW_PROBE()
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#endif
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#if ENABLED(HOST_KEEPALIVE_FEATURE)
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extern MarlinBusyState busy_state;
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#define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
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#else
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#define KEEPALIVE_STATE(n) NOOP
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#endif
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#if FAN_COUNT > 0
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extern int16_t fanSpeeds[FAN_COUNT];
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#if ENABLED(EXTRA_FAN_SPEED)
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extern int16_t old_fanSpeeds[FAN_COUNT],
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new_fanSpeeds[FAN_COUNT];
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#endif
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#if ENABLED(PROBING_FANS_OFF)
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extern bool fans_paused;
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extern int16_t paused_fanSpeeds[FAN_COUNT];
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#endif
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#endif
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#if ENABLED(BARICUDA)
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extern uint8_t baricuda_valve_pressure, baricuda_e_to_p_pressure;
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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extern bool filament_sensor; // Flag that filament sensor readings should control extrusion
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extern float filament_width_nominal, // Theoretical filament diameter i.e., 3.00 or 1.75
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filament_width_meas; // Measured filament diameter
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extern uint8_t meas_delay_cm, // Delay distance
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measurement_delay[]; // Ring buffer to delay measurement
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extern int8_t filwidth_delay_index[2]; // Ring buffer indexes. Used by planner, temperature, and main code
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#endif
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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extern AdvancedPauseMenuResponse advanced_pause_menu_response;
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#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
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extern int lpq_len;
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#endif
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#if ENABLED(FWRETRACT)
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extern bool autoretract_enabled; // M209 S - Autoretract switch
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extern float retract_length, // M207 S - G10 Retract length
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retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
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retract_zlift, // M207 Z - G10 Retract hop size
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retract_recover_length, // M208 S - G11 Recover length
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retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
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swap_retract_length, // M207 W - G10 Swap Retract length
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swap_retract_recover_length, // M208 W - G11 Swap Recover length
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swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
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#endif
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// Print job timer
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#if ENABLED(PRINTCOUNTER)
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extern PrintCounter print_job_timer;
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#else
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extern Stopwatch print_job_timer;
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#endif
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// Handling multiple extruders pins
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extern uint8_t active_extruder;
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#if HAS_TEMP_HOTEND || HAS_TEMP_BED
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void print_heaterstates();
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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extern float mixing_factor[MIXING_STEPPERS];
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#endif
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/**
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* Blocking movement and shorthand functions
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*/
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void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
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void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
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void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
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void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
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#define HAS_AXIS_UNHOMED_ERR ( \
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ENABLED(Z_PROBE_ALLEN_KEY) \
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|| ENABLED(Z_PROBE_SLED) \
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|| HAS_PROBING_PROCEDURE \
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|| HOTENDS > 1 \
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|| ENABLED(NOZZLE_CLEAN_FEATURE) \
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|| ENABLED(NOZZLE_PARK_FEATURE) \
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|| (ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(HOME_BEFORE_FILAMENT_CHANGE)) \
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) || ENABLED(NO_MOTION_BEFORE_HOMING)
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#if HAS_AXIS_UNHOMED_ERR
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bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true);
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#endif
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/**
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* position_is_reachable family of functions
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*/
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#if IS_KINEMATIC // (DELTA or SCARA)
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#if IS_SCARA
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extern const float L1, L2;
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#endif
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inline bool position_is_reachable(const float &rx, const float &ry) {
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#if ENABLED(DELTA)
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return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
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#elif IS_SCARA
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#if MIDDLE_DEAD_ZONE_R > 0
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const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
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return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
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#else
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return HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y) <= sq(L1 + L2);
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#endif
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#else // CARTESIAN
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// To be migrated from MakerArm branch in future
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#endif
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}
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inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
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// Both the nozzle and the probe must be able to reach the point.
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// This won't work on SCARA since the probe offset rotates with the arm.
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return position_is_reachable(rx, ry)
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&& position_is_reachable(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ry - (Y_PROBE_OFFSET_FROM_EXTRUDER));
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}
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#else // CARTESIAN
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inline bool position_is_reachable(const float &rx, const float &ry) {
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// Add 0.001 margin to deal with float imprecision
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return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
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&& WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
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}
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inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
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// Add 0.001 margin to deal with float imprecision
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return WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
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&& WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
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}
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#endif // CARTESIAN
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#endif // MARLIN_H
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