// 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"

#ifndef AT90USB
#define  HardwareSerial_h // trick to disable the standard HWserial
#endif

#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) + A0)
#endif

#ifdef AT90USB
#include "HardwareSerial.h"
#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"

#ifdef AT90USB
   #ifdef BTENABLED
         #define MYSERIAL bt
   #else
         #define MYSERIAL Serial
   #endif // BTENABLED
#else
  #define MYSERIAL MSerial
#endif

#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'))


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)))

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(bool ignore_stepper_queue=false);

#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
    && defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  #define  enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
  #define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  #define disable_x() { 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
  #ifdef Y_DUAL_STEPPER_DRIVERS
    #define  enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN,  Y_ENABLE_ON); }
    #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  #else
    #define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
    #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
  #endif
#else
  #define enable_y() ;
  #define disable_y() ;
#endif

#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
  #ifdef Z_DUAL_STEPPER_DRIVERS
    #define  enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
    #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  #else
    #define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
    #define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
  #endif
#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 (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
  #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
  #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
#else
  #define enable_e1()  /* nothing */
  #define disable_e1() /* nothing */
#endif

#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
  #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
  #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
#else
  #define enable_e2()  /* nothing */
  #define disable_e2() /* nothing */
#endif


enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};


void FlushSerialRequestResend();
void ClearToSend();

void get_coordinates();
#ifdef DELTA
void calculate_delta(float cartesian[3]);
extern float delta[3];
#endif
#ifdef SCARA
void calculate_delta(float cartesian[3]);
void calculate_delta1(float cartesian[3]);//我自己声明的反解函数，解出的东西放在delta1中
void calculate_SCARA_forward_Transform(float f_scara[3]);
void moveto(float givevalue[4]);//自己加的移动到坐标的函数，相当于G1
void moveto93(float coordinate[3]);
void moveto95();//自己加上的转换坐标模式的函数，相当于G95。
void moveto94();//自己加上的转换坐标模式的函数，相当于G94。
void servoto(int servo_index,int servo_position );//自己写的控制舵机的程序。
void delay1(float a);//自己写的延时程序
void stacking(int num);//自己写的函数，作用是把对应编号的物品在对应模式下码垛过去。
void stacking1(int direc);
void servopulse(int angle,int servopin);//自己写的函数，目的是可以使用delay控制舵机
void setstacking(int num);//作用是设置码垛参数
int rgb_compare(int rgb_1[3],int rgb_2[3]);//比较不同颜色是否相同，是返回1，否返回0
void stackto(float moved[3]);


void initialmpu();
void getconner();
void teach_timeshowing();
void teach_sampling();
void teach_going();
#define smallarm 45
#define bigarm 47
#define foundation 43



	

#endif
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 prepare_arc_move(char isclockwise);
void clamp_to_software_endstops(float target[3]);

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[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
extern float filament_size[EXTRUDERS]; // 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[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
extern float current_position[NUM_AXIS] ;
extern float add_homing[3];
#ifdef DELTA
extern float endstop_adj[3];
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
#ifdef SCARA
extern float axis_scaling[3];  // Build size scaling
extern float Linkage_1;
extern float Linkage_2;
extern float CencerOffset;
extern float HeadOffset;
extern float SCARA_offset[3];
extern float ManualHomePos[3];
#endif
extern float min_pos[3];
extern float max_pos[3];
extern bool axis_known_position[3];
extern float zprobe_zoffset;
extern int fanSpeed;
#ifdef BARICUDA
extern int ValvePressure;
extern int EtoPPressure;
#endif

#ifdef FAN_SOFT_PWM
extern unsigned char fanSpeedSoftPwm;
#endif

#ifdef FILAMENT_SENSOR
  extern float filament_width_nominal;  //holds the theoretical filament diameter ie., 3.00 or 1.75
  extern bool filament_sensor;  //indicates that filament sensor readings should control extrusion
  extern float filament_width_meas; //holds the filament diameter as accurately measured
  extern signed char measurement_delay[];  //ring buffer to delay measurement
  extern int delay_index1, delay_index2;  //index into ring buffer
  extern float delay_dist; //delay distance counter
  extern int meas_delay_cm; //delay distance
#endif

#ifdef FWRETRACT
extern bool autoretract_enabled;
extern bool retracted[EXTRUDERS];
extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
#endif

extern unsigned long starttime;
extern unsigned long stoptime;

// Handling multiple extruders pins
extern uint8_t active_extruder;

#ifdef DIGIPOT_I2C
extern void digipot_i2c_set_current( int channel, float current );
extern void digipot_i2c_init();
#endif

#endif

extern void calculate_volumetric_multipliers();

