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