From 00fc43144af99b257cdc5e935a50688a3448ace2 Mon Sep 17 00:00:00 2001
From: Marcio Teixeira <marcio@alephobjects.com>
Date: Fri, 8 Mar 2019 21:13:24 -0700
Subject: [PATCH] Follow up fixes to various PRs. (#13334)
- Ensure `MarlinUI:get_progress` is defined for `ExtUI`.
- Fix for `BACKLASH_SMOOTHING` with small segments.
`BACKLASH_SMOOTHING` with extremely small segments failed to fully correct due to the correction factor being rounded down. Rounding up ensures the entire backlash will converge to zero even for small segments.
- Add pinout for the beta revision `EINSY_RETRO`.
- Update soft endstops with tool offsets (for toolchange et. al. move clamping) (#12568)
---
Marlin/src/gcode/calibrate/G425.cpp | 21 ++-
Marlin/src/gcode/feature/pause/M125.cpp | 4 +-
Marlin/src/gcode/feature/pause/M600.cpp | 4 +-
Marlin/src/lcd/ultralcd.cpp | 28 ++--
Marlin/src/module/configuration_store.cpp | 10 +-
Marlin/src/module/motion.cpp | 150 +++++++++++++++-------
Marlin/src/module/motion.h | 29 +++--
Marlin/src/module/planner.cpp | 2 +-
Marlin/src/module/tool_change.cpp | 25 +---
Marlin/src/pins/pins_EINSY_RETRO.h | 4 +-
10 files changed, 155 insertions(+), 122 deletions(-)
diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp
index 8446235807..deb2a2fc81 100644
--- a/Marlin/src/gcode/calibrate/G425.cpp
+++ b/Marlin/src/gcode/calibrate/G425.cpp
@@ -143,18 +143,15 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
}
#if HOTENDS > 1
-
inline void set_nozzle(measurements_t &m, const uint8_t extruder) {
if (extruder != active_extruder) {
park_above_object(m, CALIBRATION_MEASUREMENT_UNKNOWN);
tool_change(extruder);
}
}
+#endif
- inline void reset_nozzle_offsets() {
- constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
- LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
- }
+#if HAS_HOTEND_OFFSET
inline void normalize_hotend_offsets() {
for (uint8_t e = 1; e < HOTENDS; e++) {
@@ -167,7 +164,7 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
hotend_offset[Z_AXIS][0] = 0;
}
-#endif // HOTENDS > 1
+#endif
inline bool read_calibration_pin() {
#if HAS_CALIBRATION_PIN
@@ -526,7 +523,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
probe_sides(m, uncertainty);
// Adjust the hotend offset
- #if HOTENDS > 1
+ #if HAS_HOTEND_OFFSET
#if HAS_X_CENTER
hotend_offset[X_AXIS][extruder] += m.pos_error[X_AXIS];
#endif
@@ -534,7 +531,6 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
hotend_offset[Y_AXIS][extruder] += m.pos_error[Y_AXIS];
#endif
hotend_offset[Z_AXIS][extruder] += m.pos_error[Z_AXIS];
-
normalize_hotend_offsets();
#endif
@@ -565,8 +561,11 @@ inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty)
HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
- #if HOTENDS > 1
+ #if HAS_HOTEND_OFFSET
normalize_hotend_offsets();
+ #endif
+
+ #if HOTENDS > 1
set_nozzle(m, 0);
#endif
}
@@ -585,8 +584,8 @@ inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty)
inline void calibrate_all() {
measurements_t m;
- #if HOTENDS > 1
- reset_nozzle_offsets();
+ #if HAS_HOTEND_OFFSET
+ reset_hotend_offsets();
#endif
TEMPORARY_BACKLASH_CORRECTION(1.0f);
diff --git a/Marlin/src/gcode/feature/pause/M125.cpp b/Marlin/src/gcode/feature/pause/M125.cpp
index 796bd79a1b..cc6fd0438d 100644
--- a/Marlin/src/gcode/feature/pause/M125.cpp
+++ b/Marlin/src/gcode/feature/pause/M125.cpp
@@ -68,8 +68,8 @@ void GcodeSuite::M125() {
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
#if HAS_HOTEND_OFFSET && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
- park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
- park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
+ park_point.x += hotend_offset[X_AXIS][active_extruder];
+ park_point.y += hotend_offset[Y_AXIS][active_extruder];
#endif
#if ENABLED(SDSUPPORT)
diff --git a/Marlin/src/gcode/feature/pause/M600.cpp b/Marlin/src/gcode/feature/pause/M600.cpp
index d42df6f5ab..6ca278c10f 100644
--- a/Marlin/src/gcode/feature/pause/M600.cpp
+++ b/Marlin/src/gcode/feature/pause/M600.cpp
@@ -110,8 +110,8 @@ void GcodeSuite::M600() {
if (parser.seenval('Y')) park_point.y = parser.linearval('Y');
#if HAS_HOTEND_OFFSET && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
- park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
- park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
+ park_point.x += hotend_offset[X_AXIS][active_extruder];
+ park_point.y += hotend_offset[Y_AXIS][active_extruder];
#endif
#if ENABLED(MMU2_MENUS)
diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp
index 6995fa57d3..ab973e9e2c 100644
--- a/Marlin/src/lcd/ultralcd.cpp
+++ b/Marlin/src/lcd/ultralcd.cpp
@@ -397,20 +397,6 @@ bool MarlinUI::get_blink() {
#endif
#endif
-#if HAS_PRINT_PROGRESS
- uint8_t MarlinUI::get_progress() {
- #if ENABLED(LCD_SET_PROGRESS_MANUALLY)
- uint8_t &progress = progress_bar_percent;
- #else
- uint8_t progress = 0;
- #endif
- #if ENABLED(SDSUPPORT)
- if (IS_SD_PRINTING()) progress = card.percentDone();
- #endif
- return progress;
- }
-#endif
-
void MarlinUI::status_screen() {
#if HAS_LCD_MENU
@@ -1321,4 +1307,18 @@ void MarlinUI::update() {
set_status_P(msg, -1);
}
+ #if HAS_PRINT_PROGRESS
+ uint8_t MarlinUI::get_progress() {
+ #if ENABLED(LCD_SET_PROGRESS_MANUALLY)
+ uint8_t &progress = progress_bar_percent;
+ #else
+ uint8_t progress = 0;
+ #endif
+ #if ENABLED(SDSUPPORT)
+ if (IS_SD_PRINTING()) progress = card.percentDone();
+ #endif
+ return progress;
+ }
+ #endif
+
#endif // HAS_SPI_LCD || EXTENSIBLE_UI
diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp
index e69df2f0df..13eacae04c 100644
--- a/Marlin/src/module/configuration_store.cpp
+++ b/Marlin/src/module/configuration_store.cpp
@@ -2028,15 +2028,7 @@ void MarlinSettings::reset() {
#endif
#if HAS_HOTEND_OFFSET
- constexpr float tmp4[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
- static_assert(
- tmp4[X_AXIS][0] == 0 && tmp4[Y_AXIS][0] == 0 && tmp4[Z_AXIS][0] == 0,
- "Offsets for the first hotend must be 0.0."
- );
- LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp4[i][e];
- #if ENABLED(DUAL_X_CARRIAGE)
- hotend_offset[X_AXIS][1] = MAX(X2_HOME_POS, X2_MAX_POS);
- #endif
+ reset_hotend_offsets();
#endif
#if EXTRUDERS > 1
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index c9973816c4..44266e24b1 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -106,6 +106,17 @@ float destination[XYZE]; // = { 0 }
// Extruder offsets
#if HAS_HOTEND_OFFSET
float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
+ void reset_hotend_offsets() {
+ constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
+ static_assert(
+ tmp[X_AXIS][0] == 0 && tmp[Y_AXIS][0] == 0 && tmp[Z_AXIS][0] == 0,
+ "Offsets for the first hotend must be 0.0."
+ );
+ LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
+ #if ENABLED(DUAL_X_CARRIAGE)
+ hotend_offset[X_AXIS][1] = MAX(X2_HOME_POS, X2_MAX_POS);
+ #endif
+ }
#endif
// The feedrate for the current move, often used as the default if
@@ -130,11 +141,23 @@ const float homing_feedrate_mm_s[XYZ] PROGMEM = {
float cartes[XYZ];
#if IS_KINEMATIC
- float delta[ABC];
-#endif
-#if HAS_SCARA_OFFSET
- float scara_home_offset[ABC];
+ float delta[ABC];
+
+ #if HAS_SCARA_OFFSET
+ float scara_home_offset[ABC];
+ #endif
+
+ #if HAS_SOFTWARE_ENDSTOPS
+ float soft_endstop_radius, soft_endstop_radius_2;
+ #elif IS_SCARA
+ constexpr float soft_endstop_radius = SCARA_PRINTABLE_RADIUS,
+ soft_endstop_radius_2 = sq(SCARA_PRINTABLE_RADIUS);
+ #else // DELTA
+ constexpr float soft_endstop_radius = DELTA_PRINTABLE_RADIUS,
+ soft_endstop_radius_2 = sq(DELTA_PRINTABLE_RADIUS);
+ #endif
+
#endif
/**
@@ -440,47 +463,6 @@ void clean_up_after_endstop_or_probe_move() {
float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
- #if IS_KINEMATIC
- float soft_endstop_radius, soft_endstop_radius_2;
- #endif
-
- /**
- * Constrain the given coordinates to the software endstops.
- *
- * For DELTA/SCARA the XY constraint is based on the smallest
- * radius within the set software endstops.
- */
- void clamp_to_software_endstops(float target[XYZ]) {
- if (!soft_endstops_enabled) return;
- #if IS_KINEMATIC
- const float dist_2 = HYPOT2(target[X_AXIS], target[Y_AXIS]);
- if (dist_2 > soft_endstop_radius_2) {
- const float ratio = soft_endstop_radius / SQRT(dist_2); // 200 / 300 = 0.66
- target[X_AXIS] *= ratio;
- target[Y_AXIS] *= ratio;
- }
- #else
- #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
- NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
- #endif
- #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
- NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
- #endif
- #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
- NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
- #endif
- #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
- NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
- #endif
- #endif
- #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
- NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
- #endif
- #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
- NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
- #endif
- }
-
/**
* Software endstops can be used to monitor the open end of
* an axis that has a hardware endstop on the other end. Or
@@ -490,7 +472,11 @@ void clean_up_after_endstop_or_probe_move() {
* the software endstop positions must be refreshed to remain
* at the same positions relative to the machine.
*/
- void update_software_endstops(const AxisEnum axis) {
+ void update_software_endstops(const AxisEnum axis
+ #if HAS_HOTEND_OFFSET
+ , const uint8_t old_tool_index/*=0*/, const uint8_t new_tool_index/*=0*/
+ #endif
+ ) {
#if ENABLED(DUAL_X_CARRIAGE)
@@ -499,7 +485,7 @@ void clean_up_after_endstop_or_probe_move() {
// In Dual X mode hotend_offset[X] is T1's home position
const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS);
- if (active_extruder != 0) {
+ if (new_tool_index != 0) {
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
soft_endstop_min[X_AXIS] = X2_MIN_POS;
soft_endstop_max[X_AXIS] = dual_max_x;
@@ -538,6 +524,22 @@ void clean_up_after_endstop_or_probe_move() {
default: break;
}
+ #elif HAS_HOTEND_OFFSET
+
+ // Software endstops are relative to the tool 0 workspace, so
+ // the movement limits must be shifted by the tool offset to
+ // retain the same physical limit when other tools are selected.
+ if (old_tool_index != new_tool_index) {
+ const float offs = hotend_offset[axis][new_tool_index] - hotend_offset[axis][old_tool_index];
+ soft_endstop_min[axis] += offs;
+ soft_endstop_max[axis] += offs;
+ }
+ else {
+ const float offs = hotend_offset[axis][active_extruder];
+ soft_endstop_min[axis] = base_min_pos(axis) + offs;
+ soft_endstop_max[axis] = base_max_pos(axis) + offs;
+ }
+
#else
soft_endstop_min[axis] = base_min_pos(axis);
@@ -554,7 +556,59 @@ void clean_up_after_endstop_or_probe_move() {
#endif
}
-#endif
+#endif // HAS_SOFTWARE_ENDSTOPS
+
+/**
+ * Constrain the given coordinates to the software endstops.
+ *
+ * For DELTA/SCARA the XY constraint is based on the smallest
+ * radius within the set software endstops.
+ */
+void clamp_to_software_endstops(float target[XYZ]) {
+
+ if (!soft_endstops_enabled) return;
+
+ #if IS_KINEMATIC
+
+ #if HAS_HOTEND_OFFSET && ENABLED(DELTA)
+ // The effector center position will be the target minus the hotend offset.
+ const float offx = hotend_offset[X_AXIS][active_extruder], offy = hotend_offset[Y_AXIS][active_extruder];
+ #else
+ // SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
+ constexpr float offx = 0, offy = 0;
+ #endif
+
+ const float dist_2 = HYPOT2(target[X_AXIS] - offx, target[Y_AXIS] - offy);
+ if (dist_2 > soft_endstop_radius_2) {
+ const float ratio = (soft_endstop_radius) / SQRT(dist_2); // 200 / 300 = 0.66
+ target[X_AXIS] *= ratio;
+ target[Y_AXIS] *= ratio;
+ }
+
+ #else
+
+ #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
+ NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
+ #endif
+ #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
+ NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
+ #endif
+ #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
+ NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
+ #endif
+ #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
+ NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
+ #endif
+
+ #endif
+
+ #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
+ NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
+ #endif
+ #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
+ NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
+ #endif
+}
#if !UBL_SEGMENTED
#if IS_KINEMATIC
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 275fafe74e..e14892d738 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -90,10 +90,6 @@ extern int16_t feedrate_percentage;
constexpr uint8_t active_extruder = 0;
#endif
-#if HAS_HOTEND_OFFSET
- extern float hotend_offset[XYZ][HOTENDS];
-#endif
-
FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float(p); }
FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
@@ -115,19 +111,30 @@ XYZ_DEFS(signed char, home_dir, HOME_DIR);
#define update_workspace_offset(x) NOOP
#endif
+#if HAS_HOTEND_OFFSET
+ extern float hotend_offset[XYZ][HOTENDS];
+ void reset_hotend_offsets();
+#else
+ constexpr float hotend_offset[XYZ][HOTENDS] = { { 0 }, { 0 }, { 0 } };
+#endif
+
#if HAS_SOFTWARE_ENDSTOPS
extern bool soft_endstops_enabled;
extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
- void clamp_to_software_endstops(float target[XYZ]);
- void update_software_endstops(const AxisEnum axis);
+ void update_software_endstops(const AxisEnum axis
+ #if HAS_HOTEND_OFFSET
+ , const uint8_t old_tool_index=0, const uint8_t new_tool_index=0
+ #endif
+ );
#else
- constexpr bool soft_endstops_enabled = false;
- constexpr float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
- soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
- #define clamp_to_software_endstops(x) NOOP
- #define update_software_endstops(x) NOOP
+ constexpr bool soft_endstops_enabled = true;
+ constexpr float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
+ soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
+ #define update_software_endstops(...) NOOP
#endif
+void clamp_to_software_endstops(float target[XYZ]);
+
void report_current_position();
inline void set_current_from_destination() { COPY(current_position, destination); }
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index dc7458a257..c383dae753 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -1626,7 +1626,7 @@ void Planner::synchronize() {
if (reversing == (error_correction < 0)) {
if (segment_proportion == 0)
segment_proportion = MIN(1.0f, block->millimeters / backlash_smoothing_mm);
- error_correction *= segment_proportion;
+ error_correction = ceil(segment_proportion * error_correction);
}
else
error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index 5094e5f5b1..5f1aced021 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -735,23 +735,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
- #if ENABLED(DUAL_X_CARRIAGE)
-
- #if HAS_SOFTWARE_ENDSTOPS
- // Update the X software endstops early
- active_extruder = tmp_extruder;
- update_software_endstops(X_AXIS);
- active_extruder = !tmp_extruder;
- const float minx = soft_endstop_min[X_AXIS], maxx = soft_endstop_max[X_AXIS];
- #else
- // No software endstops? Use the configured limits
- const float minx = tmp_extruder ? X2_MIN_POS : X1_MIN_POS,
- maxx = tmp_extruder ? X2_MAX_POS : X1_MAX_POS;
- #endif
-
- // Don't move the new extruder out of bounds
- if (!WITHIN(current_position[X_AXIS], minx, maxx)) no_move = true;
-
+ #if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
+ update_software_endstops(X_AXIS, active_extruder, tmp_extruder);
#endif
set_destination_from_current();
@@ -772,7 +757,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
planner.synchronize();
}
- #if HOTENDS > 1
+ #if HAS_HOTEND_OFFSET
#if ENABLED(DUAL_X_CARRIAGE)
constexpr float xdiff = 0;
#else
@@ -914,10 +899,6 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
enable_solenoid_on_active_extruder();
#endif
- #if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
- update_software_endstops(X_AXIS);
- #endif
-
#if ENABLED(MK2_MULTIPLEXER)
if (tmp_extruder >= E_STEPPERS) return invalid_extruder_error(tmp_extruder);
select_multiplexed_stepper(tmp_extruder);
diff --git a/Marlin/src/pins/pins_EINSY_RETRO.h b/Marlin/src/pins/pins_EINSY_RETRO.h
index f24235763d..40db378f43 100644
--- a/Marlin/src/pins/pins_EINSY_RETRO.h
+++ b/Marlin/src/pins/pins_EINSY_RETRO.h
@@ -176,8 +176,8 @@
#define BTN_EN2 19
#else
#define LCD_PINS_RS 82
- #define LCD_PINS_ENABLE 18
- #define LCD_PINS_D4 19
+ #define LCD_PINS_ENABLE 18 // On 0.6b, use 61
+ #define LCD_PINS_D4 19 // On 0.6b, use 59
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71