MarlinKimbra 3D Printer Firmware
==========================
Marlin has a GPL license because I believe in open development.
Please do not use this code in products (3D printers, CNC etc) that are closed source or are crippled by a patent.

Configurator Tool OnLine
==========================
http://marlinkimbra.it

Quick Information
==========================
This version of Marlin was made to accommodate some requests made by the community RepRap Italy. 
The new features are: 
A single Marlin for all types of printers; Cartesian, Delta, SCARA, CoreXY. 
The possibility of having only one hotend independently from the extruders that you have. 
The addition of the 4th extruder. 
System Management MKr4 for 4 extruders with just two drivers or two extruders with a driver only. 
Management Multyextruder NPr2, 4/6 extruders with only two engines. 
Adding commands to facilitate purging of hotend. 
Step per unit varied for each extruder as well as the feedrate. 
The addition of a different feedrate for retraction. 
Adding Debug Dryrun used by repetier.

Features:
==========================

*   Interrupt based movement with real linear acceleration
*   High steprate
*   Look ahead (Keep the speed high when possible. High cornering speed)
*   Interrupt based temperature protection
*   preliminary support for Matthew Roberts advance algorithm
    For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*   Full endstop support
*   SD Card support
*   SD Card folders (works in pronterface)
*   SD Card autostart support
*   LCD support (ideally 20x4)
*   LCD menu system for autonomous SD card printing, controlled by an click-encoder.
*   EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
*   many small but handy things originating from bkubicek's fork.
*   Arc support
*   Temperature oversampling
*   Dynamic Temperature setpointing aka "AutoTemp"
*   Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
*   Endstop trigger reporting to the host software.
*   Updated sdcardlib
*   Heater power reporting. Useful for PID monitoring.
*   PID tuning
*   Cartesian kinematics
*   CoreXY kinematics (www.corexy.com/theory.html)
*   Delta kinematics
*   SCARA kinematics
*   One firmware for all printers, see configurations.h.
*   Dual X-carriage support for multiple extruder systems
*   Configurable serial port to support connection of wireless adaptors.
*   Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
*   RC Servo Support, specify angle or duration for continuous rotation servos.
*   Manual procedure for bed setting with LCD
*   Bed Auto Leveling for cartesian and delta printer
*   Z probe repetability test
*   Setting step for unit and feedrate for extruders
*   Setting PID for any extruder
*   Real-time filament diameter measurement and control
*   MKR4 suppport for 4 extruder but only two driver
*   Singlenozzle support
*   NPr2 support, multiextruder by NicolaP http://www.3dmakerlab.it/extruder-npr2.html
*   Laserbeam support
*   Firmware test

The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.


Differences and additions to the already good Marlin firmware:
================================================================

Different printer one firmware
-----------------
I put in a single firmware all the firmware that I found online for the various printers, especially the one for Delta, I standardized the firmware. There are 4 files one for each type of printer, just edit the file in question and say configuration.h the printer you want to use ...

* \#define CARTESIAN
* \#define COREXY
* \#define DELTA
* \#define SCARA

Different axis step per unit for all extruder
-----------------
* \#define DEFAULT_AXIS_STEPS_PER_UNIT     {80,80,3200,625,625,625,625}    // X, Y, Z, E0, E1, E2, E3 default steps per unit

Different feedrate for all extruder
-----------------
* \#define DEFAULT_MAX_FEEDRATE            {300,300,2,100,100,100,100}     // X, Y, Z, E0, E1, E2, E3 (mm/sec)

Different PID for all extruder
-----------------
* \#define  DEFAULT_Kp {41.51,50,0,0}
* \#define  DEFAULT_Ki {7.28,15,0,0}
* \#define  DEFAULT_Kd {59.17,90,0,0}

Add Feedrate for retraction
-----------------
* \#define DEFAULT_RETRACTION_MAX_FEEDRATE {150,150,150,150}               // E0, E1, E2, E3 (mm/sec)

Singlenozzle
-----------------
If have on hotend and more extruder define SINGLENOZZLE for unic temperature.
* \// Uncomment below to enable SINGLENOZZLE (One Hotend)
* \//#define SINGLENOZZLE //This is used for singlenozzled multiple extrusion configuration

MKR4 System
-----------------
The system MKR4 allows two extruders for each driver on the motherboard. So with two drivers available you get to have 4 extruders. This is due to the relays controlled by the same motherboard with the pins. Look at the bottom of the file pins.h to set the right pin. This system allows the use of flux channeler to print in color. See http://www.immaginaecrea.it/index.php/blog-wordpress/post/150-flusso-canalizzatore-a-4-vie-la-stampa-3d-a-4-colori-e-gia-realta-per-lambiente-reprap-prima-parte

NPr2 System
-----------------
soon
http://www.3dmakerlab.it/extruder-npr2.html

Debug Dryrun Repetier
-----------------
In dry run mode, the firmware will ignore all commands to set temperature or extrude. That way you can send a file without using any filament. This is handy if your printer loses steps during print and you are doing some research on when and why. If you seem to have troubles with your extruder, check if you have that option enabled!

Laserbeam Support
-----------------
Support for laserbeam.
M3 Sxxx put output LASER_TTL_PIN in PWM
M4 switch on Laser, put high LASER_PWR_PIN
M5 switch off Laser, put low LASER_PWR_PIN
Setting LASER_TTL_PIN and LASER_PWR_PIN in pins.h

G30 Autocalibartion for DELTA
-----------------
G30 This command is used to perform reporting and autocalibration of a delta printer and has several options, as follows: G30 Probe bed and produce a report of the current state of the printer, e.g.:
* Z-Tower			Endstop Offsets
* -0.0125			X:-3.05 Y:-1.83 Z:-2.69
* -0.0000	-0.0000	Tower Position Adjust
* -0.0625			A:-0.04 B:0.05 C:-0.01
* -0.0375 -0.0250 	I:0.25 J:-1.25 K:-0.37 -0.0250
* Delta Radius: 109.5965
* Diag Rod: 224.5935 This option does not change any settings, but is useful when manually calibrating a printer, using the M666 command to change values.

G30 Xnn Ynn Probe bed at specified X,Y point and show z-height and delta carriage positions, e.g.: Bed Z-Height at X:30.00 Y:30.00 = 0.0000 Carriage Positions: [176.40, 207.77, 209.52].

G30 A Start auto-calibration. This will attempt to calibrate the printer, adjusting all parameters automatically, and will repeat the bed probing sequence show above several times adjusting each time until calibration is complete. It is recommended that you use M502 to load default values and then M500 to save them prior to starting the auto-calibration.

M666 for all printers
-----------------
For not DELTA:
M666 Pzzz adjust Z-Probe Offset if you have Auto bed level.
M666 L view value in memory for Z-Probe Offset.

For DELTA:
M666 L   List all current configuration values , e.g.:
Current Delta geometry values:
* X (Endstop Adj): -3.05
* Y (Endstop Adj): -1.83
* Z (Endstop Adj): -2.69
* P (Z-Probe Offset): X0.00 Y10.00 Z-5.60
* A (Tower A Position Correction): -0.04
* B (Tower B Position Correction): 0.05
* C (Tower C Position Correction): -0.02
* I (Tower A Radius Correction): 0.25
* J (Tower B Radius Correction): -1.25
* K (Tower C Radius Correction): -0.37
* R (Delta Radius): 109.60
* D (Diagonal Rod Length): 224.59
* H (Z-Height): 255.73

All of these values can also be adjusted using the M666 command, e.g. to set the delta radius to 200mm, use:
* M666 R200

Or to change the Z-Height to 350.5 mm:
* M666 H350.5

Commands can also be combined, e.g. to set endstop values:
* M666 X-2.04 Y-1.02 Z-1.52

All of these values can be saved/loaded to/from EEPROM using standard M500/M501 G-Code commands (to save the settings at any time just type M500). This makes manual configuration of a printer much easier as there is no longer a requirement to edit the configuration.h file and re-upload firmware for each time a change needs to be made.

Configuration_delta.h  now includes the following additional parameters:
Set start and end locations used to deploy the Z-Probe:

* \#define Z_PROBE_DEPLOY_START_LOCATION {20, 96, 30, 0}
* \#define Z_PROBE_DEPLOY_END_LOCATION {5, 96, 30, 0}
* \#define Z_PROBE_RETRACT_START_LOCATION {49, 84, 20, 0}
* \#define Z_PROBE_RETRACT_END_LOCATION {49, 84, 1, 0}

Set precision for autocalibration G30 function – calibration will complete when this value is reached – all probed point have to be at 0 +/- 0.015mm (for 0.03 setting below)

* \#define AUTOCALIBRATION_PRECISION 0.03 // mm

Set distance to probe bed at for G30 function
 
* \#define BED_DIAMETER 170 // mm


Firmware test tools
-----------------
Test firmware uncomment
* \#define FIRMWARE_TEST in configuration.h
Use baudrate 115200 and use Arduino serial monitor.

Implemented G Codes:
====================

*  G0  -> G1
*  G1  - Coordinated Movement X Y Z E F(feedrate)
*  G2  - CW ARC
*  G3  - CCW ARC
*  G4  - Dwell Sseconds or Pmilliseconds, delay in Second or Millisecond
*  G10 - retract filament according to settings of M207
*  G11 - retract recover filament according to settings of M208
*  G28 - X0 Y0 Z0 Home all Axis. G28 M for bed manual setting with LCD.
*  G29 - Detailed Z-Probe, probes the bed at 4 points.  You must de at the home position for this to work correctly.
   G29 Fyyy Lxxx Rxxx Byyy for probe in this 4 points.
*  G30 - Single Z Probe, probes bed at current XY location.
   Bed Probe and Delta geometry Autocalibration G30 A
*  G31 - Dock Z Probe sled (if enabled)
*  G32 - Undock Z Probe sled (if enabled)
*  G60 - Memory actual position
*  G61 - Move X Y Z to position in memory
*  G90 - Use Absolute Coordinates
*  G91 - Use Relative Coordinates
*  G92 - Set current position to cordinates given

M Codes
*  M0   - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
*  M1   - Same as M0
*  M3   - Sxxx Put output in laser beam control
*  M4   - Turn on laser beam
*  M5   - Turn off laser beam
*  M17  - Enable/Power all stepper motors
*  M18  - Disable all stepper motors; same as M84
*  M20  - List SD card
*  M21  - Init SD card
*  M22  - Release SD card
*  M23  - Select SD file (M23 filename.g)
*  M24  - Start/resume SD print
*  M25  - Pause SD print
*  M26  - Set SD position in bytes (M26 S12345)
*  M27  - Report SD print status
*  M28  - Start SD write (M28 filename.g)
*  M29  - Stop SD write
*  M30  - Delete file from SD (M30 filename.g)
*  M31  - Output time since last M109 or SD card start to serial
*  M32  - Select file and start SD print (Can be used when printing from SD card)
*  M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
*  M49  - Z probe repetability test
*  M80  - Turn on Power Supply
*  M81  - Turn off Power Supply
*  M82  - Set E codes absolute (default)
*  M83  - Set E codes relative while in Absolute Coordinates (G90) mode
*  M84  - Disable steppers until next move, or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
*  M85  - Set inactivity shutdown timer with parameter Sseconds. To disable set zero (default)
*  M92  - Set axis_steps_per_unit - same syntax as G92
*  M104 - Set extruder target temp
*  M105 - Read current temp
*  M106 - Fan on
*  M107 - Fan off
*  M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
*         Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
*  M111 - Debug Dryrun Repetier
*  M112 - Emergency stop
*  M114 - Output current position to serial port
*  M115 - Capabilities string
*  M117 - display message
*  M119 - Output Endstop status to serial port
*  M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
*  M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
*  M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
*  M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
*  M140 - Set bed target temp
*  M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
*  M200 Dmillimeters- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
*  M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
*  M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
*  M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
*  M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
*  M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
*  M206 - set additional homeing offset
*  M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
*  M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
*  M209 - S1=true/0=false enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
*  M218 - set hotend offset (in mm): Textruder_number Xoffset_on_X Yoffset_on_Y
*  M220 Sfactor in percent- set speed factor override percentage
*  M221 Sfactor in percent- set extrude factor override percentage
*  M240 - Trigger a camera to take a photograph
*  M280 - Position an RC Servo Pindex Sangle/microseconds, ommit S to report back current angle
*  M299 - Turn on/off beep sound temperature
*  M300 - Play beepsound Sfrequency Hz Pduration ms
*  M301 - Set PID parameters P I and D
*  M302 - Allow cold extrudes
*  M303 - PID relay autotune Stemperature sets the target temperature. (default target temperature = 150C)
*  M304 - Set bed PID parameters P I and D
*  M400 - Finish all moves
*  M401 - Lower z-probe if present
*  M402 - Raise z-probe if present
*  M404 - Ndia in mm Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
*  M405 - Turn on Filament Sensor extrusion control.  Optional Ddelay in cm to set delay in centimeters between sensor and extruder 
*  M406 - Turn off Filament Sensor extrusion control 
*  M407 - Displays measured filament diameter 
*  M500 - stores paramters in EEPROM
*  M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
*  M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
*  M503 - print the current settings (from memory not from eeprom)
*  M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
*  M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
*  M605 - Set dual x-carriage movement mode: Smode [ X<duplication x-offset> Rduplication temp offset ]
*  M666 - Set z probe offset or Endstop and delta geometry adjustment
*  M907 - Set digital trimpot motor current using axis codes.
*  M908 - Control digital trimpot directly.
*  M350 - Set microstepping mode.
*  M351 - Toggle MS1 MS2 pins directly.
*  M928 - Start SD logging (M928 filename.g) - ended by M29
*  M999 - Restart after being stopped by error


Configuring and compilation:
============================

Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
   http://www.arduino.cc/en/Main/Software

Download the MarlinKimbra firmware
   https://github.com/MagoKimbra/MarlinKimbra
   Use the "Download Zip" button on the right.

For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
  copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino

Start the arduino IDE.
Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
Select the correct serial port in Tools ->Serial Port
Open Marlin.pde

Click the Verify/Compile button

Click the Upload button
If all goes well the firmware is uploading

That's ok.  Enjoy Silky Smooth Printing.

===============================================
Instructions for configuring Bed Auto Leveling
===============================================
There are two options for this feature. You may choose to use a servo mounted on the X carriage or you may use a sled that mounts on the X axis and can be docked when not in use.
See the section for each option below for specifics about installation and configuration. Also included are instructions that apply to both options.

Note for RAMPS users:
---------------------

By default, RAMPS have no power on servo bus (if you happen to have a multimeter, check the voltage on servo power pins).
In order to get the servo working, you need to supply 5V to 5V pin.. You can do it using your power supply (if it has a 5V output) or jumping the "Vcc" from Arduino to the 5V RAMPS rail.
These 2 pins are located just between the Reset Button and the yellow fuses... There are marks in the board showing 5V and VCC.. just connect them..
If jumping the arduino Vcc do RAMPS 5V rail, take care to not use a power hungry servo, otherwise you will cause a blackout in the arduino board ;-)

Instructions for Both Options
-----------------------------

Uncomment the "ENABLE_AUTO_BED_LEVELING" define (commented by default)

The following options define the probing positions. These are good starting values.
I recommend to keep a better clearance from borders in the first run and then make the probes as close as possible to borders:

* \#define LEFT_PROBE_BED_POSITION 30
* \#define RIGHT_PROBE_BED_POSITION 140
* \#define BACK_PROBE_BED_POSITION 140
* \#define FRONT_PROBE_BED_POSITION 30

A few more options:

* \#define XY_TRAVEL_SPEED 6000

X and Y axis travel speed between probes, in mm/min.
Bear in mind that really fast moves may render step skipping. 6000 mm/min (100mm/s) is a good value.

* \#define Z_RAISE_BEFORE_PROBING 10
* \#define Z_RAISE_BETWEEN_PROBINGS 10

The Z axis is lifted when traveling to the first probe point by Z_RAISE_BEFORE_PROBING value
and then lifted when traveling from first to second and second to third point by Z_RAISE_BETWEEN_PROBINGS.
All values are in mm as usual.

Servo Option Notes
------------------
You will probably need a swivel Z-MIN endstop in the extruder. A rc servo do a great job.
Check the system working here: http://www.youtube.com/watch?v=3IKMeOYz-1Q (Enable English subtitles)
Teasing ;-) video: http://www.youtube.com/watch?v=x8eqSQNAyro

In order to get the servo working, you need to enable:

* \#define NUM_SERVOS 1 // Servo index starts with 0 for M280 command

* \#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1

* \#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 165,60} // X,Y,Z Axis Extend and Retract angles

The first define tells firmware how many servos you have.
The second tells what axis this servo will be attached to. In the example above, we have a servo in Z axis.
The third one tells the angle in 2 situations: Probing (165ΒΊ) and resting (60ΒΊ). Check this with command M280 P0 S{angle} (example: M280 P0 S60 moves the servo to 60ΒΊ)

Next you need to define the Z endstop (probe) offset from hotend.
My preferred method:

* a) Make a small mark in the bed with a marker/felt-tip pen.
* b) Place the hotend tip as *exactly* as possible on the mark, touching the bed. Raise the hotend 0.1mm (a regular paper thickness) and zero all axis (G92 X0 Y0 Z0);
* d) Raise the hotend 10mm (or more) for probe clearance, lower the Z probe (Z-Endstop) with M401 and place it just on that mark by moving X, Y and Z;
* e) Lower the Z in 0.1mm steps, with the probe always touching the mark (it may be necessary to adjust X and Y as well) until you hear the "click" meaning the mechanical endstop was trigged. You can confirm with M119;
* f) Now you have the probe in the same place as your hotend tip was before. Perform a M114 and write down the values, for example: X:24.3 Y:-31.4 Z:5.1;
* g) You can raise the z probe with M402 command;
* h) Fill the defines bellow multiplying the values by "-1" (just change the signal)


* \#define X_PROBE_OFFSET_FROM_EXTRUDER -24.3
* \#define Y_PROBE_OFFSET_FROM_EXTRUDER 31.4
* \#define Z_PROBE_OFFSET_FROM_EXTRUDER -5.1


Sled Option Notes
-----------------
The sled option uses an electromagnet to attach and detach to/from the X carriage. See http://www.thingiverse.com/thing:396692 for more details on how to print and install this feature. It uses the same connections as the servo option.

To use the sled option, you must define two additional things in Configuration.h:

* \#define Z_PROBE_SLED
* \#define SLED_DOCKING_OFFSET 5

Uncomment the Z_PROBE_SLED to define to enable the sled (commented out by default).

Uncomment the SLED_DOCKING_OFFSET to set the extra distance the X axis must travel to dock the sled. This value can be found by moving the X axis to its maximum position then measure the distance to the right X end and subtract the width of the sled (23mm if you printed the sled from Thingiverse).

Next you need to define the Z endstop (probe) offset from hotend.
My preferred method:

* a) Home the X and Y axes.
* b) Move the X axis to about the center of the print bed. Make a mark on the print bed.
* c) Move the Y axis to the maximum position. Make another mark.
* d) Home the X axis and use a straight edge to make a line between the two points.
* e) Repeat (b)-(d) reversing the X and Y. When you are done you will have two lines on the print bed. We will use these to measure the offset for the Z probe endstop.
* f) Move the nozzle so that it is positioned on the center point of the two lines. You can use fine movement of 0.1mm to get it as close as possible. Note the position of X and Y.
* g) Zero the Z axis with the G92 Z0 command.
* h) Raise the Z axis about 20mmm.
* i) Use the G32 command to retrieve the sled.
* j) Now more the X and Y axis to the position recorded in (f).
* k) Lower the Z axis in 0.1mm steps until you hear the "click" meaning the mechanical endstop was trigged. You can confirm with the M119 command. Note the position of the Z axis.
* l) Make a mark on the print bed where the endstop lever has touched the print bed. Raise the Z-axis about 30mm to give yourself some room.
* m) Now measure the distance from the center point to the endstop impact site along the X and Y axis using the lines drawn previously.
* n) Fill in the values below. If the endstop mark is in front of the line running left-to-right, use positive values. If it is behind, use negative values. For the Z axis use the value from (k) and subtract 0.1mm.

For example, suppose you measured the endstop position and it was 20mm to the right of the line running front-to-back, 10mm toward the front of the line running left-to-right, and the value from (k) was 2.85. The values for the defines would be:

* \#define X_PROBE_OFFSET_FROM_EXTRUDER 20
* \#define Y_PROBE_OFFSET_FROM_EXTRUDER 10
* \#define Z_PROBE_OFFSET_FROM_EXTRUDER 2.75

That's it.. enjoy never having to calibrate your Z endstop neither leveling your bed by hand anymore ;-)