Add new movement for DELTA

MarlinKimbra/Configuration.h

@@ -386,11 +386,15 @@
 // Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
 //#define LCD_I2C_VIKI
   
+// SSD1306 OLED generic display support
+// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
+//#define U8GLIB_SSD1306
+
 // Shift register panels
 // ---------------------
 // 2 wire Non-latching LCD SR from:
 // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
-
+// LCD configuration: http://reprap.org/wiki/SAV_3D_LCD
 //#define SAV_3DLCD
 
 // option for invert rotary switch
@@ -450,7 +454,6 @@
 
 //========================== EXTRA SETTINGS ON SD ===========================
 // Uncomment SD SETTINGS to enable the firmware to write some configuration, that require frequent update, on the SD card.
-// ATTENTION NOT FUNCTION WIDTH OCTOPRINT
 //#define SD_SETTINGS
 #define SD_CFG_SECONDS        300         //seconds between update
 #define CFG_SD_FILE           "INFO.CFG"  //name of the configuration file

MarlinKimbra/Configuration_Delta.h

@@ -9,7 +9,9 @@
 // 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 200
+// The new function do not use segments per second but segments per mm
+// if you want use new function comment this (using // at the start of the line)
+#define DELTA_SEGMENTS_PER_SECOND 150
 
 // Center-to-center distance of the holes in the diagonal push rods.
 #define DEFAULT_DELTA_DIAGONAL_ROD 217.0      // mm

MarlinKimbra/Marlin_main.cpp

@@ -351,7 +351,6 @@ unsigned long printer_usage_seconds;
   float delta_radius; // = DEFAULT_delta_radius;
   float delta_diagonal_rod; // = DEFAULT_DELTA_DIAGONAL_ROD;
   float delta_diagonal_rod_2;
-  float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
   float ac_prec = AUTOCALIBRATION_PRECISION;
   float bed_radius = PRINTER_RADIUS;
   float delta_tower1_x, delta_tower1_y;
@@ -399,11 +398,16 @@ unsigned long printer_usage_seconds;
 #endif // DELTA
 
 #ifdef SCARA
-  float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
   static float delta[3] = { 0 };
   float axis_scaling[3] = { 1, 1, 1 };    // Build size scaling, default to 1
 #endif
 
+#if defined (DELTA_SEGMENTS_PER_SECOND)
+  float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
+#elif defined (SCARA_SEGMENTS_PER_SECOND)
+  float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
+#endif
+
 #if HAS_FILAMENT_SENSOR
   //Variables for Filament Sensor input 
   float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA;  //Set nominal filament width, can be changed with M404 
@@ -1981,8 +1985,8 @@ static void setup_for_endstop_move() {
 
   // Adjust print surface height by linear interpolation over the bed_level array.
   void adjust_delta(float cartesian[3]) {
-    float grid_x = max(-2.999, min(2.999, cartesian[X_AXIS] / AUTOLEVEL_GRID));
-    float grid_y = max(-2.999, min(2.999, cartesian[Y_AXIS] / AUTOLEVEL_GRID));
+    float grid_x = max(-2.999, min(2.999, cartesian[X_AXIS] * AUTOLEVEL_GRID_MULTI));
+    float grid_y = max(-2.999, min(2.999, cartesian[Y_AXIS] * AUTOLEVEL_GRID_MULTI));
     int floor_x = floor(grid_x);
     int floor_y = floor(grid_y);
     float ratio_x = grid_x - floor_x;
@@ -6545,13 +6549,13 @@ void ok_to_send() {
   ECHO_S(OK);
   #ifdef ADVANCED_OK
     ECHO_MV("N", gcode_LastN);
-    ECHO_MV(" P", (int)(BLOCK_BUFFER_SIZE - movesplanned() - 1));
+    ECHO_MV(" P", (int(BLOCK_BUFFER_SIZE - movesplanned() - 1)));
     ECHO_MV(" B", BUFSIZE - commands_in_queue);
   #endif
   ECHO_E;
 }
 
-void clamp_to_software_endstops(float target[3]) {
+FORCE_INLINE void clamp_to_software_endstops(float target[3]) {
   if (min_software_endstops) {
     NOLESS(target[X_AXIS], min_pos[X_AXIS]);
     NOLESS(target[Y_AXIS], min_pos[Y_AXIS]);
@@ -6573,7 +6577,7 @@ void clamp_to_software_endstops(float target[3]) {
 
 #ifdef PREVENT_DANGEROUS_EXTRUDE
 
-  inline void prevent_dangerous_extrude(float &curr_e, float &dest_e) {
+  FORCE_INLINE void prevent_dangerous_extrude(float &curr_e, float &dest_e) {
     float de = dest_e - curr_e;
     if (debugLevel & DEBUG_DRYRUN) return;
     if (de) {
@@ -6594,38 +6598,93 @@ void clamp_to_software_endstops(float target[3]) {
 
 #if defined(DELTA) || defined(SCARA)
 
-  inline bool prepare_move_delta() {
+  FORCE_INLINE bool prepare_move_delta() {
+
     float difference[NUM_AXIS];
+    float addDistance[NUM_AXIS];
+    float fractions[NUM_AXIS];
+    float frfm = feedrate/60*feedrate_multiplier/100.0;
+    
     for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
 
     float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
     if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
     if (cartesian_mm < 0.000001) return false;
+
+    #if defined(DELTA_SEGMENTS_PER_SECOND) || defined(SCARA_SEGMENTS_PER_SECOND)
       float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
       int steps = max(1, int(delta_segments_per_second * seconds));
+    #else
+      float fTemp = cartesian_mm * 5;
+      int steps = (int)fTemp;
 
-    // ECHO_SMV(DB, "mm =", cartesian_mm);
-    // ECHO_MV(" seconds =", seconds);
-    // ECHOEMV(" steps =", steps);
+      if (steps == 0) {
+        steps = 1;
+        for (int8_t i=0; i < NUM_AXIS; i++) fractions[i] = difference[i];
+      }
+      else {
+        fTemp = 1 / float(steps);
+        for (int8_t i=0; i < NUM_AXIS; i++) fractions[i] = difference[i] * fTemp;
+      }
+
+      // For number of steps, for each step add one fraction
+      // First, set initial destination to current position
+      for (int8_t i=0; i < NUM_AXIS; i++) addDistance[i] = 0.0;
+    #endif
 
     for (int s = 1; s <= steps; s++) {
 
+      #if defined(DELTA_SEGMENTS_PER_SECOND) || defined(SCARA_SEGMENTS_PER_SECOND)
         float fraction = float(s) / float(steps);
-
         for (int8_t i = 0; i < NUM_AXIS; i++)
           destination[i] = current_position[i] + difference[i] * fraction;
+      #else
+        for (int8_t i=0; i < NUM_AXIS; i++) {
+          addDistance[i] += fractions[i];
+          destination[i] = current_position[i] + addDistance[i];
+        }
+      #endif
 
-      calculate_delta(destination);
-      adjust_delta(destination);
+      //calculate_delta(destination);
+      delta[X_AXIS] = sqrt(delta_diagonal_rod_2
+                         - sq(delta_tower1_x-destination[X_AXIS])
+                         - sq(delta_tower1_y-destination[Y_AXIS])
+                         ) + destination[Z_AXIS];
+      delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
+                         - sq(delta_tower2_x-destination[X_AXIS])
+                         - sq(delta_tower2_y-destination[Y_AXIS])
+                         ) + destination[Z_AXIS];
+      delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
+                         - sq(delta_tower3_x-destination[X_AXIS])
+                         - sq(delta_tower3_y-destination[Y_AXIS])
+                         ) + destination[Z_AXIS];
+
+      //adjust_delta(destination);
+      float grid_x = destination[X_AXIS] * AUTOLEVEL_GRID_MULTI;
+      if (2.999 < grid_x) grid_x = 2.999;
+      else if (-2.999 > grid_x) grid_x = -2.999;
+
+      float grid_y = destination[Y_AXIS] * AUTOLEVEL_GRID_MULTI;
+      if (2.999 < grid_y) grid_y = 2.999;
+      else if (-2.999 > grid_y) grid_y = -2.999;
+
+      int floor_x = floor(grid_x);
+      int floor_y = floor(grid_y);
+      float ratio_x = grid_x - floor_x;
+      float ratio_y = grid_y - floor_y;
+      float z1 = bed_level[floor_x+3][floor_y+3];
+      float z2 = bed_level[floor_x+3][floor_y+4];
+      float z3 = bed_level[floor_x+4][floor_y+3];
+      float z4 = bed_level[floor_x+4][floor_y+4];
+      float left = (1-ratio_y)*z1 + ratio_y*z2;
+      float right = (1-ratio_y)*z3 + ratio_y*z4;
+      float offset = (1-ratio_x)*left + ratio_x*right;
 
-      //ECHO_LMV(DB, "destination[X_AXIS]=", destination[X_AXIS]);
-      //ECHO_LMV(DB, "destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
-      //ECHO_LMV(DB, "destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
-      //ECHO_LMV(DB, "delta[X_AXIS]=", delta[X_AXIS]);
-      //ECHO_LMV(DB, "delta[Y_AXIS]=", delta[Y_AXIS]);
-      //ECHO_LMV(DB, "delta[Z_AXIS]=", delta[Z_AXIS]);
+      delta[X_AXIS] += offset;
+      delta[Y_AXIS] += offset;
+      delta[Z_AXIS] += offset;
 
-      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder, active_driver);
+      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], frfm, active_extruder, active_driver);
     }
     return true;
   }

MarlinKimbra/conditionals.h

@@ -37,6 +37,12 @@
       #define ENCODER_STEPS_PER_MENU_ITEM 1
     #endif
 
+    // Generic support for SSD1306 OLED based LCDs.
+    #if defined(U8GLIB_SSD1306)
+      #define ULTRA_LCD  //general LCD support, also 16x2
+      #define DOGLCD  // Support for I2C LCD 128x64 (Controller SSD1306 graphic Display Family)
+    #endif
+
     #ifdef PANEL_ONE
       #define SDSUPPORT
       #define ULTIMAKERCONTROLLER
@@ -202,6 +208,9 @@
       #ifdef U8GLIB_ST7920
         #undef HAS_LCD_CONTRAST
       #endif
+      #ifdef U8GLIB_SSD1306
+        #undef HAS_LCD_CONTRAST
+      #endif
     #endif
 
     /**
@@ -320,6 +329,7 @@
      */
     #ifdef DELTA
       #undef SLOWDOWN //DELTA not needs SLOWDOWN
+      #define AUTOLEVEL_GRID_MULTI 1/AUTOLEVEL_GRID
       // DELTA must have same valour for 3 axis endstop hits
       #undef Y_HOME_BUMP_MM
       #undef Z_HOME_BUMP_MM

MarlinKimbra/dogm_lcd_implementation.h

@@ -35,7 +35,7 @@
 #include "ultralcd_st7920_u8glib_rrd.h"
 #include "Configuration.h"
 
-#if defined(MAPPER_C2C3) && defined(MAPPER_NON) && defined(USE_BIG_EDIT_FONT)
+#if !defined(MAPPER_C2C3) && !defined(MAPPER_NON) && defined(USE_BIG_EDIT_FONT)
    #undef USE_BIG_EDIT_FONT
 #endif
 
@@ -125,6 +125,9 @@
 #elif defined(U8GLIB_LM6059_AF)
   // Based on the Adafruit ST7565 (http://www.adafruit.com/products/250)
   U8GLIB_LM6059 u8g(DOGLCD_CS, DOGLCD_A0);
+#elif defined U8GLIB_SSD1306
+  // Generic support for SSD1306 OLED I2C LCDs
+  U8GLIB_SSD1306_128X64 u8g(U8G_I2C_OPT_NONE);
 #else
   // for regular DOGM128 display with HW-SPI
   U8GLIB_DOGM128 u8g(DOGLCD_CS, DOGLCD_A0);  // HW-SPI Com: CS, A0
@@ -344,19 +347,28 @@ static void lcd_implementation_status_screen() {
   u8g.drawPixel(8,XYZ_BASELINE - 5);
   u8g.drawPixel(8,XYZ_BASELINE - 3);
   u8g.setPrintPos(10,XYZ_BASELINE);
+  if (axis_known_position[X_AXIS])
     lcd_print(ftostr31ns(current_position[X_AXIS]));
+  else
+    lcd_printPGM(PSTR("---"));
   u8g.setPrintPos(43,XYZ_BASELINE);
   lcd_print('Y');
   u8g.drawPixel(49,XYZ_BASELINE - 5);
   u8g.drawPixel(49,XYZ_BASELINE - 3);
   u8g.setPrintPos(51,XYZ_BASELINE);
+  if (axis_known_position[Y_AXIS])
     lcd_print(ftostr31ns(current_position[Y_AXIS]));
+  else
+    lcd_printPGM(PSTR("---"));
   u8g.setPrintPos(83,XYZ_BASELINE);
   lcd_print('Z');
   u8g.drawPixel(89,XYZ_BASELINE - 5);
   u8g.drawPixel(89,XYZ_BASELINE - 3);
   u8g.setPrintPos(91,XYZ_BASELINE);
-  lcd_print(ftostr31(current_position[Z_AXIS]));
+  if (axis_known_position[Z_AXIS])
+    lcd_print(ftostr32sp(current_position[Z_AXIS]));
+  else
+    lcd_printPGM(PSTR("---.--"));
   u8g.setColorIndex(1); // black on white
  
   // Feedrate

MarlinKimbra/stepper.cpp

@@ -558,8 +558,8 @@ ISR(TIMER1_COMPA_vect) {
             if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
               endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
               endstop_hit_bits |= BIT(Z_MIN);
-              if (!performing_homing || (performing_homing && !((~z_test) & 0x3)))  //if not performing home or if both endstops were trigged during homing...
-                step_events_completed = current_block->step_event_count;            //!((~z_test) & 0x3) = Z_MIN && Z2_MIN
+              if (!performing_homing || (z_test == 0x3))  //if not performing home or if both endstops were trigged during homing...
+                step_events_completed = current_block->step_event_count;
             }
           #else // !Z_DUAL_ENDSTOPS
 
@@ -569,7 +569,6 @@ ISR(TIMER1_COMPA_vect) {
 
         #ifdef Z_PROBE_ENDSTOP
           UPDATE_ENDSTOP(Z, PROBE);
-          SET_ENDSTOP_BIT(Z, PROBE);
 
           if (TEST_ENDSTOP(Z_PROBE)) {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
@@ -594,8 +593,8 @@ ISR(TIMER1_COMPA_vect) {
             if (z_test && current_block->steps[Z_AXIS] > 0) {  // t_test = Z_MAX || Z2_MAX
               endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
               endstop_hit_bits |= BIT(Z_MIN);
-              if (!performing_homing || (performing_homing && !((~z_test) & 0x3)))  //if not performing home or if both endstops were trigged during homing...
-                step_events_completed = current_block->step_event_count;            //!((~z_test) & 0x3) = Z_MAX && Z2_MAX
+              if (!performing_homing || (z_test == 0x3))  //if not performing home or if both endstops were trigged during homing...
+                step_events_completed = current_block->step_event_count;
             }
 
           #else // !Z_DUAL_ENDSTOPS

MarlinKimbra/ultralcd.cpp

@@ -1246,7 +1246,7 @@ static void lcd_control_volumetric_menu() {
  * "Control" > "Contrast" submenu
  *
  */
-#if HAS_LCD_CONTRAST
+#ifdef HAS_LCD_CONTRAST
   static void lcd_set_contrast() {
     if (encoderPosition != 0) {
       #ifdef U8GLIB_LM6059_AF