From af9395ac2ec8d9ede37028720af953e56821120b Mon Sep 17 00:00:00 2001
From: Jim Morris <morris@wolfman.com>
Date: Mon, 17 Feb 2014 20:50:59 -0800
Subject: [PATCH] Add M605 to dynamically set delta configuration Save above
configs in eeprom fix docs in createTemperatureLookupMarlin.py add missing
azteegX3pro digipot settings in delta example config
---
Marlin/ConfigurationStore.cpp | 25 ++++++--
Marlin/Marlin.h | 4 ++
Marlin/Marlin_main.cpp | 63 +++++++++++++++----
Marlin/createTemperatureLookupMarlin.py | 9 +--
.../delta/Configuration.h | 13 +---
.../delta/Configuration_adv.h | 6 ++
6 files changed, 87 insertions(+), 33 deletions(-)
diff --git a/Marlin/ConfigurationStore.cpp b/Marlin/ConfigurationStore.cpp
index 3409ade705..80dce5df06 100644
--- a/Marlin/ConfigurationStore.cpp
+++ b/Marlin/ConfigurationStore.cpp
@@ -37,7 +37,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
// the default values are used whenever there is a change to the data, to prevent
// wrong data being written to the variables.
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
-#define EEPROM_VERSION "V10"
+#define EEPROM_VERSION "V11"
#ifdef EEPROM_SETTINGS
void Config_StoreSettings()
@@ -59,6 +59,9 @@ void Config_StoreSettings()
EEPROM_WRITE_VAR(i,add_homeing);
#ifdef DELTA
EEPROM_WRITE_VAR(i,endstop_adj);
+ EEPROM_WRITE_VAR(i,delta_radius);
+ EEPROM_WRITE_VAR(i,delta_diagonal_rod);
+ EEPROM_WRITE_VAR(i,delta_segments_per_second);
#endif
#ifndef ULTIPANEL
int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
@@ -156,7 +159,14 @@ void Config_PrintSettings()
SERIAL_ECHOPAIR(" M666 X",endstop_adj[0] );
SERIAL_ECHOPAIR(" Y" ,endstop_adj[1] );
SERIAL_ECHOPAIR(" Z" ,endstop_adj[2] );
- SERIAL_ECHOLN("");
+ SERIAL_ECHOLN("");
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM("Delta settings: L=delta_diagonal_rod, R=delta_radius, S=delta_segments_per_second");
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPAIR(" M665 L",delta_diagonal_rod );
+ SERIAL_ECHOPAIR(" R" ,delta_radius );
+ SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
+ SERIAL_ECHOLN("");
#endif
#ifdef PIDTEMP
SERIAL_ECHO_START;
@@ -199,7 +209,10 @@ void Config_RetrieveSettings()
EEPROM_READ_VAR(i,max_e_jerk);
EEPROM_READ_VAR(i,add_homeing);
#ifdef DELTA
- EEPROM_READ_VAR(i,endstop_adj);
+ EEPROM_READ_VAR(i,endstop_adj);
+ EEPROM_READ_VAR(i,delta_radius);
+ EEPROM_READ_VAR(i,delta_diagonal_rod);
+ EEPROM_READ_VAR(i,delta_segments_per_second);
#endif
#ifndef ULTIPANEL
int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
@@ -264,7 +277,11 @@ void Config_ResetDefault()
max_e_jerk=DEFAULT_EJERK;
add_homeing[0] = add_homeing[1] = add_homeing[2] = 0;
#ifdef DELTA
- endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
+ endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
+ delta_radius= DELTA_RADIUS;
+ delta_diagonal_rod= DELTA_DIAGONAL_ROD;
+ delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
+ recalc_delta_settings(delta_radius, delta_diagonal_rod);
#endif
#ifdef ULTIPANEL
plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP;
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 7a4b864fde..d79fc019fb 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -209,6 +209,10 @@ extern float current_position[NUM_AXIS] ;
extern float add_homeing[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
extern float min_pos[3];
extern float max_pos[3];
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0023279d8b..d8a105dc3f 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -161,6 +161,7 @@
// M503 - print the current settings (from memory not from eeprom)
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
+// M665 - set delta configurations
// M666 - set delta endstop adjustemnt
// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
// M907 - Set digital trimpot motor current using axis codes.
@@ -246,9 +247,21 @@ int EtoPPressure=0;
#endif
#ifdef DELTA
-float delta[3] = {0.0, 0.0, 0.0};
-#endif
-
+ float delta[3] = {0.0, 0.0, 0.0};
+ #define SIN_60 0.8660254037844386
+ #define COS_60 0.5
+ // these are the default values, can be overriden with M665
+ float delta_radius= DELTA_RADIUS;
+ float delta_tower1_x= -SIN_60*delta_radius; // front left tower
+ float delta_tower1_y= -COS_60*delta_radius;
+ float delta_tower2_x= SIN_60*delta_radius; // front right tower
+ float delta_tower2_y= -COS_60*delta_radius;
+ float delta_tower3_x= 0.0; // back middle tower
+ float delta_tower3_y= delta_radius;
+ float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
+ float delta_diagonal_rod_2= sq(delta_diagonal_rod);
+ float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
+#endif
//===========================================================================
//=============================private variables=============================
@@ -2267,6 +2280,19 @@ void process_commands()
}
break;
#ifdef DELTA
+ case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
+ if(code_seen('L')) {
+ delta_diagonal_rod= code_value();
+ }
+ if(code_seen('R')) {
+ delta_radius= code_value();
+ }
+ if(code_seen('S')) {
+ delta_segments_per_second= code_value();
+ }
+
+ recalc_delta_settings(delta_radius, delta_diagonal_rod);
+ break;
case 666: // M666 set delta endstop adjustemnt
for(int8_t i=0; i < 3; i++)
{
@@ -3101,19 +3127,30 @@ void clamp_to_software_endstops(float target[3])
}
#ifdef DELTA
+void recalc_delta_settings(float radius, float diagonal_rod)
+{
+ delta_tower1_x= -SIN_60*radius; // front left tower
+ delta_tower1_y= -COS_60*radius;
+ delta_tower2_x= SIN_60*radius; // front right tower
+ delta_tower2_y= -COS_60*radius;
+ delta_tower3_x= 0.0; // back middle tower
+ delta_tower3_y= radius;
+ delta_diagonal_rod_2= sq(diagonal_rod);
+}
+
void calculate_delta(float cartesian[3])
{
- delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- - sq(DELTA_TOWER1_X-cartesian[X_AXIS])
- - sq(DELTA_TOWER1_Y-cartesian[Y_AXIS])
+ delta[X_AXIS] = sqrt(delta_diagonal_rod_2
+ - sq(delta_tower1_x-cartesian[X_AXIS])
+ - sq(delta_tower1_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
- delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- - sq(DELTA_TOWER2_X-cartesian[X_AXIS])
- - sq(DELTA_TOWER2_Y-cartesian[Y_AXIS])
+ delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
+ - sq(delta_tower2_x-cartesian[X_AXIS])
+ - sq(delta_tower2_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
- delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- - sq(DELTA_TOWER3_X-cartesian[X_AXIS])
- - sq(DELTA_TOWER3_Y-cartesian[Y_AXIS])
+ delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
+ - sq(delta_tower3_x-cartesian[X_AXIS])
+ - sq(delta_tower3_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
/*
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
@@ -3143,7 +3180,7 @@ void prepare_move()
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
if (cartesian_mm < 0.000001) { return; }
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
- int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds));
+ int steps = max(1, int(delta_segments_per_second * seconds));
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
diff --git a/Marlin/createTemperatureLookupMarlin.py b/Marlin/createTemperatureLookupMarlin.py
index 77187b8099..01c602dffa 100755
--- a/Marlin/createTemperatureLookupMarlin.py
+++ b/Marlin/createTemperatureLookupMarlin.py
@@ -16,9 +16,9 @@ Usage: python createTemperatureLookup.py [options]
Options:
-h, --help show this help
--rp=... pull-up resistor
- --t0=ttt:rrr low temperature temperature:resistance point (around 25C)
- --t1=ttt:rrr middle temperature temperature:resistance point (around 150C)
- --t2=ttt:rrr high temperature temperature:resistance point (around 250C)
+ --t1=ttt:rrr low temperature temperature:resistance point (around 25C)
+ --t2=ttt:rrr middle temperature temperature:resistance point (around 150C)
+ --t3=ttt:rrr high temperature temperature:resistance point (around 250C)
--num-temps=... the number of temperature points to calculate (default: 20)
"""
@@ -98,7 +98,8 @@ def main(argv):
try:
opts, args = getopt.getopt(argv, "h", ["help", "rp=", "t1=", "t2=", "t3=", "num-temps="])
- except getopt.GetoptError:
+ except getopt.GetoptError as err:
+ print str(err)
usage()
sys.exit(2)
diff --git a/Marlin/example_configurations/delta/Configuration.h b/Marlin/example_configurations/delta/Configuration.h
index 0d232d372f..c724484bd9 100644
--- a/Marlin/example_configurations/delta/Configuration.h
+++ b/Marlin/example_configurations/delta/Configuration.h
@@ -51,6 +51,7 @@
// 65 = Azteeg X1
// 66 = Melzi with ATmega1284 (MaKr3d version)
// 67 = Azteeg X3
+// 68 = Azteeg X3 Pro
// 7 = Ultimaker
// 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)
// 77 = 3Drag Controller
@@ -119,18 +120,6 @@
// Effective horizontal distance bridged by diagonal push rods.
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
-#define DELTA_DIAGONAL_ROD_2 sq(DELTA_DIAGONAL_ROD)
-
-// Effective X/Y positions of the three vertical towers.
-#define SIN_60 0.8660254037844386
-#define COS_60 0.5
-#define DELTA_TOWER1_X -SIN_60*DELTA_RADIUS // front left tower
-#define DELTA_TOWER1_Y -COS_60*DELTA_RADIUS
-#define DELTA_TOWER2_X SIN_60*DELTA_RADIUS // front right tower
-#define DELTA_TOWER2_Y -COS_60*DELTA_RADIUS
-#define DELTA_TOWER3_X 0.0 // back middle tower
-#define DELTA_TOWER3_Y DELTA_RADIUS
-
//===========================================================================
//=============================Thermal Settings ============================
//===========================================================================
diff --git a/Marlin/example_configurations/delta/Configuration_adv.h b/Marlin/example_configurations/delta/Configuration_adv.h
index fcf6ff570f..4d6e78b4d9 100644
--- a/Marlin/example_configurations/delta/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/Configuration_adv.h
@@ -270,6 +270,12 @@
// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
+//#define DIGIPOT_I2C
+// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8
+#define DIGIPOT_I2C_NUM_CHANNELS 8
+// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
+#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}
//===========================================================================
//=============================Additional Features===========================