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MarlinFirmware / Marlin

Marlin is an optimized firmware for RepRap 3D printers based on the Arduino platform. Many commercial 3D printers come with Marlin installed. Check with your vendor if you need source code for your specific machine.
https://marlinfw.org
GNU General Public License v3.0
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Dev version and bed levelling - wrong Z after G29 (several mm above bed) #1682

Closed harerama closed 9 years ago

harerama commented 9 years ago

I just upgraded to the latest dev version. I noticed one change that broke my init G-code. I had the following: G28 G1 Z10.0 F{travel_speed} ;move the platform down 10mm G29 Now, with the new version, the G1 move is NOT substracted from the final Z height, which results a wrong first layer Z (in this case, my printer started at Z=10+layer height which messed up the print).

The same init sequence was working perfectly previously. I just need to remove the G1 line to fix the problem, and I am fine with it, but you may want to lay the stress on this functional change.

As far as I remember I copied a starting sequence from some webpage, so there may be many users in the same situation.

Regards

Sniffle commented 9 years ago

-4.3 is the measured offset

-8.05 is the printable offset meaning if I want it to be properly spaced to have a successful print I use this. On Mar 27, 2015 10:46 PM, "alexborro" notifications@github.com wrote:

Ok, we have 2 offsets in your case: 4.3 x 8.05

Which one is closer to your real offset (distance between triggered probe and the tip) ?

Cheers

Alex. Em 28/03/2015 00:34, "Scott Lahteine" notifications@github.com escreveu:

I'll be monitoring the issue queue all weekend, in case there's anything needing to be fixed.

— Reply to this email directly or view it on GitHub < https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87154554

.

— Reply to this email directly or view it on GitHub https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87155763 .

alexborro commented 9 years ago

So we can tell that previous version of Marlin has more accurate probe offset. Em 28/03/2015 00:49, "Todd Swindoll" notifications@github.com escreveu:

-4.3 is the measured offset

-8.05 is the printable offset meaning if I want it to be properly spaced to have a successful print I use this. On Mar 27, 2015 10:46 PM, "alexborro" notifications@github.com wrote:

Ok, we have 2 offsets in your case: 4.3 x 8.05

Which one is closer to your real offset (distance between triggered probe and the tip) ?

Cheers

Alex. Em 28/03/2015 00:34, "Scott Lahteine" notifications@github.com escreveu:

I'll be monitoring the issue queue all weekend, in case there's anything needing to be fixed.

— Reply to this email directly or view it on GitHub <

https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87154554

.

— Reply to this email directly or view it on GitHub < https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87155763

.

— Reply to this email directly or view it on GitHub https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87156079 .

Sniffle commented 9 years ago

Yes, this all started with the code to raise the hotend before retracting the probe at the end of a G29. Before that it relied on the measured offset. On Mar 27, 2015 11:53 PM, "alexborro" notifications@github.com wrote:

So we can tell that previous version of Marlin has more accurate probe offset. Em 28/03/2015 00:49, "Todd Swindoll" notifications@github.com escreveu:

-4.3 is the measured offset

-8.05 is the printable offset meaning if I want it to be properly spaced to have a successful print I use this. On Mar 27, 2015 10:46 PM, "alexborro" notifications@github.com wrote:

Ok, we have 2 offsets in your case: 4.3 x 8.05

Which one is closer to your real offset (distance between triggered probe and the tip) ?

Cheers

Alex. Em 28/03/2015 00:34, "Scott Lahteine" notifications@github.com escreveu:

I'll be monitoring the issue queue all weekend, in case there's anything needing to be fixed.

— Reply to this email directly or view it on GitHub <

https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87154554

.

— Reply to this email directly or view it on GitHub <

https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87155763

.

— Reply to this email directly or view it on GitHub < https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87156079

.

— Reply to this email directly or view it on GitHub https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87160252 .

thinkyhead commented 9 years ago

@Sniffle So, maybe I just missed it, but what are your RAISE_* values?

Sniffle commented 9 years ago

Off the top of my head I believe 6 5 6

I'll edit this post tomorrow to confirm or correct but I am pretty sure that's it.

edited to correct values

On Mar 28, 2015 12:19 AM, "Scott Lahteine" notifications@github.com wrote:

@Sniffle https://github.com/Sniffle So, maybe I just missed it, but what are your RAISE_* values?

— Reply to this email directly or view it on GitHub https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87162579 .

oysteinkrog commented 9 years ago

Hmm, I had this issue (Z0 causes nozzle to hover several mm above bed) yesterday using head. Testing now with the same config I have the opposite problem, where Z0 causes head crash. Do I need to update the Z offset?

thinkyhead commented 9 years ago

@oysteinkrog There is some confusion concerning where the firmware "thinks" it is positioned after a G29, and how that is accomplished. The best bet is to look at the bed leveling code at the last point when it worked reliably, which is perhaps 2 weeks ago, and see what the heck it was doing. There was a point when the bed leveling equation functions ended with the line current_position[Z_AXIS] = zprobe_zoffset; – and this was apparently incorrect. But it might have been working for some.

In any case, I would rather have a look at the older code and truly know what it was doing, and that it was doing it correctly, and be able to say exactly why it's screwed up now, and have it solidly fixed, so… I'll be back in a bit with hopefully some answer.

thinkyhead commented 9 years ago

Specifically, the set_bed_level_equation functions from the 14th both end with these lines:

  ...
  current_position[Z_AXIS] = corrected_position.z;

  // put the bed at 0 so we don't go below it.
  current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure

  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}

Also, in the run_z_probe function, after st_synchronize(); the line endstops_hit_on_purpose(); was added.

I see also that handling of Z_PROBE_ALLEN_KEY was added recently to the engage/retract_z_probe functions. Unlike the other instances of st_synchronize() there are no calls to endstops_hit_on_purpose() in these handlers.

And, 2 weeks ago there was no Z_RAISE_AFTER_PROBING. That was added to retract_z_probe().

Code from 2 weeks ago also didn't have the Delta bed leveling, but that would only pertain to DELTA configurations. Comparing to March 1st next…

thinkyhead commented 9 years ago

The same line current_position[Z_AXIS] = corrected_position.z; was also in the code on March 1. It is possible that it's the right thing to do, even though it makes the previous line superfluous.

Sniffle commented 9 years ago

@thinkyhead when I flashed after #1666 had been merged, was when i started having issues and i think that is around when this issue came into being on the bug tracker.

as a matter of fact #1666 was merged 6 days ago, and this issue was posted the next day.

thinkyhead commented 9 years ago

@Sniffle I will compare based on that exact commit & see what there is to see…

thinkyhead commented 9 years ago

@Sniffle Ok, the only thing that I can see in that particular PR is this change for Z_PROBE_ALLEN_KEY which was all part of a merge of Delta code.

#elif defined(Z_PROBE_ALLEN_KEY)

The old line was:

#elif not defined(SERVO_ENDSTOPS)

And I think it probably should be this:

#elif defined(Z_PROBE_ALLEN_KEY) || !defined(SERVO_ENDSTOPS)

That may have nothing to do with anything, but might as well change that. I will continue to look further, comparing code from 7 days ago, before this delta merge, to see what else might be different.

oysteinkrog commented 9 years ago

@thinkyhead If it is any help, 96b5da7 works for me (as it was working for a long time), i.e. it fixed the "hover" problem.

thinkyhead commented 9 years ago

@oysteinkrog There is one notable bug in gcode_G28 in that commit that you should patch if you will be using it.

for (int i = X_AXIS; i <= NUM_AXIS; i++) destination[i] = current_position[i];

Should be

for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i];

or

for (int i = X_AXIS; i <= E_AXIS; i++) destination[i] = current_position[i];

I am comparing the code from yesterday (the 28th) to the code from that commit, and there are some other differences that might be involved, but it's hard to tell without testing. All I'm doing is comparing the Marlin_main.cpp files side by side with BBEdit. One from yesterday afternoon, and the one from https://github.com/MarlinFirmware/Marlin/commit/96b5da71983adffa86dffa5961da78aa24183fb4, and I will list the more interesting differences that I find soon…

thinkyhead commented 9 years ago

Well, only two differences in these versions of Marlin_main.cpp seem worth noting.

(1) The line endstops_hit_on_purpose(); has been added after the calls to st_synchronize in run_z_probe.

(2) The equation for planeNormal in set_bed_level_equation_3pts was altered according to a suggestion from someone "in the know." The old code was:

vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));

and the new code is:

vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();

if (planeNormal.z < 0) {
  planeNormal.x = -planeNormal.x;
  planeNormal.y = -planeNormal.y;
  planeNormal.z = -planeNormal.z;
}
thinkyhead commented 9 years ago

Now I'm comparing the code from the 20th – before #1666 that @Sniffle cited. In that code, this infamous line is included in the set_bed_level_equation_* functions:

// put the bed at 0 so we don't go below it.
current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure

The set_bed_level_equation_* functions (to set the bed leveling plane) are called after bed leveling is complete, passing the coefficients –or the 3 z coordinate readings– depending on the type of leveling being used. The code which alters current_position at the end of these functions is apparently intended to correct the current coordinates, given the new plane normal that applies to the bed.

Given the way this works, an XY point far above the bed will be shifted farther than an XY point at Z=1, and an XY point at Z=0 will not be shifted at all. This gives the further impression that the plane-based bed leveling will move X and Y in response to a pure Z movement, to account for the angle of the bed (and doesn't just adjust the Z in response to the XY).

It seems to me that the point where the nozzle finds itself after probing should actually be "uncorrected" – that is, it needs to figure out what coordinates it would be if it had been reached starting from Z=0. For example, if the bed is tilted with the left side higher than the right, X will be shifted to the right, and if Z is left of center, the Z coordinate will go down. Perhaps the correction is done right, subtracting rather than adding, dividing rather than multiplying… but someone will have to educate me on this.

Anyway, just thinking out loud to make sense of it, and to decide what, in the end, the real Z coordinate should be. If it has been corrected for an angular bed, it might go up or down a little bit, depending on how off-center XY is, and how angled the bed is. But, if the Z is corrected, then if you drop Z straight down and you don't adjust XY as Z moves, Z will end up somewhere off the bed, or will try to go below it.

So… please correct my logic if I'm reading this code or stating these implications incorrectly.

nophead commented 9 years ago

I think current_position[Z_AXIS] = zprobe_zoffset; is correct, if and only if at the time it is executed the nozzle is that far above the bed at the current XY position. I.e. the probe is just activated. If the machine is anywhere else it must be bogus.

However if the bed is not perfectly flat it doesn't make sense to base the z position on the last point probed anyway. It should be based on the plane equation where all the probed points will have some bearing on it, even when in three point mode.

In my original implementation I don't fiddle around with the z calibration. My transformation does an offset as well as a rotation so model X,Y,Z gets converted to machine X, Y, Z and I never need the reverse translation. It is far less confusing IMHO.

thinkyhead commented 9 years ago

That old line current_position[Z_AXIS] = zprobe_zoffset is in the code once more, now, and the issue reports have died down. I can only assume it's good enough. Still dealing with issues of the z axis not lifting between probes, but when probing works the results are seeming good, according to reports (and lack of reports).

Sniffle commented 9 years ago

I've still got to flash this and test I'll work on it tomorrow and report back

On Mon, Mar 30, 2015 at 10:03 PM, Scott Lahteine notifications@github.com wrote:

That old line is in the code once more, now, and the issue reports have died down. I can only assume it's good enough. Still dealing with issues of the z axis not lifting between probes, but when probing works the results are seeming good, according to reports (and lack of reports).

— Reply to this email directly or view it on GitHub https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-87915851 .

alvinavr commented 9 years ago

G28 is fixed for me with version b897305 5e82ed4, thanks. However, I have to use M851 to set the offset, not M206.

Will test G29 later

thinkyhead commented 9 years ago

@alvinavr Yes, this comment is wrong:

// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.

It should say:

// Use M851 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
harerama commented 9 years ago

I haven't tested the latest version yet - I am still using my modified version without the infamous line. However I doubt this will work with that line back in the code: when it is called, the "probe_pt" function has just been called, and therefore, the nozzle is at a Z ~= Z_RAISE_BEFORE_PROBING I don't see, when reading the code, why this would be equal to zprobe_zoffset.

I will try the new version but I am not convinced it will solve the problem.

thinkyhead commented 9 years ago

@harerama If you can try it both ways – with the infamous line and without – and note any differences, that might finally put a nail in this coffin.

nophead commented 9 years ago

If the probe is raised at the time of the call I think it would need to be

current_position[Z_AXIS] = zprobe_zoffset + Z_RAISE_BEFORE_PROBING;

But if that is true, how did it ever work before?

thinkyhead commented 9 years ago

Maybe the Z position just needs to be left unchanged here. That would be another thing to try.

nophead commented 9 years ago

Looking at an old version of Marlin I think the probe did not raise after the last point, it just retracted, so the Z position was equal to the point where the probe triggered, hence why it used to work (although far from optimal to only use the last point probed).

thinkyhead commented 9 years ago

Well then, I think the best code must be this then:

current_position[Z_AXIS] = corrected_position.z;

It has the inverse transform applied, so if you move Z downward (not straight down, but parallel to the normal of the plane) to 0 then it should land in the right place at the right height. If you moved Z straight down to 0, however, it will be too high or low by some small amount. Fortunately, once the planner has the plan_bed_level_matrix all moves are affected by it.

thinkyhead commented 9 years ago

1756

nophead commented 9 years ago

You might also want to correct this line: https://github.com/MarlinFirmware/Marlin/blob/Development/Marlin/Marlin_main.cpp#L1045.

It should use c from the plane equation. It can't be one if a and b are none zero as for a rotation a^2+b^2+c^2 = 1

alvinavr commented 9 years ago

With G29 the head is not raised before lowering the probe. Consequently the probe arm hits the bed and does not lower correctly.

Actually the head is lowered! before lowering the probe. From the distance above the bed I think it is lowered to Z_RAISE_BETWEEN_PROBINGS.

alvinavr commented 9 years ago

Also with G29 the probe is raised before probing the last point. I am using a 2x2 grid.

thinkyhead commented 9 years ago

@alvinavr #1764 adds code to account for the current Z position when using Z_RAISE options. Other cleanup as well to help make the this code clearer.

alvinavr commented 9 years ago

Just did a pull. I dont see #1764 in the log.

thinkyhead commented 9 years ago

You will have noted by now on the page for #1764 that it had not yet been merged. But it is now.

lrpirlet commented 9 years ago

You have Z_SAFE_HOMING enabled...

could it be that the 2.3 mm offset correspond to the Z height at the safe position???

#define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
#define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)
alvinavr commented 9 years ago

I am on #1771. Still the same 2 problems with G29.

1/ There is no raise of the head before lowering the probe. Z_RAISE_BEFORE_PROBING does not appear in the code that is enabled by my option settings. I have ENABLE_AUTO_BED_LEVELING, AUTO_BED_LEVELING_GRID and Z_SAFE_HOMING defined. Full config file below.

2/ G29 and G29 V4 behave differently. The probe is always raised at point (X130 Y119) regardles of which point is probed last. Without V4 the order is (X10 Y30) (X130 Y30) (X130 Y119) (X10 Y119) and this fails because the probe is raised at the third point. With V4 the order is (X10 Y30) (X130 Y30) (X10 Y119) (X130 Y119) which works as the probe is raised at the last point.

Configuration.h

#ifndef CONFIGURATION_H
#define CONFIGURATION_H

#include "boards.h"

//===========================================================================
//============================= Getting Started =============================
//===========================================================================
/*
Here are some standard links for getting your machine calibrated:
 * http://reprap.org/wiki/Calibration
 * http://youtu.be/wAL9d7FgInk
 * http://calculator.josefprusa.cz
 * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
 * http://www.thingiverse.com/thing:5573
 * https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
 * http://www.thingiverse.com/thing:298812
*/

// This configuration file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration

//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// 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.
#define STRING_VERSION "1.0.2avr"
#define STRING_URL "reprap.org"
#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
#define STRING_CONFIG_H_AUTHOR "(avr, Huxley config)" // Who made the changes.
#define STRING_SPLASH_LINE1 "v" STRING_VERSION // will be shown during bootup in line 1
//#define STRING_SPLASH_LINE2 STRING_VERSION_CONFIG_H // will be shown during bootup in line2

// SERIAL_PORT selects which serial port should be used for communication with the host.
// This allows the connection of wireless adapters (for instance) to non-default port pins.
// 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
#define BAUDRATE 250000

// This enables the serial port associated to the Bluetooth interface
//#define BTENABLED              // Enable BT interface on AT90USB devices

// The following define selects which electronics board you have.
// Please choose the name from boards.h that matches your setup
#ifndef MOTHERBOARD
#define MOTHERBOARD 63
#endif

// Define this to set a custom name for your generic Mendel,
// #define CUSTOM_MENDEL_NAME "This Mendel"

// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"

// This defines the number of extruders
#define EXTRUDERS 1

// 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).
// For the other hotends it is their distance from the extruder 0 hotend.
//#define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
//#define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis

//// The following define selects which power supply you have. Please choose the one that matches your setup
// 1 = ATX
// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)

#define POWER_SUPPLY 1

// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
// #define PS_DEFAULT_OFF

//===========================================================================
//============================= Thermal Settings ============================
//===========================================================================
//
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
//
//// Temperature sensor settings:
// -2 is thermocouple with MAX6675 (only for sensor 0)
// -1 is thermocouple with AD595
// 0 is not used
// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
// 3 is Mendel-parts thermistor (4.7k pullup)
// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
// 13 is 100k Hisens 3950  1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
// 20 is the PT100 circuit found in the Ultimainboard V2.x
// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
//
//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
//                          (but gives greater accuracy and more stable PID)
// 51 is 100k thermistor - EPCOS (1k pullup)
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
//
// 1047 is Pt1000 with 4k7 pullup
// 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
//     Use it for Testing or Development purposes. NEVER for production machine.
//     #define DUMMY_THERMISTOR_998_VALUE 25
//     #define DUMMY_THERMISTOR_999_VALUE 100

#define TEMP_SENSOR_0 10
#define TEMP_SENSOR_1 0
#define TEMP_SENSOR_2 0
#define TEMP_SENSOR_3 0
#define TEMP_SENSOR_BED 8

#define ALGERBRAIC_THERMISTOR

#ifdef ALGERBRAIC_THERMISTOR
  #define ABS_ZERO -273.15
  #define AD_RANGE 16383

  // Bed thermistor: VISHAY BC COMPONENTS NTCS0603E3104FXT - All Huxleys with heated bed PCB
  #define BED_BETA 4100.0
  #define BED_NTC 100000.0

  // Extruder thermistor: RS 198-961 100k ohm 10% DO-35 NTC thermistor - All Huxleys before 25/2/14
  #define E_BETA 3960.0
  #define E_NTC 100000.0

  // Extruder thermistor: Digikey 480-3137-ND - All Huxleys shipped after 25/2/14
  //#define E_BETA 4138.0
  //#define E_NTC 100000.0

  #define E_RS SERIAL_R
  #define E_R_INF ( E_NTC*exp(-E_BETA/298.15) )

  #define BED_RS SERIAL_R
  #define BED_R_INF ( BED_NTC*exp(-BED_BETA/298.15) )

  #define SERIAL_R 4700
#endif //ALGERBRAIC_THERMISTOR

// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
//#define TEMP_SENSOR_1_AS_REDUNDANT
#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10

// Actual temperature must be close to target for this long before M109 returns success
#define TEMP_RESIDENCY_TIME 10  // (seconds)
#define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
#define TEMP_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.

// The minimal temperature defines the temperature below which the heater will not be enabled It is used
// to check that the wiring to the thermistor is not broken.
// Otherwise this would lead to the heater being powered on all the time.
#define HEATER_0_MINTEMP 5
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define HEATER_3_MINTEMP 5
#define BED_MINTEMP 5

// When temperature exceeds max temp, your heater will be switched off.
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
// You should use MINTEMP for thermistor short/failure protection.
#define HEATER_0_MAXTEMP 275
#define HEATER_1_MAXTEMP 275
#define HEATER_2_MAXTEMP 275
#define HEATER_3_MAXTEMP 275
#define BED_MAXTEMP 150

// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
// average current. The value should be an integer and the heat bed will be turned on for 1 interval of
// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4

// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS
//#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R
//#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R

//===========================================================================
//============================= PID Settings ================================
//===========================================================================
// PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning

// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP
  //#define PID_DEBUG // Sends debug data to the serial port.
  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
  //#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
  //#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
                                    // Set/get with gcode: M301 E[extruder number, 0-2]
  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
                                  // 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 PID_MAX  //limit for the integral term
  #define K1 0.95 //smoothing factor within the PID

// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
// Ultimaker
//    #define  DEFAULT_Kp 22.2
//    #define  DEFAULT_Ki 1.08
//    #define  DEFAULT_Kd 114

// RepRapPro Huxley
#define  DEFAULT_Kp 12.0
#define  DEFAULT_Ki 1.0
#define  DEFAULT_Kd 80

// MakerGear
//    #define  DEFAULT_Kp 7.0
//    #define  DEFAULT_Ki 0.1
//    #define  DEFAULT_Kd 12

// Mendel Parts V9 on 12V
//    #define  DEFAULT_Kp 63.0
//    #define  DEFAULT_Ki 2.25
//    #define  DEFAULT_Kd 440
#endif // PIDTEMP

//===========================================================================
//============================= PID > Bed Temperature Control ===============
//===========================================================================
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//
// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
// If your PID_dT is the default, and correct for your hardware/configuration, that means 7.689Hz,
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
// If your configuration is significantly different than this and you don't understand the issues involved, you probably
// shouldn't use bed PID until someone else verifies your hardware works.
// If this is enabled, find your own PID constants below.
//#define PIDTEMPBED
//
//#define BED_LIMIT_SWITCHING

// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
// so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current

//#define PID_BED_DEBUG // Sends debug data to the serial port.

#ifdef PIDTEMPBED
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
    #define  DEFAULT_bedKp 10.00
    #define  DEFAULT_bedKi .023
    #define  DEFAULT_bedKd 305.4

//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from pidautotune
//    #define  DEFAULT_bedKp 97.1
//    #define  DEFAULT_bedKi 1.41
//    #define  DEFAULT_bedKd 1675.16

// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
#endif // PIDTEMPBED

//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
//can be software-disabled for whatever purposes by
#define PREVENT_DANGEROUS_EXTRUDE
//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
#define PREVENT_LENGTHY_EXTRUDE

#define EXTRUDE_MINTEMP 155
#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 =========================
//===========================================================================

// Uncomment this option to enable CoreXY kinematics
// #define COREXY

// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA

// coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

#ifndef ENDSTOPPULLUPS
  // fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
  // #define ENDSTOPPULLUP_XMAX
  // #define ENDSTOPPULLUP_YMAX
  // #define ENDSTOPPULLUP_ZMAX
  // #define ENDSTOPPULLUP_XMIN
  // #define ENDSTOPPULLUP_YMIN
  // #define ENDSTOPPULLUP_ZMIN
#endif

// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool X_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Y_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS

// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0 // For all extruders

// Disables axis when it's not being used.
#define DISABLE_X false
#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

// Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
#define INVERT_X_DIR false
#define INVERT_Y_DIR false
#define INVERT_Z_DIR false
#define INVERT_E0_DIR true
#define INVERT_E1_DIR false
#define INVERT_E2_DIR false
#define INVERT_E3_DIR false

// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1

#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.

// Travel limits after homing (units are in mm)
#define X_MIN_POS 0
#define Y_MIN_POS 0
#define Z_MIN_POS 0
#define X_MAX_POS 140
#define Y_MAX_POS 140
#define Z_MAX_POS 90

//===========================================================================
//============================= Filament Runout Sensor ======================
//===========================================================================
//#define FILAMENT_RUNOUT_SENSOR // Uncomment for defining a filament runout sensor such as a mechanical or opto endstop to check the existence of filament
                                 // In RAMPS uses servo pin 2. Can be changed in pins file. For other boards pin definition should be made.
                                 // It is assumed that when logic high = filament available
                                 //                    when logic  low = filament ran out
//const bool FIL_RUNOUT_INVERTING = true;  // Should be uncommented and true or false should assigned
//#define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.

//===========================================================================
//============================ Manual Bed Leveling ==========================
//===========================================================================

// #define MANUAL_BED_LEVELING  // Add display menu option for bed leveling
// #define MESH_BED_LEVELING    // Enable mesh bed leveling

#if defined(MESH_BED_LEVELING)
  #define MESH_MIN_X 10
  #define MESH_MAX_X (X_MAX_POS - MESH_MIN_X)
  #define MESH_MIN_Y 10
  #define MESH_MAX_Y (Y_MAX_POS - MESH_MIN_Y)
  #define MESH_NUM_X_POINTS 3  // Don't use more than 7 points per axis, implementation limited
  #define MESH_NUM_Y_POINTS 3
  #define MESH_HOME_SEARCH_Z 4  // Z after Home, bed somewhere below but above 0.0
#endif  // MESH_BED_LEVELING

//===========================================================================
//============================= 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

  // There are 2 different ways to specify probing locations
  //
  // - "grid" mode
  //   Probe several points in a rectangular grid.
  //   You specify the rectangle and the density of sample points.
  //   This mode is preferred because there are more measurements.
  //
  // - "3-point" mode
  //   Probe 3 arbitrary points on the bed (that aren't colinear)
  //   You specify the XY coordinates of all 3 points.

  // Enable this to sample the bed in a grid (least squares solution)
  // Note: this feature generates 10KB extra code size
  #define AUTO_BED_LEVELING_GRID

  #ifdef AUTO_BED_LEVELING_GRID

    #define LEFT_PROBE_BED_POSITION 10
    #define RIGHT_PROBE_BED_POSITION 130
    #define FRONT_PROBE_BED_POSITION 30
    #define BACK_PROBE_BED_POSITION 119

    #define MIN_PROBE_EDGE 0 // The probe square sides can be no smaller than this

    // Set the number of grid points per dimension
    // You probably don't need more than 3 (squared=9)
    #define AUTO_BED_LEVELING_GRID_POINTS 2

  #else  // !AUTO_BED_LEVELING_GRID

      // Arbitrary points to probe. A simple cross-product
      // is used to estimate the plane of the bed.
      #define ABL_PROBE_PT_1_X 15
      #define ABL_PROBE_PT_1_Y 180
      #define ABL_PROBE_PT_2_X 15
      #define ABL_PROBE_PT_2_Y 20
      #define ABL_PROBE_PT_3_X 170
      #define ABL_PROBE_PT_3_Y 20

  #endif // AUTO_BED_LEVELING_GRID

  // Offsets to the probe relative to the extruder tip (Hotend - Probe)
  // X and Y offsets must be integers
  #define X_PROBE_OFFSET_FROM_EXTRUDER 2       // Probe on: -left  +right
  #define Y_PROBE_OFFSET_FROM_EXTRUDER -20     // Probe on: -front +behind
  #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35  // -below (always!)

  #define Z_RAISE_BEFORE_HOMING 15      // (in mm) Raise Z before homing (G28) for Probe Clearance.
                                        // Be sure you have this distance over your Z_MAX_POS in case

  #define XY_TRAVEL_SPEED 8000         // X and Y axis travel speed between probes, in mm/min

  #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_RAISE_AFTER_PROBING 15    //How much the extruder will be raised after the last probing point.

//   #define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10" //These commands will be executed in the end of G29 routine.
                                                                            //Useful to retract a deployable probe.

  //#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.
  // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.

#define PROBE_SERVO_DEACTIVATION_DELAY 300

//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
//it is highly recommended you let this Z_SAFE_HOMING enabled!!!

  #define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
                          // When defined, it will:
                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing
                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
                          // - Block Z homing only when the probe is outside bed area.

  #ifdef Z_SAFE_HOMING

    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)
    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)

  #endif

#endif // ENABLE_AUTO_BED_LEVELING

// The position of the homing switches
//#define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used
//#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)

// Manual homing switch locations:
// For deltabots this means top and center of the Cartesian print volume.
#ifdef MANUAL_HOME_POSITIONS
  #define MANUAL_X_HOME_POS 0
  #define MANUAL_Y_HOME_POS 0
  #define MANUAL_Z_HOME_POS 0
  //#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
#endif

//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {20*60, 20*60, 2*60, 0}  // set the homing speeds (mm/min)

// default settings

#define DEFAULT_AXIS_STEPS_PER_UNIT    {92.635, 92.635, 4000, 660}   // <- 17-tooth printed pulley 
#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 45}    // (mm/sec)
#define DEFAULT_MAX_ACCELERATION      {1000,1000,50,250}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.

#define DEFAULT_ACCELERATION          1000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION  1000   // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION  1000

// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
#define DEFAULT_XYJERK                15.0    // (mm/sec)
#define DEFAULT_ZJERK                 0.4     // (mm/sec)
#define DEFAULT_EJERK                 15.0    // (mm/sec)

//=============================================================================
//============================= Additional Features ===========================
//=============================================================================

// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
  #ifdef ENABLE_AUTO_BED_LEVELING
    #define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
    #define Z_PROBE_OFFSET_RANGE_MIN -20
    #define Z_PROBE_OFFSET_RANGE_MAX 20
  #endif
#endif

// EEPROM
// The microcontroller can store settings in the EEPROM, e.g. max velocity...
// M500 - stores parameters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
//define this to enable EEPROM support
#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

// Preheat Constants
#define PLA_PREHEAT_HOTEND_TEMP 180
#define PLA_PREHEAT_HPB_TEMP 70
#define PLA_PREHEAT_FAN_SPEED 0   // Insert Value between 0 and 255

#define ABS_PREHEAT_HOTEND_TEMP 240
#define ABS_PREHEAT_HPB_TEMP 110
#define ABS_PREHEAT_FAN_SPEED 0   // Insert Value between 0 and 255

//==============================LCD and SD support=============================

// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu, kana, kana_utf8, test
// See also language.h
#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)

// Choose ONE of these 3 charsets. This has to match your hardware. Ignored for full graphic display.
// To find out what type you have - compile with (test) - upload - click to get the menu. You'll see two typical lines from the upper half of the charset.
// See also documentation/LCDLanguageFont.md
  #define DISPLAY_CHARSET_HD44780_JAPAN        // this is the most common hardware
  //#define DISPLAY_CHARSET_HD44780_WESTERN
  //#define DISPLAY_CHARSET_HD44780_CYRILLIC

//#define ULTRA_LCD  //general LCD support, also 16x2
//#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.
//#define ULTIPANEL  //the UltiPanel as on Thingiverse
//#define LCD_FEEDBACK_FREQUENCY_HZ 1000    // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
                                               // 0 to disable buzzer feedback  

// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
// http://reprap.org/wiki/PanelOne
//#define PANEL_ONE

// The MaKr3d Makr-Panel with graphic controller and SD support
// http://reprap.org/wiki/MaKr3d_MaKrPanel
//#define MAKRPANEL

// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
// http://panucatt.com
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define VIKI2
//#define miniVIKI

// The RepRapDiscount Smart Controller (white PCB)
// http://reprap.org/wiki/RepRapDiscount_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
//#define G3D_PANEL

// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)
// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
//
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER

// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
//#define REPRAPWORLD_KEYPAD
//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click

// The Elefu RA Board Control Panel
// http://www.elefu.com/index.php?route=product/product&product_id=53
// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
//#define RA_CONTROL_PANEL

/**
 * I2C Panels
 */

//#define LCD_I2C_SAINSMART_YWROBOT

// PANELOLU2 LCD with status LEDs, separate encoder and click inputs
//#define LCD_I2C_PANELOLU2

// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
//#define LCD_I2C_VIKI

// Shift register panels
// ---------------------
// 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection

//#define SAV_3DLCD

// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
//#define FAST_PWM_FAN

// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
// which is not as annoying as with the hardware PWM. On the other hand, if this frequency
// is too low, you should also increment SOFT_PWM_SCALE.
//#define FAN_SOFT_PWM

// Incrementing this by 1 will double the software PWM frequency,
// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
// However, control resolution will be halved for each increment;
// at zero value, there are 128 effective control positions.
#define SOFT_PWM_SCALE 0

// Temperature status LEDs that display the hotend and bet temperature.
// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
// Otherwise the RED led is on. There is 1C hysteresis.
//#define TEMP_STAT_LEDS

// M240  Triggers a camera by emulating a Canon RC-1 Remote
// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
// #define PHOTOGRAPH_PIN     23

// SF send wrong arc g-codes when using Arc Point as fillet procedure
//#define SF_ARC_FIX

// Support for the BariCUDA Paste Extruder.
//#define BARICUDA

//define BlinkM/CyzRgb Support
//#define BLINKM

/*********************************************************************\
* R/C SERVO support
* Sponsored by TrinityLabs, Reworked by codexmas
**********************************************************************/

// Number of servos
//
// If you select a configuration below, this will receive a default value and does not need to be set manually
// set it manually if you have more servos than extruders and wish to manually control some
// leaving it undefined or defining as 0 will disable the servo subsystem
// If unsure, leave commented / disabled
//
#define NUM_SERVOS 1 // Servo index starts with 0 for M280 command

// Servo Endstops
//
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 90,0} // X,Y,Z Axis Extend and Retract angles

/**********************************************************************\
 * Support for a filament diameter sensor
 * Also allows adjustment of diameter at print time (vs  at slicing)
 * Single extruder only at this point (extruder 0)
 *
 * Motherboards
 * 34 - RAMPS1.4 - uses Analog input 5 on the AUX2 connector
 * 81 - Printrboard - Uses Analog input 2 on the Exp1 connector (version B,C,D,E)
 * 301 - Rambo  - uses Analog input 3
 * Note may require analog pins to be defined for different motherboards
 **********************************************************************/
// 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 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)

//defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA  DEFAULT_NOMINAL_FILAMENT_DIA  //set measured to nominal initially

//When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status.  Status will appear for 5 sec.
//#define FILAMENT_LCD_DISPLAY

#include "Configuration_adv.h"
#include "thermistortables.h"

#endif //CONFIGURATION_H
thinkyhead commented 9 years ago

Can someone explain "safe homing"? I've read the code but I don't quite get it.

So far, Z_RAISE_BEFORE_PROBING has not been an option for homing, but since we put options to raise the probe in the retract_probe routine, perhaps this belongs in engage_probe so it will work for homing and not just auto leveling.

alvinavr commented 9 years ago

@thinkyhead The comment in Configuration.h is:

#define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.
                        // When defined, it will:
                        // - Allow Z homing only after X and Y homing AND stepper drivers still enabled
                        // - If stepper drivers timeout, it will need X and Y homing again before Z homing
                        // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
                        // - Block Z homing only when the probe is outside bed area.

I thought it would be a good idea to enable. I had made the mistake of homing(G28) when the probe wasn’t over the bed a few times causing a head crash.

I will try with Z_SAFE_HOMING disabled.

alvinavr commented 9 years ago

I have a fix for not raising the head before lowering the probe. Line 2325 file Marlin_main.cpp. On the first probe, probePointCounter==0, the head should be raised by Z_RAISE_BEFORE_PROBING to give clearance to lower the probe.

new:

// raise extruder
float measured_z,
      z_before = Z_RAISE_BETWEEN_PROBINGS + (probePointCounter ? current_position[Z_AXIS] :Z_RAISE_BEFORE_PROBING);

old:

// raise extruder
float measured_z,
      z_before = Z_RAISE_BETWEEN_PROBINGS + (probePointCounter ? current_position[Z_AXIS] : 0);
alvinavr commented 9 years ago

Fix for G29 and G29 V4 incorrect raise of Z probe.

The code for raising the probe is based upon the position of the head. The last probe point is calculated and when the head reaches that position the probe is raised. However, if V4 is set the order of the probe points is changed. This changed order is not taken into account when checking for the last probe point. This is only triggered if the grid size is an even number, in my case 2x2. The below change corrects this. Not so simple, sometimes xCount counts down, sometimes up.

In file Marlin_main.cpp line 2339. new:

      else if (yCount == auto_bed_leveling_grid_points - 1 && xCount == xStop - xInc)

old:

      else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1)
Sniffle commented 9 years ago

@thinkyhead

I finally had a chance to flash the most recent pushes. I went ahead and did the >= typo fix just in case it created a compile error....

My measured offset hasn't changed it is still 4.3mm

My useful offset is 7.3-7.4

Since nothing has really changed for the cartesian points i figured you might wnat to know the exact procedure my bed leveling goes through... 

#define Z_RAISE_BEFORE_PROBING 6  
#define Z_RAISE_BETWEEN_PROBINGS 5 
#define Z_RAISE_AFTER_PROBING 6

G28 (safe homing active)

G29

all measurements were taken from the screen which i would expect to be accurate

AnHardt commented 9 years ago

The < = typo is not relevant here. It only effects when FWRETRACT is defined.

Sniffle commented 9 years ago

I didn't think it would be but it was a simple thing and just in case it made sure it wasn't an issue. On Apr 2, 2015 11:11 PM, "AnHardt" notifications@github.com wrote:

The < = typo is not relevant here. It only effects when FWRETRACT is defined.

— Reply to this email directly or view it on GitHub https://github.com/MarlinFirmware/Marlin/issues/1682#issuecomment-89155795 .

thinkyhead commented 9 years ago

@alvinavr I'm thinking actually this might be more correct? What do you think?

z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING;
thinkyhead commented 9 years ago

Here are some of my recent homing notes, trying to get worked out how G28 should behave in all cases… Trying to eliminate the need for SAFE_HOMING as a separate option

alvinavr commented 9 years ago

@thinkyhead Yes, you are correct. This is better.

z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING;

It tested OK on my Huxley.

alvinavr commented 9 years ago

@thinkyhead I just tested #1819. Test results are:

G29 P2 ;fail
G29 P3 ;pass
G29 P4 ;fail
G29 P2 V4 ;pass
G29 P3 V4 ;pass

The failure mode is that the last probe point(s) are probed with the Z probe up, not down. The code at line 2325 has triggered act = ProbeStow.

With the zigzag logic the direction of X travel on the last line of probe points depends upon an even or odd P. With V4 or T, zigzag is disabled and the direction is always the same. The last line of probes can be done in reverse order, starting at auto_bed_leveling_grid_points - 1 and finishing at 0.

The following would correct for this, line 2325 in Marlin_main.cpp

else if (yCount == auto_bed_leveling_grid_points - 1 && xCount == xStop - xInc)
thinkyhead commented 9 years ago

@alvinavr I have made that correction in Development, so that should work correctly now.

thinkyhead commented 9 years ago

Keeping this alive because this is the first date when things started getting weird. So I traced back to commit 89fe774 and decided to start before that, with a version before March 16.

git checkout 89fe774~1 -b before_delta_merge

I am comparing to that, and will have a couple of semi-reverted versions to test soon...

a4jp-com commented 9 years ago

Is this problem almost fixed?

https://github.com/MarlinFirmware/Marlin/issues/2334#issuecomment-120691082

This thread is kind of the same, isn't it?