diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h index e1953c9a..628041ef 100644 --- a/Firmware/Configuration.h +++ b/Firmware/Configuration.h @@ -374,7 +374,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of //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. + //#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 diff --git a/Firmware/ConfigurationStore.cpp b/Firmware/ConfigurationStore.cpp index 31d18ce9..a301b8c8 100755 --- a/Firmware/ConfigurationStore.cpp +++ b/Firmware/ConfigurationStore.cpp @@ -5,6 +5,10 @@ #include "ConfigurationStore.h" #include "Configuration_prusa.h" +#ifdef MESH_BED_LEVELING +#include "mesh_bed_leveling.h" +#endif + void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size) { do diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 8446fadd..ee91e254 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -44,6 +44,10 @@ #endif #endif // ENABLE_AUTO_BED_LEVELING +#ifdef MESH_BED_LEVELING + #include "mesh_bed_leveling.h" +#endif + #include "ultralcd.h" #include "Configuration_prusa.h" #include "planner.h" @@ -79,6 +83,10 @@ #include "ultralcd.h" +// Macros for bit masks +#define BIT(b) (1<<(b)) +#define TEST(n,b) (((n)&BIT(b))!=0) +#define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b)) // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html @@ -103,6 +111,8 @@ // G30 - Single Z Probe, probes bed at current XY location. // G31 - Dock sled (Z_PROBE_SLED only) // G32 - Undock sled (Z_PROBE_SLED only) +// G80 - Automatic mesh bed leveling +// G81 - Print bed profile // G90 - Use Absolute Coordinates // G91 - Use Relative Coordinates // G92 - Set current position to coordinates given @@ -597,6 +607,13 @@ void servo_init() } static void lcd_language_menu(); + + +#ifdef MESH_BED_LEVELING + enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet }; +#endif + + void setup() { setup_killpin(); @@ -912,6 +929,10 @@ long code_value_long() return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); } +int16_t code_value_short() { + return (int16_t)(strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); +} + bool code_seen(char code) { strchr_pointer = strchr(cmdbuffer[bufindr], code); @@ -1051,6 +1072,10 @@ static void axis_is_at_home(int axis) { #endif } + +inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); } +inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); } + #ifdef ENABLE_AUTO_BED_LEVELING #ifdef AUTO_BED_LEVELING_GRID static void set_bed_level_equation_lsq(double *plane_equation_coefficients) @@ -1251,6 +1276,8 @@ static void homeaxis(int axis) { if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder); #endif + + current_position[axis] = 0; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); @@ -1698,6 +1725,11 @@ void process_commands() #ifdef ENABLE_AUTO_BED_LEVELING plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data) #endif //ENABLE_AUTO_BED_LEVELING + + // For mesh bed leveling deactivate the matrix temporarily + #ifdef MESH_BED_LEVELING + mbl.active = 0; + #endif saved_feedrate = feedrate; saved_feedmultiply = feedmultiply; @@ -1847,7 +1879,24 @@ void process_commands() plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); st_synchronize(); #endif + #ifdef MESH_BED_LEVELING // If Mesh bed leveling, moxve X&Y to safe position for home + destination[X_AXIS] = MESH_MIN_X - X_PROBE_OFFSET_FROM_EXTRUDER; + destination[Y_AXIS] = MESH_MIN_Y - Y_PROBE_OFFSET_FROM_EXTRUDER; + destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed + feedrate = homing_feedrate[Z_AXIS]/10; + current_position[Z_AXIS] = 0; + + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); + st_synchronize(); + current_position[X_AXIS] = destination[X_AXIS]; + current_position[Y_AXIS] = destination[Y_AXIS]; + HOMEAXIS(Z); + + + #else HOMEAXIS(Z); + #endif } #else // Z Safe mode activated. if(home_all_axis) { @@ -1906,6 +1955,8 @@ void process_commands() current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative) } #endif + + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); #endif // else DELTA @@ -1922,7 +1973,7 @@ void process_commands() feedmultiply = saved_feedmultiply; previous_millis_cmd = millis(); endstops_hit_on_purpose(); - +#ifndef MESH_BED_LEVELING if(card.sdprinting) { EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoad[2]); @@ -1933,6 +1984,7 @@ void process_commands() } } +#endif @@ -2120,6 +2172,124 @@ void process_commands() break; #endif // Z_PROBE_SLED #endif // ENABLE_AUTO_BED_LEVELING + +#ifdef MESH_BED_LEVELING + /** + * G80: Mesh-based Z probe, probes a grid and produces a + * mesh to compensate for variable bed height + * + * The S0 report the points as below + * + * +----> X-axis + * | + * | + * v Y-axis + * + */ + case 80: + { + // Firstly check if we know where we are + if ( !( axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS] ) ){ + // We don't know where we are!!! HOME! + enquecommand_P((PSTR("G28"))); + enquecommand_P((PSTR("G80"))); + break; + } + + mbl.reset(); + + + // Cycle through all points and probe them + current_position[X_AXIS] = MESH_MIN_X - X_PROBE_OFFSET_FROM_EXTRUDER; + current_position[Y_AXIS] = MESH_MIN_Y - Y_PROBE_OFFSET_FROM_EXTRUDER; + + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/30, active_extruder); + + current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder); + st_synchronize(); + + int mesh_point = 0; + + int ix = 0; + int iy = 0; + + int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS]/20; + int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS]/60; + int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS]/40; + + while (!(mesh_point == ((MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS)) )) { + + // Move Z to proper distance + current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder); + + st_synchronize(); + + // Get cords of measuring point + ix = mesh_point % MESH_NUM_X_POINTS; + iy = mesh_point / MESH_NUM_X_POINTS; + if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag + + current_position[X_AXIS] = mbl.get_x(ix); + current_position[Y_AXIS] = mbl.get_y(iy); + + current_position[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER; + current_position[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder); + + st_synchronize(); + + // Go down until endstop is hit + while ((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING ) == 0) { + + current_position[Z_AXIS] -= MBL_Z_STEP; + + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_PROBE_FEEDRATE, active_extruder); + st_synchronize(); + delay(1); + } + + + mbl.set_z(ix, iy, current_position[Z_AXIS]); + + mesh_point++; + + } + current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder); + mbl.active = 1; + current_position[X_AXIS] = X_MIN_POS+0.2; + current_position[Y_AXIS] = Y_MIN_POS+0.2; + current_position[Z_AXIS] = Z_MIN_POS; + plan_buffer_line(current_position[X_AXIS], current_position[X_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder); + st_synchronize(); + + } + break; + + case 81: + if (mbl.active) { + SERIAL_PROTOCOLPGM("Num X,Y: "); + SERIAL_PROTOCOL(MESH_NUM_X_POINTS); + SERIAL_PROTOCOLPGM(","); + SERIAL_PROTOCOL(MESH_NUM_Y_POINTS); + SERIAL_PROTOCOLPGM("\nZ search height: "); + SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH); + SERIAL_PROTOCOLLNPGM("\nMeasured points:"); + for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) { + for (int x = 0; x < MESH_NUM_X_POINTS; x++) { + SERIAL_PROTOCOLPGM(" "); + SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5); + } + SERIAL_PROTOCOLPGM("\n"); + } + } + else + SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active."); + break; +#endif // ENABLE_MESH_BED_LEVELING + case 90: // G90 relative_mode = false; break; @@ -4450,6 +4620,79 @@ void calculate_delta(float cartesian[3]) } #endif + +#ifdef MESH_BED_LEVELING + +// This function is used to split lines on mesh borders so each segment is only part of one mesh area + void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) { + if (!mbl.active) { + plan_buffer_line(x, y, z, e, feed_rate, extruder); + set_current_to_destination(); + return; + } + int pix = mbl.select_x_index(current_position[X_AXIS]); + int piy = mbl.select_y_index(current_position[Y_AXIS]); + int ix = mbl.select_x_index(x); + int iy = mbl.select_y_index(y); + pix = min(pix, MESH_NUM_X_POINTS - 2); + piy = min(piy, MESH_NUM_Y_POINTS - 2); + ix = min(ix, MESH_NUM_X_POINTS - 2); + iy = min(iy, MESH_NUM_Y_POINTS - 2); + if (pix == ix && piy == iy) { + // Start and end on same mesh square + plan_buffer_line(x, y, z, e, feed_rate, extruder); + set_current_to_destination(); + return; + } + float nx, ny, ne, normalized_dist; + if (ix > pix && (x_splits) & BIT(ix)) { + nx = mbl.get_x(ix); + normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]); + ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist; + ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist; + x_splits ^= BIT(ix); + } + else if (ix < pix && (x_splits) & BIT(pix)) { + nx = mbl.get_x(pix); + normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]); + ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist; + ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist; + x_splits ^= BIT(pix); + } + else if (iy > piy && (y_splits) & BIT(iy)) { + ny = mbl.get_y(iy); + normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]); + nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist; + ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist; + y_splits ^= BIT(iy); + } + else if (iy < piy && (y_splits) & BIT(piy)) { + ny = mbl.get_y(piy); + normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]); + nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist; + ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist; + y_splits ^= BIT(piy); + } + else { + // Already split on a border + plan_buffer_line(x, y, z, e, feed_rate, extruder); + set_current_to_destination(); + return; + } + // Do the split and look for more borders + destination[X_AXIS] = nx; + destination[Y_AXIS] = ny; + destination[E_AXIS] = ne; + mesh_plan_buffer_line(nx, ny, z, ne, feed_rate, extruder, x_splits, y_splits); + destination[X_AXIS] = x; + destination[Y_AXIS] = y; + destination[E_AXIS] = e; + mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits); + } +#endif // MESH_BED_LEVELING + + + void prepare_move() { clamp_to_software_endstops(destination); @@ -4565,10 +4808,18 @@ for (int s = 1; s <= steps; s++) { #if ! (defined DELTA || defined SCARA) // Do not use feedmultiply for E or Z only moves if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) { +#ifdef MESH_BED_LEVELING + mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); +#else plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); +#endif } else { - plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); +#ifdef MESH_BED_LEVELING + mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); +#else + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); +#endif } #endif // !(DELTA || SCARA) diff --git a/Firmware/mesh_bed_leveling.cpp b/Firmware/mesh_bed_leveling.cpp new file mode 100755 index 00000000..047ad991 --- /dev/null +++ b/Firmware/mesh_bed_leveling.cpp @@ -0,0 +1,16 @@ +#include "mesh_bed_leveling.h" + +#ifdef MESH_BED_LEVELING + + mesh_bed_leveling mbl; + + mesh_bed_leveling::mesh_bed_leveling() { reset(); } + + void mesh_bed_leveling::reset() { + active = 0; + for (int y = 0; y < MESH_NUM_Y_POINTS; y++) + for (int x = 0; x < MESH_NUM_X_POINTS; x++) + z_values[y][x] = 0; + } + +#endif // MESH_BED_LEVELING diff --git a/Firmware/mesh_bed_leveling.h b/Firmware/mesh_bed_leveling.h new file mode 100755 index 00000000..af52d909 --- /dev/null +++ b/Firmware/mesh_bed_leveling.h @@ -0,0 +1,57 @@ +#include "Marlin.h" + +#ifdef MESH_BED_LEVELING + + #define MESH_X_DIST ((MESH_MAX_X - MESH_MIN_X)/(MESH_NUM_X_POINTS - 1)) + #define MESH_Y_DIST ((MESH_MAX_Y - MESH_MIN_Y)/(MESH_NUM_Y_POINTS - 1)) + + class mesh_bed_leveling { + public: + uint8_t active; + float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS]; + + mesh_bed_leveling(); + + void reset(); + + float get_x(int i) { return MESH_MIN_X + MESH_X_DIST * i; } + float get_y(int i) { return MESH_MIN_Y + MESH_Y_DIST * i; } + void set_z(int ix, int iy, float z) { z_values[iy][ix] = z; } + + int select_x_index(float x) { + int i = 1; + while (x > get_x(i) && i < MESH_NUM_X_POINTS - 1) i++; + return i - 1; + } + + int select_y_index(float y) { + int i = 1; + while (y > get_y(i) && i < MESH_NUM_Y_POINTS - 1) i++; + return i - 1; + } + + float calc_z0(float a0, float a1, float z1, float a2, float z2) { + float delta_z = (z2 - z1) / (a2 - a1); + float delta_a = a0 - a1; + return z1 + delta_a * delta_z; + } + + float get_z(float x0, float y0) { + int x_index = select_x_index(x0); + int y_index = select_y_index(y0); + float z1 = calc_z0(x0, + get_x(x_index), z_values[y_index][x_index], + get_x(x_index + 1), z_values[y_index][x_index + 1]); + float z2 = calc_z0(x0, + get_x(x_index), z_values[y_index + 1][x_index], + get_x(x_index + 1), z_values[y_index + 1][x_index + 1]); + float z0 = calc_z0(y0, + get_y(y_index), z1, + get_y(y_index + 1), z2); + return z0; + } + }; + + extern mesh_bed_leveling mbl; + +#endif // MESH_BED_LEVELING diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp index 01254903..1665dc71 100644 --- a/Firmware/planner.cpp +++ b/Firmware/planner.cpp @@ -58,6 +58,10 @@ #include "ultralcd.h" #include "language.h" +#ifdef MESH_BED_LEVELING +#include "mesh_bed_leveling.h" +#endif + //=========================================================================== //=============================public variables ============================ //=========================================================================== @@ -556,7 +560,15 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa long target[4]; target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); - target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); +#ifdef MESH_BED_LEVELING + if (mbl.active){ + target[Z_AXIS] += lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]); + }else{ + target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); + } +#else + target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); +#endif // ENABLE_MESH_BED_LEVELING target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); #ifdef PREVENT_DANGEROUS_EXTRUDE @@ -1058,10 +1070,19 @@ void plan_set_position(float x, float y, float z, const float &e) void plan_set_position(const float &x, const float &y, const float &z, const float &e) { #endif // ENABLE_AUTO_BED_LEVELING - + + position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); - position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); +#ifdef MESH_BED_LEVELING + if (mbl.active){ + position[Z_AXIS] += lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]); + }else{ + position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); + } +#else + position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); +#endif // ENABLE_MESH_BED_LEVELING position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]); previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp index aff19aba..32d595ed 100644 --- a/Firmware/ultralcd.cpp +++ b/Firmware/ultralcd.cpp @@ -1084,9 +1084,12 @@ static void lcd_settings_menu() MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu_1mm); - + +#ifndef MESH_BED_LEVELING MENU_ITEM(gcode, MSG_HOMEYZ, PSTR("G28 Z")); - +#else + MENU_ITEM(gcode, MSG_HOMEYZ, PSTR("G80")); +#endif MENU_ITEM(gcode, MSG_DISABLE_STEPPERS, PSTR("M84")); diff --git a/Firmware/variants/1_7dev-RAMBo13a-E3Dv6lite.h b/Firmware/variants/1_7dev-RAMBo13a-E3Dv6lite.h new file mode 100755 index 00000000..1c5293b3 --- /dev/null +++ b/Firmware/variants/1_7dev-RAMBo13a-E3Dv6lite.h @@ -0,0 +1,257 @@ +#ifndef CONFIGURATION_PRUSA_H +#define CONFIGURATION_PRUSA_H + +/*------------------------------------ + GENERAL SETTINGS +*------------------------------------*/ + +// Printer revision +#define FILAMENT_SIZE "1_7dev" +#define NOZZLE_TYPE "E3Dv6lite" + +// Printer name +#define CUSTOM_MENDEL_NAME "Prusa i3 dev" + +// Electronics +#define MOTHERBOARD BOARD_RAMBO_MINI_1_3 + + +/*------------------------------------ + AXIS SETTINGS +*------------------------------------*/ + +// Steps per unit {X,Y,Z,E} +#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,174.2} + +// Endstop inverting +const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. +const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. +const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. + +// Home position +#define MANUAL_X_HOME_POS 0 +#define MANUAL_Y_HOME_POS -1.2 +#define MANUAL_Z_HOME_POS 0.25 + +// Travel limits after homing +#define X_MAX_POS 255 +#define X_MIN_POS 0 +#define Y_MAX_POS 210 +#define Y_MIN_POS -1.2 +#define Z_MAX_POS 202 +#define Z_MIN_POS 0.23 + +#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E +#define HOMING_FEEDRATE {3000, 3000, 800, 0} // set the homing speeds (mm/min) + +#define DEFAULT_MAX_FEEDRATE {500, 500, 1800, 25} // (mm/sec) +#define DEFAULT_MAX_ACCELERATION {9000,9000,1000,10000} // 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. + +#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 + + +#define MANUAL_FEEDRATE {3000, 3000, 2000, 100} // set the speeds for manual moves (mm/min) + + +/*------------------------------------ + EXTRUDER SETTINGS +*------------------------------------*/ + +// Mintemps +#define HEATER_0_MINTEMP 15 +#define HEATER_1_MINTEMP 5 +#define HEATER_2_MINTEMP 5 +#define BED_MINTEMP 15 + +// Maxtemps +#define HEATER_0_MAXTEMP 265 +#define HEATER_1_MAXTEMP 265 +#define HEATER_2_MAXTEMP 265 +#define BED_MAXTEMP 150 + +// Define PID constants for extruder +#define DEFAULT_Kp 40.925 +#define DEFAULT_Ki 4.875 +#define DEFAULT_Kd 86.085 + +// Extrude mintemp +#define EXTRUDE_MINTEMP 190 + +// Extruder cooling fans +#define EXTRUDER_0_AUTO_FAN_PIN 8 +#define EXTRUDER_1_AUTO_FAN_PIN -1 +#define EXTRUDER_2_AUTO_FAN_PIN -1 +#define EXTRUDER_AUTO_FAN_TEMPERATURE 50 +#define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed + + + +/*------------------------------------ + LOAD/UNLOAD FILAMENT SETTINGS +*------------------------------------*/ + +// Load filament commands +#define LOAD_FILAMENT_0 "M83" +#define LOAD_FILAMENT_1 "G1 E70 F400" +#define LOAD_FILAMENT_2 "G1 E40 F100" + +// Unload filament commands +#define UNLOAD_FILAMENT_0 "M83" +#define UNLOAD_FILAMENT_1 "G1 E-80 F400" + +/*------------------------------------ + CHANGE FILAMENT SETTINGS +*------------------------------------*/ + +// Filament change configuration +#define FILAMENTCHANGEENABLE + #ifdef FILAMENTCHANGEENABLE + #define FILAMENTCHANGE_XPOS 211 + #define FILAMENTCHANGE_YPOS 0 + #define FILAMENTCHANGE_ZADD 2 + #define FILAMENTCHANGE_FIRSTRETRACT -2 + #define FILAMENTCHANGE_FINALRETRACT -80 + + #define FILAMENTCHANGE_FIRSTFEED 70 + #define FILAMENTCHANGE_FINALFEED 50 + #define FILAMENTCHANGE_RECFEED 5 + + #define FILAMENTCHANGE_XYFEED 70 + #define FILAMENTCHANGE_EFEED 20 + #define FILAMENTCHANGE_RFEED 400 + #define FILAMENTCHANGE_EXFEED 2 + #define FILAMENTCHANGE_ZFEED 300 + +#endif + +/*------------------------------------ + ADDITIONAL FEATURES SETTINGS +*------------------------------------*/ + +// Define Prusa filament runout sensor +//#define FILAMENT_RUNOUT_SUPPORT + +#ifdef FILAMENT_RUNOUT_SUPPORT + #define FILAMENT_RUNOUT_SENSOR 1 +#endif + +/*------------------------------------ + MOTOR CURRENT SETTINGS +*------------------------------------*/ + +// Motor Current setting for BIG RAMBo +#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A) +#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135} + +// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range +#if MOTHERBOARD == 102 || MOTHERBOARD == 302 + #define MOTOR_CURRENT_PWM_RANGE 2000 + #define DEFAULT_PWM_MOTOR_CURRENT {270, 450, 450} // {XY,Z,E} + #define DEFAULT_PWM_MOTOR_CURRENT_LOUD {540, 450, 500} // {XY,Z,E} +#endif + +/*------------------------------------ + BED SETTINGS + *------------------------------------*/ + +// Define Mesh Bed Leveling system to enable it +#define MESH_BED_LEVELING +#ifdef MESH_BED_LEVELING + + #define MBL_Z_STEP 0.01 + + // Mesh definitions + #define MESH_MIN_X 35 + #define MESH_MAX_X 238 + #define MESH_MIN_Y 7 + #define MESH_MAX_Y 203 + + #define MESH_NUM_X_POINTS 3 // Don't use more than 7 points per axis, implementation limited. + #define MESH_NUM_Y_POINTS 3 + #define MESH_HOME_Z_CALIB 0.2 + #define MESH_HOME_Z_SEARCH 5 + + #define X_PROBE_OFFSET_FROM_EXTRUDER 23 // Z probe to nozzle X offset: -left +right + #define Y_PROBE_OFFSET_FROM_EXTRUDER 8 // Z probe to nozzle Y offset: -front +behind + #define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4 // Z probe to nozzle Z offset: -below (always!) + + + +#endif + +/*------------------------------------ + PREHEAT SETTINGS +*------------------------------------*/ + +#define PLA_PREHEAT_HOTEND_TEMP 210 +#define PLA_PREHEAT_HPB_TEMP 50 +#define PLA_PREHEAT_FAN_SPEED 0 + +#define ABS_PREHEAT_HOTEND_TEMP 255 +#define ABS_PREHEAT_HPB_TEMP 100 +#define ABS_PREHEAT_FAN_SPEED 0 + +#define HIPS_PREHEAT_HOTEND_TEMP 220 +#define HIPS_PREHEAT_HPB_TEMP 100 +#define HIPS_PREHEAT_FAN_SPEED 0 + +#define PP_PREHEAT_HOTEND_TEMP 254 +#define PP_PREHEAT_HPB_TEMP 100 +#define PP_PREHEAT_FAN_SPEED 0 + +#define PET_PREHEAT_HOTEND_TEMP 240 +#define PET_PREHEAT_HPB_TEMP 90 +#define PET_PREHEAT_FAN_SPEED 0 + +#define FLEX_PREHEAT_HOTEND_TEMP 230 +#define FLEX_PREHEAT_HPB_TEMP 50 +#define FLEX_PREHEAT_FAN_SPEED 0 + + +/*------------------------------------ + THERMISTORS SETTINGS +*------------------------------------*/ + +// +//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table +// +//// Temperature sensor settings: +// -2 is thermocouple with MAX6675 (only for sensor 0) +// -1 is thermocouple with AD595 +// 0 is not used +// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup) +// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup) +// 3 is Mendel-parts thermistor (4.7k pullup) +// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !! +// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup) +// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup) +// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup) +// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup) +// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) +// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup) +// 10 is 100k RS thermistor 198-961 (4.7k pullup) +// 11 is 100k beta 3950 1% thermistor (4.7k pullup) +// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed) +// 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE" +// 20 is the PT100 circuit found in the Ultimainboard V2.x +// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950 +// +// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k +// (but gives greater accuracy and more stable PID) +// 51 is 100k thermistor - EPCOS (1k pullup) +// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup) +// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup) +// +// 1047 is Pt1000 with 4k7 pullup +// 1010 is Pt1000 with 1k pullup (non standard) +// 147 is Pt100 with 4k7 pullup +// 110 is Pt100 with 1k pullup (non standard) + +#define TEMP_SENSOR_0 5 +#define TEMP_SENSOR_1 0 +#define TEMP_SENSOR_2 0 +#define TEMP_SENSOR_BED 1 + + +#endif //__CONFIGURATION_PRUSA_H