Merge branch 'Development' into planner_oh_planner

Latest upstream commits

Marlin/Marlin_main.cpp

 }
 
 #ifdef SCARA
-
-  /**
-   * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
-   */
-  inline bool gcode_M360() {
-    SERIAL_ECHOLN(" Cal: Theta 0 ");
+  bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
     //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
     //SERIAL_ECHOLN(" Soft endstops disabled ");
     if (! Stopped) {
       //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 0;
-      delta[Y_AXIS] = 120;
+      delta[X_AXIS] = delta_x;
+      delta[Y_AXIS] = delta_y;
       calculate_SCARA_forward_Transform(delta);
       destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
       destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
   }
 
   /**
+   * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+   */
+  inline bool gcode_M360() {
+    SERIAL_ECHOLN(" Cal: Theta 0 ");
+    return SCARA_move_to_cal(0, 120);
+  }
+
+  /**
    * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
    */
   inline bool gcode_M361() {
     SERIAL_ECHOLN(" Cal: Theta 90 ");
-    //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
-    //SERIAL_ECHOLN(" Soft endstops disabled ");
-    if (! Stopped) {
-      //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 90;
-      delta[Y_AXIS] = 130;
-      calculate_SCARA_forward_Transform(delta);
-      destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
-      destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
-      prepare_move();
-      //ClearToSend();
-      return true;
-    }
-    return false;
+    return SCARA_move_to_cal(90, 130);
   }
 
   /**
    */
   inline bool gcode_M362() {
     SERIAL_ECHOLN(" Cal: Psi 0 ");
-    //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
-    //SERIAL_ECHOLN(" Soft endstops disabled ");
-    if (! Stopped) {
-      //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 60;
-      delta[Y_AXIS] = 180;
-      calculate_SCARA_forward_Transform(delta);
-      destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
-      destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
-      prepare_move();
-      //ClearToSend();
-      return true;
-    }
-    return false;
+    return SCARA_move_to_cal(60, 180);
   }
 
   /**
    */
   inline bool gcode_M363() {
     SERIAL_ECHOLN(" Cal: Psi 90 ");
-    //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
-    //SERIAL_ECHOLN(" Soft endstops disabled ");
-    if (! Stopped) {
-      //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 50;
-      delta[Y_AXIS] = 90;
-      calculate_SCARA_forward_Transform(delta);
-      destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
-      destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
-      prepare_move();
-      //ClearToSend();
-      return true;
-    }
-    return false;
+    return SCARA_move_to_cal(50, 90);
   }
 
   /**
    */
   inline bool gcode_M364() {
     SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
-   // SoftEndsEnabled = false;              // Ignore soft endstops during calibration
-    //SERIAL_ECHOLN(" Soft endstops disabled ");
-    if (! Stopped) {
-      //get_coordinates(); // For X Y Z E F
-      delta[X_AXIS] = 45;
-      delta[Y_AXIS] = 135;
-      calculate_SCARA_forward_Transform(delta);
-      destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
-      destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
-      prepare_move();
-      //ClearToSend();
-      return true;
-    }
-    return false;
+    return SCARA_move_to_cal(45, 135);
   }
 
   /**

Marlin/example_configurations/Felix/Configuration.h

   // Note: this feature occupies 10'206 byte
   #ifdef AUTO_BED_LEVELING_GRID
 
-home_offset    // set the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define BACK_PROBE_BED_POSITION 180

Marlin/example_configurations/Felix/Configuration_DUAL.h

   // Note: this feature occupies 10'206 byte
   #ifdef AUTO_BED_LEVELING_GRID
 
-home_offset    // set the rectangle in which to probe
     #define LEFT_PROBE_BED_POSITION 15
     #define RIGHT_PROBE_BED_POSITION 170
     #define BACK_PROBE_BED_POSITION 180

Marlin/temperature.cpp

 // Init min and max temp with extreme values to prevent false errors during startup
 static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
 static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
-static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0, 0 );
+static int minttemp[EXTRUDERS] = { 0 };
 static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383, 16383 );
 //static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */
 #ifdef BED_MAXTEMP
 static void updateTemperaturesFromRawValues();
 
 #ifdef WATCH_TEMP_PERIOD
-  int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0);
-  unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0);
+  int watch_start_temp[EXTRUDERS] = { 0 };
+  unsigned long watchmillis[EXTRUDERS] = { 0 };
 #endif //WATCH_TEMP_PERIOD
 
 #ifndef SOFT_PWM_SCALE
 
   updateTemperaturesFromRawValues();
 
-  #ifdef HEATER_0_USES_MAX6675
-    float ct = current_temperature[0];
-    if (ct > min(HEATER_0_MAXTEMP, 1023)) max_temp_error(0);
-    if (ct < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0);
-  #endif //HEATER_0_USES_MAX6675
-
   unsigned long ms = millis();
 
   // Loop through all extruders
   for (int i=0; i<EXTRUDERS; i++) setTargetHotend(0, i);
   setTargetBed(0);
 
+  #define DISABLE_HEATER(NR) { \
+    target_temperature[NR] = 0; \
+    soft_pwm[NR] = 0; \
+    WRITE_HEATER_ ## NR (LOW); \
+  }
+
   #if HAS_TEMP_0
     target_temperature[0] = 0;
     soft_pwm[0] = 0;
-    WRITE_HEATER_0P(LOW); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0
+    WRITE_HEATER_0P(LOW); // Should HEATERS_PARALLEL apply here? Then change to DISABLE_HEATER(0)
   #endif
 
   #if EXTRUDERS > 1 && HAS_TEMP_1
-    target_temperature[1] = 0;
-    soft_pwm[1] = 0;
-    WRITE_HEATER_1(LOW);
+    DISABLE_HEATER(1);
   #endif
 
   #if EXTRUDERS > 2 && HAS_TEMP_2
-    target_temperature[2] = 0;
-    soft_pwm[2] = 0;
-    WRITE_HEATER_2(LOW);
+    DISABLE_HEATER(2);
   #endif
 
   #if EXTRUDERS > 3 && HAS_TEMP_3
-    target_temperature[3] = 0;
-    soft_pwm[3] = 0;
-    WRITE_HEATER_3(LOW);
+    DISABLE_HEATER(3);
   #endif
 
   #if HAS_TEMP_BED
 // Timer 0 is shared with millies
 //
 ISR(TIMER0_COMPB_vect) {
+  #ifdef TEMP_SENSOR_1_AS_REDUNDANT
+    #define TEMP_SENSOR_COUNT 2
+  #else 
+    #define TEMP_SENSOR_COUNT EXTRUDERS
+  #endif
+
   //these variables are only accesible from the ISR, but static, so they don't lose their value
   static unsigned char temp_count = 0;
-  static unsigned long raw_temp_value[EXTRUDERS] = { 0 };
+  static unsigned long raw_temp_value[TEMP_SENSOR_COUNT] = { 0 };
   static unsigned long raw_temp_bed_value = 0;
   static TempState temp_state = StartupDelay;
   static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
       #endif
       temp_state = PrepareTemp_BED;
       break;
+
     case PrepareTemp_BED:
       #if HAS_TEMP_BED
         START_ADC(TEMP_BED_PIN);
       #endif
       temp_state = PrepareTemp_1;
       break;
+
     case PrepareTemp_1:
       #if HAS_TEMP_1
         START_ADC(TEMP_1_PIN);
       #endif
       temp_state = PrepareTemp_2;
       break;
+
     case PrepareTemp_2:
       #if HAS_TEMP_2
         START_ADC(TEMP_2_PIN);
       #endif
       temp_state = PrepareTemp_3;
       break;
+
     case PrepareTemp_3:
       #if HAS_TEMP_3
         START_ADC(TEMP_3_PIN);
       #endif
       temp_state = Prepare_FILWIDTH;
       break;
+
     case Prepare_FILWIDTH:
       #if HAS_FILAMENT_SENSOR
         START_ADC(FILWIDTH_PIN);
       temp_state = PrepareTemp_0;
       temp_count++;
       break;
+
     case StartupDelay:
       temp_state = PrepareTemp_0;
       break;
     //   SERIAL_ERRORLNPGM("Temp measurement error!");
     //   break;
   } // switch(temp_state)
-    
+
   if (temp_count >= OVERSAMPLENR) { // 10 * 16 * 1/(16000000/64/256)  = 164ms.
     if (!temp_meas_ready) { //Only update the raw values if they have been read. Else we could be updating them during reading.
       #ifndef HEATER_0_USES_MAX6675
     #if HAS_FILAMENT_SENSOR
       current_raw_filwidth = raw_filwidth_value >> 10;  // Divide to get to 0-16384 range since we used 1/128 IIR filter approach
     #endif
-    
+
     temp_meas_ready = true;
     temp_count = 0;
-    for (int i = 0; i < EXTRUDERS; i++) raw_temp_value[i] = 0;
+    for (int i = 0; i < TEMP_SENSOR_COUNT; i++) raw_temp_value[i] = 0;
     raw_temp_bed_value = 0;
 
-    #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
-      #define GE0 <=
-      #define LE0 >=
+    #ifdef HEATER_0_USES_MAX6675
+      float ct = current_temperature[0];
+      if (ct > min(HEATER_0_MAXTEMP, 1023)) max_temp_error(0);
+      if (ct < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0);
     #else
-      #define GE0 >=
-      #define LE0 <=
+      #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
+        #define GE0 <=
+      #else
+        #define GE0 >=
+      #endif
+      if (current_temperature_raw[0] GE0 maxttemp_raw[0]) max_temp_error(0);
+      if (minttemp_raw[0] GE0 current_temperature_raw[0]) min_temp_error(0);
     #endif
-    if (current_temperature_raw[0] GE0 maxttemp_raw[0]) max_temp_error(0);
-    if (current_temperature_raw[0] LE0 minttemp_raw[0]) min_temp_error(0);
 
     #if EXTRUDERS > 1
       #if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
         #define GE1 <=
-        #define LE1 >=
       #else
         #define GE1 >=
-        #define LE1 <=
       #endif
       if (current_temperature_raw[1] GE1 maxttemp_raw[1]) max_temp_error(1);
-      if (current_temperature_raw[1] LE1 minttemp_raw[1]) min_temp_error(1);
+      if (minttemp_raw[1] GE0 current_temperature_raw[1]) min_temp_error(1);
+
       #if EXTRUDERS > 2
         #if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP
           #define GE2 <=
-          #define LE2 >=
         #else
           #define GE2 >=
-          #define LE2 <=
         #endif
         if (current_temperature_raw[2] GE2 maxttemp_raw[2]) max_temp_error(2);
-        if (current_temperature_raw[2] LE2 minttemp_raw[2]) min_temp_error(2);
+        if (minttemp_raw[2] GE0 current_temperature_raw[2]) min_temp_error(2);
+
         #if EXTRUDERS > 3
           #if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
             #define GE3 <=
-            #define LE3 >=
           #else
             #define GE3 >=
-            #define LE3 <=
           #endif
           if (current_temperature_raw[3] GE3 maxttemp_raw[3]) max_temp_error(3);
-          if (current_temperature_raw[3] LE3 minttemp_raw[3]) min_temp_error(3);
+          if (minttemp_raw[3] GE0 current_temperature_raw[3]) min_temp_error(3);
+
         #endif // EXTRUDERS > 3
       #endif // EXTRUDERS > 2
     #endif // EXTRUDERS > 1
     #if defined(BED_MAXTEMP) && (TEMP_SENSOR_BED != 0)
       #if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP
         #define GEBED <=
-        #define LEBED >=
       #else
         #define GEBED >=
-        #define LEBED <=
       #endif
       if (current_temperature_bed_raw GEBED bed_maxttemp_raw) {
         target_temperature_bed = 0;

Marlin/ultralcd.cpp

   START_MENU();
   MENU_ITEM(back, MSG_CONTROL, lcd_control_menu);
   #ifdef ENABLE_AUTO_BED_LEVELING
-    MENU_ITEM_EDIT(float32, MSG_ZPROBE_ZOFFSET, &zprobe_zoffset, 0.5, 50);
+    MENU_ITEM_EDIT(float32, MSG_ZPROBE_ZOFFSET, &zprobe_zoffset, 0.0, 50);
   #endif
-  MENU_ITEM_EDIT(float5, MSG_ACC, &acceleration, 500, 99000);
+  MENU_ITEM_EDIT(float5, MSG_ACC, &acceleration, 10, 99000);
   MENU_ITEM_EDIT(float3, MSG_VXY_JERK, &max_xy_jerk, 1, 990);
   MENU_ITEM_EDIT(float52, MSG_VZ_JERK, &max_z_jerk, 0.1, 990);
   MENU_ITEM_EDIT(float3, MSG_VE_JERK, &max_e_jerk, 1, 990);
   MENU_ITEM_EDIT(float3, MSG_VTRAV_MIN, &mintravelfeedrate, 0, 999);
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_X, &max_acceleration_units_per_sq_second[X_AXIS], 100, 99000, reset_acceleration_rates);
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Y, &max_acceleration_units_per_sq_second[Y_AXIS], 100, 99000, reset_acceleration_rates);
-  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &max_acceleration_units_per_sq_second[Z_AXIS], 100, 99000, reset_acceleration_rates);
+  MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &max_acceleration_units_per_sq_second[Z_AXIS], 10, 99000, reset_acceleration_rates);
   MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &max_acceleration_units_per_sq_second[E_AXIS], 100, 99000, reset_acceleration_rates);
   MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &retract_acceleration, 100, 99000);
   MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &travel_acceleration, 100, 99000);