Merge branch 'Marlin_v1' into f1oat

Marlin/Configuration.h

@@ -12,6 +12,13 @@
 // example_configurations/delta directory.
 //
 
+//===========================================================================
+//============================= SCARA Printer ===============================
+//===========================================================================
+// For a Delta printer replace the configuration files with the files in the
+// example_configurations/SCARA directory.
+//
+
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
@@ -62,6 +69,7 @@
 // 81 = Printrboard (AT90USB1286)
 // 82 = Brainwave (AT90USB646)
 // 83 = SAV Mk-I (AT90USB1286)
+// 84 = Teensy++2.0 (AT90USB1286) // CLI compile: DEFINES=AT90USBxx_TEENSYPP_ASSIGNMENTS HARDWARE_MOTHERBOARD=84  make
 // 9  = Gen3+
 // 70 = Megatronics
 // 701= Megatronics v2.0
@@ -70,6 +78,8 @@
 // 91 = Final OMCA board
 // 301= Rambo
 // 21 = Elefu Ra Board (v3)
+// 88 = 5DPrint D8 Driver Board
+// 999 = Leapfrog
 
 #ifndef MOTHERBOARD
 #define MOTHERBOARD 7
@@ -115,8 +125,10 @@
 // 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)
 // 20 is the PT100 circuit found in the Ultimainboard V2.x
-// 60 is 100k Maker's Tool Works Kapton Bed Thermistor
+// 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)
@@ -246,6 +258,44 @@
 #define EXTRUDE_MINTEMP 170
 #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
 
+/*================== Thermal Runaway Protection ==============================
+This is a feature to protect your printer from burn up in flames if it has
+a thermistor coming off place (this happened to a friend of mine recently and
+motivated me writing this feature).
+
+The issue: If a thermistor come off, it will read a lower temperature than actual.
+The system will turn the heater on forever, burning up the filament and anything
+else around.
+
+After the temperature reaches the target for the first time, this feature will 
+start measuring for how long the current temperature stays below the target 
+minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS).
+
+If it stays longer than _PERIOD, it means the thermistor temperature
+cannot catch up with the target, so something *may be* wrong. Then, to be on the
+safe side, the system will he halt.
+
+Bear in mind the count down will just start AFTER the first time the 
+thermistor temperature is over the target, so you will have no problem if
+your extruder heater takes 2 minutes to hit the target on heating.
+
+*/
+// If you want to enable this feature for all your extruder heaters,
+// uncomment the 2 defines below:
+
+// Parameters for all extruder heaters
+//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds
+//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius
+
+// If you want to enable this feature for your bed heater,
+// uncomment the 2 defines below:
+
+// Parameters for the bed heater
+//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds
+//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius
+//===========================================================================
+
+
 //===========================================================================
 //=============================Mechanical Settings===========================
 //===========================================================================
@@ -301,6 +351,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 #define DISABLE_Y false
 #define DISABLE_Z false
 #define DISABLE_E false // For all extruders
+#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
 
 #define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
@@ -332,6 +383,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //============================= Bed Auto Leveling ===========================
 
 //#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
+#define Z_PROBE_REPEATABILITY_TEST  // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
 
 #ifdef ENABLE_AUTO_BED_LEVELING
 
@@ -392,6 +444,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
   #define Z_RAISE_BEFORE_PROBING 15    //How much the extruder will be raised before traveling to the first probing point.
   #define Z_RAISE_BETWEEN_PROBINGS 5  //How much the extruder will be raised when traveling from between next probing points
 
+  //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
+  //#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.
 
   //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
   //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.
@@ -459,6 +513,15 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //=============================Additional Features===========================
 //===========================================================================
 
+// Custom M code points
+#define CUSTOM_M_CODES
+#ifdef CUSTOM_M_CODES
+  #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
+  #define Z_PROBE_OFFSET_RANGE_MIN -15
+  #define Z_PROBE_OFFSET_RANGE_MAX -5
+#endif
+
+
 // EEPROM
 // The microcontroller can store settings in the EEPROM, e.g. max velocity...
 // M500 - stores parameters in EEPROM
@@ -484,6 +547,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //#define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
 //#define SDSUPPORT // Enable SD Card Support in Hardware Console
 //#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
+//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
 //#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.

Marlin/ConfigurationStore.cpp

@@ -37,10 +37,15 @@ 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.
-#ifdef DELTA
-#define EEPROM_VERSION "V11"
-#else
+
 #define EEPROM_VERSION "V10"
+#ifdef DELTA
+	#undef EEPROM_VERSION
+	#define EEPROM_VERSION "V11"
+#endif
+#ifdef SCARA
+	#undef EEPROM_VERSION
+	#define EEPROM_VERSION "V12"
 #endif
 
 #ifdef EEPROM_SETTINGS
@@ -49,7 +54,7 @@ void Config_StoreSettings()
   char ver[4]= "000";
   int i=EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i,ver); // invalidate data first 
-  EEPROM_WRITE_VAR(i,axis_steps_per_unit);  
+  EEPROM_WRITE_VAR(i,axis_steps_per_unit);
   EEPROM_WRITE_VAR(i,max_feedrate);  
   EEPROM_WRITE_VAR(i,max_acceleration_units_per_sq_second);
   EEPROM_WRITE_VAR(i,acceleration);
@@ -93,6 +98,9 @@ void Config_StoreSettings()
     int lcd_contrast = 32;
   #endif
   EEPROM_WRITE_VAR(i,lcd_contrast);
+  #ifdef SCARA
+  EEPROM_WRITE_VAR(i,axis_scaling);        // Add scaling for SCARA
+  #endif
   char ver2[4]=EEPROM_VERSION;
   i=EEPROM_OFFSET;
   EEPROM_WRITE_VAR(i,ver2); // validate data
@@ -115,6 +123,16 @@ void Config_PrintSettings()
     SERIAL_ECHOLN("");
 
     SERIAL_ECHO_START;
+#ifdef SCARA
+SERIAL_ECHOLNPGM("Scaling factors:");
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPAIR("  M365 X",axis_scaling[0]);
+    SERIAL_ECHOPAIR(" Y",axis_scaling[1]);
+    SERIAL_ECHOPAIR(" Z",axis_scaling[2]);
+    SERIAL_ECHOLN("");
+
+    SERIAL_ECHO_START;
+#endif
     SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
     SERIAL_ECHO_START;
     SERIAL_ECHOPAIR("  M203 X",max_feedrate[0]);
@@ -196,7 +214,7 @@ void Config_RetrieveSettings()
     if (strncmp(ver,stored_ver,3) == 0)
     {
         // version number match
-        EEPROM_READ_VAR(i,axis_steps_per_unit);  
+        EEPROM_READ_VAR(i,axis_steps_per_unit);
         EEPROM_READ_VAR(i,max_feedrate);  
         EEPROM_READ_VAR(i,max_acceleration_units_per_sq_second);
 
@@ -240,6 +258,9 @@ void Config_RetrieveSettings()
         int lcd_contrast;
         #endif
         EEPROM_READ_VAR(i,lcd_contrast);
+		#ifdef SCARA
+		EEPROM_READ_VAR(i,axis_scaling);
+		#endif
 
 		// Call updatePID (similar to when we have processed M301)
 		updatePID();
@@ -266,6 +287,9 @@ void Config_ResetDefault()
         axis_steps_per_unit[i]=tmp1[i];  
         max_feedrate[i]=tmp2[i];  
         max_acceleration_units_per_sq_second[i]=tmp3[i];
+		#ifdef SCARA
+		axis_scaling[i]=1;
+		#endif
     }
 
     // steps per sq second need to be updated to agree with the units per sq second

Marlin/Configuration_adv.h

@@ -30,7 +30,7 @@
 
 //automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
 //The maximum buffered steps/sec of the extruder motor are called "se".
-//You enter the autotemp mode by a M109 S<mintemp> T<maxtemp> F<factor>
+//You enter the autotemp mode by a M109 S<mintemp> B<maxtemp> F<factor>
 // the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
 // you exit the value by any M109 without F*
 // Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
@@ -215,7 +215,7 @@
 //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 1
+#define Z_HOME_RETRACT_MM 2
 //#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}
@@ -410,10 +410,12 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 #ifdef FWRETRACT
   #define MIN_RETRACT 0.1                //minimum extruded mm to accept a automatic gcode retraction attempt
   #define RETRACT_LENGTH 3               //default retract length (positive mm)
-  #define RETRACT_FEEDRATE 80*60         //default feedrate for retracting
+  #define RETRACT_LENGTH_SWAP 13         //default swap retract length (positive mm), for extruder change
+  #define RETRACT_FEEDRATE 45            //default feedrate for retracting (mm/s)
   #define RETRACT_ZLIFT 0                //default retract Z-lift
   #define RETRACT_RECOVER_LENGTH 0       //default additional recover length (mm, added to retract length when recovering)
-  #define RETRACT_RECOVER_FEEDRATE 8*60  //default feedrate for recovering from retraction
+  #define RETRACT_RECOVER_LENGTH_SWAP 0  //default additional swap recover length (mm, added to retract length when recovering from extruder change)
+  #define RETRACT_RECOVER_FEEDRATE 8     //default feedrate for recovering from retraction (mm/s)
 #endif
 
 //adds support for experimental filament exchange support M600; requires display

Marlin/Marlin.h

@@ -178,6 +178,10 @@ void get_coordinates();
 void calculate_delta(float cartesian[3]);
 extern float delta[3];
 #endif
+#ifdef SCARA
+void calculate_delta(float cartesian[3]);
+void calculate_SCARA_forward_Transform(float f_scara[3]);
+#endif
 void prepare_move();
 void kill();
 void Stop();
@@ -215,6 +219,9 @@ extern float delta_diagonal_rod;
 extern float delta_segments_per_second;
 void recalc_delta_settings(float radius, float diagonal_rod);
 #endif
+#ifdef SCARA
+extern float axis_scaling[3];  // Build size scaling
+#endif
 extern float min_pos[3];
 extern float max_pos[3];
 extern bool axis_known_position[3];
@@ -231,9 +238,9 @@ extern unsigned char fanSpeedSoftPwm;
 
 #ifdef FWRETRACT
 extern bool autoretract_enabled;
-extern bool retracted;
-extern float retract_length, retract_feedrate, retract_zlift;
-extern float retract_recover_length, retract_recover_feedrate;
+extern bool retracted[EXTRUDERS];
+extern float retract_length, retract_length_swap, retract_feedrate, retract_zlift;
+extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate;
 #endif
 
 extern unsigned long starttime;