New leveling rotation computation, watchdog handling

src/ArduinoAVR/Repetier/BedLeveling.cpp

@@ -112,14 +112,7 @@ the bed it self. For deltas you can enable distortion correction to follow the b
 
 #if FEATURE_AUTOLEVEL && FEATURE_Z_PROBE
 
-class Plane {
-    public:
-        // f(x, y) = ax + by + c
-        float a,b,c;
-        float z(float x,float y) {
-            return a * x + y * b + c;
-        }
-};
+
 class PlaneBuilder {
         float sum_xx,sum_xy,sum_yy,sum_x,sum_y,sum_xz,sum_yz,sum_z,n;
     public:
@@ -230,13 +223,14 @@ bool measureAutolevelPlane(Plane &plane) {
 #else
 #error Unknown bed leveling method
 #endif
-    builder.createPlane(plane);
+    builder.createPlane(plane,false);
     return true;
 }
 
 void correctAutolevel(GCode *code,Plane &plane) {
 #if BED_CORRECTION_METHOD == 0 // rotation matrix
-    Printer::buildTransformationMatrix(plane.z(EEPROM::zProbeX1(),EEPROM::zProbeY1()),plane.z(EEPROM::zProbeX2(),EEPROM::zProbeY2()),plane.z(EEPROM::zProbeX3(),EEPROM::zProbeY3()));
+    //Printer::buildTransformationMatrix(plane.z(EEPROM::zProbeX1(),EEPROM::zProbeY1()),plane.z(EEPROM::zProbeX2(),EEPROM::zProbeY2()),plane.z(EEPROM::zProbeX3(),EEPROM::zProbeY3()));
+	Printer::buildTransformationMatrix(plane);
 #elif BED_CORRECTION_METHOD == 1 // motorized correction
 #if !defined(NUM_MOTOR_DRIVERS) || NUM_MOTOR_DRIVERS < 2
 #error You need to define 2 motors for motorized bed correction
@@ -549,7 +543,7 @@ float Printer::bendingCorrectionAt(float x, float y) {
     builder.addPoint(EEPROM::zProbeX2(),EEPROM::zProbeY2(),EEPROM::bendingCorrectionB());
     builder.addPoint(EEPROM::zProbeX3(),EEPROM::zProbeY3(),EEPROM::bendingCorrectionC());
 	Plane plane;
-	builder.createPlane(plane);
+	builder.createPlane(plane,true);
 	return plane.z(x,y);
 }
 
@@ -616,13 +610,44 @@ void Printer::resetTransformationMatrix(bool silent) {
         Com::printInfoFLN(Com::tAutolevelReset);
 }
 
+void Printer::buildTransformationMatrix(Plane &plane) {
+	float z0 = plane.z(0,0);
+	float az = z0-plane.z(1,0); // ax = 1, ay = 0
+	float bz = z0-plane.z(0,1); // bx = 0, by = 1
+    // First z direction
+    autolevelTransformation[6] = -az;
+    autolevelTransformation[7] = -bz;
+    autolevelTransformation[8] = 1;
+    float len = sqrt(az * az + bz * bz + 1);
+    autolevelTransformation[6] /= len;
+    autolevelTransformation[7] /= len;
+    autolevelTransformation[8] /= len;
+    autolevelTransformation[0] = 1;
+    autolevelTransformation[1] = 0;
+    autolevelTransformation[2] = -autolevelTransformation[6]/autolevelTransformation[8];
+    len = sqrt(autolevelTransformation[0] * autolevelTransformation[0] + autolevelTransformation[1] * autolevelTransformation[1] + autolevelTransformation[2] * autolevelTransformation[2]);
+    autolevelTransformation[0] /= len;
+    autolevelTransformation[1] /= len;
+    autolevelTransformation[2] /= len;
+    // cross(z,x) y,z)
+    autolevelTransformation[3] = autolevelTransformation[7] * autolevelTransformation[2] - autolevelTransformation[8] * autolevelTransformation[1];
+    autolevelTransformation[4] = autolevelTransformation[8] * autolevelTransformation[0] - autolevelTransformation[6] * autolevelTransformation[2];
+    autolevelTransformation[5] = autolevelTransformation[6] * autolevelTransformation[1] - autolevelTransformation[7] * autolevelTransformation[0];
+    len = sqrt(autolevelTransformation[3] * autolevelTransformation[3] + autolevelTransformation[4] * autolevelTransformation[4] + autolevelTransformation[5] * autolevelTransformation[5]);
+    autolevelTransformation[3] /= len;
+    autolevelTransformation[4] /= len;
+    autolevelTransformation[5] /= len;
+
+    Com::printArrayFLN(Com::tTransformationMatrix,autolevelTransformation, 9, 6);
+}
+/* 
 void Printer::buildTransformationMatrix(float h1,float h2,float h3) {
-    float ax = EEPROM::zProbeX2()-EEPROM::zProbeX1();
-    float ay = EEPROM::zProbeY2()-EEPROM::zProbeY1();
-    float az = h1-h2;
-    float bx = EEPROM::zProbeX3()-EEPROM::zProbeX1();
-    float by = EEPROM::zProbeY3()-EEPROM::zProbeY1();
-    float bz = h1-h3;
+    float ax = EEPROM::zProbeX2() - EEPROM::zProbeX1();
+    float ay = EEPROM::zProbeY2() - EEPROM::zProbeY1();
+    float az = h1 - h2;
+    float bx = EEPROM::zProbeX3() - EEPROM::zProbeX1();
+    float by = EEPROM::zProbeY3() - EEPROM::zProbeY1();
+    float bz = h1 - h3;
     // First z direction
     autolevelTransformation[6] = ay * bz - az * by;
     autolevelTransformation[7] = az * bx - ax * bz;
@@ -638,7 +663,7 @@ void Printer::buildTransformationMatrix(float h1,float h2,float h3) {
     // cross(y,z)
     autolevelTransformation[0] = autolevelTransformation[4] * autolevelTransformation[8] - autolevelTransformation[5] * autolevelTransformation[7];
     autolevelTransformation[1] = autolevelTransformation[5] * autolevelTransformation[6];// - autolevelTransformation[3] * autolevelTransformation[8];
-    autolevelTransformation[2] = /*autolevelTransformation[3] * autolevelTransformation[7]*/ - autolevelTransformation[4] * autolevelTransformation[6];
+    autolevelTransformation[2] = autolevelTransformation[3] * autolevelTransformation[7] - autolevelTransformation[4] * autolevelTransformation[6];
     len = sqrt(autolevelTransformation[0] * autolevelTransformation[0] + autolevelTransformation[1] * autolevelTransformation[1] + autolevelTransformation[2] * autolevelTransformation[2]);
     autolevelTransformation[0] /= len;
     autolevelTransformation[1] /= len;
@@ -648,4 +673,5 @@ void Printer::buildTransformationMatrix(float h1,float h2,float h3) {
     autolevelTransformation[5] /= len;
     Com::printArrayFLN(Com::tTransformationMatrix,autolevelTransformation, 9, 6);
 }
+*/
 #endif

src/ArduinoAVR/Repetier/Commands.cpp

@@ -2008,6 +2008,11 @@ void Commands::processMCode(GCode *com) {
         case 281: // Trigger watchdog
 #if FEATURE_WATCHDOG
             {
+				if(com->hasX()) {
+					HAL::stopWatchdog();
+					Com::printFLN(PSTR("Watchdog disabled"));
+					break;
+				}
                 Com::printInfoFLN(PSTR("Triggering watchdog. If activated, the printer will reset."));
                 Printer::kill(false);
                 HAL::delayMilliseconds(200); // write output, make sure heaters are off for safety

src/ArduinoAVR/Repetier/Extruder.cpp

@@ -673,7 +673,7 @@ void Extruder::selectExtruderById(uint8_t extruderId)
 void Extruder::setTemperatureForExtruder(float temperatureInCelsius, uint8_t extr, bool beep, bool wait)
 {
 #if NUM_EXTRUDER > 0
-#if MIXING_EXTRUDER
+#if MIXING_EXTRUDER || SHARED_EXTRUDER_HEATER
     extr = 0; // map any virtual extruder number to 0
 #endif // MIXING_EXTRUDER
     bool alloffs = true;

src/ArduinoAVR/Repetier/HAL.h

@@ -713,7 +713,7 @@ class HAL
         WDTCSR = (1<<WDCE) | (1<<WDE);								// wdt FIX for arduino mega boards
         WDTCSR = (1<<WDIE) | (1<<WDP3);
 #else
-        wdt_enable(WDTO_1S);
+        wdt_enable(WDTO_4S);
 #endif
     };
     inline static void stopWatchdog()

src/ArduinoAVR/Repetier/Printer.cpp

@@ -145,10 +145,10 @@ float Printer::backlashY;
 float Printer::backlashZ;
 uint8_t Printer::backlashDir;
 #endif
-float Printer::memoryX;
-float Printer::memoryY;
-float Printer::memoryZ;
-float Printer::memoryE;
+float Printer::memoryX = IGNORE_COORDINATE;
+float Printer::memoryY = IGNORE_COORDINATE;
+float Printer::memoryZ = IGNORE_COORDINATE;
+float Printer::memoryE = IGNORE_COORDINATE;
 float Printer::memoryF = -1;
 #if GANTRY && !defined(FAST_COREXYZ)
 int8_t Printer::motorX;

src/ArduinoAVR/Repetier/Printer.h

@@ -115,6 +115,14 @@ union wizardVar
 #define towerBMinSteps Printer::yMinSteps
 #define towerCMinSteps Printer::zMinSteps
 
+class Plane {
+	public:
+	// f(x, y) = ax + by + c
+	float a,b,c;
+	float z(float x,float y) {
+		return a * x + y * b + c;
+	}
+};
 #if DISTORTION_CORRECTION
 class Distortion
 {
@@ -1111,7 +1119,8 @@ class Printer
     static void transformToPrinter(float x,float y,float z,float &transX,float &transY,float &transZ);
     static void transformFromPrinter(float x,float y,float z,float &transX,float &transY,float &transZ);
     static void resetTransformationMatrix(bool silent);
-    static void buildTransformationMatrix(float h1,float h2,float h3);
+    //static void buildTransformationMatrix(float h1,float h2,float h3);
+    static void buildTransformationMatrix(Plane &plane);
 #endif
 #if DISTORTION_CORRECTION
     static bool measureDistortion(void);

src/ArduinoAVR/Repetier/Repetier.h

@@ -197,6 +197,22 @@ usage or for searching for memory induced errors. Switch it off for production,
 
 #include "Configuration.h"
 
+#ifndef SHARED_EXTRUDER_HEATER
+#define SHARED_EXTRUDER_HEATER 0
+#endif
+#if SHARED_EXTRUDER_HEATER || MIXING_EXTRUDER
+#undef EXT1_HEATER_PIN
+#undef EXT2_HEATER_PIN
+#undef EXT3_HEATER_PIN
+#undef EXT4_HEATER_PIN
+#undef EXT5_HEATER_PIN
+#define EXT1_HEATER_PIN -1
+#define EXT2_HEATER_PIN -1
+#define EXT3_HEATER_PIN -1
+#define EXT4_HEATER_PIN -1
+#define EXT5_HEATER_PIN -1
+#endif
+
 #ifndef MAX_JERK_DISTANCE
 #define MAX_JERK_DISTANCE 0.6
 #endif

src/ArduinoAVR/Repetier/Repetier.ino

@@ -117,7 +117,7 @@ Custom M Codes
 - M233 X<AdvanceK> Y<AdvanceL> - Set temporary advance K-value to X and linear term advanceL to Y
 - M251 Measure Z steps from homing stop (Delta printers). S0 - Reset, S1 - Print, S2 - Store to Z length (also EEPROM if enabled)
 - M280 S<mode> - Set ditto printing mode. mode: 0 = off, 1 = 1 extra extruder, 2 = 2 extra extruder, 3 = 3 extra extruders
-- M281 Test if watchdog is running and working.
+- M281 Test if watchdog is running and working. Use M281 X0 to disable watchdog on AVR boards. Sometimes needed for boards with old bootloaders to allow reflashing.
 - M300 S<Frequency> P<DurationMillis> play frequency
 - M302 S<0 or 1> - allow cold extrusion. Without S parameter it will allow. S1 will disallow.
 - M303 P<extruder/bed> S<printTemerature> X0 R<Repetitions>- Autodetect pid values. Use P<NUM_EXTRUDER> for heated bed. X0 saves result in EEPROM. R is number of cycles.

src/ArduinoAVR/Repetier/SDCard.cpp

@@ -78,9 +78,11 @@ void SDCard::initsd()
     if(READ(SDCARDDETECT) != SDCARDDETECTINVERTED)
         return;
 #endif
+	HAL::pingWatchdog();
 	HAL::delayMilliseconds(50); // wait for stabilization of contacts, bootup ...
     fat.begin(SDSS, SPI_FULL_SPEED);  // dummy init of SD_CARD
     HAL::delayMilliseconds(50);       // wait for init end
+	HAL::pingWatchdog();
     /*if(dir[0].isOpen())
         dir[0].close();*/
     if(!fat.begin(SDSS, SPI_FULL_SPEED))
@@ -91,6 +93,7 @@ void SDCard::initsd()
     }
     sdactive = true;
     Printer::setMenuMode(MENU_MODE_SD_MOUNTED, true);
+	HAL::pingWatchdog();
 
     fat.chdir();
     if(selectFile("init.g", true))

src/ArduinoAVR/Repetier/motion.cpp

@@ -2359,7 +2359,6 @@ int32_t PrintLine::bresenhamStep() // Version for delta printer
     if(curd != NULL)
     {
         if(curd->checkEndstops(cur,(cur->isCheckEndstops()))) { // should stop move
-			Com::printFLN(PSTR("STop move endstop"));
 			cur->stepsRemaining = 0;
 			curd = NULL;
 			// eat up all following segments with moveID

src/ArduinoAVR/Repetier/ui.h

@@ -1856,7 +1856,7 @@ void uiCheckSlowKeys(uint16_t &action) {}
   #define SPI_CHAN        0
 
   #undef SDSUPPORT
-  #define SDSUPPORT  0 // sd card does not work reliable due to spi charing
+  #define SDSUPPORT  0 // sd card does not work reliable due to spi sharing
 */
 
 #undef BEEPER_PIN
@@ -1883,7 +1883,6 @@ void uiCheckSlowKeys(uint16_t &action) {}
 // PWM1 Pin
 #define BLUE_STATUS_LED 5
 
-
 #else
 #error No predefined Viki 2 mapping for your board available
 #endif

src/ArduinoDUE/Repetier/BedLeveling.cpp

@@ -112,14 +112,7 @@ the bed it self. For deltas you can enable distortion correction to follow the b
 
 #if FEATURE_AUTOLEVEL && FEATURE_Z_PROBE
 
-class Plane {
-    public:
-        // f(x, y) = ax + by + c
-        float a,b,c;
-        float z(float x,float y) {
-            return a * x + y * b + c;
-        }
-};
+
 class PlaneBuilder {
         float sum_xx,sum_xy,sum_yy,sum_x,sum_y,sum_xz,sum_yz,sum_z,n;
     public:
@@ -230,13 +223,14 @@ bool measureAutolevelPlane(Plane &plane) {
 #else
 #error Unknown bed leveling method
 #endif
-    builder.createPlane(plane);
+    builder.createPlane(plane,false);
     return true;
 }
 
 void correctAutolevel(GCode *code,Plane &plane) {
 #if BED_CORRECTION_METHOD == 0 // rotation matrix
-    Printer::buildTransformationMatrix(plane.z(EEPROM::zProbeX1(),EEPROM::zProbeY1()),plane.z(EEPROM::zProbeX2(),EEPROM::zProbeY2()),plane.z(EEPROM::zProbeX3(),EEPROM::zProbeY3()));
+    //Printer::buildTransformationMatrix(plane.z(EEPROM::zProbeX1(),EEPROM::zProbeY1()),plane.z(EEPROM::zProbeX2(),EEPROM::zProbeY2()),plane.z(EEPROM::zProbeX3(),EEPROM::zProbeY3()));
+	Printer::buildTransformationMatrix(plane);
 #elif BED_CORRECTION_METHOD == 1 // motorized correction
 #if !defined(NUM_MOTOR_DRIVERS) || NUM_MOTOR_DRIVERS < 2
 #error You need to define 2 motors for motorized bed correction
@@ -549,7 +543,7 @@ float Printer::bendingCorrectionAt(float x, float y) {
     builder.addPoint(EEPROM::zProbeX2(),EEPROM::zProbeY2(),EEPROM::bendingCorrectionB());
     builder.addPoint(EEPROM::zProbeX3(),EEPROM::zProbeY3(),EEPROM::bendingCorrectionC());
 	Plane plane;
-	builder.createPlane(plane);
+	builder.createPlane(plane,true);
 	return plane.z(x,y);
 }
 
@@ -616,13 +610,44 @@ void Printer::resetTransformationMatrix(bool silent) {
         Com::printInfoFLN(Com::tAutolevelReset);
 }
 
+void Printer::buildTransformationMatrix(Plane &plane) {
+	float z0 = plane.z(0,0);
+	float az = z0-plane.z(1,0); // ax = 1, ay = 0
+	float bz = z0-plane.z(0,1); // bx = 0, by = 1
+    // First z direction
+    autolevelTransformation[6] = -az;
+    autolevelTransformation[7] = -bz;
+    autolevelTransformation[8] = 1;
+    float len = sqrt(az * az + bz * bz + 1);
+    autolevelTransformation[6] /= len;
+    autolevelTransformation[7] /= len;
+    autolevelTransformation[8] /= len;
+    autolevelTransformation[0] = 1;
+    autolevelTransformation[1] = 0;
+    autolevelTransformation[2] = -autolevelTransformation[6]/autolevelTransformation[8];
+    len = sqrt(autolevelTransformation[0] * autolevelTransformation[0] + autolevelTransformation[1] * autolevelTransformation[1] + autolevelTransformation[2] * autolevelTransformation[2]);
+    autolevelTransformation[0] /= len;
+    autolevelTransformation[1] /= len;
+    autolevelTransformation[2] /= len;
+    // cross(z,x) y,z)
+    autolevelTransformation[3] = autolevelTransformation[7] * autolevelTransformation[2] - autolevelTransformation[8] * autolevelTransformation[1];
+    autolevelTransformation[4] = autolevelTransformation[8] * autolevelTransformation[0] - autolevelTransformation[6] * autolevelTransformation[2];
+    autolevelTransformation[5] = autolevelTransformation[6] * autolevelTransformation[1] - autolevelTransformation[7] * autolevelTransformation[0];
+    len = sqrt(autolevelTransformation[3] * autolevelTransformation[3] + autolevelTransformation[4] * autolevelTransformation[4] + autolevelTransformation[5] * autolevelTransformation[5]);
+    autolevelTransformation[3] /= len;
+    autolevelTransformation[4] /= len;
+    autolevelTransformation[5] /= len;
+
+    Com::printArrayFLN(Com::tTransformationMatrix,autolevelTransformation, 9, 6);
+}
+/* 
 void Printer::buildTransformationMatrix(float h1,float h2,float h3) {
-    float ax = EEPROM::zProbeX2()-EEPROM::zProbeX1();
-    float ay = EEPROM::zProbeY2()-EEPROM::zProbeY1();
-    float az = h1-h2;
-    float bx = EEPROM::zProbeX3()-EEPROM::zProbeX1();
-    float by = EEPROM::zProbeY3()-EEPROM::zProbeY1();
-    float bz = h1-h3;
+    float ax = EEPROM::zProbeX2() - EEPROM::zProbeX1();
+    float ay = EEPROM::zProbeY2() - EEPROM::zProbeY1();
+    float az = h1 - h2;
+    float bx = EEPROM::zProbeX3() - EEPROM::zProbeX1();
+    float by = EEPROM::zProbeY3() - EEPROM::zProbeY1();
+    float bz = h1 - h3;
     // First z direction
     autolevelTransformation[6] = ay * bz - az * by;
     autolevelTransformation[7] = az * bx - ax * bz;
@@ -638,7 +663,7 @@ void Printer::buildTransformationMatrix(float h1,float h2,float h3) {
     // cross(y,z)
     autolevelTransformation[0] = autolevelTransformation[4] * autolevelTransformation[8] - autolevelTransformation[5] * autolevelTransformation[7];
     autolevelTransformation[1] = autolevelTransformation[5] * autolevelTransformation[6];// - autolevelTransformation[3] * autolevelTransformation[8];
-    autolevelTransformation[2] = /*autolevelTransformation[3] * autolevelTransformation[7]*/ - autolevelTransformation[4] * autolevelTransformation[6];
+    autolevelTransformation[2] = autolevelTransformation[3] * autolevelTransformation[7] - autolevelTransformation[4] * autolevelTransformation[6];
     len = sqrt(autolevelTransformation[0] * autolevelTransformation[0] + autolevelTransformation[1] * autolevelTransformation[1] + autolevelTransformation[2] * autolevelTransformation[2]);
     autolevelTransformation[0] /= len;
     autolevelTransformation[1] /= len;
@@ -648,4 +673,5 @@ void Printer::buildTransformationMatrix(float h1,float h2,float h3) {
     autolevelTransformation[5] /= len;
     Com::printArrayFLN(Com::tTransformationMatrix,autolevelTransformation, 9, 6);
 }
+*/
 #endif

src/ArduinoDUE/Repetier/Commands.cpp

@@ -2008,6 +2008,11 @@ void Commands::processMCode(GCode *com) {
         case 281: // Trigger watchdog
 #if FEATURE_WATCHDOG
             {
+				if(com->hasX()) {
+					HAL::stopWatchdog();
+					Com::printFLN(PSTR("Watchdog disabled"));
+					break;
+				}
                 Com::printInfoFLN(PSTR("Triggering watchdog. If activated, the printer will reset."));
                 Printer::kill(false);
                 HAL::delayMilliseconds(200); // write output, make sure heaters are off for safety

src/ArduinoDUE/Repetier/Extruder.cpp

@@ -673,7 +673,7 @@ void Extruder::selectExtruderById(uint8_t extruderId)
 void Extruder::setTemperatureForExtruder(float temperatureInCelsius, uint8_t extr, bool beep, bool wait)
 {
 #if NUM_EXTRUDER > 0
-#if MIXING_EXTRUDER
+#if MIXING_EXTRUDER || SHARED_EXTRUDER_HEATER
     extr = 0; // map any virtual extruder number to 0
 #endif // MIXING_EXTRUDER
     bool alloffs = true;

src/ArduinoDUE/Repetier/Printer.cpp

@@ -145,10 +145,10 @@ float Printer::backlashY;
 float Printer::backlashZ;
 uint8_t Printer::backlashDir;
 #endif
-float Printer::memoryX;
-float Printer::memoryY;
-float Printer::memoryZ;
-float Printer::memoryE;
+float Printer::memoryX = IGNORE_COORDINATE;
+float Printer::memoryY = IGNORE_COORDINATE;
+float Printer::memoryZ = IGNORE_COORDINATE;
+float Printer::memoryE = IGNORE_COORDINATE;
 float Printer::memoryF = -1;
 #if GANTRY && !defined(FAST_COREXYZ)
 int8_t Printer::motorX;