Add M605 to dynamically set delta configuration
Save above configs in eeprom fix docs in createTemperatureLookupMarlin.py add missing azteegX3pro digipot settings in delta example config
This commit is contained in:
Jim Morris
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fd42f0d226
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@ -37,7 +37,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
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// the default values are used whenever there is a change to the data, to prevent
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// wrong data being written to the variables.
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// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
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#define EEPROM_VERSION "V10"
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#define EEPROM_VERSION "V11"
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#ifdef EEPROM_SETTINGS
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void Config_StoreSettings()
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@ -59,6 +59,9 @@ void Config_StoreSettings()
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EEPROM_WRITE_VAR(i,add_homeing);
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#ifdef DELTA
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EEPROM_WRITE_VAR(i,endstop_adj);
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EEPROM_WRITE_VAR(i,delta_radius);
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EEPROM_WRITE_VAR(i,delta_diagonal_rod);
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EEPROM_WRITE_VAR(i,delta_segments_per_second);
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#endif
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#ifndef ULTIPANEL
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int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
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@ -156,7 +159,14 @@ void Config_PrintSettings()
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SERIAL_ECHOPAIR(" M666 X",endstop_adj[0] );
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SERIAL_ECHOPAIR(" Y" ,endstop_adj[1] );
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SERIAL_ECHOPAIR(" Z" ,endstop_adj[2] );
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SERIAL_ECHOLN("");
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SERIAL_ECHOLN("");
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("Delta settings: L=delta_diagonal_rod, R=delta_radius, S=delta_segments_per_second");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M665 L",delta_diagonal_rod );
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SERIAL_ECHOPAIR(" R" ,delta_radius );
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SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
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SERIAL_ECHOLN("");
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#endif
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#ifdef PIDTEMP
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SERIAL_ECHO_START;
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@ -199,7 +209,10 @@ void Config_RetrieveSettings()
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EEPROM_READ_VAR(i,max_e_jerk);
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EEPROM_READ_VAR(i,add_homeing);
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#ifdef DELTA
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EEPROM_READ_VAR(i,endstop_adj);
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EEPROM_READ_VAR(i,endstop_adj);
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EEPROM_READ_VAR(i,delta_radius);
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EEPROM_READ_VAR(i,delta_diagonal_rod);
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EEPROM_READ_VAR(i,delta_segments_per_second);
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#endif
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#ifndef ULTIPANEL
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int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
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@ -264,7 +277,11 @@ void Config_ResetDefault()
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max_e_jerk=DEFAULT_EJERK;
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add_homeing[0] = add_homeing[1] = add_homeing[2] = 0;
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#ifdef DELTA
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endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
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endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
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delta_radius= DELTA_RADIUS;
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delta_diagonal_rod= DELTA_DIAGONAL_ROD;
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delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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#endif
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#ifdef ULTIPANEL
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plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP;
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@ -209,6 +209,10 @@ extern float current_position[NUM_AXIS] ;
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extern float add_homeing[3];
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#ifdef DELTA
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extern float endstop_adj[3];
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extern float delta_radius;
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extern float delta_diagonal_rod;
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extern float delta_segments_per_second;
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void recalc_delta_settings(float radius, float diagonal_rod);
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#endif
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extern float min_pos[3];
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extern float max_pos[3];
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@ -161,6 +161,7 @@
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// M503 - print the current settings (from memory not from eeprom)
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// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
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// M665 - set delta configurations
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// M666 - set delta endstop adjustemnt
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// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
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// M907 - Set digital trimpot motor current using axis codes.
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@ -246,9 +247,21 @@ int EtoPPressure=0;
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#endif
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#ifdef DELTA
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float delta[3] = {0.0, 0.0, 0.0};
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#endif
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float delta[3] = {0.0, 0.0, 0.0};
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#define SIN_60 0.8660254037844386
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#define COS_60 0.5
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// these are the default values, can be overriden with M665
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float delta_radius= DELTA_RADIUS;
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float delta_tower1_x= -SIN_60*delta_radius; // front left tower
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float delta_tower1_y= -COS_60*delta_radius;
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float delta_tower2_x= SIN_60*delta_radius; // front right tower
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float delta_tower2_y= -COS_60*delta_radius;
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float delta_tower3_x= 0.0; // back middle tower
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float delta_tower3_y= delta_radius;
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float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
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float delta_diagonal_rod_2= sq(delta_diagonal_rod);
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float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
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#endif
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//===========================================================================
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//=============================private variables=============================
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@ -2267,6 +2280,19 @@ void process_commands()
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}
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break;
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#ifdef DELTA
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case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
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if(code_seen('L')) {
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delta_diagonal_rod= code_value();
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}
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if(code_seen('R')) {
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delta_radius= code_value();
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}
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if(code_seen('S')) {
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delta_segments_per_second= code_value();
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}
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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break;
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case 666: // M666 set delta endstop adjustemnt
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for(int8_t i=0; i < 3; i++)
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{
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@ -3101,19 +3127,30 @@ void clamp_to_software_endstops(float target[3])
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}
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#ifdef DELTA
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void recalc_delta_settings(float radius, float diagonal_rod)
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{
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delta_tower1_x= -SIN_60*radius; // front left tower
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delta_tower1_y= -COS_60*radius;
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delta_tower2_x= SIN_60*radius; // front right tower
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delta_tower2_y= -COS_60*radius;
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delta_tower3_x= 0.0; // back middle tower
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delta_tower3_y= radius;
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delta_diagonal_rod_2= sq(diagonal_rod);
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}
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void calculate_delta(float cartesian[3])
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{
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delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
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- sq(DELTA_TOWER1_X-cartesian[X_AXIS])
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- sq(DELTA_TOWER1_Y-cartesian[Y_AXIS])
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delta[X_AXIS] = sqrt(delta_diagonal_rod_2
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- sq(delta_tower1_x-cartesian[X_AXIS])
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- sq(delta_tower1_y-cartesian[Y_AXIS])
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) + cartesian[Z_AXIS];
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delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
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- sq(DELTA_TOWER2_X-cartesian[X_AXIS])
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- sq(DELTA_TOWER2_Y-cartesian[Y_AXIS])
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delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
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- sq(delta_tower2_x-cartesian[X_AXIS])
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- sq(delta_tower2_y-cartesian[Y_AXIS])
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) + cartesian[Z_AXIS];
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delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
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- sq(DELTA_TOWER3_X-cartesian[X_AXIS])
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- sq(DELTA_TOWER3_Y-cartesian[Y_AXIS])
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delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
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- sq(delta_tower3_x-cartesian[X_AXIS])
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- sq(delta_tower3_y-cartesian[Y_AXIS])
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) + cartesian[Z_AXIS];
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/*
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SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
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@ -3143,7 +3180,7 @@ void prepare_move()
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if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
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if (cartesian_mm < 0.000001) { return; }
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float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
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int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds));
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int steps = max(1, int(delta_segments_per_second * seconds));
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// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
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// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
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// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
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@ -16,9 +16,9 @@ Usage: python createTemperatureLookup.py [options]
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Options:
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-h, --help show this help
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--rp=... pull-up resistor
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--t0=ttt:rrr low temperature temperature:resistance point (around 25C)
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--t1=ttt:rrr middle temperature temperature:resistance point (around 150C)
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--t2=ttt:rrr high temperature temperature:resistance point (around 250C)
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--t1=ttt:rrr low temperature temperature:resistance point (around 25C)
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--t2=ttt:rrr middle temperature temperature:resistance point (around 150C)
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--t3=ttt:rrr high temperature temperature:resistance point (around 250C)
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--num-temps=... the number of temperature points to calculate (default: 20)
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"""
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@ -98,7 +98,8 @@ def main(argv):
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try:
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opts, args = getopt.getopt(argv, "h", ["help", "rp=", "t1=", "t2=", "t3=", "num-temps="])
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except getopt.GetoptError:
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except getopt.GetoptError as err:
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print str(err)
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usage()
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sys.exit(2)
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@ -51,6 +51,7 @@
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// 65 = Azteeg X1
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// 66 = Melzi with ATmega1284 (MaKr3d version)
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// 67 = Azteeg X3
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// 68 = Azteeg X3 Pro
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// 7 = Ultimaker
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// 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)
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// 77 = 3Drag Controller
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@ -119,18 +120,6 @@
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// Effective horizontal distance bridged by diagonal push rods.
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#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
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#define DELTA_DIAGONAL_ROD_2 sq(DELTA_DIAGONAL_ROD)
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// Effective X/Y positions of the three vertical towers.
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#define SIN_60 0.8660254037844386
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#define COS_60 0.5
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#define DELTA_TOWER1_X -SIN_60*DELTA_RADIUS // front left tower
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#define DELTA_TOWER1_Y -COS_60*DELTA_RADIUS
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#define DELTA_TOWER2_X SIN_60*DELTA_RADIUS // front right tower
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#define DELTA_TOWER2_Y -COS_60*DELTA_RADIUS
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#define DELTA_TOWER3_X 0.0 // back middle tower
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#define DELTA_TOWER3_Y DELTA_RADIUS
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//===========================================================================
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//=============================Thermal Settings ============================
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//===========================================================================
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@ -270,6 +270,12 @@
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// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
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#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
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// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
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//#define DIGIPOT_I2C
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// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8
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#define DIGIPOT_I2C_NUM_CHANNELS 8
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// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
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#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}
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//===========================================================================
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//=============================Additional Features===========================
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