diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 880d48a7d2..03f06a781e 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -26,6 +26,7 @@
// Gen6 = 5
// Gen6 deluxe = 51
// Sanguinololu 1.2 and above = 62
+// Melzi = 63
// Ultimaker = 7
// Teensylu = 8
// Gen3+ =9
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 1f29087665..c9cff67de0 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -300,6 +300,8 @@ void setup()
st_init(); // Initialize stepper;
wd_init();
setup_photpin();
+
+ LCD_INIT;
}
@@ -687,7 +689,6 @@ void process_commands()
st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) {
- current_position[i] = code_value()+add_homeing[i];
if(i == E_AXIS) {
current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
@@ -1246,7 +1247,7 @@ void process_commands()
}
break;
- case 302: // finish all moves
+ case 302: // allow cold extrudes
{
allow_cold_extrudes(true);
}
diff --git a/Marlin/pins.h b/Marlin/pins.h
index 0d6b6022e3..95a0369686 100644
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
@@ -554,7 +554,10 @@
* Sanguinololu pin assignment
*
****************************************************************************************/
-#if MOTHERBOARD == 62
+#if MOTHERBOARD == 63
+#define MELZI
+#endif
+#if MOTHERBOARD == 62 || MOTHERBOARD == 63
#undef MOTHERBOARD
#define MOTHERBOARD 6
#define SANGUINOLOLU_V_1_2
@@ -589,6 +592,11 @@
#define FAN_PIN -1
+#ifdef MELZI
+#define LED_PIN 28
+#define FAN_PIN 4
+#endif
+
#define PS_ON_PIN -1
#define KILL_PIN -1
@@ -621,6 +629,10 @@
#define SDPOWER -1
#define SDSS 31
+#ifdef MELZI
+#define SDSS 24
+#endif
+
#endif
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index b620589533..bb1e84be10 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -556,8 +556,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
- if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) {
- block->millimeters = abs(delta_mm[E_AXIS]);
+ if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
+ block->millimeters = fabs(delta_mm[E_AXIS]);
} else {
block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
}
@@ -593,8 +593,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
float speed_factor = 1.0; //factor <=1 do decrease speed
for(int i=0; i < 4; i++) {
current_speed[i] = delta_mm[i] * inverse_second;
- if(abs(current_speed[i]) > max_feedrate[i])
- speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
+ if(fabs(current_speed[i]) > max_feedrate[i])
+ speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
}
// Max segement time in us.
@@ -698,25 +698,25 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
#endif
// Start with a safe speed
float vmax_junction = max_xy_jerk/2;
- if(abs(current_speed[Z_AXIS]) > max_z_jerk/2)
+ if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
vmax_junction = max_z_jerk/2;
vmax_junction = min(vmax_junction, block->nominal_speed);
- if(abs(current_speed[E_AXIS]) > max_e_jerk/2)
+ if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
vmax_junction = min(vmax_junction, max_e_jerk/2);
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
- if((abs(previous_speed[X_AXIS]) > 0.0001) || (abs(previous_speed[Y_AXIS]) > 0.0001)) {
+ if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed;
}
if (jerk > max_xy_jerk) {
vmax_junction *= (max_xy_jerk/jerk);
}
- if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
- vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
+ if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
+ vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
}
- if(abs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
- vmax_junction *= (max_e_jerk/abs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
+ if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
+ vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
}
}
block->max_entry_speed = vmax_junction;
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 873441bb05..fc0d83c2b8 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -45,10 +45,10 @@ typedef struct {
#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 speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
+ float nominal_speed; // The nominal speed for this block in mm/sec
+ float entry_speed; // Entry speed at previous-current junction in mm/sec
+ float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
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
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index e21bd2598d..395061cc21 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -134,8 +134,8 @@ void PID_autotune(float temp)
long t_high;
long t_low;
- long bias=127;
- long d = 127;
+ long bias=PID_MAX/2;
+ long d = PID_MAX/2;
float Ku, Tu;
float Kp, Ki, Kd;
float max, min;
@@ -144,7 +144,7 @@ void PID_autotune(float temp)
disable_heater(); // switch off all heaters.
- soft_pwm[0] = 255>>1;
+ soft_pwm[0] = PID_MAX/2;
for(;;) {
@@ -172,8 +172,8 @@ void PID_autotune(float temp)
t_low=t2 - t1;
if(cycles > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high);
- bias = constrain(bias, 20 ,235);
- if(bias > 127) d = 254 - bias;
+ bias = constrain(bias, 20 ,PID_MAX-20);
+ if(bias > PID_MAX/2) d = PID_MAX - 1 - bias;
else d = bias;
SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h
index 253149cbba..b01368bc14 100644
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@@ -7,6 +7,7 @@
void lcd_init();
void lcd_status(const char* message);
void beep();
+ void buttons_init();
void buttons_check();
#define LCD_UPDATE_INTERVAL 100
@@ -69,7 +70,7 @@
void showAxisMove();
void showSD();
bool force_lcd_update;
- int lastencoderpos;
+ long lastencoderpos;
int8_t lineoffset;
int8_t lastlineoffset;
@@ -78,11 +79,11 @@
bool tune;
private:
- FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile int &encoderpos)
+ FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile long &encoderpos)
{
if(linechanging) return; // an item is changint its value, do not switch lines hence
lastlineoffset=lineoffset;
- int curencoderpos=encoderpos;
+ long curencoderpos=encoderpos;
force_lcd_update=false;
if( (abs(curencoderpos-lastencoderpos)<lcdslow) )
{
@@ -134,11 +135,12 @@
char *ftostr3(const float &x);
-
+ #define LCD_INIT lcd_init();
#define LCD_MESSAGE(x) lcd_status(x);
#define LCD_MESSAGEPGM(x) lcd_statuspgm(MYPGM(x));
#define LCD_STATUS lcd_status()
#else //no lcd
+ #define LCD_INIT
#define LCD_STATUS
#define LCD_MESSAGE(x)
#define LCD_MESSAGEPGM(x)
diff --git a/Marlin/ultralcd.pde b/Marlin/ultralcd.pde
index f9eb19b19d..d1b93ddb32 100644
--- a/Marlin/ultralcd.pde
+++ b/Marlin/ultralcd.pde
@@ -3,6 +3,9 @@
#include "ultralcd.h"
#ifdef ULTRA_LCD
#include "Marlin.h"
+#include "language.h"
+#include "temperature.h"
+#include "EEPROMwrite.h"
#include <LiquidCrystal.h>
//===========================================================================
//=============================imported variables============================
@@ -15,6 +18,7 @@ extern volatile int extrudemultiply;
extern long position[4];
#ifdef SDSUPPORT
+#include "cardreader.h"
extern CardReader card;
#endif
@@ -22,7 +26,7 @@ extern CardReader card;
//=============================public variables============================
//===========================================================================
volatile char buttons=0; //the last checked buttons in a bit array.
-int encoderpos=0;
+long encoderpos=0;
short lastenc=0;
@@ -97,6 +101,9 @@ FORCE_INLINE void clear()
void lcd_init()
{
//beep();
+ #ifdef ULTIPANEL
+ buttons_init();
+ #endif
byte Degree[8] =
{
@@ -304,10 +311,6 @@ MainMenu::MainMenu()
displayStartingRow=0;
activeline=0;
force_lcd_update=true;
- #ifdef ULTIPANEL
- buttons_init();
- #endif
- lcd_init();
linechanging=false;
tune=false;
}
@@ -884,7 +887,7 @@ void MainMenu::showTune()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_FLOW);
- lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[3]));
+ lcd.setCursor(13,line);lcd.print(ftostr52(axis_steps_per_unit[E_AXIS]));
}
if((activeline!=line) )
@@ -895,14 +898,14 @@ void MainMenu::showTune()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)axis_steps_per_unit[3];
+ encoderpos=(long)(axis_steps_per_unit[E_AXIS]*100.0);
}
else
{
- float factor=float(encoderpos)/float(axis_steps_per_unit[3]);
+ float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[E_AXIS]);
position[E_AXIS]=lround(position[E_AXIS]*factor);
- //current_position[3]*=factor;
- axis_steps_per_unit[E_AXIS]= encoderpos;
+ //current_position[E_AXIS]*=factor;
+ axis_steps_per_unit[E_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
}
@@ -912,8 +915,8 @@ void MainMenu::showTune()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
- if(encoderpos>9999) encoderpos=9999;
- lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
+ if(encoderpos>999999) encoderpos=999999;
+ lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.0));
}
}break;
@@ -1296,7 +1299,7 @@ void MainMenu::showControlTemp()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)Kp;
+ encoderpos=(long)Kp;
}
else
{
@@ -1331,7 +1334,7 @@ void MainMenu::showControlTemp()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)(Ki*10/PID_dT);
+ encoderpos=(long)(Ki*10/PID_dT);
}
else
{
@@ -1367,7 +1370,7 @@ void MainMenu::showControlTemp()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)(Kd/5./PID_dT);
+ encoderpos=(long)(Kd/5./PID_dT);
}
else
{
@@ -1403,7 +1406,7 @@ void MainMenu::showControlTemp()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)Kc;
+ encoderpos=(long)Kc;
}
else
{
@@ -1476,7 +1479,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)acceleration/100;
+ encoderpos=(long)acceleration/100;
}
else
{
@@ -1510,7 +1513,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)max_xy_jerk;
+ encoderpos=(long)max_xy_jerk;
}
else
{
@@ -1553,7 +1556,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)max_feedrate[i-ItemCM_vmaxx];
+ encoderpos=(long)max_feedrate[i-ItemCM_vmaxx];
}
else
{
@@ -1589,7 +1592,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)(minimumfeedrate);
+ encoderpos=(long)(minimumfeedrate);
}
else
{
@@ -1624,7 +1627,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)mintravelfeedrate;
+ encoderpos=(long)mintravelfeedrate;
}
else
{
@@ -1667,7 +1670,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100;
+ encoderpos=(long)max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100;
}
else
{
@@ -1701,7 +1704,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)retract_acceleration/100;
+ encoderpos=(long)retract_acceleration/100;
}
else
{
@@ -1725,7 +1728,7 @@ void MainMenu::showControlMotion()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_XSTEPS);
- lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[0]));
+ lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[X_AXIS]));
}
if((activeline!=line) )
@@ -1736,13 +1739,13 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)(axis_steps_per_unit[0]*100.0);
+ encoderpos=(long)(axis_steps_per_unit[X_AXIS]*100.0);
}
else
{
- float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[0]);
+ float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[X_AXIS]);
position[X_AXIS]=lround(position[X_AXIS]*factor);
- //current_position[3]*=factor;
+ //current_position[X_AXIS]*=factor;
axis_steps_per_unit[X_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
}
@@ -1752,7 +1755,7 @@ void MainMenu::showControlMotion()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
- if(encoderpos>32000) encoderpos=32000;//TODO: This is a problem, encoderpos is 16bit, but steps_per_unit for e can be wel over 800
+ if(encoderpos>999999) encoderpos=999999;
lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
}
@@ -1762,7 +1765,7 @@ void MainMenu::showControlMotion()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_YSTEPS);
- lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[1]));
+ lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[Y_AXIS]));
}
if((activeline!=line) )
@@ -1773,13 +1776,13 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)(axis_steps_per_unit[1]*100.0);
+ encoderpos=(long)(axis_steps_per_unit[Y_AXIS]*100.0);
}
else
{
- float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[1]);
+ float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[Y_AXIS]);
position[Y_AXIS]=lround(position[Y_AXIS]*factor);
- //current_position[3]*=factor;
+ //current_position[Y_AXIS]*=factor;
axis_steps_per_unit[Y_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
@@ -1790,7 +1793,7 @@ void MainMenu::showControlMotion()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
- if(encoderpos>9999) encoderpos=9999;
+ if(encoderpos>999999) encoderpos=999999;
lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
}
@@ -1800,7 +1803,7 @@ void MainMenu::showControlMotion()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_ZSTEPS);
- lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[2]));
+ lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[Z_AXIS]));
}
if((activeline!=line) )
@@ -1811,13 +1814,13 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)(axis_steps_per_unit[2]*100.0);
+ encoderpos=(long)(axis_steps_per_unit[Z_AXIS]*100.0);
}
else
{
- float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[2]);
+ float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[Z_AXIS]);
position[Z_AXIS]=lround(position[Z_AXIS]*factor);
- //current_position[3]*=factor;
+ //current_position[Z_AXIS]*=factor;
axis_steps_per_unit[Z_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
@@ -1828,7 +1831,7 @@ void MainMenu::showControlMotion()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
- if(encoderpos>9999) encoderpos=9999;
+ if(encoderpos>999999) encoderpos=999999;
lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
}
@@ -1839,7 +1842,7 @@ void MainMenu::showControlMotion()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_ESTEPS);
- lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[3]));
+ lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[E_AXIS]));
}
if((activeline!=line) )
@@ -1850,13 +1853,13 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
- encoderpos=(int)(axis_steps_per_unit[3]*100.0);
+ encoderpos=(long)(axis_steps_per_unit[E_AXIS]*100.0);
}
else
{
- float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[3]);
+ float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[E_AXIS]);
position[E_AXIS]=lround(position[E_AXIS]*factor);
- //current_position[3]*=factor;
+ //current_position[E_AXIS]*=factor;
axis_steps_per_unit[E_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
@@ -1867,7 +1870,7 @@ void MainMenu::showControlMotion()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
- if(encoderpos>9999) encoderpos=9999;
+ if(encoderpos>999999) encoderpos=999999;
lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
}
@@ -2108,9 +2111,10 @@ void MainMenu::showMainMenu()
}
}
clearIfNecessary();
- for(int8_t line=0;line<LCD_HEIGHT;line++)
+ uint8_t line=0;
+ for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++)
{
- switch(line)
+ switch(i)
{
case ItemM_watch:
MENUITEM( lcdprintPGM(MSG_WATCH) , BLOCK;status=Main_Status;beepshort(); ) ;
@@ -2164,6 +2168,7 @@ void MainMenu::showMainMenu()
SERIAL_ERRORLNPGM(MSG_SERIAL_ERROR_MENU_STRUCTURE);
break;
}
+ line++;
}
updateActiveLines(3,encoderpos);
}
@@ -2381,4 +2386,4 @@ char *ftostr52(const float &x)
#endif //ULTRA_LCD
-
+
diff --git a/README.md b/README.md
index b61129b362..0448bdbe93 100644
--- a/README.md
+++ b/README.md
@@ -161,7 +161,8 @@ Advance:
EEPROM:
-* M500 - stores paramters in EEPROM
+* M500 - stores paramters in EEPROM. This parameters are stored: axis_steps_per_unit, max_feedrate, max_acceleration ,acceleration,retract_acceleration,
+ minimumfeedrate,mintravelfeedrate,minsegmenttime, jerk velocities, PID
* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
* M503 - print the current settings (from memory not from eeprom)