diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 4e0786199d..87cb10bd1f 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -14,12 +14,6 @@
// example_configurations/delta directory.
//
-//===========================================================================
-//============================= SCARA Printer ===============================
-//===========================================================================
-// For a Delta printer replace the configuration files with the files in the
-// example_configurations/SCARA directory.
-//
// User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
@@ -27,7 +21,7 @@
#define STRING_VERSION "v1.0.2"
#define STRING_URL "reprap.org"
#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
-#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
+#define STRING_CONFIG_H_AUTHOR "(Jeremie, Tridimake)" // JFR - Who made the changes.
#define STRING_SPLASH STRING_VERSION " - " STRING_URL // will be shown during bootup
// SERIAL_PORT selects which serial port should be used for communication with the host.
@@ -36,7 +30,8 @@
#define SERIAL_PORT 0
// This determines the communication speed of the printer
-#define BAUDRATE 250000
+//#define BAUDRATE 250000
+#define BAUDRATE 115200
// This enables the serial port associated to the Bluetooth interface
//#define BTENABLED // Enable BT interface on AT90USB devices
@@ -44,11 +39,11 @@
// The following define selects which electronics board you have.
// Please choose the name from boards.h that matches your setup
#ifndef MOTHERBOARD
- #define MOTHERBOARD BOARD_ULTIMAKER
+ #define MOTHERBOARD 33 // JFR - was BOARD_ULTIMAKER
#endif
// Define this to set a custom name for your generic Mendel,
-// #define CUSTOM_MENDEL_NAME "This Mendel"
+#define CUSTOM_MENDEL_NAME "[RMud]HP" // JFR -was "This Mendel"
// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
@@ -66,6 +61,50 @@
// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
// #define PS_DEFAULT_OFF
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+// Enable DELTA kinematics and most of the default configuration for Deltas
+#define DELTA
+
+// Make delta curves from many straight lines (linear interpolation).
+// This is a trade-off between visible corners (not enough segments)
+// and processor overload (too many expensive sqrt calls).
+#define DELTA_SEGMENTS_PER_SECOND 100 // JFR: was 200
+
+/*
+ Parameter essential for delta calibration:
+
+ C, Y-Axis
+ | |___| CARRIAGE_HORIZONTAL_OFFSET
+ | | \
+ |_________ X-axis | \
+ / \ | \ DELTA_DIAGONAL_ROD
+ / \ \
+ / \ \ Carriage is at printer center!
+ A B \_____/
+ |--| END_EFFECTOR_HORIZONTAL_OFFSET
+ |----| DELTA_RADIUS
+ |-----------| PRINTER_RADIUS
+
+ Column angles are measured from X-axis counterclockwise
+*/
+
+// Center-to-center distance of the holes in the diagonal push rods.
+#define DELTA_DIAGONAL_ROD (202.4) // mm JFR: was 202 for LABSUD
+
+// Horizontal offset from middle of printer to smooth rod center.
+#define DELTA_SMOOTH_ROD_OFFSET 139.5 // mm
+
+// Horizontal offset of the universal joints on the end effector.
+#define DELTA_EFFECTOR_OFFSET 18.0 // mm
+
+// Horizontal offset of the universal joints on the carriages.
+#define DELTA_CARRIAGE_OFFSET 18.0 // mm
+
+// Effective horizontal distance bridged by diagonal push rods.
+#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
+
//===========================================================================
//=============================Thermal Settings ============================
//===========================================================================
@@ -104,8 +143,8 @@
// 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard)
-#define TEMP_SENSOR_0 -1
-#define TEMP_SENSOR_1 -1
+#define TEMP_SENSOR_0 1 // JFR -was -1
+#define TEMP_SENSOR_1 0 // JFR -was -1
#define TEMP_SENSOR_2 0
#define TEMP_SENSOR_BED 0
@@ -114,7 +153,7 @@
#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
// Actual temperature must be close to target for this long before M109 returns success
-#define TEMP_RESIDENCY_TIME 10 // (seconds)
+#define TEMP_RESIDENCY_TIME 4 // // JFR -was 10 (seconds)
#define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one
#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early.
@@ -146,25 +185,23 @@
// PID settings:
// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
-#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
-#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
+#define BANG_MAX 80 // JFR -was 255 // limits current to nozzle while in bang-bang mode; 255=full current
+#define PID_MAX 70 // JFR -was BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
- //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
- //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
- // Set/get with gcode: M301 E[extruder number, 0-2]
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID
- #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
+// JFR: was #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
+ #define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
// Ultimaker
- #define DEFAULT_Kp 22.2
- #define DEFAULT_Ki 1.08
- #define DEFAULT_Kd 114
+// #define DEFAULT_Kp 22.2
+// #define DEFAULT_Ki 1.08
+// #define DEFAULT_Kd 114
// MakerGear
// #define DEFAULT_Kp 7.0
@@ -175,6 +212,12 @@
// #define DEFAULT_Kp 63.0
// #define DEFAULT_Ki 2.25
// #define DEFAULT_Kd 440
+
+// E3D 24v calibrée par frafa avec buse 12v30W alimentée en 24v
+ #define DEFAULT_Kp 12.48
+ #define DEFAULT_Ki 1.63
+ #define DEFAULT_Kd 23.93
+
#endif // PIDTEMP
// Bed Temperature Control
@@ -217,7 +260,7 @@
//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
//can be software-disabled for whatever purposes by
-#define PREVENT_DANGEROUS_EXTRUDE
+//#define PREVENT_DANGEROUS_EXTRUDE // JFR - was enabled
//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
#define PREVENT_LENGTHY_EXTRUDE
@@ -266,9 +309,6 @@ your extruder heater takes 2 minutes to hit the target on heating.
//=============================Mechanical Settings===========================
//===========================================================================
-// Uncomment the following line to enable CoreXY kinematics
-// #define COREXY
-
// coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@@ -295,12 +335,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
-const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
-const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
-const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool X_MAX_ENDSTOP_INVERTING = false; // JFR -was true // set to true to invert the logic of the endstop.
+const bool Y_MAX_ENDSTOP_INVERTING = false; // JFR -was true // set to true to invert the logic of the endstop.
+const bool Z_MAX_ENDSTOP_INVERTING = false; // JFR -was true // set to true to invert the logic of the endstop.
//#define DISABLE_MAX_ENDSTOPS
-//#define DISABLE_MIN_ENDSTOPS
-
+// Deltas never have min endstops
+//#define DISABLE_MIN_ENDSTOPS // JFR- was not commented out!
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
@@ -319,149 +359,39 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DISABLE_E false // For all extruders
#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
-#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
-#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
-#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
-#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_X_DIR false // DELTA does not invert
+#define INVERT_Y_DIR false
+#define INVERT_Z_DIR false
+
+#define INVERT_E0_DIR true // JFR - was false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
-#define X_HOME_DIR -1
-#define Y_HOME_DIR -1
-#define Z_HOME_DIR -1
+// deltas always home to max
+#define X_HOME_DIR 1
+#define Y_HOME_DIR 1
+#define Z_HOME_DIR 1
#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below.
// Travel limits after homing
-#define X_MAX_POS 205
-#define X_MIN_POS 0
-#define Y_MAX_POS 205
-#define Y_MIN_POS 0
-#define Z_MAX_POS 200
+#define X_MAX_POS 85 // JFR - was 205
+#define X_MIN_POS -85 // JFR - was 0
+#define Y_MAX_POS 85 // JFR - was 205
+#define Y_MIN_POS -85 // JFR - was 0
+#define Z_MAX_POS MANUAL_Z_HOME_POS // JFR - was 200
#define Z_MIN_POS 0
#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//============================= Bed Auto Leveling ===========================
-
-//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
-#define Z_PROBE_REPEATABILITY_TEST // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
-
-#ifdef ENABLE_AUTO_BED_LEVELING
-
-// There are 2 different ways to pick the X and Y locations to probe:
-
-// - "grid" mode
-// Probe every point in a rectangular grid
-// You must specify the rectangle, and the density of sample points
-// This mode is preferred because there are more measurements.
-// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
-
-// - "3-point" mode
-// Probe 3 arbitrary points on the bed (that aren't colinear)
-// You must specify the X & Y coordinates of all 3 points
-
- #define AUTO_BED_LEVELING_GRID
- // with AUTO_BED_LEVELING_GRID, the bed is sampled in a
- // AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
- // and least squares solution is calculated
- // Note: this feature occupies 10'206 byte
- #ifdef AUTO_BED_LEVELING_GRID
-
- // set the rectangle in which to probe
- #define LEFT_PROBE_BED_POSITION 15
- #define RIGHT_PROBE_BED_POSITION 170
- #define BACK_PROBE_BED_POSITION 180
- #define FRONT_PROBE_BED_POSITION 20
-
- // set the number of grid points per dimension
- // I wouldn't see a reason to go above 3 (=9 probing points on the bed)
- #define AUTO_BED_LEVELING_GRID_POINTS 2
+//Bed Auto Leveling is still not compatible with Delta Kinematics
- #else // not AUTO_BED_LEVELING_GRID
- // with no grid, just probe 3 arbitrary points. A simple cross-product
- // is used to esimate the plane of the print bed
-
- #define ABL_PROBE_PT_1_X 15
- #define ABL_PROBE_PT_1_Y 180
- #define ABL_PROBE_PT_2_X 15
- #define ABL_PROBE_PT_2_Y 20
- #define ABL_PROBE_PT_3_X 170
- #define ABL_PROBE_PT_3_Y 20
-
- #endif // AUTO_BED_LEVELING_GRID
-
-
- // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
- // X and Y offsets must be integers
- #define X_PROBE_OFFSET_FROM_EXTRUDER -25
- #define Y_PROBE_OFFSET_FROM_EXTRUDER -29
- #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
-
- #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
- // Be sure you have this distance over your Z_MAX_POS in case
-
- #define XY_TRAVEL_SPEED 8000 // X and Y axis travel speed between probes, in mm/min
-
- #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point.
- #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points
-
- //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
- //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
-
- //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
- //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
- // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
-
-// #define PROBE_SERVO_DEACTIVATION_DELAY 300
-
-
-//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
-//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
-
- #define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area.
- // When defined, it will:
- // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
- // - If stepper drivers timeout, it will need X and Y homing again before Z homing
- // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
- // - Block Z homing only when the probe is outside bed area.
-
- #ifdef Z_SAFE_HOMING
-
- #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28)
- #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28)
-
- #endif
-
- #ifdef AUTO_BED_LEVELING_GRID // Check if Probe_Offset * Grid Points is greater than Probing Range
- #if X_PROBE_OFFSET_FROM_EXTRUDER < 0
- #if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
- #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
- #endif
- #else
- #if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
- #error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
- #endif
- #endif
- #if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
- #if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
- #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
- #endif
- #else
- #if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
- #error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
- #endif
- #endif
-
-
- #endif
-
-#endif // ENABLE_AUTO_BED_LEVELING
// The position of the homing switches
@@ -469,24 +399,62 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0)
//Manual homing switch locations:
+
+#define MANUAL_HOME_POSITIONS // MANUAL_*_HOME_POS below will be used // JFR- was disabled
// For deltabots this means top and center of the Cartesian print volume.
#define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS 0
-#define MANUAL_Z_HOME_POS 0
+#define MANUAL_Z_HOME_POS (142.7-1)
//#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
-#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
+
+// delta homing speeds must be the same on xyz
+#define HOMING_FEEDRATE {200*60, 200*60, 200*60, 0} // set the homing speeds (mm/min)
+
+// ================>>>>> N.R. with bug fixes by JFR
+// Compute speed, feedrate and acceleration by means of pulley & motor specs only
// default settings
+#define PI 3.14159265
+#define G 9806.65
-#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200.0*8/3,760*1.1} // default steps per unit for Ultimaker
-#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec)
-#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
+//Motors (movement)
+#define MVT_N 3 // g acceleration for movement (3 ok)
+#define MVT_SPR 200.0 // step per revolution
+#define MVT_MS 32 // microstep (1/32 only possible with DRV8825 -- also 2.5A)
+#define MVT_OMEG 900.0 // maximum number of revolutions per minute at 19V (was 600-900)
+#define PULLEY_TN 26.0 // number of teeth on X/Y/Z pulley
+#define PULLEY_STEP 3.0 // pulley tooth size (mm)
+
+//Extruder motor
+#define XTR_N MVT_N // g acceleration for extruder
+#define XTR_SPR (MVT_SPR*5) // step per revolution (with 5:1 reductor)
+#define XTR_MS MVT_MS // microstep
+#define XTR_OMEG 225.0 // maximum number of revolutions per minute // was 600-900
+#define MVT_DHB 10.56 // Hobbed bolt diameter
+
+#define MVT_PCIRC ( PULLEY_TN * PULLEY_STEP ) // pulley circumference
+#define MVT_S ( MVT_SPR * MVT_MS / MVT_PCIRC ) // step_per_revolution * microstepping / circumference
+#define MVT_V ( MVT_OMEG * MVT_PCIRC / 60.0 ) // max velocity (mm/s)
+
+#define XTR_HBCIRC ( PI * MVT_DHB ) // hobbed bolt circumference from diameter
+#define XTR_S ( XTR_SPR * XTR_MS / XTR_HBCIRC ) //step per mm
+#define XTR_V ( XTR_OMEG * XTR_HBCIRC / 60 ) // max velocity (mm/s)
+
+// the second axis sometimes needs /2 (BROKEN DRIVER??!!)
+#define DEFAULT_AXIS_STEPS_PER_UNIT { MVT_S, MVT_S, MVT_S, XTR_S }
+#define DEFAULT_MAX_FEEDRATE { MVT_V, MVT_V, MVT_V, XTR_V } // (mm/sec)
+//JFR: is this OK?? #define DEFAULT_MAX_ACCELERATION { MVT_N*G, MVT_N*G, MVT_N*G, XTR_N*G } // X, Y, Z, E maximum start speed for accelerated moves.
+#define DEFAULT_MAX_ACCELERATION {9000,9000,9000,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
+
+// JFR: do we want to multiply here by MVT_N and XTR_N ipo N ?
+#define DEFAULT_ACCELERATION (MVT_N*G*3/4) // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION (XTR_N*G*3/4) // X, Y, Z and E max acceleration in mm/s^2 for r retracts
+
+//<<<<<================ JFR / N.R.
-#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
@@ -496,7 +464,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
#define DEFAULT_XYJERK 20.0 // (mm/sec)
-#define DEFAULT_ZJERK 0.4 // (mm/sec)
+#define DEFAULT_ZJERK 20.0 // (mm/sec) Must be same as XY for delta
#define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
@@ -521,7 +489,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define EEPROM_SETTINGS
//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
// please keep turned on if you can.
-//#define EEPROM_CHITCHAT
+#define EEPROM_CHITCHAT
// Preheat Constants
#define PLA_PREHEAT_HOTEND_TEMP 180
@@ -551,7 +519,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// The RepRapDiscount Smart Controller (white PCB)
// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
-//#define REPRAP_DISCOUNT_SMART_CONTROLLER
+#define REPRAP_DISCOUNT_SMART_CONTROLLER
// The GADGETS3D G3D LCD/SD Controller (blue PCB)
// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
@@ -573,6 +541,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
//#define RA_CONTROL_PANEL
+// Delta calibration menu
+// uncomment to add three points calibration menu option.
+// See http://minow.blogspot.com/index.html#4918805519571907051
+// If needed, adjust the X, Y, Z calibration coordinates
+// in ultralcd.cpp@lcd_delta_calibrate_menu()
+#define DELTA_CALIBRATION_MENU // JFR - was disabled
+
//automatic expansion
#if defined (MAKRPANEL)
#define DOGLCD
@@ -771,13 +746,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Uncomment below to enable
//#define FILAMENT_SENSOR
-#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2)
-#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel
+#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2)
+#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel
#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation
#define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm
#define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm
-#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM)
+#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM)
//defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially
@@ -790,6 +765,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
+
#include "Configuration_adv.h"
#include "thermistortables.h"
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index a503e640f5..72f8aac57a 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -213,7 +213,7 @@
//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
-#define Z_HOME_RETRACT_MM 2
+#define Z_HOME_RETRACT_MM 5
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
#define AXIS_RELATIVE_MODES {false, false, false, false}
@@ -248,7 +248,7 @@
#define DEFAULT_MINSEGMENTTIME 20000
// If defined the movements slow down when the look ahead buffer is only half full
-#define SLOWDOWN
+// #define SLOWDOWN // JFR - important, was enabled!!
// Frequency limit
// See nophead's blog for more info
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 0f98c69b8e..fc85e7f3a4 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -199,8 +199,9 @@ void Stop();
bool IsStopped();
-bool enquecommand(const char *cmd); //put an ASCII command at the end of the current buffer or return false when it is full
-void enquecommand_P(const char *cmd); //put an ASCII command at the end of the current buffer, read from flash
+bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full
+void enquecommands_P(const char *cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
+
void prepare_arc_move(char isclockwise);
void clamp_to_software_endstops(float target[3]);
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
deleted file mode 100644
index 79c934bf0f..0000000000
--- a/Marlin/Marlin.pde
+++ /dev/null
@@ -1,56 +0,0 @@
-/* -*- 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 .
- */
-
-/*
- 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"
-
-#ifdef ULTRA_LCD
- #if defined(LCD_I2C_TYPE_PCF8575)
- #include
- #include
- #elif defined(LCD_I2C_TYPE_MCP23017) || defined(LCD_I2C_TYPE_MCP23008)
- #include
- #include
- #elif defined(DOGLCD)
- #include // library for graphics LCD by Oli Kraus (https://code.google.com/p/u8glib/)
- #else
- #include // library for character LCD
- #endif
-#endif
-
-#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
-#include
-#endif
-
-#if defined(DIGIPOT_I2C)
- #include
-#endif
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 82325e1b37..e18d08c0d2 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -384,6 +384,8 @@ static int serial_count = 0;
static boolean comment_mode = false;
static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
+const char* queued_commands_P= NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
+
const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
//static float tt = 0;
@@ -451,43 +453,64 @@ void serial_echopair_P(const char *s_P, unsigned long v)
}
#endif //!SDSUPPORT
-//adds an command to the main command buffer
-//thats really done in a non-safe way.
-//needs overworking someday
-//(or return false if it failed to do so)
-bool enquecommand(const char *cmd)
+//Injects the next command from the pending sequence of commands, when possible
+//Return false if and only if no command was pending
+static bool drain_queued_commands_P()
{
- if(buflen >= BUFSIZE)
+ char cmd[30];
+ if(!queued_commands_P)
return false;
- else
+ // Get the next 30 chars from the sequence of gcodes to run
+ strncpy_P(cmd, queued_commands_P, sizeof(cmd)-1);
+ cmd[sizeof(cmd)-1]= 0;
+ // Look for the end of line, or the end of sequence
+ size_t i= 0;
+ char c;
+ while( (c= cmd[i]) && c!='\n' )
+ ++i; // look for the end of this gcode command
+ cmd[i]= 0;
+ if(enquecommand(cmd)) // buffer was not full (else we will retry later)
{
- //this is dangerous if a mixing of serial and this happens
- strcpy(&(cmdbuffer[bufindw][0]),cmd);
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_Enqueing);
- SERIAL_ECHO(cmdbuffer[bufindw]);
- SERIAL_ECHOLNPGM("\"");
- bufindw= (bufindw + 1)%BUFSIZE;
- buflen += 1;
- return true;
+ if(c)
+ queued_commands_P+= i+1; // move to next command
+ else
+ queued_commands_P= NULL; // will have no more commands in the sequence
}
+ return true;
}
-void enquecommand_P(const char *cmd)
+//Record one or many commands to run from program memory.
+//Aborts the current queue, if any.
+//Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
+void enquecommands_P(const char* pgcode)
{
- if(buflen < BUFSIZE)
- {
- //this is dangerous if a mixing of serial and this happens
- strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_Enqueing);
- SERIAL_ECHO(cmdbuffer[bufindw]);
- SERIAL_ECHOLNPGM("\"");
- bufindw= (bufindw + 1)%BUFSIZE;
- buflen += 1;
- }
+ queued_commands_P= pgcode;
+ drain_queued_commands_P(); // first command exectuted asap (when possible)
}
+//adds a single command to the main command buffer, from RAM
+//that is really done in a non-safe way.
+//needs overworking someday
+//Returns false if it failed to do so
+bool enquecommand(const char *cmd)
+{
+ if(*cmd==';')
+ return false;
+ if(buflen >= BUFSIZE)
+ return false;
+ //this is dangerous if a mixing of serial and this happens
+ strcpy(&(cmdbuffer[bufindw][0]),cmd);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_Enqueing);
+ SERIAL_ECHO(cmdbuffer[bufindw]);
+ SERIAL_ECHOLNPGM("\"");
+ bufindw= (bufindw + 1)%BUFSIZE;
+ buflen += 1;
+ return true;
+}
+
+
+
void setup_killpin()
{
#if defined(KILL_PIN) && KILL_PIN > -1
@@ -691,6 +714,9 @@ void loop()
void get_command()
{
+ if(drain_queued_commands_P()) // priority is given to non-serial commands
+ return;
+
while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
serial_char = MYSERIAL.read();
if(serial_char == '\n' ||
@@ -4489,7 +4515,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
{
if (homeDebounceCount == 0)
{
- enquecommand_P((PSTR("G28")));
+ enquecommands_P((PSTR("G28")));
homeDebounceCount++;
LCD_ALERTMESSAGEPGM(MSG_AUTO_HOME);
}
diff --git a/Marlin/cardreader.cpp b/Marlin/cardreader.cpp
index e22f3436b6..33fe819bdd 100644
--- a/Marlin/cardreader.cpp
+++ b/Marlin/cardreader.cpp
@@ -532,7 +532,7 @@ void CardReader::checkautostart(bool force)
sprintf_P(cmd, PSTR("M23 %s"), autoname);
enquecommand(cmd);
- enquecommand_P(PSTR("M24"));
+ enquecommands_P(PSTR("M24"));
found=true;
}
}
@@ -637,7 +637,7 @@ void CardReader::printingHasFinished()
if(SD_FINISHED_STEPPERRELEASE)
{
//finishAndDisableSteppers();
- enquecommand_P(PSTR(SD_FINISHED_RELEASECOMMAND));
+ enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
}
autotempShutdown();
}
diff --git a/Marlin/example_configurations/delta/Configuration.h b/Marlin/example_configurations/delta/Configuration.h
index 6c530e9234..e2689e5c3f 100644
--- a/Marlin/example_configurations/delta/Configuration.h
+++ b/Marlin/example_configurations/delta/Configuration.h
@@ -67,8 +67,6 @@
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 200
-// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
-
// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 250.0 // mm
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 4297d9819d..3ea0f461f0 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -10,8 +10,6 @@
int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */
-const char* pgcode_seq= NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
-
/* Configuration settings */
int plaPreheatHotendTemp;
int plaPreheatHPBTemp;
@@ -78,7 +76,6 @@ static void lcd_quick_feedback();//Cause an LCD refresh, and give the user visua
static void menu_action_back(menuFunc_t data);
static void menu_action_submenu(menuFunc_t data);
static void menu_action_gcode(const char* pgcode);
-static void menu_action_gcode_next();
static void menu_action_function(menuFunc_t data);
static void menu_action_sdfile(const char* filename, char* longFilename);
static void menu_action_sddirectory(const char* filename, char* longFilename);
@@ -327,7 +324,7 @@ static void lcd_sdcard_stop()
quickStop();
if(SD_FINISHED_STEPPERRELEASE)
{
- enquecommand_P(PSTR(SD_FINISHED_RELEASECOMMAND));
+ enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
}
autotempShutdown();
@@ -350,6 +347,7 @@ static void lcd_main_menu()
MENU_ITEM(submenu, MSG_DELTA_CALIBRATE, lcd_delta_calibrate_menu);
#endif // DELTA_CALIBRATION_MENU
}
+/*JFR TEST*/ MENU_ITEM(gcode, "test multiline", PSTR("G4 S3\nM104 S50\nG4 S1\nM104 S200\nG4 S2\nM104 S0")); // SD-card changed by user
MENU_ITEM(submenu, MSG_CONTROL, lcd_control_menu);
#ifdef SDSUPPORT
if (card.cardOK)
@@ -397,8 +395,7 @@ void lcd_set_home_offsets()
plan_set_position(0.0, 0.0, 0.0, current_position[E_AXIS]);
// Audio feedback
- enquecommand_P(PSTR("M300 S659 P200"));
- enquecommand_P(PSTR("M300 S698 P200"));
+ enquecommands_P(PSTR("M300 S659 P200\nM300 S698 P200"));
lcd_return_to_status();
}
@@ -680,6 +677,13 @@ static void lcd_prepare_menu()
}
#endif
MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu);
+
+ // JFR for RMud delta printer
+ MENU_ITEM(gcode, "Calibrate bed", PSTR("M702\nG28\nG1 X-77.94 Y-45 Z36 F8000\nG4 S3\nM701 P0\nG1 X77.94 Y-45 Z36\nG4 S3\nM701 P1\nG1 X0 Y90 Z36\nG4 S3\nM701 P2\nM700\nG1 X0 Y0 Z100 F8000"));
+ MENU_ITEM(gcode, "Check level", PSTR("G28\nG1 X0 Y0 Z1 F4000\nG1 X-77.94 Y-45 Z1\nG1 X77.94 Y-45\nG1 X0 Y90\nG1 X-77.94 Y-45\nG4 S2\nG1 X-77.94 Y-45 Z0.3 F2000\nG1 X-77.94 Y-45\nG1 X77.94 Y-45\nG1 X0 Y90\nG1 X-77.94 Y-45\nG1 X0 Y0 Z0"));
+ MENU_ITEM(gcode, "Retract filament", PSTR("M302\nM82\nG92 E0\nG1 F4000 E-800"));
+ MENU_ITEM(gcode, "Insert filament", PSTR("M302\nM82\nG92 E0\nG1 F4000 E60"));
+ MENU_ITEM(gcode, "Finalize filament", PSTR("G1 F4000 E790"));
END_MENU();
}
@@ -1151,7 +1155,7 @@ menu_edit_type(unsigned long, long5, ftostr5, 0.01)
lcd_move_y();
}
static void reprapworld_keypad_move_home() {
- enquecommand_P((PSTR("G28"))); // move all axis home
+ enquecommands_P((PSTR("G28"))); // move all axis home
}
#endif
@@ -1170,31 +1174,7 @@ static void menu_action_submenu(menuFunc_t data) { lcd_goto_menu(data); }
static void menu_action_gcode(const char* pgcode)
{
- // No more calling enquecommand_P(pgcode) as it allows only one command!
- pgcode_seq= pgcode;
- menu_action_gcode_next();
-}
-
-static void menu_action_gcode_next()
-{
- // Inject the next command from the pending sequence, when not empty.
- char cmd[30];
- if(!pgcode_seq) return;
- // Get the next 30 chars from the sequence of gcodes to run
- strncpy_P(cmd, pgcode_seq, sizeof(cmd)-1);
- cmd[sizeof(cmd)-1]= 0;
- // Look for the end of line, or the end of sequence
- size_t i= 0;
- char c;
- while( (c= cmd[i]) && c!='\n' )
- ++i; // look for the end of this gcode command
- cmd[i]= 0;
- if(!enquecommand(cmd)) // buffer was full, will retry later
- return;
- if(c)
- pgcode_seq+= i+1; // move to next command
- else
- pgcode_seq= NULL; // mark the end of the sequence of gcodes
+ enquecommands_P(pgcode);
}
@@ -1207,7 +1187,7 @@ static void menu_action_sdfile(const char* filename, char* longFilename)
for(c = &cmd[4]; *c; c++)
*c = tolower(*c);
enquecommand(cmd);
- enquecommand_P(PSTR("M24"));
+ enquecommands_P(PSTR("M24"));
lcd_return_to_status();
}
static void menu_action_sddirectory(const char* filename, char* longFilename)
@@ -1290,8 +1270,6 @@ void lcd_update()
lcd_buttons_update();
- menu_action_gcode_next(); // inject the next pending command in the pending sequence (if any)
-
#if (SDCARDDETECT > 0)
if((IS_SD_INSERTED != lcd_oldcardstatus && lcd_detected()))
{