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1948 lines
82 KiB
1948 lines
82 KiB
#ifndef CONDITIONALS_LULZBOT
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#define CONDITIONALS_LULZBOT
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/* We define LULZBOT_ macros based on which printer or toolhead we are
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* building for, these macros are then placed where appropriate in the
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* Marlin source.
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*
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* Using our own set of macros and limiting changes to Marlin's files
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* to one-liners makes it easier to merge from upstream. All macros are
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* prefixed with LULZBOT_ so that it is easy to see what was changed and
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* where. If a default setting is commented out in Marlin, we define
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* LULZBOT_{SETTING}_DISABLED here, so we have a record of things that
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* got disabled.
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*/
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#define LULZBOT_FW_VERSION ".75" // Change this with each update
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#if ( \
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!defined(LULZBOT_Gladiola_Mini) && \
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!defined(LULZBOT_Gladiola_MiniLCD) && \
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!defined(LULZBOT_Juniper_TAZ5) && \
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!defined(LULZBOT_Oliveoil_TAZ6) && \
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!defined(LULZBOT_Hibiscus_Mini2) && \
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!defined(LULZBOT_Quiver_TAZ7) \
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) || ( \
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!defined(TOOLHEAD_Gladiola_SingleExtruder) && \
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!defined(TOOLHEAD_Albatross_Flexystruder) && \
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!defined(TOOLHEAD_Finch_Aerostruder) && \
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!defined(TOOLHEAD_Finch_AerostruderV2) && \
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!defined(TOOLHEAD_Tilapia_SingleExtruder) && \
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!defined(TOOLHEAD_Kanyu_Flexystruder) && \
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!defined(TOOLHEAD_Opah_Moarstruder) && \
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!defined(TOOLHEAD_Javelin_DualExtruderV2) && \
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!defined(TOOLHEAD_Longfin_FlexyDually) && \
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!defined(TOOLHEAD_Yellowfin_DualExtruderV3) && \
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!defined(TOOLHEAD_Angelfish_Aerostruder) && \
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!defined(TOOLHEAD_Devel_ServoDual) \
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)
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#error Must specify model and toolhead. Please see "Configuration_LulzBot.h" for directions.
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#endif
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/*********************** PRINTER MODEL CHARACTERISTICS **************************/
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#if defined(LULZBOT_Gladiola_Mini)
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#define LULZBOT_CUSTOM_MACHINE_NAME "LulzBot Mini"
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#define LULZBOT_LCD_MACHINE_NAME "Mini"
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#define LULZBOT_IS_MINI
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#define LULZBOT_MINI_BED
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#define LULZBOT_USE_AUTOLEVELING
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#define LULZBOT_USE_MIN_ENDSTOPS
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#define LULZBOT_USE_MAX_ENDSTOPS
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#define LULZBOT_USE_NORMALLY_OPEN_ENDSTOPS
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#define LULZBOT_USE_Z_SCREW
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#define LULZBOT_BAUDRATE 250000
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#define LULZBOT_UUID "351487b6-ca9a-4c1a-8765-d668b1da6585"
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#endif
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#if defined(LULZBOT_Gladiola_MiniLCD)
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#define LULZBOT_CUSTOM_MACHINE_NAME "LulzBot Mini LCD"
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#define LULZBOT_LCD_MACHINE_NAME "Mini LCD"
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#define LULZBOT_IS_MINI
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#define LULZBOT_MINI_BED
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#define LULZBOT_USE_LCD_DISPLAY
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#define LULZBOT_USE_AUTOLEVELING
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#define LULZBOT_USE_MIN_ENDSTOPS
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#define LULZBOT_USE_MAX_ENDSTOPS
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#define LULZBOT_USE_NORMALLY_OPEN_ENDSTOPS
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#define LULZBOT_USE_Z_SCREW
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#define LULZBOT_BAUDRATE 250000
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#define LULZBOT_UUID "083f68f1-028e-494c-98e1-f2e0dfaee9a5"
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#endif
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#if defined(LULZBOT_Juniper_TAZ5)
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#define LULZBOT_CUSTOM_MACHINE_NAME "LulzBot TAZ 5"
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#define LULZBOT_LCD_MACHINE_NAME "TAZ 5"
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#define LULZBOT_IS_TAZ
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#define LULZBOT_TAZ_BED
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#define LULZBOT_USE_LCD_DISPLAY
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#define LULZBOT_USE_MIN_ENDSTOPS
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#define LULZBOT_USE_NORMALLY_OPEN_ENDSTOPS
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#define LULZBOT_USE_Z_SCREW
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#define LULZBOT_BAUDRATE 250000
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#define LULZBOT_UUID "c3255c96-4097-4884-8ed0-ded2ff9bae61"
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#endif
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#if defined(LULZBOT_Oliveoil_TAZ6)
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#define LULZBOT_CUSTOM_MACHINE_NAME "LulzBot TAZ 6"
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#define LULZBOT_LCD_MACHINE_NAME "TAZ 6"
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#define LULZBOT_IS_TAZ
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#define LULZBOT_TAZ_BED
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#define LULZBOT_USE_LCD_DISPLAY
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#define LULZBOT_USE_AUTOLEVELING
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#define LULZBOT_USE_MIN_ENDSTOPS
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#define LULZBOT_USE_MAX_ENDSTOPS
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#define LULZBOT_USE_HOME_BUTTON
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#define LULZBOT_USE_NORMALLY_CLOSED_ENDSTOPS
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#define LULZBOT_USE_Z_SCREW
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#define LULZBOT_BAUDRATE 250000
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#define LULZBOT_UUID "845f003c-aebd-4e53-a6b9-7d0984fde609"
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#endif
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#if defined(LULZBOT_Hibiscus_Mini2)
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#define LULZBOT_CUSTOM_MACHINE_NAME "LulzBot Mini 2"
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#define LULZBOT_LCD_MACHINE_NAME "Mini 2"
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#define LULZBOT_IS_MINI
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#define LULZBOT_MINI_BED
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#define LULZBOT_USE_EINSYRAMBO
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#define LULZBOT_USE_EINSY_RETRO
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#define LULZBOT_USE_LCD_DISPLAY
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#define LULZBOT_TWO_PIECE_BED
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#define LULZBOT_USE_AUTOLEVELING
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#define LULZBOT_SENSORLESS_HOMING
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#define LULZBOT_USE_TMC_STEALTHCHOP_Z
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#define LULZBOT_USE_Z_BELT
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#define LULZBOT_BAUDRATE 250000
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#define LULZBOT_PRINTCOUNTER
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#define LULZBOT_USE_32_MICROSTEPS_ON_Z
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#define LULZBOT_UUID "e5502411-d46d-421d-ba3a-a20126d7930f"
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#define LULZBOT_MODERN_UI
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#endif
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#if defined(LULZBOT_Quiver_TAZ7)
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#define LULZBOT_CUSTOM_MACHINE_NAME "LulzBot TAZ 7"
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#define LULZBOT_LCD_MACHINE_NAME "TAZ 7"
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#define LULZBOT_IS_TAZ
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#define LULZBOT_TAZ_BED
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#define LULZBOT_TWO_PIECE_BED
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#define LULZBOT_USE_LCD_DISPLAY
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#define LULZBOT_USE_AUTOLEVELING
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#define LULZBOT_USE_MIN_ENDSTOPS
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#define LULZBOT_USE_MAX_ENDSTOPS
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#define LULZBOT_USE_NORMALLY_CLOSED_ENDSTOPS
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#define LULZBOT_USE_Z_BELT
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#define LULZBOT_BAUDRATE 250000
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#define LULZBOT_PRINTCOUNTER
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#define LULZBOT_UUID "a952577d-8722-483a-999d-acdc9e772b7b"
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#define LULZBOT_MODERN_UI
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#endif
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/****************************** DEBUGGING OPTIONS *******************************/
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//#define LULZBOT_TMC_SHOW_CURRENT_ADJUSTMENTS
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//#define LULZBOT_MONITOR_TMC_TEMPERATURE
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/**************************** GENERAL CONFIGURATION *****************************/
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#define LULZBOT_STRING_CONFIG_H_AUTHOR "(Aleph Objects Inc., LulzBot Git Repository)"
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#define LULZBOT_EEPROM_SETTINGS
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#define LULZBOT_EMERGENCY_PARSER
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#define LULZBOT_NOZZLE_PARK_FEATURE
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#define LULZBOT_AUTO_REPORT_TEMPERATURES
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#define LULZBOT_ADVANCED_OK
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#define LULZBOT_TX_BUFFER_SIZE 32
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#define LULZBOT_HOST_KEEPALIVE_FEATURE_DISABLED
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#define LULZBOT_CLARIFY_ERROR_MESSAGES
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// Marlin 1.1.4 has changed the behavior of G92 so that
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// it changes software endstops, making it less useful
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// for making position adjustments after hitting an
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// endstop. We need the old behavior of G92 for the
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// Yellowfin start GCODE and it is also a useful
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// feature for custom height adjustments (something
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// requested in the forums). The following restores
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// the old behavior.
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#define LULZBOT_G92_BACKWARDS_COMPATIBILITY
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// Prior branches of the LulzBot firmware used G26
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// to reset a probe failed condition. Marlin upstrem
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// now redefines that for unified bed leveling. The
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// following maps G26 to M999 for equivalent behavior,
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// so long as UBL is disabled.
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#define LULZBOT_G26_BACKWARDS_COMPATIBILITY
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// The following should be kept more or less like M999
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#define LULZBOT_G26_RESET_ACTION \
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Running = true; \
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lcd_reset_alert_level();
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// Fix for auto0.g, which is broken
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#define LULZBOT_AUTOSTART_BUGFIX
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// Q&A wants to be able to use M226 on endstops switches
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#define LULZBOT_NO_PIN_PROTECTION_ON_M226
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// Marlin 1.1.5 has an issue where bed leveling is disabled when homing,
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// this causes problems when rehoming X/Y after pausing a print. This
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// bug has been reported upstream as bug #8670
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#if defined(LULZBOT_USE_AUTOLEVELING)
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#define LULZBOT_G28_DISABLES_LEVELING_WORKAROUND
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#endif
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// Marlin 1.1.5 does not respect Z_HOMING_HEIGHT on the Mini. This has
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// been reported upstream as bug #8669
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#define LULZBOT_Z_HOMING_HEIGHT_WORKAROUND
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// Marlin 1.1.5 does not respect ENDSTOPS_ALWAYS_ON_DEFAULT at startup,
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// as described in T1393
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#define LULZBOT_ENDSTOPS_ALWAYS_ON_DEFAULT_WORKAROUND
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// Backport of upstream Marlin fix T7811 related to M600 resume_print
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#define LULZBOT_M600_BACKPORT_T7811
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// In Marlin 1.1.5, a paused print cannot be resumed from the LCD if
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// PAUSE_PARK_RETRACT_LENGTH is non-zero. This has been submitted as
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// bug #8703
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#define LULZBOT_LCD_PAUSE_WORKAROUND
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// Fix for OctoPrint serial buffer overflow when using auto temperature
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// report.
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// Back port of upstream https://github.com/MarlinFirmware/Marlin/commit/6ed284061580ffc6eef40df391afb30d2f8b45f5
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#define LULZBOT_OCTOPRINT_RX_BUFFER_OVERFLOW_WORKAROUND delay(2);
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/* In Marlin, the custom boot screen is incorrectly being drawn during
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* lcd_implementation_init, this causes the boot screen to flash
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* before entering menus, and also screws up the new modern UI */
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#define LULZBOT_CUSTOM_BOOTSCREEN_DURING_INIT_WORKAROUND
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/************************* EXPERIMENTAL FEATURES ******************************/
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#if defined(LULZBOT_USE_EXPERIMENTAL_FEATURES)
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#define LULZBOT_USE_STATUS_LED
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#endif
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/******************** MOTHERBOARD AND PIN CONFIGURATION ***********************/
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#if defined(TOOLHEAD_Devel_ServoDual)
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#undef LULZBOT_USE_HOME_BUTTON
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#endif
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// Whether endstops are inverting
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#define LULZBOT_NORMALLY_CLOSED_ENDSTOP false
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#define LULZBOT_NORMALLY_OPEN_ENDSTOP true
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#define LULZBOT_NO_ENDSTOP true
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#if defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_EINSYRAMBO)
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// Experimental Mini retrofitted with EinsyRambo from UltiMachine
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#define LULZBOT_MOTHERBOARD BOARD_EINSYRAMBO
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#define LULZBOT_CONTROLLER_FAN_PIN FAN1_PIN // Digital pin 6
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#elif defined(LULZBOT_IS_MINI)
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#define LULZBOT_MOTHERBOARD BOARD_MINIRAMBO
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#define LULZBOT_CONTROLLER_FAN_PIN FAN1_PIN // Digital pin 6
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#elif defined(LULZBOT_IS_TAZ)
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#define LULZBOT_MOTHERBOARD BOARD_RAMBO
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#define LULZBOT_CONTROLLER_FAN_PIN FAN2_PIN // Digital pin 2
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#endif
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#if defined(LULZBOT_USE_HOME_BUTTON)
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#define LULZBOT_Z_MIN_PROBE_ENDSTOP
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#define LULZBOT_Z_MIN_PROBE_PIN SERVO0_PIN // Digital pin 22
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// On the TAZ 6, the bed washers are on Z_MIN_PROBE while the
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// Z-Home button is on Z_MIN, yet we need both to be disabled
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// when z_probe_enabled is false. We added this special case
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// to "endstops.cpp"
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#define LULZBOT_Z_MIN_USES_Z_PROBE_ENABLED
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#elif defined(LULZBOT_SENSORLESS_HOMING_Z)
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/* When using stallguard for sensorless Z homing, "pins_EINSYRAMBO.h"
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/* ties Z_MIN and Z_MAX to the diag output on the TMC. For the
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/* electrical probe, we use the Z_MIN connector on the board. */
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#define LULZBOT_Z_MIN_PROBE_ENDSTOP
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#define LULZBOT_Z_MIN_PROBE_PIN BOARD_Z_MIN_PIN
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#else
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// The Mini and TAZ 7+ lack a home button and probe using the Z_MIN pin.
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#define LULZBOT_Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
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#endif
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/*********************** HOMING & AXIS DIRECTIONS ******************************/
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#define LULZBOT_INVERT_X_DIR false
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#define LULZBOT_INVERT_Y_DIR true
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#define LULZBOT_INVERT_Z_DIR false
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#define LULZBOT_INVERT_E0_DIR true
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#define LULZBOT_INVERT_E1_DIR true
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#if defined(LULZBOT_IS_MINI)
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#define LULZBOT_INVERT_X_HOME_DIR -1 // Home left
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#define LULZBOT_INVERT_Y_HOME_DIR 1 // Home bed forward
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#if defined(LULZBOT_SENSORLESS_HOMING_Z)
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#define LULZBOT_INVERT_Z_HOME_DIR -1 // Home to bottom
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#else
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#define LULZBOT_INVERT_Z_HOME_DIR 1 // Home to top
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#endif
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#define LULZBOT_QUICKHOME
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#elif defined(LULZBOT_Juniper_TAZ5)
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#define LULZBOT_INVERT_X_HOME_DIR -1 // Home left
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#define LULZBOT_INVERT_Y_HOME_DIR -1 // Home bed rear
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#define LULZBOT_INVERT_Z_HOME_DIR -1 // Home towards bed
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#define LULZBOT_QUICKHOME
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#elif defined(LULZBOT_IS_TAZ) && !defined(LULZBOT_USE_HOME_BUTTON)
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#define LULZBOT_INVERT_X_HOME_DIR -1 // Home left
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#define LULZBOT_INVERT_Y_HOME_DIR 1 // Home bed forward
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#define LULZBOT_INVERT_Z_HOME_DIR 1 // Home to top
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#define LULZBOT_QUICKHOME
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#elif defined(LULZBOT_IS_TAZ) && defined(LULZBOT_USE_HOME_BUTTON)
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#define LULZBOT_INVERT_X_HOME_DIR -1 // Home left
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#define LULZBOT_INVERT_Y_HOME_DIR 1 // Home bed forward
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#define LULZBOT_INVERT_Z_HOME_DIR -1 // Home towards bed
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#define LULZBOT_QUICKHOME
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#endif
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#if defined(LULZBOT_MINI_BED) && defined(LULZBOT_USE_Z_BELT)
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#define LULZBOT_HOMING_FEEDRATE_XY (50*60) // mm/m
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#define LULZBOT_HOMING_FEEDRATE_Z (40*60) // mm/m
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#elif defined(LULZBOT_MINI_BED) && defined(LULZBOT_USE_Z_SCREW)
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#define LULZBOT_HOMING_FEEDRATE_XY (30*60) // mm/m
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#define LULZBOT_HOMING_FEEDRATE_Z (8*60) // mm/m
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#elif defined(LULZBOT_TAZ_BED) && defined(LULZBOT_USE_Z_BELT)
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#define LULZBOT_HOMING_FEEDRATE_XY (50*60) // mm/m
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#define LULZBOT_HOMING_FEEDRATE_Z (10*60) // mm/m
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#elif defined(LULZBOT_TAZ_BED) && defined(LULZBOT_USE_Z_SCREW)
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#define LULZBOT_HOMING_FEEDRATE_XY (50*60) // mm/m
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#define LULZBOT_HOMING_FEEDRATE_Z (3*60) // mm/m
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#endif // LULZBOT_TAZ_BED
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// Only the TAZ 6 has a Z-homing button
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#if defined(LULZBOT_USE_HOME_BUTTON)
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#define LULZBOT_Z_SAFE_HOMING
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#define LULZBOT_Z_SAFE_HOMING_X_POINT (-19)
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#define LULZBOT_Z_SAFE_HOMING_Y_POINT (258)
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#define LULZBOT_Z_HOMING_HEIGHT 5
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#define LULZBOT_AFTER_Z_HOME_Z_RAISE 10
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#define LULZBOT_AFTER_Z_HOME_Z_ORIGIN 0
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#define LULZBOT_HOMING_USES_PROBE_PINS
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#elif defined(LULZBOT_IS_TAZ) && !defined(LULZBOT_USE_HOME_BUTTON)
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// TAZ 5 safe homing position so fan duct does not hit.
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#define LULZBOT_Z_SAFE_HOMING
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#define LULZBOT_Z_SAFE_HOMING_X_POINT 10
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#define LULZBOT_Z_SAFE_HOMING_Y_POINT 10
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#define LULZBOT_Z_HOMING_HEIGHT 5
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#else
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// On the Mini, raise nozzle to clear wiper pad before homing
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#define LULZBOT_Z_HOMING_HEIGHT 4
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#endif // LULZBOT_USE_HOME_BUTTON
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#define LULZBOT_G92_Z(z) \
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stepper.synchronize(); \
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current_position[Z_AXIS] = z; \
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SYNC_PLAN_POSITION_KINEMATIC();
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#define LULZBOT_G0_Z(z) \
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do_blocking_move_to_z(z);
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// On a TAZ, we need to raise the print head after homing to clear the button;
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// On the yellowfin we also need to reset the origin to account for the Z home riser.
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#if defined(LULZBOT_USE_HOME_BUTTON)
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#define LULZBOT_AFTER_Z_HOME_ACTION \
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if(home_all || homeZ) { \
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LULZBOT_G92_Z(LULZBOT_AFTER_Z_HOME_Z_ORIGIN); \
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LULZBOT_G0_Z(LULZBOT_AFTER_Z_HOME_Z_RAISE); \
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}
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#else
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#define LULZBOT_AFTER_Z_HOME_ACTION
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#endif
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/************************ STEPPER INACTIVITY TIMEOUT ****************************/
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#if !defined(LULZBOT_USE_MAX_ENDSTOPS)
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#define LULZBOT_HOME_AFTER_DEACTIVATE
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#endif
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#if defined(LULZBOT_USE_Z_BELT)
|
|
#define LULZBOT_DISABLE_INACTIVE_Z false
|
|
#else
|
|
#define LULZBOT_DISABLE_INACTIVE_Z true
|
|
#endif
|
|
|
|
/*********************** AUTOLEVELING / BED PROBE *******************************/
|
|
|
|
#if defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_MINI_BED) && defined(LULZBOT_USE_Z_BELT)
|
|
#define LULZBOT_LEFT_PROBE_BED_POSITION -6
|
|
#define LULZBOT_RIGHT_PROBE_BED_POSITION 162
|
|
#define LULZBOT_BACK_PROBE_BED_POSITION 164
|
|
#define LULZBOT_FRONT_PROBE_BED_POSITION -9
|
|
|
|
#elif defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_MINI_BED)
|
|
// In order to work with the Gladiola printers, we need to
|
|
// perform the probe right against the left and front endstops.
|
|
// This is extremely problematic and leads to other problems
|
|
// which are corrected for in the start GCODE.
|
|
#define LULZBOT_LEFT_PROBE_BED_POSITION LULZBOT_X_MIN_POS
|
|
#define LULZBOT_FRONT_PROBE_BED_POSITION LULZBOT_Y_MIN_POS
|
|
|
|
// The Gladiola has the probe points spaced further apart than
|
|
// earlier models. Since Gladiola FW has to work on earlier
|
|
// printers, we need to add a workaround because G29 hits the
|
|
// endstops and shifts the coordinate system around.
|
|
#define LULZBOT_RIGHT_PROBE_BED_POSITION 161
|
|
#define LULZBOT_BACK_PROBE_BED_POSITION 161
|
|
#define LULZBOT_USE_PRE_GLADIOLA_G29_WORKAROUND
|
|
|
|
#elif defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_TAZ_BED)
|
|
#define LULZBOT_LEFT_PROBE_BED_POSITION -9
|
|
#define LULZBOT_RIGHT_PROBE_BED_POSITION 288
|
|
#define LULZBOT_BACK_PROBE_BED_POSITION 289
|
|
#define LULZBOT_FRONT_PROBE_BED_POSITION -9
|
|
#endif
|
|
|
|
#if defined(LULZBOT_USE_AUTOLEVELING)
|
|
#define LULZBOT_NOZZLE_CLEAN_FEATURE
|
|
// Select type of leveling to use:
|
|
//#define LULZBOT_AUTO_BED_LEVELING_BILINEAR
|
|
#define LULZBOT_AUTO_BED_LEVELING_LINEAR
|
|
//#define LULZBOT_AUTO_BED_LEVELING_3POINT
|
|
#endif
|
|
|
|
#if defined(LULZBOT_AUTO_BED_LEVELING_3POINT)
|
|
// Experimental three point leveling.
|
|
#define LULZBOT_ABL_PROBE_PT_1_X LULZBOT_LEFT_PROBE_BED_POSITION
|
|
#define LULZBOT_ABL_PROBE_PT_1_Y LULZBOT_FRONT_PROBE_BED_POSITION
|
|
#define LULZBOT_ABL_PROBE_PT_2_X LULZBOT_RIGHT_PROBE_BED_POSITION
|
|
#define LULZBOT_ABL_PROBE_PT_2_Y LULZBOT_FRONT_PROBE_BED_POSITION
|
|
#define LULZBOT_ABL_PROBE_PT_3_X LULZBOT_RIGHT_PROBE_BED_POSITION
|
|
#define LULZBOT_ABL_PROBE_PT_3_Y LULZBOT_BACK_PROBE_BED_POSITION
|
|
#elif defined(LULZBOT_AUTO_BED_LEVELING_LINEAR) || defined(LULZBOT_AUTO_BED_LEVELING_BILINEAR)
|
|
// Traditionally LulzBot printers have employed a four-point leveling
|
|
// using a degenerate 2x2 grid. This is the traditional behavior.
|
|
#define LULZBOT_GRID_MAX_POINTS_X 2
|
|
#define LULZBOT_GRID_MAX_POINTS_Y 2
|
|
#if defined(LULZBOT_IS_MINI)
|
|
// We can't control the order of probe points exactly, but
|
|
// this makes the probe start closer to the wiper pad.
|
|
#define LULZBOT_PROBE_Y_FIRST
|
|
#else
|
|
// Restore the old probe sequence on the TAZ that starts
|
|
// probing on the washer underneath the wiper pad.
|
|
#define LULZBOT_LAST_PROBE_POINT_ON_BACK_LEFT_CORNER
|
|
#endif
|
|
#endif
|
|
|
|
/* Auto-leveling was introduced on the Mini and TAZ 6.
|
|
* Define probe parameters related to bed leveling,
|
|
* e.g. the washers on the bed. These are confusingly
|
|
* named Z_MIN_PROBE in Marlin. The Z-Home switch
|
|
* is called Z_MIN_ENDSTOP
|
|
*/
|
|
#if defined(LULZBOT_USE_AUTOLEVELING)
|
|
#define LULZBOT_FIX_MOUNTED_PROBE
|
|
#define LULZBOT_PROBE_POINTS_OUTSIDE_OF_BED
|
|
#endif // LULZBOT_USE_AUTOLEVELING
|
|
|
|
#define LULZBOT_PROBE_DOUBLE_TOUCH
|
|
#define LULZBOT_X_PROBE_OFFSET_FROM_EXTRUDER 0
|
|
#define LULZBOT_Y_PROBE_OFFSET_FROM_EXTRUDER 0
|
|
#define LULZBOT_Z_PROBE_OFFSET_RANGE_MIN -2
|
|
#define LULZBOT_Z_PROBE_OFFSET_RANGE_MAX 5
|
|
#define LULZBOT_XY_PROBE_SPEED 6000
|
|
#define LULZBOT_Z_PROBE_SPEED_SLOW (1*60)
|
|
#if defined(LULZBOT_USE_Z_BELT)
|
|
#define LULZBOT_Z_PROBE_SPEED_FAST (50*60)
|
|
#else
|
|
#define LULZBOT_Z_PROBE_SPEED_FAST (8*60)
|
|
#endif
|
|
#define LULZBOT_Z_CLEARANCE_DEPLOY_PROBE_WORKAROUND
|
|
#define LULZBOT_Z_CLEARANCE_DEPLOY_PROBE 5
|
|
#define LULZBOT_Z_CLEARANCE_BETWEEN_PROBES 5
|
|
|
|
/* We need to disable the extruder motor during probing as
|
|
it causes noise on the probe line of some Minis.
|
|
*/
|
|
#if defined(LULZBOT_IS_MINI)
|
|
#define LULZBOT_EXTRUDER_MOTOR_SHUTOFF_ON_PROBE(probing) \
|
|
if(probing) { \
|
|
disable_E0(); \
|
|
} else { \
|
|
enable_E0(); \
|
|
}
|
|
#else
|
|
#define LULZBOT_EXTRUDER_MOTOR_SHUTOFF_ON_PROBE(probing)
|
|
#endif
|
|
|
|
/* Enable the probe pins only only when homing/probing,
|
|
* as this helps reduce EMI by grounding the lines.
|
|
*
|
|
* On Mini:
|
|
* Z_MIN_PIN are the bed washers.
|
|
*
|
|
* On TAZ:
|
|
* Z_MIN_PIN corresponds to the Z-Home push button.
|
|
* Z_MIN_PROBE_PIN are the bed washers.
|
|
*
|
|
* On TAZ or Mini with TMC2130 and Sensorless Homing on Z:
|
|
* Z_MIN_PIN corresponds to stallguard diag pin
|
|
* Z_MIN_PROBE_PIN are the bed washers.
|
|
*/
|
|
#define LULZBOT_SET_PIN_STATE(pin, enable) \
|
|
if(enable) { \
|
|
/* Set as inputs with pull-up resistor */ \
|
|
SET_INPUT(pin); \
|
|
WRITE(pin, HIGH); \
|
|
} else { \
|
|
/* Ground to prevent EMI */ \
|
|
SET_OUTPUT(pin); \
|
|
WRITE(pin, LOW); \
|
|
}
|
|
|
|
#if defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_SENSORLESS_HOMING_Z)
|
|
#define LULZBOT_ENABLE_PROBE_PINS(enable) { \
|
|
endstops.enable_z_probe(enable); \
|
|
LULZBOT_SET_PIN_STATE(LULZBOT_Z_MIN_PROBE_PIN, enable) \
|
|
LULZBOT_EXTRUDER_MOTOR_SHUTOFF_ON_PROBE(enable) \
|
|
}
|
|
|
|
#elif defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_MINI_BED)
|
|
#define LULZBOT_ENABLE_PROBE_PINS(enable) { \
|
|
endstops.enable_z_probe(enable); \
|
|
LULZBOT_SET_PIN_STATE(Z_MIN_PIN, enable) \
|
|
LULZBOT_EXTRUDER_MOTOR_SHUTOFF_ON_PROBE(enable) \
|
|
}
|
|
|
|
#elif defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_USE_HOME_BUTTON)
|
|
#define LULZBOT_ENABLE_PROBE_PINS(enable) { \
|
|
endstops.enable_z_probe(enable); \
|
|
LULZBOT_SET_PIN_STATE(Z_MIN_PIN, enable) \
|
|
LULZBOT_SET_PIN_STATE(LULZBOT_Z_MIN_PROBE_PIN, enable) \
|
|
}
|
|
#else
|
|
#define LULZBOT_ENABLE_PROBE_PINS(enable)
|
|
#endif
|
|
|
|
/* Make it so M42 S<state> controls the state of the
|
|
/* probe lines. This is useful for troubleshooting. */
|
|
#define LULZBOT_M42_TOGGLES_PROBE_PINS \
|
|
if (!parser.seenval('P')) { \
|
|
LULZBOT_ENABLE_PROBE_PINS(pin_status); \
|
|
return; \
|
|
}
|
|
|
|
/****************************** BACKLASH COMPENSATION **************************/
|
|
|
|
#if defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT)
|
|
//#define LULZBOT_AXIS_BACKLASH {0.00, 0.00, 0.35, 0}
|
|
#endif
|
|
|
|
#if defined(LULZBOT_AXIS_BACKLASH)
|
|
#define SIGN(v) ((v < 0) ? -1.0 : 1.0)
|
|
#define LULZBOT_AXIS_BACKLASH_CORRECTION \
|
|
{ \
|
|
static const float backlash[NUM_AXIS] = LULZBOT_AXIS_BACKLASH; \
|
|
static uint8_t last_direction_bits; \
|
|
static bool is_correction = false; \
|
|
if(!is_correction && leveling_is_active()) { \
|
|
uint8_t changed_dir = last_direction_bits ^ dm; \
|
|
/* Ignore direction change if no steps are taken in that direction */ \
|
|
if(da == 0) CBI(changed_dir, X_AXIS); \
|
|
if(db == 0) CBI(changed_dir, Y_AXIS); \
|
|
if(dc == 0) CBI(changed_dir, Z_AXIS); \
|
|
if(de == 0) CBI(changed_dir, E_AXIS); \
|
|
/* Update the direction bits */ \
|
|
last_direction_bits ^= changed_dir; \
|
|
/* When there is motion in an opposing direction, apply the backlash correction */ \
|
|
if(changed_dir) { \
|
|
long saved_position[NUM_AXIS] = { 0 }; \
|
|
COPY(saved_position, position); \
|
|
const long x_backlash = TEST(changed_dir, X_AXIS) ? backlash[X_AXIS] * axis_steps_per_mm[X_AXIS] * SIGN(da) : 0; \
|
|
const long y_backlash = TEST(changed_dir, Y_AXIS) ? backlash[Y_AXIS] * axis_steps_per_mm[Y_AXIS] * SIGN(db) : 0; \
|
|
const long z_backlash = TEST(changed_dir, Z_AXIS) ? backlash[Z_AXIS] * axis_steps_per_mm[Z_AXIS] * SIGN(dc) : 0; \
|
|
const long e_backlash = TEST(changed_dir, E_AXIS) ? backlash[E_AXIS] * axis_steps_per_mm[E_AXIS] * SIGN(de) : 0; \
|
|
is_correction = true; /* Avoid infinite recursion */ \
|
|
_buffer_line( \
|
|
(position[X_AXIS] + x_backlash)/axis_steps_per_mm[X_AXIS], \
|
|
(position[Y_AXIS] + y_backlash)/axis_steps_per_mm[Y_AXIS], \
|
|
(position[Z_AXIS] + z_backlash)/axis_steps_per_mm[Z_AXIS], \
|
|
(position[E_AXIS] + e_backlash)/axis_steps_per_mm[E_AXIS_N], \
|
|
fr_mm_s, extruder \
|
|
); \
|
|
is_correction = false; \
|
|
COPY(position, saved_position); \
|
|
} \
|
|
} \
|
|
}
|
|
#else
|
|
#define LULZBOT_AXIS_BACKLASH_CORRECTION
|
|
#endif
|
|
|
|
/*************************** COMMON TOOLHEADS PARAMETERS ***********************/
|
|
|
|
#define LULZBOT_DEFAULT_EJERK 10.0
|
|
|
|
/**************************** MINI TOOLHEADS ***********************************/
|
|
|
|
#if defined(TOOLHEAD_Gladiola_SingleExtruder) || defined(TOOLHEAD_Albatross_Flexystruder) || defined(TOOLHEAD_Finch_Aerostruder) || defined(TOOLHEAD_Finch_AerostruderV2)
|
|
#define LULZBOT_EXTRUDERS 1
|
|
#define LULZBOT_TOOLHEAD_X_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_X_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Y_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Y_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X2_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y2_ADJ 0
|
|
|
|
#if defined(LULZBOT_USE_EINSYRAMBO)
|
|
#define LULZBOT_MOTOR_CURRENT_E 960 // mA
|
|
#else
|
|
#define LULZBOT_MOTOR_CURRENT_E 1250 // mA
|
|
#endif
|
|
#endif /* TOOLHEAD_Gladiola_SingleExtruder || TOOLHEAD_Albatross_Flexystruder || TOOLHEAD_Finch_Aerostruder */
|
|
|
|
#if defined(TOOLHEAD_Gladiola_SingleExtruder)
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Single Extruder"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "SingleExtruder"
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_AO_Hexagon
|
|
#define LULZBOT_E_STEPS 833
|
|
#endif /* TOOLHEAD_Gladiola_SingleExtruder */
|
|
|
|
#if defined(TOOLHEAD_Albatross_Flexystruder)
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Flexystruder"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "Flexystruder"
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_AO_Hexagon
|
|
#define LULZBOT_E_STEPS 833
|
|
#endif /* TOOLHEAD_Albatross_Flexystruder */
|
|
|
|
#if defined(TOOLHEAD_Finch_Aerostruder)
|
|
// Prototype Aero toolhead for Mini
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Aerostruder"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "Aerostruder"
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_E3D_Titan_Aero
|
|
#define LULZBOT_E_STEPS 420
|
|
#endif /* TOOLHEAD_Finch_Aerostruder */
|
|
|
|
/******************************** Mini 2 / TAZ 7 TOOLHEADS *********************/
|
|
|
|
#if defined(TOOLHEAD_Finch_AerostruderV2)
|
|
// Prototype Aero toolhead for Mini
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Aerostruder v2"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "Aerostruder"
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
|
|
#define LULZBOT_E3D_Titan_Aero
|
|
#define LULZBOT_E_STEPS 420
|
|
#endif /* TOOLHEAD_Finch_AerostruderV2 */
|
|
|
|
/******************************** TAZ TOOLHEADS ********************************/
|
|
|
|
#if defined(TOOLHEAD_Tilapia_SingleExtruder) || defined(TOOLHEAD_Angelfish_Aerostruder)
|
|
#define LULZBOT_EXTRUDERS 1
|
|
#define LULZBOT_TOOLHEAD_X_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_X_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Y_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Y_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X2_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y2_ADJ 0
|
|
#endif /* TOOLHEAD_Tilapia_SingleExtruder || TOOLHEAD_Angelfish_Aerostruder */
|
|
|
|
#if defined(TOOLHEAD_Tilapia_SingleExtruder)
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Single Extruder"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "SingleExtruder"
|
|
#define LULZBOT_MOTOR_CURRENT_E 750 // mA
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
|
|
#define LULZBOT_AO_Hexagon
|
|
#define LULZBOT_E_STEPS 830
|
|
#endif /* TOOLHEAD_Tilapia_SingleExtruder */
|
|
|
|
#if defined(TOOLHEAD_Angelfish_Aerostruder)
|
|
// Prototype Aero for TAZ
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Aerostruder"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "Aerostruder"
|
|
#define LULZBOT_MOTOR_CURRENT_E 875 // mA
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
|
|
#define LULZBOT_E3D_Titan_Aero
|
|
#define LULZBOT_E_STEPS 420
|
|
#endif /* TOOLHEAD_Angelfish_Aerostruder */
|
|
|
|
#if defined(TOOLHEAD_Kanyu_Flexystruder)
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Flexystruder"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "Flexystruder"
|
|
#define LULZBOT_MOTOR_CURRENT_E 410 // mA
|
|
#define LULZBOT_EXTRUDERS 1
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_TOOLHEAD_X_MAX_ADJ -12
|
|
#define LULZBOT_TOOLHEAD_X_MIN_ADJ -7
|
|
#define LULZBOT_TOOLHEAD_Y_MAX_ADJ -1
|
|
#define LULZBOT_TOOLHEAD_Y_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X2_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y2_ADJ 0
|
|
#define LULZBOT_AO_Hexagon
|
|
#define LULZBOT_E_STEPS 830
|
|
#endif /* TOOLHEAD_Kanyu_Flexystruder */
|
|
|
|
#if defined(TOOLHEAD_Opah_Moarstruder)
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "MOARstruder"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "MOARstruder"
|
|
#define LULZBOT_DEFAULT_ACCELERATION 250
|
|
#define LULZBOT_DEFAULT_TRAVEL_ACCELERATION 250
|
|
#define LULZBOT_MOTOR_CURRENT_E 750 // mA
|
|
#define LULZBOT_EXTRUDERS 1
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_TOOLHEAD_X_MAX_ADJ -10
|
|
#define LULZBOT_TOOLHEAD_X_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Y_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Y_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X2_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y2_ADJ 0
|
|
#define LULZBOT_Moarstruder
|
|
#define LULZBOT_E_STEPS 830
|
|
#endif /* TOOLHEAD_Opah_Moarstruder */
|
|
|
|
#if defined(TOOLHEAD_Javelin_DualExtruderV2) || defined(TOOLHEAD_Longfin_FlexyDually) || defined(TOOLHEAD_Yellowfin_DualExtruderV3) || defined(TOOLHEAD_Devel_ServoDual)
|
|
#define LULZBOT_EXTRUDER_FAN_ON_PIN_6 // For backwards compatibility with TAZ 4
|
|
#define LULZBOT_MOTOR_CURRENT_E0 875 // mA
|
|
#define LULZBOT_MOTOR_CURRENT_E1 875 // mA
|
|
#define LULZBOT_EXTRUDERS 2
|
|
#define LULZBOT_TOOLHEAD_X_MAX_ADJ -12
|
|
#define LULZBOT_TOOLHEAD_X_MIN_ADJ -2
|
|
#define LULZBOT_TOOLHEAD_Y_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Y_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MAX_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_Z_MIN_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X2_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y2_ADJ 0
|
|
#define LULZBOT_TEMP_SENSOR_1 5
|
|
#define LULZBOT_NO_MOVE_ON_TOOLHEAD_CHANGE
|
|
#define LULZBOT_DISTINCT_E_FACTORS
|
|
#endif /* TOOLHEAD_Javelin_DualExtruderV2 || TOOLHEAD_Longfin_FlexyDually || TOOLHEAD_Yellowfin_DualExtruderV3 */
|
|
|
|
#if defined(TOOLHEAD_Javelin_DualExtruderV2)
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Dual Extruder 2"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "DualExtruder v2"
|
|
#define LULZBOT_TOOLHEAD_WIPE_X1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X2_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y2_ADJ 48
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_E_STEPS 830
|
|
#define LULZBOT_AO_Hexagon
|
|
#endif /* TOOLHEAD_Javelin_DualExtruderV2 */
|
|
|
|
#if defined(TOOLHEAD_Longfin_FlexyDually)
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "FlexyDually v2"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "FlexyDually v2"
|
|
#define LULZBOT_TOOLHEAD_WIPE_X1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_X2_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y2_ADJ 48
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_E_STEPS 830
|
|
#define LULZBOT_AO_Hexagon
|
|
#endif /* TOOLHEAD_Longfin_FlexyDually */
|
|
|
|
#if defined(TOOLHEAD_Yellowfin_DualExtruderV3)
|
|
// Prototype Dual v3 for TAZ.
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Dual Extruder 3"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "DualExtruder v3"
|
|
#undef LULZBOT_AFTER_Z_HOME_Z_RAISE
|
|
#define LULZBOT_AFTER_Z_HOME_Z_RAISE 16
|
|
#undef LULZBOT_AFTER_Z_HOME_Z_ORIGIN
|
|
#define LULZBOT_AFTER_Z_HOME_Z_ORIGIN 5.5
|
|
#define LULZBOT_TOOLHEAD_X_MIN_ADJ 1
|
|
#define LULZBOT_TOOLHEAD_X_MAX_ADJ -7
|
|
#define LULZBOT_TOOLHEAD_Y_MIN_ADJ -7
|
|
#define LULZBOT_TOOLHEAD_Y_MAX_ADJ -7
|
|
#define LULZBOT_TOOLHEAD_WIPE_X1_ADJ -2
|
|
#define LULZBOT_TOOLHEAD_WIPE_X2_ADJ -2
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y1_ADJ 0
|
|
#define LULZBOT_TOOLHEAD_WIPE_Y2_ADJ 0
|
|
#undef LULZBOT_Z_HOMING_HEIGHT
|
|
#define LULZBOT_Z_HOMING_HEIGHT 10
|
|
#undef LULZBOT_Z_CLEARANCE_DEPLOY_PROBE
|
|
#define LULZBOT_Z_CLEARANCE_DEPLOY_PROBE 10
|
|
#undef LULZBOT_Z_CLEARANCE_BETWEEN_PROBES
|
|
#define LULZBOT_Z_CLEARANCE_BETWEEN_PROBES 10
|
|
// Move the rear homing position back to avoid the Z homing adaptor
|
|
#undef LULZBOT_BACK_PROBE_BED_POSITION
|
|
#define LULZBOT_BACK_PROBE_BED_POSITION 291
|
|
// Adjust so left nozzle probes on the left washers;
|
|
// right nozzles on the right nozzle.
|
|
#undef LULZBOT_LEFT_PROBE_BED_POSITION
|
|
#define LULZBOT_LEFT_PROBE_BED_POSITION -3
|
|
#undef LULZBOT_RIGHT_PROBE_BED_POSITION
|
|
#define LULZBOT_RIGHT_PROBE_BED_POSITION 282
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
|
|
#define LULZBOT_SWAP_EXTRUDERS
|
|
#undef LULZBOT_INVERT_E1_DIR
|
|
#define LULZBOT_INVERT_E1_DIR false
|
|
#define LULZBOT_E_STEPS 760
|
|
#define LULZBOT_E3D_SOMEstruder_x2
|
|
#endif /* TOOLHEAD_Yellowfin_DualExtruderV3 */
|
|
|
|
#if defined(TOOLHEAD_Devel_ServoDual)
|
|
// Experimental dual nozzle using a servo
|
|
#define LULZBOT_LCD_TOOLHEAD_NAME "Servo McStruder"
|
|
// 16 chars max ^^^^^^^^^^^^^^^
|
|
#define LULZBOT_M115_EXTRUDER_TYPE "ServoMcStruder"
|
|
#define LULZBOT_NUM_SERVOS 1
|
|
#define LULZBOT_SWITCHING_EXTRUDER_NO_REVERSE
|
|
#define LULZBOT_SWITCHING_EXTRUDER
|
|
#define LULZBOT_SWITCHING_NOZZLE
|
|
#define LULZBOT_SWITCHING_SERVO_ANGLES { 0, 67 }
|
|
#undef LULZBOT_TOOLHEAD_X_MIN_ADJ
|
|
#define LULZBOT_TOOLHEAD_X_MIN_ADJ -14
|
|
#define LULZBOT_E_STEPS 420
|
|
#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NO_ENDSTOP
|
|
#define LULZBOT_AO_Hexagon
|
|
#endif /* TOOLHEAD_Devel_ServoDual */
|
|
|
|
/************************ CUSTOMIZE VERSION STRING ***************************/
|
|
|
|
// The Makefile and build-lulzbot-firmware.sh has an option to generate
|
|
// firmware without any identifying version or build timestamp. This is
|
|
// used in internal testing to allow us to binary diff across .hex files.
|
|
#if defined(LULZBOT_MASK_VERSION)
|
|
#undef LULZBOT_FW_VERSION
|
|
#define LULZBOT_FW_VERSION ".xx"
|
|
#endif
|
|
|
|
#define LULZBOT_DETAILED_BUILD_VERSION " FIRMWARE_VERSION:" SHORT_BUILD_VERSION LULZBOT_FW_VERSION " EXTRUDER_TYPE:" LULZBOT_M115_EXTRUDER_TYPE
|
|
#define LULZBOT_STRING_DISTRIBUTION_DATE __DATE__ __TIME__
|
|
#define LULZBOT_SOURCE_CODE_URL "https://code.alephobjects.com/diffusion/MARLIN"
|
|
|
|
/*************************** TEMPERATURE SETTINGS *****************************/
|
|
|
|
#define LULZBOT_TEMP_SENSOR_0 5
|
|
#define LULZBOT_TEMP_SENSOR_BED 7
|
|
#define LULZBOT_TEMP_RESIDENCY_TIME 1
|
|
#define LULZBOT_TEMP_HYSTERESIS 10
|
|
#define LULZBOT_TEMP_WINDOW 10
|
|
|
|
#define LULZBOT_TEMP_BED_RESIDENCY_TIME 1
|
|
#define LULZBOT_TEMP_BED_HYSTERESIS 5
|
|
#define LULZBOT_TEMP_BED_WINDOW 5
|
|
|
|
#define LULZBOT_HEATER_MAXTEMP 305
|
|
#define LULZBOT_EXTRUDE_MINTEMP 120
|
|
|
|
#define LULZBOT_THERMAL_PROTECTION_PERIOD 15 // Seconds
|
|
#define LULZBOT_THERMAL_PROTECTION_HYSTERESIS 30 // Degrees Celsius
|
|
|
|
#define LULZBOT_THERMAL_PROTECTION_BED_PERIOD 15 // Seconds
|
|
#define LULZBOT_THERMAL_PROTECTION_BED_HYSTERESIS 10 // Degrees Celsius
|
|
|
|
#if defined(LULZBOT_IS_MINI)
|
|
// Heater current: 24V/5.5 Ohms = 4.4A
|
|
#define LULZBOT_MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
|
|
#define LULZBOT_WATCH_TEMP_PERIOD 20 // Seconds
|
|
#define LULZBOT_WATCH_TEMP_INCREASE 2 // Degrees Celsius
|
|
#elif defined(LULZBOT_IS_TAZ)
|
|
// Heater current: 24V/1.6 Ohms = 15A
|
|
// Set Max Bed Power to 80% for a safety margin on the 15A fuse.
|
|
#define LULZBOT_MAX_BED_POWER 206 // limits duty cycle to bed; 255=full current
|
|
#define LULZBOT_WATCH_TEMP_PERIOD 40 // Seconds
|
|
#define LULZBOT_WATCH_TEMP_INCREASE 10 // Degrees Celsius
|
|
#endif
|
|
|
|
// Marlin 1.1.5 no longer issues MIN_TEMP errors and appears to handle
|
|
// thermal runaway via other means. However, since our users expect a
|
|
// MIN_TEMP error when disconnecting their print head, this could be
|
|
// perceived as a safety issue. This is a workaround in "temperature.cpp"
|
|
// to re-enable that functionality.
|
|
|
|
#define LULZBOT_MIN_TEMP_WORKAROUND \
|
|
static int delayBeforeStartMeasuring = OVERSAMPLENR; \
|
|
if(delayBeforeStartMeasuring > 0) { \
|
|
delayBeforeStartMeasuring--; \
|
|
} else { \
|
|
if (current_temperature[e] > HEATER_0_MAXTEMP) max_temp_error(0); \
|
|
if (current_temperature[e] < HEATER_0_MINTEMP) min_temp_error(0); \
|
|
}
|
|
|
|
/******************************** HEATING ELEMENTS *****************************/
|
|
|
|
#define LULZBOT_PIDTEMP
|
|
#define LULZBOT_PIDTEMPBED
|
|
|
|
// Hotend variants
|
|
|
|
#if defined(LULZBOT_Moarstruder)
|
|
// LulzBot MOARstruder (40v)
|
|
#define LULZBOT_DEFAULT_Kp 55.64
|
|
#define LULZBOT_DEFAULT_Ki 6.79
|
|
#define LULZBOT_DEFAULT_Kd 113.94
|
|
#endif /* LULZBOT_Moarstruder */
|
|
|
|
#if defined(LULZBOT_E3D_SOMEstruder_x2)
|
|
// Side-by-side LulzBot E3D SOMEstruder (24v) on Yellowfin Dual
|
|
#define LULZBOT_DEFAULT_Kp 47.45
|
|
#define LULZBOT_DEFAULT_Ki 4.83
|
|
#define LULZBOT_DEFAULT_Kd 116.63
|
|
#endif /* LULZBOT_E3D_SOMEstruder_x2 */
|
|
|
|
#if defined(LULZBOT_AO_Hexagon)
|
|
// LulzBot AO-Hexagon (24v)
|
|
#define LULZBOT_DEFAULT_Kp 28.79
|
|
#define LULZBOT_DEFAULT_Ki 1.91
|
|
#define LULZBOT_DEFAULT_Kd 108.51
|
|
#endif /* LULZBOT_AO_Hexagon */
|
|
|
|
#if defined(LULZBOT_E3D_Titan_Aero)
|
|
// LulzBot V6 block with E3D Titan Aero
|
|
#define LULZBOT_DEFAULT_Kp 15.02
|
|
#define LULZBOT_DEFAULT_Ki 0.86
|
|
#define LULZBOT_DEFAULT_Kd 65.21
|
|
#endif /* LULZBOT_E3D_Titan_Aero */
|
|
|
|
// Heated bed variants
|
|
|
|
//24V 360W silicone heater from NPH on 3mm borosilicate (TAZ 2.2+)
|
|
#if defined(LULZBOT_TAZ_BED) && !defined(LULZBOT_TWO_PIECE_BED)
|
|
#define LULZBOT_DEFAULT_bedKp 162
|
|
#define LULZBOT_DEFAULT_bedKi 17
|
|
#define LULZBOT_DEFAULT_bedKd 378
|
|
|
|
// Modular two piece bed (TAZ 7+)
|
|
#elif defined(LULZBOT_TAZ_BED) && defined(LULZBOT_TWO_PIECE_BED)
|
|
#define LULZBOT_DEFAULT_bedKp 286.02
|
|
#define LULZBOT_DEFAULT_bedKi 54.55
|
|
#define LULZBOT_DEFAULT_bedKd 374.90
|
|
|
|
//24V 360W silicone heater from NPH on 3mm borosilicate (TAZ 2.2+)
|
|
#elif defined(LULZBOT_MINI_BED) && !defined(LULZBOT_TWO_PIECE_BED)
|
|
#define LULZBOT_DEFAULT_bedKp 294
|
|
#define LULZBOT_DEFAULT_bedKi 65
|
|
#define LULZBOT_DEFAULT_bedKd 382
|
|
|
|
// Modular two piece bed (Mini 2+)
|
|
#elif defined(LULZBOT_MINI_BED) && defined(LULZBOT_TWO_PIECE_BED)
|
|
#define LULZBOT_DEFAULT_bedKp 384.33
|
|
#define LULZBOT_DEFAULT_bedKi 72.17
|
|
#define LULZBOT_DEFAULT_bedKd 511.64
|
|
#endif
|
|
|
|
/****************************** FAN CONFIGURATION ******************************/
|
|
|
|
// For the Pelonis C4010L24BPLB1b-7 fan, we need a relative low
|
|
// PWM frequency of about 122Hz in order for the fan to turn.
|
|
// By default, FAST_PWM_FAN appears to PWM at ~31kHz, but if we
|
|
// set a prescale of 4, it divides this by 256 to get us down to
|
|
// the frequency we need.
|
|
|
|
#define LULZBOT_FAST_PWM_FAN
|
|
#define LULZBOT_FAST_PWM_SCALE 4
|
|
|
|
#define LULZBOT_FAN_KICKSTART_TIME 100
|
|
#define LULZBOT_FAN_MIN_PWM 70
|
|
|
|
#define LULZBOT_USE_CONTROLLER_FAN
|
|
#if defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_EINSYRAMBO)
|
|
// The TMC drivers need a bit more cooling.
|
|
#define LULZBOT_CONTROLLERFAN_SPEED 255
|
|
#elif defined(LULZBOT_IS_MINI)
|
|
// The Mini fan runs rather loud at full speed.
|
|
#define LULZBOT_CONTROLLERFAN_SPEED 120
|
|
#elif defined(LULZBOT_IS_TAZ)
|
|
#define LULZBOT_CONTROLLERFAN_SPEED 255
|
|
#endif
|
|
|
|
// As of Marlin 1.1.5, FAST_PWM_FAN adjusts the frequencies for
|
|
// all fans except the controller fan. This workaround allows
|
|
// the controller fan PWM freq to be adjusted to 122Hz (this
|
|
// may not be necessary, but since the Pelonis fan likes 122Hz,
|
|
// we are trying to keep all the fan frequencies at that).
|
|
#define LULZBOT_FAST_PWM_CONTROLLER_FAN_WORKAROUND
|
|
|
|
/******************************* AXIS TRAVEL LIMITS *****************************/
|
|
|
|
/* Define min and max travel limits based on the printer model using a standard
|
|
* toolhead, then define adjustments from the standard for alternative toolheads.
|
|
* This allows us to accomodate toolheads that might be wider or taller than the
|
|
* standard.
|
|
*/
|
|
|
|
#if defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_SCREW)
|
|
#define LULZBOT_STANDARD_X_MAX_POS 162
|
|
#define LULZBOT_STANDARD_X_MIN_POS -3
|
|
#define LULZBOT_STANDARD_Y_MAX_POS 190
|
|
#define LULZBOT_STANDARD_Y_MIN_POS -7
|
|
|
|
#define LULZBOT_X_BED_SIZE 155
|
|
#define LULZBOT_Y_BED_SIZE 155
|
|
|
|
#elif defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT)
|
|
#define LULZBOT_STANDARD_X_MAX_POS 162
|
|
#define LULZBOT_STANDARD_X_MIN_POS -6
|
|
#define LULZBOT_STANDARD_Y_MAX_POS 188
|
|
#define LULZBOT_STANDARD_Y_MIN_POS -9
|
|
|
|
#define LULZBOT_X_BED_SIZE 157
|
|
#define LULZBOT_Y_BED_SIZE 157
|
|
|
|
#elif defined(LULZBOT_Juniper_TAZ5)
|
|
#define LULZBOT_STANDARD_X_MAX_POS 298
|
|
#define LULZBOT_STANDARD_X_MIN_POS 0
|
|
#define LULZBOT_STANDARD_Y_MAX_POS 276
|
|
#define LULZBOT_STANDARD_Y_MIN_POS 0
|
|
|
|
#define LULZBOT_X_BED_SIZE 288
|
|
#define LULZBOT_Y_BED_SIZE 275
|
|
|
|
#elif defined(LULZBOT_IS_TAZ) && defined(LULZBOT_USE_Z_BELT)
|
|
#define LULZBOT_STANDARD_X_MAX_POS 300
|
|
#define LULZBOT_STANDARD_X_MIN_POS -16
|
|
#define LULZBOT_STANDARD_Y_MAX_POS 303
|
|
#define LULZBOT_STANDARD_Y_MIN_POS -20
|
|
|
|
#define LULZBOT_X_BED_SIZE 280
|
|
#define LULZBOT_Y_BED_SIZE 280
|
|
|
|
#elif defined(LULZBOT_IS_TAZ) && defined(LULZBOT_USE_Z_SCREW)
|
|
#define LULZBOT_STANDARD_X_MAX_POS 300
|
|
#define LULZBOT_STANDARD_X_MIN_POS -20
|
|
#define LULZBOT_STANDARD_Y_MAX_POS 303
|
|
#define LULZBOT_STANDARD_Y_MIN_POS -20
|
|
|
|
#define LULZBOT_X_BED_SIZE 280
|
|
#define LULZBOT_Y_BED_SIZE 280
|
|
#endif
|
|
|
|
#if defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_SCREW)
|
|
#define LULZBOT_STANDARD_Z_MIN_POS -2
|
|
#define LULZBOT_STANDARD_Z_MAX_POS 159
|
|
|
|
#elif defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT) && defined(LULZBOT_SENSORLESS_HOMING_Z)
|
|
#define LULZBOT_STANDARD_Z_MIN_POS -3.5
|
|
#define LULZBOT_STANDARD_Z_MAX_POS 183
|
|
|
|
#elif defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT)
|
|
#define LULZBOT_STANDARD_Z_MIN_POS 0
|
|
#define LULZBOT_STANDARD_Z_MAX_POS 183
|
|
|
|
#elif defined(LULZBOT_Juniper_TAZ5)
|
|
#define LULZBOT_STANDARD_Z_MIN_POS 0
|
|
#define LULZBOT_STANDARD_Z_MAX_POS 250
|
|
|
|
#elif defined(LULZBOT_IS_TAZ) && defined(LULZBOT_USE_Z_SCREW)
|
|
#define LULZBOT_STANDARD_Z_MIN_POS 0
|
|
#define LULZBOT_STANDARD_Z_MAX_POS 270
|
|
|
|
#elif defined(LULZBOT_IS_TAZ) && defined(LULZBOT_USE_Z_BELT)
|
|
#define LULZBOT_STANDARD_Z_MIN_POS 0
|
|
#define LULZBOT_STANDARD_Z_MAX_POS 299
|
|
#endif
|
|
|
|
#define LULZBOT_X_MAX_POS (LULZBOT_STANDARD_X_MAX_POS + LULZBOT_TOOLHEAD_X_MAX_ADJ)
|
|
#define LULZBOT_X_MIN_POS (LULZBOT_STANDARD_X_MIN_POS + LULZBOT_TOOLHEAD_X_MIN_ADJ)
|
|
#define LULZBOT_Y_MAX_POS (LULZBOT_STANDARD_Y_MAX_POS + LULZBOT_TOOLHEAD_Y_MAX_ADJ)
|
|
#define LULZBOT_Y_MIN_POS (LULZBOT_STANDARD_Y_MIN_POS + LULZBOT_TOOLHEAD_Y_MIN_ADJ)
|
|
#define LULZBOT_Z_MAX_POS (LULZBOT_STANDARD_Z_MAX_POS + LULZBOT_TOOLHEAD_Z_MAX_ADJ)
|
|
#define LULZBOT_Z_MIN_POS (LULZBOT_STANDARD_Z_MIN_POS + LULZBOT_TOOLHEAD_Z_MIN_ADJ)
|
|
|
|
/**************************** ENDSTOP CONFIGURATION ****************************/
|
|
|
|
#if defined(LULZBOT_USE_MIN_ENDSTOPS)
|
|
#define LULZBOT_USE_XMIN_PLUG
|
|
#define LULZBOT_USE_YMIN_PLUG
|
|
#define LULZBOT_USE_ZMIN_PLUG
|
|
#endif
|
|
|
|
// Z-Max Endstops were introduced on the Mini and TAZ 6
|
|
#if defined(LULZBOT_USE_MAX_ENDSTOPS)
|
|
#define LULZBOT_USE_XMAX_PLUG
|
|
#define LULZBOT_USE_YMAX_PLUG
|
|
#define LULZBOT_USE_ZMAX_PLUG
|
|
#endif
|
|
|
|
#define LULZBOT_ENDSTOPS_ALWAYS_ON_DEFAULT
|
|
#define LULZBOT_ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
|
|
|
|
// Workaround for bug in Marlin 1.1.5 where motion is stopped a X or Y = 0
|
|
#define LULZBOT_MIN_SOFTWARE_ENDSTOPS_DISABLED
|
|
|
|
// The RAMBO does not support interrupts on all pins
|
|
// so leave the ENDSTOP_INTERRUPTS_FEATURE disabled
|
|
|
|
//#define LULZBOT_ENDSTOP_INTERRUPTS_FEATURE
|
|
|
|
/* Endstop settings are determined by printer model, except for the
|
|
* X_MAX which varies by toolhead. */
|
|
|
|
#if defined(LULZBOT_USE_NORMALLY_CLOSED_ENDSTOPS)
|
|
// TAZ 6+ and Hibiscus Mini onwards use normally closed endstops.
|
|
// This is safer, as a loose connector or broken wire will halt
|
|
// the axis
|
|
#define LULZBOT_X_MIN_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
|
|
#define LULZBOT_Y_MIN_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
|
|
|
|
|
|
// LULZBOT_X_MAX_ENDSTOP_INVERTING varies by toolhead
|
|
#define LULZBOT_Y_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
|
|
#define LULZBOT_Z_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
|
|
|
|
#elif defined(LULZBOT_USE_NORMALLY_OPEN_ENDSTOPS)
|
|
#define LULZBOT_X_MIN_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_Y_MIN_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
|
|
// LULZBOT_X_MAX_ENDSTOP_INVERTING varies by toolhead
|
|
#define LULZBOT_Y_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_Z_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#endif
|
|
|
|
// Electrical probing pins are always open until contact is made
|
|
#define LULZBOT_Z_MIN_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_Z_MIN_PROBE_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
|
|
/********************************* STATUS LIGHTS ********************************/
|
|
|
|
#if defined(LULZBOT_USE_STATUS_LED)
|
|
#define LULZBOT_NEOPIXEL_RGBW_LED
|
|
#define LULZBOT_NEOPIXEL_PIN BOARD_X_MAX_PIN
|
|
#define LULZBOT_NEOPIXEL_PIXELS 8
|
|
#undef LULZBOT_USE_XMAX_PLUG
|
|
#endif
|
|
|
|
/******************************* SENSORLESS HOMING ******************************/
|
|
|
|
#if defined(LULZBOT_SENSORLESS_HOMING)
|
|
#define LULZBOT_X_HOMING_SENSITIVITY 4
|
|
#define LULZBOT_Y_HOMING_SENSITIVITY 4
|
|
#define LULZBOT_Z_HOMING_SENSITIVITY 4
|
|
#endif
|
|
|
|
#if defined(LULZBOT_SENSORLESS_HOMING_Z)
|
|
/* With sensorless Z homing, we position the head over a corner washer,
|
|
lower the Z current and push the head down until we detect a stall
|
|
(or electrical contact is made, if LULZBOT_HOMING_USES_PROBE_PINS).
|
|
|
|
Sensorless Z homing is not accurate enough for bed leveling, but it
|
|
is good enough to allow us to find the wiper pad and proceed to
|
|
probe electrically (as was done on previous generation machines).
|
|
*/
|
|
#define LULZBOT_Z_SAFE_HOMING
|
|
#define LULZBOT_Z_SAFE_HOMING_X_POINT 17 // LULZBOT_LEFT_PROBE_BED_POSITION
|
|
#define LULZBOT_Z_SAFE_HOMING_Y_POINT 180 // LULZBOT_BACK_PROBE_BED_POSITION
|
|
|
|
#define LULZBOT_Z_HOMING_SENSITIVITY 2
|
|
#define LULZBOT_Z_HOMING_CURRENT 500
|
|
|
|
#define LULZBOT_Z_HOMING_HEIGHT 5
|
|
|
|
//#define LULZBOT_HOMING_FEEDRATE_Z (3*60) // mm/m
|
|
|
|
/* Lower the current on Z, otherwise the gearing on the axis prevents
|
|
us from detecting a stall. */
|
|
#define LULZBOT_ADJUST_Z_HOMING_CURRENT(enable) \
|
|
{ \
|
|
if(enable) { \
|
|
stepperZ.setCurrent(LULZBOT_Z_HOMING_CURRENT, R_SENSE, HOLD_MULTIPLIER); \
|
|
stepperZ.sg_stall_value(LULZBOT_Z_HOMING_SENSITIVITY); \
|
|
stepperZ.diag1_stall(1); \
|
|
} else { \
|
|
stepperZ.setCurrent(LULZBOT_MOTOR_CURRENT_Z, R_SENSE, HOLD_MULTIPLIER); \
|
|
stepperZ.diag1_stall(0); \
|
|
} \
|
|
}
|
|
|
|
/* When this is enabled, the probe pin will also be used, in addition to stallguard,
|
|
to detect the X_MIN. Will generally keep the bed from flexing as far. */
|
|
//#define LULZBOT_HOMING_USES_PROBE_PINS
|
|
|
|
#define LULZBOT_SENSORLESS_HOMING_Z_INIT \
|
|
LULZBOT_ENABLE_COOLSTEP_WITH_STALLGUARD(stepperZ); \
|
|
/* Set stallguard value for Z sensing */ \
|
|
stepperZ.sg_stall_value(LULZBOT_Z_HOMING_SENSITIVITY); \
|
|
stepperZ.diag1_stall(0); /* Start disabled */
|
|
#else
|
|
#define LULZBOT_SENSORLESS_HOMING_Z_INIT
|
|
#define LULZBOT_ADJUST_Z_HOMING_CURRENT(enable)
|
|
#endif
|
|
|
|
#if defined(LULZBOT_SENSORLESS_HOMING)
|
|
#define LULZBOT_X_HOME_BUMP_MM 0
|
|
#define LULZBOT_Y_HOME_BUMP_MM 0
|
|
#else
|
|
#define LULZBOT_X_HOME_BUMP_MM 5
|
|
#define LULZBOT_Y_HOME_BUMP_MM 5
|
|
#endif
|
|
|
|
#if defined(LULZBOT_SENSORLESS_HOMING_Z)
|
|
#define LULZBOT_Z_HOME_BUMP_MM 0
|
|
#else
|
|
#define LULZBOT_Z_HOME_BUMP_MM 2
|
|
#endif
|
|
|
|
#if defined(LULZBOT_USE_EINSYRAMBO)
|
|
#define LULZBOT_HAVE_TMC2130
|
|
|
|
#if defined(LULZBOT_USE_EINSY_RETRO)
|
|
#define LULZBOT_R_SENSE 0.12
|
|
#else
|
|
#define LULZBOT_R_SENSE 0.1
|
|
#endif
|
|
|
|
#define LULZBOT_HOLD_MULTIPLIER 0.5
|
|
|
|
// If true, use STEALTHCHOP, otherwise use COOLSTEP
|
|
#if defined(LULZBOT_USE_TMC_STEALTHCHOP_XY) || defined(LULZBOT_USE_TMC_STEALTHCHOP_Z)
|
|
#define LULZBOT_STEALTHCHOP LULZBOT_USE_TMC_STEALTHCHOP
|
|
#define LULZBOT_HYBRID_THRESHOLD
|
|
#endif
|
|
|
|
#define LULZBOT_Y_HYBRID_THRESHOLD 72
|
|
#define LULZBOT_X_HYBRID_THRESHOLD 72
|
|
|
|
#define LULZBOT_TMC_INIT(st) \
|
|
/* The EinsyRambo connects both diag pins to the same */ \
|
|
/* microcontroller pin and provides a pull up resistor, */ \
|
|
/* so configure the pin as active low. */ \
|
|
st.diag0_active_high(0); \
|
|
st.diag1_active_high(0); \
|
|
st.diag1_stall(1); \
|
|
/* Reverse the motor direction so it matches the Rambo */ \
|
|
st.shaft_dir(1); \
|
|
st.external_ref(0); /* I_scale_analog = 0 */ \
|
|
st.internal_sense_R(0); /* internal_Rsense = 0 */ \
|
|
|
|
#define LULZBOT_TMC_REPORT(AXIS) \
|
|
{ \
|
|
uint32_t DRVSTATUS = stepper##AXIS.DRV_STATUS(); \
|
|
uint32_t IOIN = stepper##AXIS.IOIN(); \
|
|
uint32_t IHOLD_IRUN = stepper##AXIS.IHOLD_IRUN(); \
|
|
uint32_t CHOPCONF = stepper##AXIS.CHOPCONF(); \
|
|
uint32_t COOLCONF = stepper##AXIS.COOLCONF(); \
|
|
int8_t SGT = (COOLCONF >> 16) & 0b1111111; \
|
|
uint16_t SG_RESULT = (DRVSTATUS) & 0b111111111; \
|
|
bool drv_enn = (IOIN >> 4) & 0b1; \
|
|
bool stst = (DRVSTATUS >> 31) & 0b1; \
|
|
bool olb = (DRVSTATUS >> 30) & 0b1; \
|
|
bool ola = (DRVSTATUS >> 29) & 0b1; \
|
|
bool s2gb = (DRVSTATUS >> 28) & 0b1; \
|
|
bool s2ga = (DRVSTATUS >> 27) & 0b1; \
|
|
bool otpw = (DRVSTATUS >> 26) & 0b1; \
|
|
bool ot = (DRVSTATUS >> 25) & 0b1; \
|
|
bool fsactive = (DRVSTATUS >> 15) & 0b1; \
|
|
uint16_t ihold = (IHOLD_IRUN) & 0b11111; \
|
|
uint16_t irun = (IHOLD_IRUN >> 8) & 0b11111; \
|
|
uint16_t csactual = (DRVSTATUS >> 16) & 0b11111; \
|
|
bool vsense = (CHOPCONF >> 17) & 0b1; \
|
|
SERIAL_ECHOPGM(" " #AXIS ":"); \
|
|
SERIAL_ECHOPGM(" ihr:"); \
|
|
SERIAL_ECHO(ihold+1); \
|
|
SERIAL_ECHOPGM("/"); \
|
|
SERIAL_ECHO(irun+1); \
|
|
SERIAL_ECHOPGM(" vsen:"); \
|
|
SERIAL_ECHO(vsense); \
|
|
if(stepper##AXIS.coolstep_min_speed() != 0) { \
|
|
SERIAL_ECHOPGM(" sgt:"); \
|
|
SERIAL_ECHO(LULZBOT_SIGN_EXTEND_SGT(SGT)); \
|
|
if(num_sg > 0) { \
|
|
SERIAL_ECHOPGM(" avg_sg:"); \
|
|
SERIAL_ECHO(sum_sg_##AXIS/num_sg); \
|
|
} \
|
|
SERIAL_ECHOPGM(" csact:"); \
|
|
SERIAL_ECHO(csactual); \
|
|
} else { \
|
|
SERIAL_ECHOPGM(" stealth"); \
|
|
} \
|
|
SERIAL_ECHOPGM(" tstep_avg:"); \
|
|
SERIAL_ECHO(sum_tstep_##AXIS/num_sg); \
|
|
if(!drv_enn) SERIAL_ECHOPGM(" en"); \
|
|
if(stst) SERIAL_ECHOPGM(" st"); \
|
|
if(olb) SERIAL_ECHOPGM(" olb"); \
|
|
if(ola) SERIAL_ECHOPGM(" ola"); \
|
|
if(s2gb) SERIAL_ECHOPGM(" s2gb"); \
|
|
if(s2ga) SERIAL_ECHOPGM(" s2ga"); \
|
|
if(otpw) SERIAL_ECHOPGM(" otpw"); \
|
|
if(ot) SERIAL_ECHOPGM(" ot"); \
|
|
if(fsactive) SERIAL_ECHOPGM(" fsactive"); \
|
|
SERIAL_EOL(); \
|
|
}
|
|
|
|
#define LULZBOT_SIGN_EXTEND_SGT(sgt) int8_t(sgt | ((sgt << 1) & 0x80))
|
|
|
|
/* The following function accumulates the average of a
|
|
stallguard values during a planner move */
|
|
#define LULZBOT_TMC_AVG_VARS \
|
|
static uint8_t current_tail, tally_freq = 10; \
|
|
static uint32_t sum_sg_X = 0, sum_sg_Y = 0, sum_sg_Z = 0, sum_sg_E0 = 0, num_sg = 0; \
|
|
static uint32_t sum_tstep_X = 0, sum_tstep_Y = 0, sum_tstep_Z = 0, sum_tstep_E0 = 0;
|
|
|
|
#define LULZBOT_TMC_AVG_FUNC \
|
|
if(--tally_freq == 0) { \
|
|
tally_freq = 10; \
|
|
if(planner.blocks_queued()) { \
|
|
/* Reset accumulators at the start of each movement */ \
|
|
if(current_tail != planner.block_buffer_tail) { \
|
|
current_tail = planner.block_buffer_tail; \
|
|
sum_sg_X = sum_sg_Y = sum_sg_Z = sum_sg_E0 = 0; \
|
|
sum_tstep_X = sum_tstep_Y = sum_tstep_Z = sum_tstep_E0 = num_sg = 0; \
|
|
} \
|
|
/* While in motion, accumulate sg values */ \
|
|
sum_tstep_X += stepperX.TSTEP(); \
|
|
sum_tstep_Y += stepperY.TSTEP(); \
|
|
sum_tstep_Z += stepperZ.TSTEP(); \
|
|
sum_tstep_E0 += stepperE0.TSTEP(); \
|
|
sum_sg_X += stepperX.DRV_STATUS() & 0b111111111; \
|
|
sum_sg_Y += stepperY.DRV_STATUS() & 0b111111111; \
|
|
sum_sg_Z += stepperZ.DRV_STATUS() & 0b111111111; \
|
|
sum_sg_E0 += stepperE0.DRV_STATUS() & 0b111111111; \
|
|
num_sg++; \
|
|
} \
|
|
}
|
|
|
|
#define TMC_CS_TO_mA(cs,vsense) (float(cs)+1)/32 * (vsense?0.180:0.325)/(LULZBOT_R_SENSE+0.02) * 1/sqrt(2) * 1000
|
|
|
|
#if defined(LULZBOT_TMC_SHOW_CURRENT_ADJUSTMENTS)
|
|
#define LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(AXIS) \
|
|
{ \
|
|
static uint16_t last = 0; \
|
|
uint32_t DRVSTATUS = stepper##AXIS.DRV_STATUS(); \
|
|
uint16_t csactual = (DRVSTATUS >> 16) & 0b11111; \
|
|
if(csactual != last) { \
|
|
last = csactual; \
|
|
SERIAL_ECHOPGM(#AXIS " current set to "); \
|
|
SERIAL_ECHO(TMC_CS_TO_mA(csactual,stepper##AXIS.vsense())); \
|
|
SERIAL_ECHOPGM(" mA (irun="); \
|
|
SERIAL_ECHO(csactual+1); \
|
|
SERIAL_ECHOPGM("/32, vsense="); \
|
|
SERIAL_ECHO(stepper##AXIS.vsense()); \
|
|
SERIAL_ECHOLNPGM(")"); \
|
|
} \
|
|
}
|
|
#else
|
|
#define LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(AXIS)
|
|
#endif
|
|
|
|
#define LULZBOT_TMC_M119_REPORT \
|
|
SERIAL_ECHOLNPGM("TMC2130 Status:"); \
|
|
LULZBOT_TMC_REPORT(X) \
|
|
LULZBOT_TMC_REPORT(Y) \
|
|
LULZBOT_TMC_REPORT(Z) \
|
|
LULZBOT_TMC_REPORT(E0)
|
|
|
|
#define LULZBOT_ENABLE_COOLSTEP_WITH_STALLGUARD(st) \
|
|
/* Disable steathchop */ \
|
|
st.stealthChop(0); \
|
|
/* Enable coolstep for all velocities */ \
|
|
st.coolstep_min_speed(1024UL * 1024UL - 1UL); \
|
|
st.sg_min(1); \
|
|
st.sg_max(3);
|
|
|
|
#define LULZBOT_ENABLE_STEALTHCHOP(st) \
|
|
/* Enable steathchop */ \
|
|
st.stealthChop(1); \
|
|
/* Disable coolstep */ \
|
|
st.coolstep_min_speed(0); \
|
|
st.sg_min(0); \
|
|
st.sg_max(0);
|
|
|
|
/* X axis driver temperature tuning notes over a 10 minute print:
|
|
* - TOFF caused the greatest effect on driver temperature (~40C) and needs
|
|
* to be at 1 to keep the drivers from overheating (was tested at 1-3)
|
|
* - TBL can be either 0, 1 or 2, but 3 will cause overheating and 1 appears
|
|
* to run the coolest.
|
|
* - Setting HSTRT higher than 5 cause the drivers to warm up.
|
|
* - Setting HSTRT lower than 3 causes the motor to stall.
|
|
* - Setting HEND higher than 1 causes drivers to overheat.
|
|
*/
|
|
|
|
#define LULZBOT_XY_TOFF 1
|
|
#define LULZBOT_XY_HSTRT 4
|
|
#define LULZBOT_XY_HEND 0
|
|
#define LULZBOT_XY_TBL 1
|
|
|
|
#define LULZBOT_MOTOR_INIT_XY \
|
|
stepperX.tbl(LULZBOT_XY_TBL); /* TBL = [0..3] */ \
|
|
stepperY.tbl(LULZBOT_XY_TBL); /* TBL = [0..3] */ \
|
|
stepperX.toff(LULZBOT_XY_TOFF); /* TOFF = [1..15] */ \
|
|
stepperY.toff(LULZBOT_XY_TOFF); /* TOFF = [1..15] */ \
|
|
stepperX.hstrt(LULZBOT_XY_HSTRT); /* HSTART = [0..7] */ \
|
|
stepperY.hstrt(LULZBOT_XY_HSTRT); /* HSTART = [0..7] */ \
|
|
stepperX.hend(LULZBOT_XY_HEND); /* HEND = [0..15] */ \
|
|
stepperY.hend(LULZBOT_XY_HEND); /* HEND = [0..15] */
|
|
|
|
/* Once homing is finished, return to the normal operating mode: */
|
|
/* Either stealthchop or coolstep, as previously configured */
|
|
#if defined(LULZBOT_USE_TMC_STEALTHCHOP_Z)
|
|
#define LULZBOT_DEFAULT_OPERATING_MODE_Z(st) LULZBOT_ENABLE_STEALTHCHOP(st)
|
|
#else
|
|
#define LULZBOT_DEFAULT_OPERATING_MODE_Z(st) LULZBOT_ENABLE_COOLSTEP_WITH_STALLGUARD(st)
|
|
#endif
|
|
|
|
#define LULZBOT_Z_TOFF 1
|
|
#define LULZBOT_Z_HSTRT 0
|
|
#define LULZBOT_Z_HEND 0
|
|
#define LULZBOT_Z_TBL 1
|
|
|
|
#define LULZBOT_MOTOR_INIT_Z \
|
|
/* Set TOFF to reduce audible chopping noise */ \
|
|
stepperZ.toff(LULZBOT_Z_TOFF); /* TOFF = [1..15] */ \
|
|
stepperZ.hstrt(LULZBOT_Z_HSTRT); /* HSTART = [0..7] */ \
|
|
stepperZ.hend(LULZBOT_Z_HEND); /* HEND = [0..15] */ \
|
|
stepperZ.tbl(LULZBOT_Z_TBL); /* TBL = [0..3] */ \
|
|
/* Set Z homing sensitivity, but not yet homing */ \
|
|
stepperZ.sg_stall_value(LULZBOT_Z_HOMING_SENSITIVITY); \
|
|
LULZBOT_DEFAULT_OPERATING_MODE_Z(stepperZ);
|
|
|
|
#define LULZBOT_E_TOFF 1
|
|
#define LULZBOT_E_HSTRT 0
|
|
#define LULZBOT_E_HEND 0
|
|
#define LULZBOT_E_TBL 1
|
|
|
|
#define LULZBOT_MOTOR_INIT_E \
|
|
/* Set TOFF to reduce audible chopping noise */ \
|
|
stepperZ.toff(LULZBOT_E_TOFF); /* TOFF = [1..15] */ \
|
|
stepperZ.hstrt(LULZBOT_E_HSTRT); /* HSTART = [0..7] */ \
|
|
stepperZ.hend(LULZBOT_E_HEND); /* HEND = [0..15] */ \
|
|
stepperZ.tbl(LULZBOT_E_TBL); /* TBL = [0..3] */ \
|
|
/* Always use COOLSTEP on E0 */ \
|
|
LULZBOT_ENABLE_COOLSTEP_WITH_STALLGUARD(stepperE0); \
|
|
|
|
#define LULZBOT_TMC2130_ADV { \
|
|
LULZBOT_MOTOR_INIT_XY \
|
|
LULZBOT_MOTOR_INIT_Z \
|
|
LULZBOT_MOTOR_INIT_E \
|
|
LULZBOT_SENSORLESS_HOMING_Z_INIT \
|
|
}
|
|
|
|
/* Once homing is finished, return to the normal operating mode: */
|
|
/* Either stealthchop or coolstep, as previously configured */
|
|
#if defined(LULZBOT_USE_TMC_STEALTHCHOP_XY)
|
|
#define LULZBOT_DEFAULT_OPERATING_MODE_XY(st) LULZBOT_ENABLE_STEALTHCHOP(st)
|
|
#else
|
|
#define LULZBOT_DEFAULT_OPERATING_MODE_XY(st) LULZBOT_ENABLE_COOLSTEP_WITH_STALLGUARD(st)
|
|
#endif
|
|
|
|
/* Sensorless homing requires stallguard, which is not available with
|
|
* stealhchop, so switch to COOLSTEP prior to doing a homing move. */
|
|
#define LULZBOT_SENSORLESS_HOMING_TOGGLE(st, enable) \
|
|
if (enable) { \
|
|
/* Sometimes the X axis refuses to move at the start of G28, */ \
|
|
/* because the stallguard is triggered. Toggling in and out */ \
|
|
/* of STEALHCHOP mode seems to resolve this. */ \
|
|
LULZBOT_ENABLE_STEALTHCHOP(st) \
|
|
LULZBOT_ENABLE_COOLSTEP_WITH_STALLGUARD(st) \
|
|
} else { \
|
|
LULZBOT_DEFAULT_OPERATING_MODE_XY(st) \
|
|
}
|
|
|
|
/* Leaving the toolhead resting on the endstops will likely cause
|
|
* chatter if the machine is immediately re-homed, so don't leave
|
|
* the head sitting on the endstops after homing. */
|
|
#define LULZBOT_BACKOFF_DIST 5
|
|
#define LULZBOT_BACKOFF_FEEDRATE 5
|
|
|
|
#define LULZBOT_AFTER_Z_HOME_ACTION \
|
|
{ \
|
|
int x = (LULZBOT_INVERT_X_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_X_MAX_POS - LULZBOT_BACKOFF_DIST); \
|
|
int y = (LULZBOT_INVERT_Y_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_Y_MAX_POS - LULZBOT_BACKOFF_DIST); \
|
|
int z = (LULZBOT_INVERT_Z_HOME_DIR < 0 ? LULZBOT_BACKOFF_DIST : LULZBOT_STANDARD_Z_MAX_POS - LULZBOT_BACKOFF_DIST); \
|
|
do_blocking_move_to_z( \
|
|
(home_all || homeZ) ? z : current_position[Z_AXIS] \
|
|
); \
|
|
do_blocking_move_to_xy( \
|
|
(home_all || homeX) ? x : current_position[X_AXIS], \
|
|
(home_all || homeY) ? y : current_position[Y_AXIS], \
|
|
LULZBOT_BACKOFF_FEEDRATE \
|
|
); \
|
|
}
|
|
#else
|
|
#define LULZBOT_TMC_M119_REPORT
|
|
#define LULZBOT_TMC_AVG_VARS
|
|
#define LULZBOT_TMC_AVG_FUNC
|
|
#define LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(AXIS)
|
|
#endif
|
|
|
|
#if defined(LULZBOT_SENSORLESS_HOMING)
|
|
#define LULZBOT_USE_XMIN_PLUG // Uses Stallguard
|
|
//#define LULZBOT_USE_XMAX_PLUG // Uses Stallguard
|
|
//#define LULZBOT_USE_YMIN_PLUG // Uses Stallguard
|
|
#define LULZBOT_USE_YMAX_PLUG // Uses Stallguard
|
|
#define LULZBOT_USE_ZMIN_PLUG
|
|
#define LULZBOT_USE_ZMAX_PLUG
|
|
|
|
#define LULZBOT_X_MIN_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
//#define LULZBOT_X_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
#define LULZBOT_Y_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
//#define LULZBOT_Y_MIN_ENDSTOP_INVERTING LULZBOT_NORMALLY_OPEN_ENDSTOP
|
|
|
|
#define LULZBOT_Z_MAX_ENDSTOP_INVERTING LULZBOT_NORMALLY_CLOSED_ENDSTOP
|
|
|
|
// The following does not seem to work when both
|
|
// MAX and MIN are using Stallguard.
|
|
// It also appears that when this is enabled
|
|
// stallguard is never cleared.
|
|
//#define LULZBOT_ENDSTOP_INTERRUPTS_FEATURE
|
|
|
|
// ENDSTOPS_ALWAYS_ON_DEFAULT causes false positives
|
|
// with stallguard.
|
|
#undef LULZBOT_ENDSTOPS_ALWAYS_ON_DEFAULT
|
|
|
|
// According to Jason at UltiMachine, setting the lower the
|
|
// stealth freq the cooler the motor drivers will operate.
|
|
#define LULZBOT_STEALTH_FREQ 0
|
|
|
|
// Quickhome does not work with sensorless homing
|
|
#undef LULZBOT_QUICKHOME
|
|
#endif
|
|
|
|
/**************************** ADVANCED PAUSE FEATURE ****************************/
|
|
|
|
#if defined(LULZBOT_USE_LCD_DISPLAY)
|
|
#define LULZBOT_ADVANCED_PAUSE_FEATURE
|
|
#define LULZBOT_HOME_BEFORE_FILAMENT_CHANGE
|
|
#define LULZBOT_PARK_HEAD_ON_PAUSE
|
|
#define LULZBOT_PAUSE_PARK_X_POS 10
|
|
#define LULZBOT_PAUSE_PARK_Y_POS LULZBOT_Y_MAX_POS - 10
|
|
#endif
|
|
|
|
/*********************************** WIPER PAD **********************************/
|
|
|
|
// Nozzle wiping points (varies by toolhead, as the nozzle position varies)
|
|
#if defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_MINI_BED) && defined(LULZBOT_USE_Z_BELT)
|
|
// Mini has a horizontal wiping pad on the back of the bed
|
|
#define LULZBOT_STANDARD_WIPE_X1 42
|
|
#define LULZBOT_STANDARD_WIPE_X2 112
|
|
#define LULZBOT_STANDARD_WIPE_Y1 170
|
|
#define LULZBOT_STANDARD_WIPE_Y2 170
|
|
#define LULZBOT_STANDARD_WIPE_Z 1
|
|
|
|
#elif defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_MINI_BED) && defined(LULZBOT_USE_Z_SCREW)
|
|
// Mini has a horizontal wiping pad on the back of the bed
|
|
#define LULZBOT_STANDARD_WIPE_X1 45
|
|
#define LULZBOT_STANDARD_WIPE_X2 115
|
|
#define LULZBOT_STANDARD_WIPE_Y1 172
|
|
#define LULZBOT_STANDARD_WIPE_Y2 172
|
|
#define LULZBOT_STANDARD_WIPE_Z -0.5
|
|
|
|
#elif defined(LULZBOT_USE_AUTOLEVELING) && defined(LULZBOT_TAZ_BED)
|
|
// TAZ has a vertical wiping pad on the left side of the bed
|
|
#define LULZBOT_STANDARD_WIPE_X1 -16
|
|
#define LULZBOT_STANDARD_WIPE_X2 -16
|
|
#define LULZBOT_STANDARD_WIPE_Y1 95
|
|
#define LULZBOT_STANDARD_WIPE_Y2 25
|
|
#define LULZBOT_STANDARD_WIPE_Z 1
|
|
#endif
|
|
|
|
#define LULZBOT_NOZZLE_CLEAN_START_POINT { \
|
|
LULZBOT_STANDARD_WIPE_X1 + LULZBOT_TOOLHEAD_WIPE_X1_ADJ, \
|
|
LULZBOT_STANDARD_WIPE_Y1 + LULZBOT_TOOLHEAD_WIPE_Y1_ADJ, \
|
|
LULZBOT_STANDARD_WIPE_Z \
|
|
}
|
|
|
|
#define LULZBOT_NOZZLE_CLEAN_END_POINT { \
|
|
LULZBOT_STANDARD_WIPE_X2 + LULZBOT_TOOLHEAD_WIPE_X2_ADJ, \
|
|
LULZBOT_STANDARD_WIPE_Y2 + LULZBOT_TOOLHEAD_WIPE_Y2_ADJ, \
|
|
LULZBOT_STANDARD_WIPE_Z \
|
|
}
|
|
|
|
/*************************** REWIPE FUNCTIONALITY *******************************/
|
|
|
|
#define LULZBOT_NUM_REWIPES 3
|
|
#if defined(LULZBOT_IS_TAZ)
|
|
#define LULZBOT_BED_PROBE_MIN 0 // Limit on pushing into the bed
|
|
#else defined(LULZBOT_IS_MINI)
|
|
#define LULZBOT_BED_PROBE_MIN -4 // Limit on pushing into the bed
|
|
#endif
|
|
|
|
#if defined(LULZBOT_USE_PRE_GLADIOLA_G29_WORKAROUND)
|
|
// workaround for older minis where G29 shifts the coordinate system
|
|
#define LULZBOT_REHOME_BEFORE_REWIPE \
|
|
do_blocking_move_to_xy(X_MIN_POS + 5, Y_MAX_POS - 5); /* Approach home */ \
|
|
do_blocking_move_to_xy(X_MIN_POS + 5, Y_MAX_POS); /* Trigger Y_MAX */ \
|
|
do_blocking_move_to_xy(X_MIN_POS + 5, Y_MAX_POS - 5); /* Clear endstops */ \
|
|
do_blocking_move_to_xy(X_MIN_POS, Y_MAX_POS - 5); /* Trigger X_MIN */ \
|
|
do_blocking_move_to_xy(X_MIN_POS + 5, Y_MAX_POS - 5); /* Clear endstops */
|
|
#else
|
|
#define LULZBOT_REHOME_BEFORE_REWIPE
|
|
#endif
|
|
|
|
#define LULZBOT_PROBE_Z_WITH_REWIPE(speed) \
|
|
/* do_probe_move returns true when it fails to hit an endstop, meaning we need to rewipe */ \
|
|
for(int rewipes = 0; do_probe_move(LULZBOT_BED_PROBE_MIN, speed); rewipes++) { \
|
|
if(rewipes >= LULZBOT_NUM_REWIPES) { /* max of tries */ \
|
|
SERIAL_ERRORLNPGM("PROBE FAIL CLEAN NOZZLE"); /* cura listens for this message specifically */ \
|
|
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED); /* use a more friendly message on the LCD */ \
|
|
BUZZ(25, 880); BUZZ(50, 0); /* play tone */ \
|
|
BUZZ(25, 880); BUZZ(50, 0); \
|
|
BUZZ(25, 880); BUZZ(50, 0); \
|
|
do_blocking_move_to_z(100, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); /* raise head */ \
|
|
current_position[E_AXIS] = 0; /* prime nozzle at 75 mm/sec */ \
|
|
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 75./60, active_extruder); \
|
|
sync_plan_position_e(); \
|
|
stepper.synchronize(); \
|
|
kill(PSTR(MSG_ERR_PROBING_FAILED)); /* stop print job */ \
|
|
return NAN; /* abort the leveling in progress */ \
|
|
} \
|
|
SERIAL_ERRORLNPGM(MSG_REWIPE); \
|
|
LCD_MESSAGEPGM(MSG_REWIPE); \
|
|
do_blocking_move_to_z(10, MMM_TO_MMS(speed)); /* raise nozzle */ \
|
|
Nozzle::clean(0, 12, 0, 0); /* wipe nozzle */ \
|
|
}
|
|
|
|
/******************************** MOTOR CURRENTS *******************************/
|
|
|
|
// Values for XYZ vary by printer model, values for E vary by toolhead.
|
|
|
|
#if defined(LULZBOT_USE_EINSYRAMBO)
|
|
// These values specify the maximum current, but actual
|
|
// currents may be lower when used with COOLCONF
|
|
#if defined(LULZBOT_USE_TMC_STEALTHCHOP_XY)
|
|
// Stealth mode seems to cause the drivers to overheat
|
|
// at considerably less current.
|
|
#define LULZBOT_MOTOR_CURRENT_XY 900 // mA
|
|
#else
|
|
#define LULZBOT_MOTOR_CURRENT_XY 920 // mA
|
|
#endif
|
|
#define LULZBOT_MOTOR_CURRENT_Z 960 // mA
|
|
|
|
#elif defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_SCREW)
|
|
#define LULZBOT_MOTOR_CURRENT_XY 1300 // mA
|
|
#define LULZBOT_MOTOR_CURRENT_Z 1630 // mA
|
|
|
|
#elif defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT)
|
|
#define LULZBOT_MOTOR_CURRENT_XY 1300 // mA
|
|
#define LULZBOT_MOTOR_CURRENT_Z 1630 // mA
|
|
|
|
#elif defined(LULZBOT_Juniper_TAZ5)
|
|
#define LULZBOT_MOTOR_CURRENT_XY 950 // mA
|
|
#define LULZBOT_MOTOR_CURRENT_Z 1275 // mA
|
|
|
|
#elif defined(LULZBOT_IS_TAZ) && defined(LULZBOT_USE_Z_SCREW)
|
|
#define LULZBOT_MOTOR_CURRENT_XY 950 // mA
|
|
#define LULZBOT_MOTOR_CURRENT_Z 1075 // mA
|
|
|
|
#elif defined(LULZBOT_IS_TAZ) && defined(LULZBOT_USE_Z_BELT)
|
|
#define LULZBOT_MOTOR_CURRENT_XY 950 // mA
|
|
#define LULZBOT_MOTOR_CURRENT_Z 950 // mA
|
|
#endif
|
|
|
|
/************ ACCELERATION, FEEDRATES AND XYZ MOTOR STEPS *******************/
|
|
|
|
// Values for XYZ vary by printer model, values for E vary by toolhead.
|
|
|
|
#if defined(LULZBOT_USE_Z_SCREW)
|
|
// Older printers had a fudge factor for ABS shrinkage.
|
|
#define LULZBOT_XY_STEPS 100.5
|
|
#else
|
|
// In the Mini 2 and TAZ 7 going forward, use true XY steps.
|
|
#define LULZBOT_XY_STEPS 100
|
|
#endif
|
|
|
|
#if defined(LULZBOT_IS_MINI)
|
|
|
|
#if defined(LULZBOT_USE_TMC_STEALTHCHOP)
|
|
#define LULZBOT_DEFAULT_ACCELERATION 500
|
|
#define LULZBOT_DEFAULT_TRAVEL_ACCELERATION 500
|
|
#else
|
|
#define LULZBOT_DEFAULT_ACCELERATION 2000
|
|
#define LULZBOT_DEFAULT_TRAVEL_ACCELERATION 2000
|
|
#endif
|
|
|
|
#define LULZBOT_DEFAULT_XJERK 12.0
|
|
#define LULZBOT_DEFAULT_YJERK 12.0
|
|
#define LULZBOT_DEFAULT_ZJERK 0.4
|
|
|
|
#define LULZBOT_Z_PROBE_OFFSET_FROM_EXTRUDER -1.377
|
|
|
|
#elif defined(LULZBOT_IS_TAZ)
|
|
#define LULZBOT_DEFAULT_XJERK 8.0
|
|
#define LULZBOT_DEFAULT_YJERK 8.0
|
|
#define LULZBOT_DEFAULT_ZJERK 0.4
|
|
#if not defined(LULZBOT_DEFAULT_ACCELERATION)
|
|
#define LULZBOT_DEFAULT_ACCELERATION 500
|
|
#endif
|
|
#if not defined(LULZBOT_DEFAULT_TRAVEL_ACCELERATION)
|
|
#define LULZBOT_DEFAULT_TRAVEL_ACCELERATION 500
|
|
#endif
|
|
|
|
#define LULZBOT_Z_PROBE_OFFSET_FROM_EXTRUDER -1.200
|
|
#endif
|
|
|
|
#if defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_SCREW)
|
|
#define LULZBOT_Z_STEPS 1600
|
|
#define LULZBOT_Z_MICROSTEPS 16
|
|
|
|
#define LULZBOT_DEFAULT_MAX_FEEDRATE {300, 300, 8, 40} // (mm/sec)
|
|
#define LULZBOT_DEFAULT_MAX_ACCELERATION {9000,9000,100,1000}
|
|
|
|
#elif defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT)
|
|
#if defined(LULZBOT_USE_32_MICROSTEPS_ON_Z)
|
|
#define LULZBOT_Z_STEPS 200
|
|
#define LULZBOT_Z_MICROSTEPS 32
|
|
#else
|
|
#define LULZBOT_Z_STEPS 100
|
|
#define LULZBOT_Z_MICROSTEPS 16
|
|
#endif
|
|
#define LULZBOT_DEFAULT_MAX_FEEDRATE {300, 300, 300, 40} // (mm/sec)
|
|
|
|
#if defined(LULZBOT_USE_TMC_STEALTHCHOP_XY)
|
|
/* Stealthchop can skip steps if the acceleration is too high */
|
|
#define LULZBOT_DEFAULT_MAX_ACCELERATION {3000,3000,200,1000}
|
|
#else
|
|
#define LULZBOT_DEFAULT_MAX_ACCELERATION {9000,9000,200,1000}
|
|
#endif
|
|
|
|
#elif defined(LULZBOT_IS_TAZ) && defined(LULZBOT_USE_Z_SCREW)
|
|
#define LULZBOT_DEFAULT_MAX_FEEDRATE {300, 300, 3, 25} // (mm/sec)
|
|
#define LULZBOT_DEFAULT_MAX_ACCELERATION {9000,9000,100,10000}
|
|
#define LULZBOT_Z_STEPS 1600
|
|
#define LULZBOT_Z_MICROSTEPS 16
|
|
|
|
#elif defined(LULZBOT_IS_TAZ) && defined(LULZBOT_USE_Z_BELT)
|
|
// Prototype Z-belt driven TAZ 7
|
|
#define LULZBOT_DEFAULT_MAX_FEEDRATE {300, 300, 10, 25} // (mm/sec)
|
|
#define LULZBOT_DEFAULT_MAX_ACCELERATION {9000,9000,10,10000}
|
|
#define LULZBOT_Z_STEPS 1790.08264463
|
|
#define LULZBOT_Z_MICROSTEPS 16
|
|
#endif
|
|
|
|
#if defined(LULZBOT_USE_EINSYRAMBO)
|
|
// Neither define LULZBOT_PWM_MOTOR_CURRENT nor LULZBOT_DIGIPOT_MOTOR_CURRENT,
|
|
// as the current is set in Configuration_adv.h under the HAVE_TMC2130 block
|
|
|
|
#define LULZBOT_X_CURRENT LULZBOT_MOTOR_CURRENT_XY
|
|
#define LULZBOT_Y_CURRENT LULZBOT_MOTOR_CURRENT_XY
|
|
#define LULZBOT_Z_CURRENT LULZBOT_MOTOR_CURRENT_Z
|
|
#define LULZBOT_E0_CURRENT LULZBOT_MOTOR_CURRENT_E
|
|
|
|
#elif defined(LULZBOT_IS_MINI)
|
|
#define LULZBOT_PWM_MOTOR_CURRENT { \
|
|
LULZBOT_MOTOR_CURRENT_XY, \
|
|
LULZBOT_MOTOR_CURRENT_Z, \
|
|
LULZBOT_MOTOR_CURRENT_E \
|
|
} // Values in milliamps
|
|
|
|
#elif defined(LULZBOT_IS_TAZ)
|
|
// Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
|
|
#define DIGIPOT_CURRENT(mA) ((mA-750)/5+135)
|
|
|
|
#if LULZBOT_EXTRUDERS == 2
|
|
#define LULZBOT_DIGIPOT_MOTOR_CURRENT { \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_XY), \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_XY), \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_Z), \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_E0), \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_E1) \
|
|
} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
|
|
#else
|
|
#define LULZBOT_DIGIPOT_MOTOR_CURRENT { \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_XY), \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_XY), \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_Z), \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_E), \
|
|
DIGIPOT_CURRENT(LULZBOT_MOTOR_CURRENT_E) \
|
|
} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
|
|
#endif
|
|
#else
|
|
#error Motor currents not defined
|
|
#endif
|
|
|
|
#if defined(LULZBOT_DISTINCT_E_FACTORS) && LULZBOT_EXTRUDERS == 2 && !defined(LULZBOT_SWITCHING_EXTRUDER)
|
|
#define LULZBOT_DEFAULT_AXIS_STEPS_PER_UNIT {LULZBOT_XY_STEPS,LULZBOT_XY_STEPS,LULZBOT_Z_STEPS,LULZBOT_E_STEPS,LULZBOT_E_STEPS}
|
|
#else
|
|
#define LULZBOT_DEFAULT_AXIS_STEPS_PER_UNIT {LULZBOT_XY_STEPS,LULZBOT_XY_STEPS,LULZBOT_Z_STEPS,LULZBOT_E_STEPS}
|
|
#endif
|
|
|
|
/*********************************** LCD OPTIONS *******************************/
|
|
|
|
#if defined(LULZBOT_USE_LCD_DISPLAY)
|
|
#define LULZBOT_REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
|
|
#define LULZBOT_SDSUPPORT
|
|
#define LULZBOT_XYZ_HOLLOW_FRAME_DISABLE
|
|
#define LULZBOT_MENU_HOLLOW_FRAME_DISABLE
|
|
#define LULZBOT_USE_SMALL_INFOFONT
|
|
#if defined(LULZBOT_USE_AUTOLEVELING)
|
|
#define LULZBOT_BABYSTEPPING
|
|
#define LULZBOT_BABYSTEP_ZPROBE_OFFSET
|
|
#define LULZBOT_MENU_BED_LEVELING_GCODE "G28 XY\nM109 S175\nG28 Z\nM109 R145\nG12\nG29\nM104 S0"
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#endif
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#define LULZBOT_SHOW_CUSTOM_BOOTSCREEN
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#define LULZBOT_ENCODER_PULSES_PER_STEP 2
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#define LULZBOT_ENCODER_STEPS_PER_MENU_ITEM 1
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#define LULZBOT_COOLING_MESSAGES
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#if defined(LULZBOT_IS_MINI)
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// In the experimental Gladiola_MiniLCD, the encoder direction is reversed.
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#define LULZBOT_REVERSE_ENCODER_DIRECTION
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#endif
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/* Marlin shows three extruders on a dual:
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* Extruder - The active nozzle (varies)
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|
* Extruder 1 - The primary extruder
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* Extruder 2 - The secondary extruder
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*
|
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* The following causes the active nozzle to be
|
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* hidden as seeing three nozzles may be
|
|
* confusing to users.
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*/
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#define LULZBOT_HIDE_ACTIVE_NOZZLE_IN_LCD
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#define LULZBOT_HIDE_PID_CONFIG_IN_LCD
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#define LULZBOT_HIDE_EXTRA_FAN_CONFIG_IN_LCD
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|
#define LULZBOT_SCROLL_LONG_FILE_NAMES
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|
#define LULZBOT_REORDERED_MENUS
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|
#define LULZBOT_ESTEP_REDUCED_LCD_PRECISION
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|
#if LULZBOT_EXTRUDERS > 1
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#define LULZBOT_CHANGE_FILAMENT_DUAL_EXTRUDER_SUPPORT
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#endif
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|
#endif
|
|
|
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/* Marlin requires static PSTRs to display on the LCD display, because of this */
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|
/* we have to use a preprocessor trick to append the heater name on temp errors */
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/* such that an appropriate PSTR is selected depending on the value of e */
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#define LULZBOT_STRINGIFY(msg) msg
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#define LULZBOT_ENHANCED_TEMP_ERROR_MSG(msg, e) \
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((e == -1) ? PSTR(LULZBOT_STRINGIFY(msg) " BED") : ((e == 0) ? PSTR(LULZBOT_STRINGIFY(msg) " E0") : PSTR(LULZBOT_STRINGIFY(msg) " E1")) )
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|
|
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#if defined(LULZBOT_MODERN_UI)
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#define LULZBOT_ABOUT_TO_DRAW_SCREEN(a,b) \
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|
lcd_in_status(a == b); \
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|
if(a == b) { \
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|
a(); \
|
|
lcd_clicked = false; \
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|
NOLESS(max_display_update_time, millis() - ms); \
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return; \
|
|
}
|
|
#define LULZBOT_LCD_CLEAR_DECL void lcd_clear_text_buffer();
|
|
#define LULZBOT_LCD_CLEAR lcd_clear_text_buffer();
|
|
#if defined(LULZBOT_IS_MINI)
|
|
#define WELCOME_MSG _UxGT("Mini 2 ready.")
|
|
#else
|
|
#define WELCOME_MSG _UxGT("TAZ 7 ready.")
|
|
#endif
|
|
#else
|
|
#define LULZBOT_ABOUT_TO_DRAW_SCREEN(a)
|
|
#define LULZBOT_LCD_CLEAR
|
|
#define LULZBOT_LCD_CLEAR_DECL
|
|
#endif
|
|
|
|
/***************************** CUSTOM SPLASH SCREEN *****************************/
|
|
|
|
#define LULZBOT_CUSTOM_BOOTSCREEN() \
|
|
u8g.firstPage(); \
|
|
do { \
|
|
u8g.drawBitmapP(0,0,CEILING(CUSTOM_BOOTSCREEN_BMPWIDTH, 8),CUSTOM_BOOTSCREEN_BMPHEIGHT,custom_start_bmp); \
|
|
u8g.setFont(u8g_font_6x13); \
|
|
u8g.drawStr(61,17,LULZBOT_LCD_MACHINE_NAME); \
|
|
u8g.setFont(u8g_font_04b_03); \
|
|
u8g.drawStr(62,28,LULZBOT_LCD_TOOLHEAD_NAME); \
|
|
u8g.setFont(u8g_font_5x8); \
|
|
u8g.drawStr(63,41,"LulzBot.com"); \
|
|
u8g.setFont(u8g_font_5x8); \
|
|
u8g.drawStr(62,62,"v"); \
|
|
u8g.drawStr(67,62,SHORT_BUILD_VERSION LULZBOT_FW_VERSION); \
|
|
} while( u8g.nextPage() );
|
|
|
|
/************************* Z-OFFSET LCD ADJUSTMENT ******************************/
|
|
|
|
// Gralco's customized Z Offset LCD overlay (also requires dogm_bitmaps_Lulzbot.h)
|
|
|
|
#define LULZBOT_ZOFFSET_OVERLAY(zprobe_zoffset) \
|
|
static int dir = 0; \
|
|
static float old_zprobe_zoffset = 0; \
|
|
if(zprobe_zoffset != old_zprobe_zoffset) { \
|
|
dir = (zprobe_zoffset > old_zprobe_zoffset) ? 1 : -1; \
|
|
old_zprobe_zoffset = zprobe_zoffset; \
|
|
} \
|
|
const int left = 5; \
|
|
const int right = 90; \
|
|
const int nozzle = 60; \
|
|
u8g.drawBitmapP(nozzle + 6, 4 - dir,2,12,nozzle_bmp); \
|
|
u8g.drawBitmapP(nozzle + 0,20,3,1,offset_bedline_bmp); \
|
|
u8g.drawBitmapP(left + 0, 47, 3, 16, ccw_bmp); \
|
|
u8g.drawBitmapP(right + 0, 47, 3, 16, cw_bmp); \
|
|
u8g.drawBitmapP(right + 20, 48 - dir, 2, 13, up_arrow_bmp); \
|
|
u8g.drawBitmapP(left + 20, 49 - dir, 2, 13, down_arrow_bmp);
|
|
|
|
/*************************** Z-OFFSET AUTO-SAVE ********************************/
|
|
|
|
/* Historically, the Lulzbot firmware would save the Z-Offset into the EEPROM
|
|
* each time it is changed. The latest Marlin made this more difficult since they
|
|
* added a CRC to the EEPROM. We work around this by bracketing the EEPROM_READ
|
|
* and EEPROM_WRITE routines such that the CRC ignores the Z-Offset value. That
|
|
* code also captures the eeprom_index so we can write only that value later.
|
|
*/
|
|
|
|
/* The following goes in "configuration_store.cpp", before and after
|
|
* "EEPROM_WRITE(zprobe_zoffset)" and "EEPROM_READ(zprobe_zoffset)"
|
|
*/
|
|
#if defined(LULZBOT_USE_AUTOLEVELING)
|
|
#define LULZBOT_EEPROM_BEFORE_ZOFFSET \
|
|
const uint16_t eeprom_saved_crc = working_crc; \
|
|
eeprom_zoffset_index = eeprom_index;
|
|
|
|
#define LULZBOT_EEPROM_AFTER_ZOFFSET \
|
|
working_crc = eeprom_saved_crc;
|
|
|
|
/* The following goes in "configuration_store.h" */
|
|
#define LULZBOT_SAVE_ZOFFSET_TO_EEPROM_DECL \
|
|
static int eeprom_zoffset_index; \
|
|
static void store_zoffset();
|
|
|
|
/* The following goes in "configuration_store.cpp" */
|
|
#define LULZBOT_SAVE_ZOFFSET_TO_EEPROM_IMPL \
|
|
int MarlinSettings::eeprom_zoffset_index = -1; \
|
|
void MarlinSettings::store_zoffset() { \
|
|
if(eeprom_zoffset_index > 0) { \
|
|
uint16_t working_crc; \
|
|
int eeprom_index = eeprom_zoffset_index; \
|
|
EEPROM_WRITE(zprobe_zoffset); \
|
|
SERIAL_ECHO_START(); \
|
|
SERIAL_ECHOPAIR("Updating zoffset in EEPROM: ", zprobe_zoffset); \
|
|
SERIAL_ECHOPAIR("; EEPROM Index: ", eeprom_zoffset_index); \
|
|
SERIAL_ECHOLNPGM(""); \
|
|
} \
|
|
}
|
|
|
|
/* The following goes in "ultralcd.cpp" in "lcd_babystep_zoffset" */
|
|
#define LULZBOT_SAVE_ZOFFSET_TO_EEPROM settings.store_zoffset();
|
|
#else
|
|
#define LULZBOT_EEPROM_BEFORE_ZOFFSET
|
|
#define LULZBOT_EEPROM_AFTER_ZOFFSET
|
|
#define LULZBOT_SAVE_ZOFFSET_TO_EEPROM_DECL
|
|
#define LULZBOT_SAVE_ZOFFSET_TO_EEPROM_IMPL
|
|
#define LULZBOT_SAVE_ZOFFSET_TO_EEPROM
|
|
#endif
|
|
|
|
#endif /* CONDITIONALS_LULZBOT */
|