Merge pull request #2 from ErikZalm/Marlin_v1

Sync up to Marlin

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.
@@ -23,7 +30,6 @@
 // Serial port 0 is still used by the Arduino bootloader regardless of this setting.
 #define SERIAL_PORT 0
 
-// This determines the communication speed of the printer
 // This determines the communication speed of the printer
 #define BAUDRATE 250000
 
@@ -42,6 +48,7 @@
 // 33 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Bed)
 // 34 = RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Bed)
 // 35 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Fan)
+// 36 = RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Fan)
 // 4  = Duemilanove w/ ATMega328P pin assignment
 // 5  = Gen6
 // 51 = Gen6 deluxe
@@ -72,6 +79,7 @@
 // 301= Rambo
 // 21 = Elefu Ra Board (v3)
 // 88 = 5DPrint D8 Driver Board
+// 999 = Leapfrog
 
 #ifndef MOTHERBOARD
 #define MOTHERBOARD 7
@@ -119,6 +127,7 @@
 // 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
 //
@@ -132,7 +141,6 @@
 // 1010 is Pt1000 with 1k pullup (non standard)
 // 147 is Pt100 with 4k7 pullup
 // 110 is Pt100 with 1k pullup (non standard)
-// 70 is 500C thermistor for Pico hot end
 
 #define TEMP_SENSOR_0 -1
 #define TEMP_SENSOR_1 -1
@@ -185,7 +193,7 @@
                                   // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
   #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
   #define K1 0.95 //smoothing factor within the PID
-  #define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
+  #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
 
 // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
 // Ultimaker
@@ -376,6 +384,7 @@ 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
 
@@ -436,6 +445,8 @@ 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.

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);
@@ -60,7 +65,7 @@ void Config_StoreSettings()
   EEPROM_WRITE_VAR(i,max_xy_jerk);
   EEPROM_WRITE_VAR(i,max_z_jerk);
   EEPROM_WRITE_VAR(i,max_e_jerk);
-  EEPROM_WRITE_VAR(i,add_homeing);
+  EEPROM_WRITE_VAR(i,add_homing);
   #ifdef DELTA
   EEPROM_WRITE_VAR(i,endstop_adj);
   EEPROM_WRITE_VAR(i,delta_radius);
@@ -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]);
@@ -152,9 +170,9 @@ void Config_PrintSettings()
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("Home offset (mm):");
     SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("  M206 X",add_homeing[0] );
-    SERIAL_ECHOPAIR(" Y" ,add_homeing[1] );
-    SERIAL_ECHOPAIR(" Z" ,add_homeing[2] );
+    SERIAL_ECHOPAIR("  M206 X",add_homing[0] );
+    SERIAL_ECHOPAIR(" Y" ,add_homing[1] );
+    SERIAL_ECHOPAIR(" Z" ,add_homing[2] );
     SERIAL_ECHOLN("");
 #ifdef DELTA
     SERIAL_ECHO_START;
@@ -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);
 
@@ -211,7 +229,7 @@ void Config_RetrieveSettings()
         EEPROM_READ_VAR(i,max_xy_jerk);
         EEPROM_READ_VAR(i,max_z_jerk);
         EEPROM_READ_VAR(i,max_e_jerk);
-        EEPROM_READ_VAR(i,add_homeing);
+        EEPROM_READ_VAR(i,add_homing);
         #ifdef DELTA
 		EEPROM_READ_VAR(i,endstop_adj);
 		EEPROM_READ_VAR(i,delta_radius);
@@ -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
@@ -279,7 +303,7 @@ void Config_ResetDefault()
     max_xy_jerk=DEFAULT_XYJERK;
     max_z_jerk=DEFAULT_ZJERK;
     max_e_jerk=DEFAULT_EJERK;
-    add_homeing[0] = add_homeing[1] = add_homeing[2] = 0;
+    add_homing[0] = add_homing[1] = add_homing[2] = 0;
 #ifdef DELTA
 	endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
 	delta_radius= DELTA_RADIUS;

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();
@@ -207,14 +211,17 @@ extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all
 extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
 extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
 extern float current_position[NUM_AXIS] ;
-extern float add_homeing[3];
+extern float add_homing[3];
 #ifdef DELTA
 extern float endstop_adj[3];
 extern float delta_radius;
 extern float delta_diagonal_rod;
 extern float delta_segments_per_second;
 void recalc_delta_settings(float radius, float diagonal_rod);
 #endif
+#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];

Marlin/MarlinSerial.cpp

@@ -73,7 +73,7 @@ void MarlinSerial::begin(long baud)
   bool useU2X = true;
 
 #if F_CPU == 16000000UL && SERIAL_PORT == 0
-  // hard coded exception for compatibility with the bootloader shipped
+  // hard-coded exception for compatibility with the bootloader shipped
   // with the Duemilanove and previous boards and the firmware on the 8U2
   // on the Uno and Mega 2560.
   if (baud == 57600) {