Generalized enqueue_commands_P, and moved them to Marlin_main as they should
This commit is contained in:
Jérémie FRANCOIS
parent
dd301be52d
commit
85e5aa4011
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@ -14,12 +14,6 @@
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// example_configurations/delta directory.
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//
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//===========================================================================
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//============================= SCARA Printer ===============================
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//===========================================================================
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// For a Delta printer replace the configuration files with the files in the
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// example_configurations/SCARA directory.
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//
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// User-specified version info of this build to display in [Pronterface, etc] terminal window during
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// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
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@ -27,7 +21,7 @@
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#define STRING_VERSION "v1.0.2"
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#define STRING_URL "reprap.org"
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#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
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#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
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#define STRING_CONFIG_H_AUTHOR "(Jeremie, Tridimake)" // JFR - Who made the changes.
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#define STRING_SPLASH STRING_VERSION " - " STRING_URL // will be shown during bootup
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// SERIAL_PORT selects which serial port should be used for communication with the host.
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@ -36,7 +30,8 @@
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#define SERIAL_PORT 0
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// This determines the communication speed of the printer
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#define BAUDRATE 250000
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//#define BAUDRATE 250000
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#define BAUDRATE 115200
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// This enables the serial port associated to the Bluetooth interface
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//#define BTENABLED // Enable BT interface on AT90USB devices
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@ -44,11 +39,11 @@
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// The following define selects which electronics board you have.
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// Please choose the name from boards.h that matches your setup
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#ifndef MOTHERBOARD
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#define MOTHERBOARD BOARD_ULTIMAKER
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#define MOTHERBOARD 33 // JFR - was BOARD_ULTIMAKER
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#endif
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// Define this to set a custom name for your generic Mendel,
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// #define CUSTOM_MENDEL_NAME "This Mendel"
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#define CUSTOM_MENDEL_NAME "[RMud]HP" // JFR -was "This Mendel"
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// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
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// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
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@ -66,6 +61,50 @@
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// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
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// #define PS_DEFAULT_OFF
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//===========================================================================
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//============================== Delta Settings =============================
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//===========================================================================
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// Enable DELTA kinematics and most of the default configuration for Deltas
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#define DELTA
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// Make delta curves from many straight lines (linear interpolation).
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// This is a trade-off between visible corners (not enough segments)
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// and processor overload (too many expensive sqrt calls).
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#define DELTA_SEGMENTS_PER_SECOND 100 // JFR: was 200
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/*
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Parameter essential for delta calibration:
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C, Y-Axis
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| |___| CARRIAGE_HORIZONTAL_OFFSET
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| | \
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|_________ X-axis | \
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/ \ | \ DELTA_DIAGONAL_ROD
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/ \ \
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/ \ \ Carriage is at printer center!
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A B \_____/
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|--| END_EFFECTOR_HORIZONTAL_OFFSET
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|----| DELTA_RADIUS
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|-----------| PRINTER_RADIUS
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Column angles are measured from X-axis counterclockwise
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*/
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// Center-to-center distance of the holes in the diagonal push rods.
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#define DELTA_DIAGONAL_ROD (202.4) // mm JFR: was 202 for LABSUD
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// Horizontal offset from middle of printer to smooth rod center.
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#define DELTA_SMOOTH_ROD_OFFSET 139.5 // mm
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// Horizontal offset of the universal joints on the end effector.
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#define DELTA_EFFECTOR_OFFSET 18.0 // mm
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// Horizontal offset of the universal joints on the carriages.
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#define DELTA_CARRIAGE_OFFSET 18.0 // mm
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// Effective horizontal distance bridged by diagonal push rods.
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#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
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//===========================================================================
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//=============================Thermal Settings ============================
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//===========================================================================
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@ -104,8 +143,8 @@
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// 147 is Pt100 with 4k7 pullup
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// 110 is Pt100 with 1k pullup (non standard)
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#define TEMP_SENSOR_0 -1
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#define TEMP_SENSOR_1 -1
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#define TEMP_SENSOR_0 1 // JFR -was -1
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#define TEMP_SENSOR_1 0 // JFR -was -1
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#define TEMP_SENSOR_2 0
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#define TEMP_SENSOR_BED 0
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@ -114,7 +153,7 @@
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#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
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// Actual temperature must be close to target for this long before M109 returns success
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#define TEMP_RESIDENCY_TIME 10 // (seconds)
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#define TEMP_RESIDENCY_TIME 4 // // JFR -was 10 (seconds)
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#define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one
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#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early.
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@ -146,25 +185,23 @@
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// PID settings:
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// Comment the following line to disable PID and enable bang-bang.
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#define PIDTEMP
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#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
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#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
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#define BANG_MAX 80 // JFR -was 255 // limits current to nozzle while in bang-bang mode; 255=full current
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#define PID_MAX 70 // JFR -was BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
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#ifdef PIDTEMP
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//#define PID_DEBUG // Sends debug data to the serial port.
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//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
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//#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
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//#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
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// Set/get with gcode: M301 E[extruder number, 0-2]
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#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
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// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
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#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
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#define K1 0.95 //smoothing factor within the PID
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#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
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// JFR: was #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
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#define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
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// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
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// Ultimaker
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#define DEFAULT_Kp 22.2
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#define DEFAULT_Ki 1.08
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#define DEFAULT_Kd 114
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// #define DEFAULT_Kp 22.2
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// #define DEFAULT_Ki 1.08
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// #define DEFAULT_Kd 114
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// MakerGear
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// #define DEFAULT_Kp 7.0
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@ -175,6 +212,12 @@
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// #define DEFAULT_Kp 63.0
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// #define DEFAULT_Ki 2.25
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// #define DEFAULT_Kd 440
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// E3D 24v calibrée par frafa avec buse 12v30W alimentée en 24v
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#define DEFAULT_Kp 12.48
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#define DEFAULT_Ki 1.63
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#define DEFAULT_Kd 23.93
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#endif // PIDTEMP
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// Bed Temperature Control
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@ -217,7 +260,7 @@
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//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
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//can be software-disabled for whatever purposes by
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#define PREVENT_DANGEROUS_EXTRUDE
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//#define PREVENT_DANGEROUS_EXTRUDE // JFR - was enabled
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//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
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#define PREVENT_LENGTHY_EXTRUDE
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@ -266,9 +309,6 @@ your extruder heater takes 2 minutes to hit the target on heating.
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//=============================Mechanical Settings===========================
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//===========================================================================
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// Uncomment the following line to enable CoreXY kinematics
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// #define COREXY
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// coarse Endstop Settings
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#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
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@ -295,12 +335,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
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const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
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const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
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const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
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const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
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const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
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const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
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const bool X_MAX_ENDSTOP_INVERTING = false; // JFR -was true // set to true to invert the logic of the endstop.
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const bool Y_MAX_ENDSTOP_INVERTING = false; // JFR -was true // set to true to invert the logic of the endstop.
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const bool Z_MAX_ENDSTOP_INVERTING = false; // JFR -was true // set to true to invert the logic of the endstop.
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//#define DISABLE_MAX_ENDSTOPS
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//#define DISABLE_MIN_ENDSTOPS
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// Deltas never have min endstops
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//#define DISABLE_MIN_ENDSTOPS // JFR- was not commented out!
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// Disable max endstops for compatibility with endstop checking routine
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#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
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#define DISABLE_MAX_ENDSTOPS
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@ -319,149 +359,39 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
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#define DISABLE_E false // For all extruders
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#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
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#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
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#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_X_DIR false // DELTA does not invert
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#define INVERT_Y_DIR false
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#define INVERT_Z_DIR false
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#define INVERT_E0_DIR true // JFR - was false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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// ENDSTOP SETTINGS:
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// Sets direction of endstops when homing; 1=MAX, -1=MIN
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#define X_HOME_DIR -1
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#define Y_HOME_DIR -1
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#define Z_HOME_DIR -1
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// deltas always home to max
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#define X_HOME_DIR 1
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#define Y_HOME_DIR 1
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#define Z_HOME_DIR 1
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#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
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#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below.
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// Travel limits after homing
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#define X_MAX_POS 205
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#define X_MIN_POS 0
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#define Y_MAX_POS 205
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#define Y_MIN_POS 0
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#define Z_MAX_POS 200
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#define X_MAX_POS 85 // JFR - was 205
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#define X_MIN_POS -85 // JFR - was 0
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#define Y_MAX_POS 85 // JFR - was 205
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#define Y_MIN_POS -85 // JFR - was 0
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#define Z_MAX_POS MANUAL_Z_HOME_POS // JFR - was 200
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#define Z_MIN_POS 0
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#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
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#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
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#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
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//============================= Bed Auto Leveling ===========================
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//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
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#define Z_PROBE_REPEATABILITY_TEST // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
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#ifdef ENABLE_AUTO_BED_LEVELING
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// There are 2 different ways to pick the X and Y locations to probe:
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// - "grid" mode
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// Probe every point in a rectangular grid
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// You must specify the rectangle, and the density of sample points
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// This mode is preferred because there are more measurements.
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// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
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// - "3-point" mode
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// Probe 3 arbitrary points on the bed (that aren't colinear)
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// You must specify the X & Y coordinates of all 3 points
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#define AUTO_BED_LEVELING_GRID
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// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
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// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
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// and least squares solution is calculated
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// Note: this feature occupies 10'206 byte
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#ifdef AUTO_BED_LEVELING_GRID
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// set the rectangle in which to probe
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#define LEFT_PROBE_BED_POSITION 15
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#define RIGHT_PROBE_BED_POSITION 170
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#define BACK_PROBE_BED_POSITION 180
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#define FRONT_PROBE_BED_POSITION 20
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// set the number of grid points per dimension
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// I wouldn't see a reason to go above 3 (=9 probing points on the bed)
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#define AUTO_BED_LEVELING_GRID_POINTS 2
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//Bed Auto Leveling is still not compatible with Delta Kinematics
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#else // not AUTO_BED_LEVELING_GRID
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// with no grid, just probe 3 arbitrary points. A simple cross-product
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// is used to esimate the plane of the print bed
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#define ABL_PROBE_PT_1_X 15
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#define ABL_PROBE_PT_1_Y 180
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#define ABL_PROBE_PT_2_X 15
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#define ABL_PROBE_PT_2_Y 20
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#define ABL_PROBE_PT_3_X 170
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#define ABL_PROBE_PT_3_Y 20
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#endif // AUTO_BED_LEVELING_GRID
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// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
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// X and Y offsets must be integers
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#define X_PROBE_OFFSET_FROM_EXTRUDER -25
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#define Y_PROBE_OFFSET_FROM_EXTRUDER -29
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#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
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#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
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// Be sure you have this distance over your Z_MAX_POS in case
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#define XY_TRAVEL_SPEED 8000 // X and Y axis travel speed between probes, in mm/min
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#define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point.
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#define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points
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//#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
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//#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.
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//If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
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//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.
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// You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
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// #define PROBE_SERVO_DEACTIVATION_DELAY 300
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//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
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//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
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#define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area.
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// When defined, it will:
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// - Allow Z homing only after X and Y homing AND stepper drivers still enabled
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// - If stepper drivers timeout, it will need X and Y homing again before Z homing
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// - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
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// - Block Z homing only when the probe is outside bed area.
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#ifdef Z_SAFE_HOMING
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#define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28)
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#define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28)
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#endif
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#ifdef AUTO_BED_LEVELING_GRID // Check if Probe_Offset * Grid Points is greater than Probing Range
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#if X_PROBE_OFFSET_FROM_EXTRUDER < 0
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#if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
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#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
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#endif
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#else
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#if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
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#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
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#endif
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#endif
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#if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
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#if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
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#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
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#endif
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#else
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#if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
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#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
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#endif
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#endif
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#endif
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#endif // ENABLE_AUTO_BED_LEVELING
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// The position of the homing switches
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|
@ -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"
|
||||
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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]);
|
||||
|
||||
|
|
|
|||
|
|
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
/*
|
||||
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 <Wire.h>
|
||||
#include <LiquidCrystal_I2C.h>
|
||||
#elif defined(LCD_I2C_TYPE_MCP23017) || defined(LCD_I2C_TYPE_MCP23008)
|
||||
#include <Wire.h>
|
||||
#include <LiquidTWI2.h>
|
||||
#elif defined(DOGLCD)
|
||||
#include <U8glib.h> // library for graphics LCD by Oli Kraus (https://code.google.com/p/u8glib/)
|
||||
#else
|
||||
#include <LiquidCrystal.h> // library for character LCD
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
||||
#include <SPI.h>
|
||||
#endif
|
||||
|
||||
#if defined(DIGIPOT_I2C)
|
||||
#include <Wire.h>
|
||||
#endif
|
||||
|
|
@ -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);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
||||
|
|
|
|||
|
|
@ -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()))
|
||||
{
|
||||
|
|
|
|||
Reference in a new issue