(2.0.x) serious bug G33

Marlin/Configuration.h

@@ -1,4 +1,4 @@
-/**
+/**
  * Marlin 3D Printer Firmware
  * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
@@ -74,7 +74,7 @@
 // User-specified version info of this build to display in [Pronterface, etc] terminal window during
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
-#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
+#define STRING_CONFIG_H_AUTHOR "(LVD, FLSUN-AC)" // Who made the changes.
 #define SHOW_BOOTSCREEN
 #define STRING_SPLASH_LINE1 SHORT_BUILD_VERSION // will be shown during bootup in line 1
 #define STRING_SPLASH_LINE2 WEBSITE_URL         // will be shown during bootup in line 2
@@ -119,12 +119,12 @@
 // The following define selects which electronics board you have.
 // Please choose the name from boards.h that matches your setup
 #ifndef MOTHERBOARD
-  #define MOTHERBOARD BOARD_RAMPS_14_EFB
+  #define MOTHERBOARD BOARD_RAMPS_13_EFB
 #endif
 
 // Optional custom name for your RepStrap or other custom machine
 // Displayed in the LCD "Ready" message
-//#define CUSTOM_MACHINE_NAME "3D Printer"
+#define CUSTOM_MACHINE_NAME "FLSUN Kossel"
 
 // Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
 // You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
@@ -283,12 +283,12 @@
  *
  * :{ '0': "Not used", '1':"100k / 4.7k - EPCOS", '2':"200k / 4.7k - ATC Semitec 204GT-2", '3':"Mendel-parts / 4.7k", '4':"10k !! do not use for a hotend. Bad resolution at high temp. !!", '5':"100K / 4.7k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", '6':"100k / 4.7k EPCOS - Not as accurate as Table 1", '7':"100k / 4.7k Honeywell 135-104LAG-J01", '8':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT", '9':"100k / 4.7k GE Sensing AL03006-58.2K-97-G1", '10':"100k / 4.7k RS 198-961", '11':"100k / 4.7k beta 3950 1%", '12':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT (calibrated for Makibox hot bed)", '13':"100k Hisens 3950  1% up to 300°C for hotend 'Simple ONE ' & hotend 'All In ONE'", '20':"PT100 (Ultimainboard V2.x)", '51':"100k / 1k - EPCOS", '52':"200k / 1k - ATC Semitec 204GT-2", '55':"100k / 1k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", '60':"100k Maker's Tool Works Kapton Bed Thermistor beta=3950", '66':"Dyze Design 4.7M High Temperature thermistor", '70':"the 100K thermistor found in the bq Hephestos 2", '71':"100k / 4.7k Honeywell 135-104LAF-J01", '147':"Pt100 / 4.7k", '1047':"Pt1000 / 4.7k", '110':"Pt100 / 1k (non-standard)", '1010':"Pt1000 / 1k (non standard)", '-3':"Thermocouple + MAX31855 (only for sensor 0)", '-2':"Thermocouple + MAX6675 (only for sensor 0)", '-1':"Thermocouple + AD595",'998':"Dummy 1", '999':"Dummy 2" }
  */
-#define TEMP_SENSOR_0 1
+#define TEMP_SENSOR_0 5
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
 #define TEMP_SENSOR_3 0
 #define TEMP_SENSOR_4 0
-#define TEMP_SENSOR_BED 0
+#define TEMP_SENSOR_BED 5
 
 // Dummy thermistor constant temperature readings, for use with 998 and 999
 #define DUMMY_THERMISTOR_998_VALUE 25
@@ -297,7 +297,7 @@
 // Use temp sensor 1 as a redundant sensor with sensor 0. If the readings
 // from the two sensors differ too much the print will be aborted.
 //#define TEMP_SENSOR_1_AS_REDUNDANT
-#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
+#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 5
 
 // Extruder temperature must be close to target for this long before M109 returns success
 #define TEMP_RESIDENCY_TIME 10  // (seconds)
@@ -305,7 +305,7 @@
 #define TEMP_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.
 
 // Bed temperature must be close to target for this long before M190 returns success
-#define TEMP_BED_RESIDENCY_TIME 10  // (seconds)
+#define TEMP_BED_RESIDENCY_TIME 1   // (seconds)
 #define TEMP_BED_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
 #define TEMP_BED_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.
 
@@ -322,12 +322,12 @@
 // When temperature exceeds max temp, your heater will be switched off.
 // This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
 // You should use MINTEMP for thermistor short/failure protection.
-#define HEATER_0_MAXTEMP 275
+#define HEATER_0_MAXTEMP 250
-#define HEATER_1_MAXTEMP 275
+#define HEATER_1_MAXTEMP 250
-#define HEATER_2_MAXTEMP 275
+#define HEATER_2_MAXTEMP 250
-#define HEATER_3_MAXTEMP 275
+#define HEATER_3_MAXTEMP 250
-#define HEATER_4_MAXTEMP 275
+#define HEATER_4_MAXTEMP 250
-#define BED_MAXTEMP 150
+#define BED_MAXTEMP 115
 
 //===========================================================================
 //============================= PID Settings ================================
@@ -339,7 +339,7 @@
 #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
 #define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #if ENABLED(PIDTEMP)
-  //#define PID_AUTOTUNE_MENU // Add PID Autotune to the LCD "Temperature" menu to run M303 and apply the result.
+  #define PID_AUTOTUNE_MENU // Add PID Autotune to the LCD "Temperature" menu to run M303 and apply the result.
   //#define PID_DEBUG // Sends debug data to the serial port.
   //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
   //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
@@ -352,9 +352,9 @@
   // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
 
   // Ultimaker
-  #define  DEFAULT_Kp 22.2
+  //#define  DEFAULT_Kp 22.2
-  #define  DEFAULT_Ki 1.08
+  //#define  DEFAULT_Ki 1.08
-  #define  DEFAULT_Kd 114
+  //#define  DEFAULT_Kd 114
 
   // MakerGear
   //#define  DEFAULT_Kp 7.0
@@ -366,6 +366,11 @@
   //#define  DEFAULT_Ki 2.25
   //#define  DEFAULT_Kd 440
 
+  //E3D with 30MM fan
+  #define  DEFAULT_Kp 24.77
+  #define  DEFAULT_Ki 1.84
+  #define  DEFAULT_Kd 83.61
+
 #endif // PIDTEMP
 
 //===========================================================================
@@ -396,9 +401,9 @@
 
   //120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
   //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
-  #define  DEFAULT_bedKp 10.00
+  //#define  DEFAULT_bedKp 10.00
-  #define  DEFAULT_bedKi .023
+  //#define  DEFAULT_bedKi .023
-  #define  DEFAULT_bedKd 305.4
+  //#define  DEFAULT_bedKd 305.4
 
   //120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
   //from pidautotune
@@ -406,6 +411,11 @@
   //#define  DEFAULT_bedKi 1.41
   //#define  DEFAULT_bedKd 1675.16
 
+  //D-force
+  #define  DEFAULT_bedKp 22.97
+  #define  DEFAULT_bedKi 3.76
+  #define  DEFAULT_bedKd 29.2
+
   // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
 #endif // PIDTEMPBED
 
@@ -421,7 +431,7 @@
 // This option prevents a single extrusion longer than EXTRUDE_MAXLENGTH.
 // Note that for Bowden Extruders a too-small value here may prevent loading.
 #define PREVENT_LENGTHY_EXTRUDE
-#define EXTRUDE_MAXLENGTH 200
+#define EXTRUDE_MAXLENGTH 300
 
 //===========================================================================
 //======================== Thermal Runaway Protection =======================
@@ -457,6 +467,75 @@
 //#define COREZX
 //#define COREZY
 
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+// Enable DELTA kinematics and most of the default configuration for Deltas
+#define DELTA
+
+#if ENABLED(DELTA)
+
+  // Make delta curves from many straight lines (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DELTA_SEGMENTS_PER_SECOND 160
+
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
+
+  // Delta calibration menu
+  // uncomment to add three points calibration menu option.
+  // See http://minow.blogspot.com/index.html#4918805519571907051
+  #define DELTA_CALIBRATION_MENU
+
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  #define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
+
+    // Enable and set these values based on results of 'G33 A1'
+    //#define H_FACTOR 1.01
+    //#define R_FACTOR 2.61
+    //#define A_FACTOR 0.87
+
+  #endif
+
+  #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
+    // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
+    #define DELTA_CALIBRATION_RADIUS 73.5 // mm
+    // Set the steprate for papertest probing
+    #define PROBE_MANUALLY_STEP 0.025
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 85.0 // mm
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 218.0 // mm
+
+  // height from z=0 to home position
+  #define DELTA_HEIGHT 295.00 // get this value from auto calibrate
+
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
+
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 101.0 //mm  Get this value from auto calibrate
+
+  // Trim adjustments for individual towers
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
+
+  // delta radius and diaginal rod adjustments measured in mm
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
+
+#endif
+
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================
@@ -466,12 +545,12 @@
 // Specify here all the endstop connectors that are connected to any endstop or probe.
 // Almost all printers will be using one per axis. Probes will use one or more of the
 // extra connectors. Leave undefined any used for non-endstop and non-probe purposes.
-#define USE_XMIN_PLUG
+//#define USE_XMIN_PLUG
-#define USE_YMIN_PLUG
+//#define USE_YMIN_PLUG
 #define USE_ZMIN_PLUG
-//#define USE_XMAX_PLUG
+#define USE_XMAX_PLUG
-//#define USE_YMAX_PLUG
+#define USE_YMAX_PLUG
-//#define USE_ZMAX_PLUG
+#define USE_ZMAX_PLUG
 
 // coarse Endstop Settings
 #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@@ -490,11 +569,11 @@
 // Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
 #define X_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
 #define Y_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
-#define Z_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
+#define Z_MIN_ENDSTOP_INVERTING true  // set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
-#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the probe.
+#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the probe.
 
 // Enable this feature if all enabled endstop pins are interrupt-capable.
 // This will remove the need to poll the interrupt pins, saving many CPU cycles.
@@ -505,6 +584,7 @@
 //=============================================================================
 // @section motion
 
+// delta speeds must be the same on xyz
 /**
  * Default Settings
  *
@@ -525,14 +605,14 @@
  * Override with M92
  *                                      X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
  */
-#define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 4000, 500 }
+#define DEFAULT_AXIS_STEPS_PER_UNIT   { 100, 100, 100, 100 }  // default steps per unit for Kossel (GT2, 20 tooth)
 
 /**
  * Default Max Feed Rate (mm/s)
  * Override with M203
  *                                      X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
  */
-#define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }
+#define DEFAULT_MAX_FEEDRATE          { 200, 200, 200, 25 }
 
 /**
  * Default Max Acceleration (change/s) change = mm/s
@@ -540,7 +620,7 @@
  * Override with M201
  *                                      X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
  */
-#define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }
+#define DEFAULT_MAX_ACCELERATION      { 4000, 4000, 4000, 4000 }
 
 /**
  * Default Acceleration (change/s) change = mm/s
@@ -563,8 +643,8 @@
  * value set here, it may happen instantaneously.
  */
 #define DEFAULT_XJERK                 20.0
-#define DEFAULT_YJERK                 20.0
+#define DEFAULT_YJERK                 DEFAULT_XJERK
-#define DEFAULT_ZJERK                  0.4
+#define DEFAULT_ZJERK                 DEFAULT_YJERK // Must be same as XY for delta
 #define DEFAULT_EJERK                  5.0
 
 //===========================================================================
@@ -602,7 +682,7 @@
  * disastrous consequences. Use with caution and do your homework.
  *
  */
-//#define Z_MIN_PROBE_ENDSTOP
+//#define Z_MIN_PROBE_ENDSTOP // A3K leave disabled!
 
 /**
  * Probe Type
@@ -622,7 +702,7 @@
  * A Fix-Mounted Probe either doesn't deploy or needs manual deployment.
  *   (e.g., an inductive probe or a nozzle-based probe-switch.)
  */
-//#define FIX_MOUNTED_PROBE
+#define FIX_MOUNTED_PROBE
 
 /**
  * Z Servo Probe, such as an endstop switch on a rotating arm.
@@ -679,22 +759,72 @@
  *      O-- FRONT --+
  *    (0,0)
  */
-#define X_PROBE_OFFSET_FROM_EXTRUDER 10  // X offset: -left  +right  [of the nozzle]
+#define X_PROBE_OFFSET_FROM_EXTRUDER 0     // X offset: -left  +right  [of the nozzle]
-#define Y_PROBE_OFFSET_FROM_EXTRUDER 10  // Y offset: -front +behind [the nozzle]
+#define Y_PROBE_OFFSET_FROM_EXTRUDER 0     // Y offset: -front +behind [the nozzle]
-#define Z_PROBE_OFFSET_FROM_EXTRUDER 0   // Z offset: -below +above  [the nozzle]
+#define Z_PROBE_OFFSET_FROM_EXTRUDER 0.10  // Z offset: -below +above  [the nozzle]
 
 // X and Y axis travel speed (mm/m) between probes
-#define XY_PROBE_SPEED 8000
+#define XY_PROBE_SPEED 5000
 
 // Speed for the first approach when double-probing (with PROBE_DOUBLE_TOUCH)
 #define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
 
 // Speed for the "accurate" probe of each point
-#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)
+#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST) / 6
 
 // Use double touch for probing
 //#define PROBE_DOUBLE_TOUCH
 
+/**
+ * Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
+ * Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
+ */
+//#define Z_PROBE_ALLEN_KEY
+
+#if ENABLED(Z_PROBE_ALLEN_KEY)
+  // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
+  // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
+
+  // Kossel Mini
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X 30.0
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y DELTA_PRINTABLE_RADIUS
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z 100.0
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_SPEED
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X 0.0
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y DELTA_PRINTABLE_RADIUS
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_SPEED)/10
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X Z_PROBE_ALLEN_KEY_DEPLOY_2_X * 0.75
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y Z_PROBE_ALLEN_KEY_DEPLOY_2_Y * 0.75
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_SPEED
+
+  #define Z_PROBE_ALLEN_KEY_STOW_DEPTH 20
+  // Move the probe into position
+  #define Z_PROBE_ALLEN_KEY_STOW_1_X -64.0
+  #define Z_PROBE_ALLEN_KEY_STOW_1_Y 56.0
+  #define Z_PROBE_ALLEN_KEY_STOW_1_Z 23.0
+  #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_SPEED
+  // Move the nozzle down further to push the probe into retracted position.
+  #define Z_PROBE_ALLEN_KEY_STOW_2_X  Z_PROBE_ALLEN_KEY_STOW_1_X
+  #define Z_PROBE_ALLEN_KEY_STOW_2_Y  Z_PROBE_ALLEN_KEY_STOW_1_Y
+  #define Z_PROBE_ALLEN_KEY_STOW_2_Z  (Z_PROBE_ALLEN_KEY_STOW_1_Z-Z_PROBE_ALLEN_KEY_STOW_DEPTH)
+  #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_SPEED/10)
+  // Raise things back up slightly so we don't bump into anything
+  #define Z_PROBE_ALLEN_KEY_STOW_3_X  Z_PROBE_ALLEN_KEY_STOW_2_X
+  #define Z_PROBE_ALLEN_KEY_STOW_3_Y  Z_PROBE_ALLEN_KEY_STOW_2_Y
+  #define Z_PROBE_ALLEN_KEY_STOW_3_Z  (Z_PROBE_ALLEN_KEY_STOW_1_Z+Z_PROBE_ALLEN_KEY_STOW_DEPTH)
+  #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE (XY_PROBE_SPEED/2)
+
+  #define Z_PROBE_ALLEN_KEY_STOW_4_X 0.0
+  #define Z_PROBE_ALLEN_KEY_STOW_4_Y 0.0
+  #define Z_PROBE_ALLEN_KEY_STOW_4_Z Z_PROBE_ALLEN_KEY_STOW_3_Z
+  #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_SPEED
+
+#endif // Z_PROBE_ALLEN_KEY
+
 /**
  * Z probes require clearance when deploying, stowing, and moving between
  * probe points to avoid hitting the bed and other hardware.
@@ -709,8 +839,8 @@
  * Example: `M851 Z-5` with a CLEARANCE of 4  =>  9mm from bed to nozzle.
  *     But: `M851 Z+1` with a CLEARANCE of 2  =>  2mm from bed to nozzle.
  */
-#define Z_CLEARANCE_DEPLOY_PROBE   10 // Z Clearance for Deploy/Stow
+#define Z_CLEARANCE_DEPLOY_PROBE    5 // Z Clearance for Deploy/Stow
-#define Z_CLEARANCE_BETWEEN_PROBES  5 // Z Clearance between probe points
+#define Z_CLEARANCE_BETWEEN_PROBES  2 // Z Clearance between probe points
 
 // For M851 give a range for adjusting the Z probe offset
 #define Z_PROBE_OFFSET_RANGE_MIN -20
@@ -742,9 +872,9 @@
 // @section machine
 
 // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
-#define INVERT_X_DIR false
+#define INVERT_X_DIR true // DELTA does not invert
 #define INVERT_Y_DIR true
-#define INVERT_Z_DIR false
+#define INVERT_Z_DIR true
 
 // Enable this option for Toshiba stepper drivers
 //#define CONFIG_STEPPERS_TOSHIBA
@@ -762,28 +892,28 @@
 
 //#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
 
-//#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
+#define Z_HOMING_HEIGHT 15   // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 
 // Direction of endstops when homing; 1=MAX, -1=MIN
 // :[-1,1]
-#define X_HOME_DIR -1
+#define X_HOME_DIR 1  // deltas always home to max
-#define Y_HOME_DIR -1
+#define Y_HOME_DIR 1
-#define Z_HOME_DIR -1
+#define Z_HOME_DIR 1
 
 // @section machine
 
 // The size of the print bed
-#define X_BED_SIZE 200
+#define X_BED_SIZE ((DELTA_PRINTABLE_RADIUS) * 2)
-#define Y_BED_SIZE 200
+#define Y_BED_SIZE ((DELTA_PRINTABLE_RADIUS) * 2)
 
 // Travel limits (mm) after homing, corresponding to endstop positions.
-#define X_MIN_POS 0
+#define X_MIN_POS -(DELTA_PRINTABLE_RADIUS)
-#define Y_MIN_POS 0
+#define Y_MIN_POS -(DELTA_PRINTABLE_RADIUS)
 #define Z_MIN_POS 0
-#define X_MAX_POS X_BED_SIZE
+#define X_MAX_POS DELTA_PRINTABLE_RADIUS
-#define Y_MAX_POS Y_BED_SIZE
+#define Y_MAX_POS DELTA_PRINTABLE_RADIUS
-#define Z_MAX_POS 200
+#define Z_MAX_POS MANUAL_Z_HOME_POS
 
 /**
  * Software Endstops
@@ -794,15 +924,15 @@
  * - Use 'M211' to set software endstops on/off or report current state
  */
 
-// Min software endstops constrain movement within minimum coordinate bounds
+// Min software endstops curtail movement below minimum coordinate bounds
-#define MIN_SOFTWARE_ENDSTOPS
+//#define MIN_SOFTWARE_ENDSTOPS
 #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
   #define MIN_SOFTWARE_ENDSTOP_X
   #define MIN_SOFTWARE_ENDSTOP_Y
   #define MIN_SOFTWARE_ENDSTOP_Z
 #endif
 
-// Max software endstops constrain movement within maximum coordinate bounds
+// Max software endstops curtail movement above maximum coordinate bounds
 #define MAX_SOFTWARE_ENDSTOPS
 #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
   #define MAX_SOFTWARE_ENDSTOP_X
@@ -881,23 +1011,25 @@
   // Gradually reduce leveling correction until a set height is reached,
   // at which point movement will be level to the machine's XY plane.
   // The height can be set with M420 Z<height>
-  #define ENABLE_LEVELING_FADE_HEIGHT
+  //#define ENABLE_LEVELING_FADE_HEIGHT
 #endif
 
 #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
   // Set the number of grid points per dimension.
-  #define GRID_MAX_POINTS_X 3
+  // Works best with 5 or more points in each dimension.
+  #define GRID_MAX_POINTS_X 7
   #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
 
   // Set the boundaries for probing (where the probe can reach).
-  #define LEFT_PROBE_BED_POSITION 15
+  #define DELTA_PROBEABLE_RADIUS (DELTA_PRINTABLE_RADIUS - 15)
-  #define RIGHT_PROBE_BED_POSITION 170
+  #define LEFT_PROBE_BED_POSITION -(DELTA_PROBEABLE_RADIUS)
-  #define FRONT_PROBE_BED_POSITION 20
+  #define RIGHT_PROBE_BED_POSITION DELTA_PROBEABLE_RADIUS
-  #define BACK_PROBE_BED_POSITION 170
+  #define FRONT_PROBE_BED_POSITION -(DELTA_PROBEABLE_RADIUS)
+  #define BACK_PROBE_BED_POSITION DELTA_PROBEABLE_RADIUS
 
   // The Z probe minimum outer margin (to validate G29 parameters).
-  #define MIN_PROBE_EDGE 10
+  #define MIN_PROBE_EDGE 20
 
   // Probe along the Y axis, advancing X after each column
   //#define PROBE_Y_FIRST
@@ -941,14 +1073,16 @@
   #define GRID_MAX_POINTS_X 10      // Don't use more than 15 points per axis, implementation limited.
   #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
 
-  #define UBL_PROBE_PT_1_X 39       // Probing points for 3-Point leveling of the mesh
+  #define _PX(R,A) (R) * cos(RADIANS(A))
-  #define UBL_PROBE_PT_1_Y 180
+  #define _PY(R,A) (R) * sin(RADIANS(A))
-  #define UBL_PROBE_PT_2_X 39
+  #define UBL_PROBE_PT_1_X _PX(DELTA_PROBEABLE_RADIUS, 0)   // Probing points for 3-Point leveling of the mesh
-  #define UBL_PROBE_PT_2_Y 20
+  #define UBL_PROBE_PT_1_Y _PY(DELTA_PROBEABLE_RADIUS, 0)
-  #define UBL_PROBE_PT_3_X 180
+  #define UBL_PROBE_PT_2_X _PX(DELTA_PROBEABLE_RADIUS, 120)
-  #define UBL_PROBE_PT_3_Y 20
+  #define UBL_PROBE_PT_2_Y _PY(DELTA_PROBEABLE_RADIUS, 120)
+  #define UBL_PROBE_PT_3_X _PX(DELTA_PROBEABLE_RADIUS, 240)
+  #define UBL_PROBE_PT_3_Y _PY(DELTA_PROBEABLE_RADIUS, 240)
 
-  //#define UBL_G26_MESH_VALIDATION // Enable G26 mesh validation
+  #define UBL_G26_MESH_VALIDATION   // Enable G26 mesh validation
   #define UBL_MESH_EDIT_MOVES_Z     // Sophisticated users prefer no movement of nozzle
   #define UBL_SAVE_ACTIVE_ON_M500   // Save the currently active mesh in the current slot on M500
 
@@ -990,13 +1124,13 @@
 // @section homing
 
 // The center of the bed is at (X=0, Y=0)
-//#define BED_CENTER_AT_0_0
+#define BED_CENTER_AT_0_0
 
 // Manually set the home position. Leave these undefined for automatic settings.
 // For DELTA this is the top-center of the Cartesian print volume.
 //#define MANUAL_X_HOME_POS 0
 //#define MANUAL_Y_HOME_POS 0
-//#define MANUAL_Z_HOME_POS 0
+#define MANUAL_Z_HOME_POS DELTA_HEIGHT // Distance between the nozzle to printbed after homing
 
 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
 //
@@ -1014,9 +1148,8 @@
   #define Z_SAFE_HOMING_Y_POINT ((Y_BED_SIZE) / 2)    // Y point for Z homing when homing all axis (G28).
 #endif
 
-// Homing speeds (mm/m)
+// Delta only homes to Z
-#define HOMING_FEEDRATE_XY (50*60)
+#define HOMING_FEEDRATE_Z  (100*60)
-#define HOMING_FEEDRATE_Z  (4*60)
 
 //=============================================================================
 //============================= Additional Features ===========================
@@ -1032,7 +1165,7 @@
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
 //
-//#define EEPROM_SETTINGS // Enable for M500 and M501 commands
+#define EEPROM_SETTINGS   // Enable for M500 and M501 commands
 //#define DISABLE_M503    // Saves ~2700 bytes of PROGMEM. Disable for release!
 #define EEPROM_CHITCHAT   // Give feedback on EEPROM commands. Disable to save PROGMEM.
 
@@ -1043,7 +1176,7 @@
 // every couple of seconds when it can't accept commands.
 //
 #define HOST_KEEPALIVE_FEATURE        // Disable this if your host doesn't like keepalive messages
-#define DEFAULT_KEEPALIVE_INTERVAL 2  // Number of seconds between "busy" messages. Set with M113.
+#define DEFAULT_KEEPALIVE_INTERVAL 5  // Number of seconds between "busy" messages. Set with M113.
 #define BUSY_WHILE_HEATING            // Some hosts require "busy" messages even during heating
 
 //
@@ -1064,12 +1197,12 @@
 // @section temperature
 
 // Preheat Constants
-#define PREHEAT_1_TEMP_HOTEND 180
+#define PREHEAT_1_TEMP_HOTEND 195
-#define PREHEAT_1_TEMP_BED     70
+#define PREHEAT_1_TEMP_BED     60
 #define PREHEAT_1_FAN_SPEED     0 // Value from 0 to 255
 
 #define PREHEAT_2_TEMP_HOTEND 240
-#define PREHEAT_2_TEMP_BED    110
+#define PREHEAT_2_TEMP_BED    100
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255
 
 /**
@@ -1181,7 +1314,7 @@
  *
  * View the current statistics with M78.
  */
-//#define PRINTCOUNTER
+#define PRINTCOUNTER
 
 //=============================================================================
 //============================= LCD and SD support ============================
@@ -1224,7 +1357,7 @@
  *
  * :['JAPANESE', 'WESTERN', 'CYRILLIC']
  */
-#define DISPLAY_CHARSET_HD44780 JAPANESE
+#define DISPLAY_CHARSET_HD44780 WESTERN
 
 /**
  * LCD TYPE
@@ -1246,7 +1379,7 @@
  * you must uncomment the following option or it won't work.
  *
  */
-//#define SDSUPPORT
+#define SDSUPPORT
 
 /**
  * SD CARD: SPI SPEED
@@ -1263,7 +1396,7 @@
  *
  * Use CRC checks and retries on the SD communication.
  */
-//#define SD_CHECK_AND_RETRY
+#define SD_CHECK_AND_RETRY
 
 //
 // ENCODER SETTINGS
@@ -1309,6 +1442,7 @@
 //
 // Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu.
 //
+// INDIVIDUAL_AXIS_HOMING_MENU is incompatible with DELTA kinematics.
 //#define INDIVIDUAL_AXIS_HOMING_MENU
 
 //
@@ -1384,7 +1518,7 @@
 //
 // Note: Usually sold with a white PCB.
 //
-//#define REPRAP_DISCOUNT_SMART_CONTROLLER
+#define REPRAP_DISCOUNT_SMART_CONTROLLER
 
 //
 // GADGETS3D G3D LCD/SD Controller
@@ -1704,14 +1838,14 @@
  */
 //#define FILAMENT_WIDTH_SENSOR
 
-#define DEFAULT_NOMINAL_FILAMENT_DIA 3.00   // (mm) Diameter of the filament generally used (3.0 or 1.75mm), also used in the slicer. Used to validate sensor reading.
+#define DEFAULT_NOMINAL_FILAMENT_DIA 1.75   // (mm) Diameter of the filament generally used (3.0 or 1.75mm), also used in the slicer. Used to validate sensor reading.
 
 #if ENABLED(FILAMENT_WIDTH_SENSOR)
   #define FILAMENT_SENSOR_EXTRUDER_NUM 0    // Index of the extruder that has the filament sensor (0,1,2,3)
   #define MEASUREMENT_DELAY_CM        14    // (cm) The distance from the filament sensor to the melting chamber
 
-  #define MEASURED_UPPER_LIMIT         3.30 // (mm) Upper limit used to validate sensor reading
+  #define MEASURED_UPPER_LIMIT         1.95 // (mm) Upper limit used to validate sensor reading
-  #define MEASURED_LOWER_LIMIT         1.90 // (mm) Lower limit used to validate sensor reading
+  #define MEASURED_LOWER_LIMIT         1.20 // (mm) Lower limit used to validate sensor reading
   #define MAX_MEASUREMENT_DELAY       20    // (bytes) Buffer size for stored measurements (1 byte per cm). Must be larger than MEASUREMENT_DELAY_CM.
 
   #define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA // Set measured to nominal initially

Marlin/Configuration_adv.h

@@ -348,8 +348,8 @@
 //homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
 #define X_HOME_BUMP_MM 5
 #define Y_HOME_BUMP_MM 5
-#define Z_HOME_BUMP_MM 2
+#define Z_HOME_BUMP_MM 5 // deltas need the same for all three axes
-#define HOMING_BUMP_DIVISOR {2, 2, 4}  // Re-Bump Speed Divisor (Divides the Homing Feedrate)
+#define HOMING_BUMP_DIVISOR {10, 10, 10}  // Re-Bump Speed Divisor (Divides the Homing Feedrate)
 //#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
 
 // When G28 is called, this option will make Y home before X
@@ -371,7 +371,7 @@
 // Default stepper release if idle. Set to 0 to deactivate.
 // Steppers will shut down DEFAULT_STEPPER_DEACTIVE_TIME seconds after the last move when DISABLE_INACTIVE_? is true.
 // Time can be set by M18 and M84.
-#define DEFAULT_STEPPER_DEACTIVE_TIME 120
+#define DEFAULT_STEPPER_DEACTIVE_TIME 60
 #define DISABLE_INACTIVE_X true
 #define DISABLE_INACTIVE_Y true
 #define DISABLE_INACTIVE_Z true  // set to false if the nozzle will fall down on your printed part when print has finished.
@@ -385,7 +385,8 @@
 // @section lcd
 
 #if ENABLED(ULTIPANEL)
-  #define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60} // Feedrates for manual moves along X, Y, Z, E from panel
+  #define MANUAL_FEEDRATE_XYZ 50*60
+  #define MANUAL_FEEDRATE { MANUAL_FEEDRATE_XYZ, MANUAL_FEEDRATE_XYZ, MANUAL_FEEDRATE_XYZ, 60 } // Feedrates for manual moves along X, Y, Z, E from panel
   #define ULTIPANEL_FEEDMULTIPLY  // Comment to disable setting feedrate multiplier via encoder
 #endif
 
@@ -395,7 +396,8 @@
 #define DEFAULT_MINSEGMENTTIME        20000
 
 // If defined the movements slow down when the look ahead buffer is only half full
-#define SLOWDOWN
+// (don't use SLOWDOWN with DELTA because DELTA generates hundreds of segments per second)
+//#define SLOWDOWN
 
 // Frequency limit
 // See nophead's blog for more info
@@ -431,7 +433,7 @@
  *    M909, M910 & LCD - only PRINTRBOARD_REVF & RIGIDBOARD_V2
  */
 //#define PWM_MOTOR_CURRENT { 1300, 1300, 1250 }          // Values in milliamps
-//#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135 }   // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135 }   // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
 //#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 80 }    // Default drive percent - X, Y, Z, E axis
 
 // Uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
@@ -608,7 +610,6 @@
   // Enable this option and reduce the value to optimize screen updates.
   // The normal delay is 10µs. Use the lowest value that still gives a reliable display.
   //#define DOGM_SPI_DELAY_US 5
-
 #endif // DOGLCD
 
 // @section safety

Marlin/src/gcode/calibrate/G33.cpp

@@ -130,7 +130,7 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
                 dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
   #endif
 
-  for (uint8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] = 0.0;
+  for (uint8_t i = 0; i <= 12; i++) z_at_pt[i] = 0.0;
 
   if (!_0p_calibration) {
 
@@ -143,7 +143,7 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
     }
 
     if (_7p_calibration) { // probe extra center points
-      for (int8_t axis = _7p_multi_circle ? COUNT(z_at_pt) - 2 : COUNT(z_at_pt) - 4; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
+      for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
         const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
         #if ENABLED(PROBE_MANUALLY)
           z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
@@ -158,7 +158,7 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
       bool zig_zag = true;
       const uint8_t start = _4p_opposite_points ? 3 : 1,
                     step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
-      for (uint8_t axis = start; axis < COUNT(z_at_pt); axis += step) {
+      for (uint8_t axis = start; axis <= 12; axis += step) {
         const float zigadd = (zig_zag ? 0.5 : 0.0),
                     offset_circles = _7p_quadruple_circle ? zigadd + 1.0 :
                                      _7p_triple_circle    ? zigadd + 0.5 :
@@ -178,14 +178,14 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
     }
 
     if (_7p_intermed_points) // average intermediates to tower and opposites
-      for (uint8_t axis = 1; axis < COUNT(z_at_pt); axis += 2)
+      for (uint8_t axis = 1; axis <= 12; axis += 2)
         z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
 
     float S1 = z_at_pt[0],
           S2 = sq(z_at_pt[0]);
     int16_t N = 1;
     if (!_1p_calibration) // std dev from zero plane
-      for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < COUNT(z_at_pt); axis += (_4p_calibration ? 4 : 2)) {
+      for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis <= 12; axis += (_4p_calibration ? 4 : 2)) {
         S1 += z_at_pt[axis];
         S2 += sq(z_at_pt[axis]);
         N++;
@@ -227,7 +227,7 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
       SERIAL_EOL();
 
       probe_G33_points(z_at_pt, 3, true, false);
-      for (int8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] -= z_at_pt_base[i];
+      for (int8_t i = 0; i <= 12; i++) z_at_pt[i] -= z_at_pt_base[i];
       print_G33_results(z_at_pt, true, true);
       delta_endstop_adj[axis] += 1.0;
       switch (axis) {
@@ -257,7 +257,7 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
       SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
       SERIAL_EOL();
       probe_G33_points(z_at_pt, 3, true, false);
-      for (int8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] -= z_at_pt_base[i];
+      for (int8_t i = 0; i <= 12; i++) z_at_pt[i] -= z_at_pt_base[i];
       print_G33_results(z_at_pt, true, true);
       delta_radius -= 1.0 * zig_zag;
       recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
@@ -284,7 +284,7 @@ static float probe_G33_points(float z_at_pt[13], const int8_t probe_points, cons
       SERIAL_EOL();
 
       probe_G33_points(z_at_pt, 3, true, false);
-      for (int8_t i = 0; i < COUNT(z_at_pt); i++) z_at_pt[i] -= z_at_pt_base[i];
+      for (int8_t i = 0; i <= 12; i++) z_at_pt[i] -= z_at_pt_base[i];
       print_G33_results(z_at_pt, true, true);
 
       delta_tower_angle_trim[axis] -= 1.0;

Marlin/src/gcode/calibrate/calibrate.ino

@@ -0,0 +1,64 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "src/inc/MarlinConfig.h"
+
+#if ENABLED(ULTRA_LCD)
+  #if ENABLED(LCD_I2C_TYPE_PCF8575)
+    #include <Wire.h>
+    #include <LiquidCrystal_I2C.h>
+  #elif ENABLED(LCD_I2C_TYPE_MCP23017) || ENABLED(LCD_I2C_TYPE_MCP23008)
+    #include <Wire.h>
+    #include <LiquidTWI2.h>
+  #elif ENABLED(LCM1602)
+    #include <Wire.h>
+    #include <LCD.h>
+    #include <LiquidCrystal_I2C.h>
+  #elif ENABLED(DOGLCD)
+    #include <U8glib.h> // library for graphics LCD by Oli Kraus (https://github.com/olikraus/U8glib_Arduino)
+  #else
+    #include <LiquidCrystal.h> // library for character LCD
+  #endif
+#endif
+
+#if HAS_DIGIPOTSS
+  #include <SPI.h>
+#endif
+
+#if ENABLED(DIGIPOT_I2C)
+  #include <Wire.h>
+#endif
+
+#if ENABLED(HAVE_TMCDRIVER)
+  #include <SPI.h>
+  #include <TMC26XStepper.h>
+#endif
+
+#if ENABLED(HAVE_TMC2130)
+  #include <SPI.h>
+  #include <TMC2130Stepper.h>
+#endif
+
+#if ENABLED(HAVE_L6470DRIVER)
+  #include <SPI.h>
+  #include <L6470.h>
+#endif