RepRap开源3D打印机kossel mini固件解析及下载

#ifndef CONFIGURATION_H

#define CONFIGURATION_H

// This configuration file contains the basic settings.//本文件只包含基本配置

// Advanced settings can be found in Configuration_adv.h//高级配置需要到Configuration_adv.h文件中配置

// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration

基本设置：选择板子类型，温度传感器类型，轴比率，限位开关设置

//===========================================================================

//============================= DELTA Printer ===============================

//===========================================================================

// For a Delta printer replace the configuration files with the files in the

// example_configurations/delta directory.

//

// 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_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time

#define STRING_CONFIG_H_AUTHOR "(athlon, D-force)" // Who made the changes.

这里配置修改配置的作者

// SERIAL_PORT selects which serial port should be used for communication with the host.

// This allows the connection of wireless adapters (for instance) to non-default port pins.

// Serial port 0 is still used by the Arduino bootloader regardless of this setting.

#define SERIAL_PORT 0

//这里配置用于传输Gcode的串口号，默认使用串口0作为通讯串口，如果想要在其它串口用蓝牙通讯，可以配置为相应的串口号。

// This determines the communication speed of the printer

// This determines the communication speed of the printer

//#define BAUDRATE 250000

#define BAUDRATE 115200

//波特率配置，这里的波特率需要跟上位机一致才可以，否则将无法通讯成功

// This enables the serial port associated to the Bluetooth interface

//#define BTENABLED              // Enable BT interface on AT90USB devices

//只适用于AT90USB相应的板子

//// The following define selects which electronics board you have. Please choose the one that matches your setup

// 10 = Gen7 custom (Alfons3 Version) "https://github.com/Alfons3/Generation_7_Electronics"

// 11 = Gen7 v1.1, v1.2 = 11

// 12 = Gen7 v1.3

// 13 = Gen7 v1.4

// 2  = Cheaptronic v1.0

// 20 = Sethi 3D_1

// 3  = MEGA/RAMPS up to 1.2 = 3

// 33 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Bed)

// 34 = RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Bed)

// 35 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Fan)

// 4  = Duemilanove w/ ATMega328P pin assignment

// 5  = Gen6

// 51 = Gen6 deluxe

// 6  = Sanguinololu < 1.2

// 62 = Sanguinololu 1.2 and above

// 63 = Melzi

// 64 = STB V1.1

// 65 = Azteeg X1

// 66 = Melzi with ATmega1284 (MaKr3d version)

// 67 = Azteeg X3

// 68 = Azteeg X3 Pro

// 7  = Ultimaker

// 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)

// 72 = Ultimainboard 2.x (Uses TEMP_SENSOR 20)

// 77 = 3Drag Controller

// 8  = Teensylu

// 80 = Rumba

// 81 = Printrboard (AT90USB1286)

// 82 = Brainwave (AT90USB646)

// 83 = SAV Mk-I (AT90USB1286)

// 9  = Gen3+

// 70 = Megatronics

// 701= Megatronics v2.0

// 702= Minitronics v1.0

// 90 = Alpha OMCA board

// 91 = Final OMCA board

// 301= Rambo

// 21 = Elefu Ra Board (v3)

#ifndef MOTHERBOARD

#define MOTHERBOARD 33

#endif

//根据你的板子类型选自相应的数字在这里

// Define this to set a custom name for your generic Mendel,

#define CUSTOM_MENDEL_NAME "D-force"

//可以给你的打印机取个名字

// 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. (eghttp://www.uuidgenerator.net/version4)

// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"

//可以定义一个ID，实际生产中比较有用

// This defines the number of extruders

#define EXTRUDERS 1

//定义挤出头的数量，默认1个，如果配置为2个，下面的相应参数需要配置才可以。

//// The following define selects which power supply you have. Please choose the one that matches your setup

// 1 = ATX

// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)

#define POWER_SUPPLY 1

//电源类型，主要用于控制电源的开关的，如果你用电脑电源，并且接线正确，是有效的，否则可以忽略

// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.

// #define PS_DEFAULT_OFF

//===========================================================================

//============================== Delta Settings =============================

//===========================================================================

// Enable DELTA kinematics

#define 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 120

减小这个数值，来缓解卡顿现象，如修改为120进行测试（针对LCD配置）

word/media/image1.gif

// Center-to-center distance of the holes in the diagonal push rods.

#define DELTA_DIAGONAL_ROD 287 // mm

// Horizontal offset from middle of printer to smooth rod center.

#define DELTA_SMOOTH_ROD_OFFSET 196.4 // mm

// Horizontal offset of the universal joints on the end effector.

#define DELTA_EFFECTOR_OFFSET 25.5 // mm

// Horizontal offset of the universal joints on the carriages.

#define DELTA_CARRIAGE_OFFSET 20 // mm

// Horizontal distance bridged by diagonal push rods when effector is centered.

#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)

// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).

#define DELTA_PRINTABLE_RADIUS 100

delta最大打印半径,根据你的实际情况来修改,不要太大,放置出现撞车 另一个跟尺寸相关的参数,是回原点后,打印头到打印平台的距离

// Effective X/Y positions of the three vertical towers.

#define SIN_60 0.8660254037844386

#define COS_60 0.5

#define DELTA_TOWER1_X -SIN_60*DELTA_RADIUS // front left tower

#define DELTA_TOWER1_Y -COS_60*DELTA_RADIUS

#define DELTA_TOWER2_X SIN_60*DELTA_RADIUS // front right tower

#define DELTA_TOWER2_Y -COS_60*DELTA_RADIUS

#define DELTA_TOWER3_X 0.0 // back middle tower

#define DELTA_TOWER3_Y DELTA_RADIUS

// Diagonal rod squared

#define DELTA_DIAGONAL_ROD_2 pow(DELTA_DIAGONAL_ROD,2)

//===========================================================================

//=============================Thermal Settings  ============================

//===========================================================================

//

//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table

//

//// Temperature sensor settings:

// -2 is thermocouple with MAX6675 (only for sensor 0)

// -1 is thermocouple with AD595

// 0 is not used

// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)

// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)

// 3 is Mendel-parts thermistor (4.7k pullup)

// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!

// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)

// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)

// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)

// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)

// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)

// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)

// 10 is 100k RS thermistor 198-961 (4.7k pullup)

// 20 is the PT100 circuit found in the Ultimainboard V2.x

// 60 is 100k Maker's Tool Works Kapton Bed Thermistor

//

//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k

//                          (but gives greater accuracy and more stable PID)

// 51 is 100k thermistor - EPCOS (1k pullup)

// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)

// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)

//

// 1047 is Pt1000 with 4k7 pullup

// 1010 is Pt1000 with 1k pullup (non standard)

// 147 is Pt100 with 4k7 pullup

// 110 is Pt100 with 1k pullup (non standard)

#define TEMP_SENSOR_0 1      定义热敏电阻

#define TEMP_SENSOR_1 0

#define TEMP_SENSOR_2 0

#define TEMP_SENSOR_BED 1  定义热床热敏电阻

//配置温度传感器类型，非常重要，否则读到的温度不正常，如果需要热电偶加AD595，需要配置为-1，Mega controller支持接热电偶，但具体接线与热敏接线位置不同，请参考前面的硬件接线部分了解详情

// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.

//#define TEMP_SENSOR_1_AS_REDUNDANT

#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10

//这里的配置是用来检查传感器是否正常的，用传感器1与传感器0对比，如果相差太大，将不能打印。双头不能使用。

// Actual temperature must be close to target for this long before M109 returns success

#define TEMP_RESIDENCY_TIME 10  // (seconds)

#define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one

#define TEMP_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.

// The minimal temperature defines the temperature below which the heater will not be enabled It is used

// to check that the wiring to the thermistor is not broken.

// Otherwise this would lead to the heater being powered on all the time.

#define HEATER_0_MINTEMP 5

#define HEATER_1_MINTEMP 5

#define HEATER_2_MINTEMP 5

#define BED_MINTEMP 1

//最低温度配置，如果低于这个温度，将认为接线有误，会报错。步进电机及加热都不能进行操作，所以在测试前一定要把热敏都接好，否则不能正常测试。

// 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 300

#define HEATER_1_MAXTEMP 275

#define HEATER_2_MAXTEMP 275

#define BED_MAXTEMP 150

//最大温度配置，为了避免过高温度的加热

// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the

// average current. The value should be an integer and the heat bed will be turned on for 1 interval of

// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.

//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4

//如果热床电流太大，可以通过调整下面参数来降低电流，增大这个数值。

// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS

//#define EXTRUDER_WATTS (12.0*12.0/6.7) //  P=I^2/R

//#define BED_WATTS (12.0*12.0/1.1)      // P=I^2/R

//如果想要M105报告耗费的电能，可以配置下面参数

//是否使用PID算法

// PID settings:

// Comment the following line to disable PID and enable bang-bang.

#define PIDTEMP

#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current

#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current

#ifdef PIDTEMP

  //#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 PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature

                                  // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.

  #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term

  #define K1 0.95 //smoothing factor within the PID

  #define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

// 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_Ki 1.08

  //  #define  DEFAULT_Kd 114

  //E3D with 30MM fan

   #define  DEFAULT_Kp 24.77

  #define  DEFAULT_Ki 1.84

    #define  DEFAULT_Kd 83.61

// MakerGear

//    #define  DEFAULT_Kp 7.0

//    #define  DEFAULT_Ki 0.1

//    #define  DEFAULT_Kd 12

// Mendel Parts V9 on 12V

//    #define  DEFAULT_Kp 63.0

//    #define  DEFAULT_Ki 2.25

//    #define  DEFAULT_Kd 440

#endif // PIDTEMP

// Bed Temperature Control

// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis

//

// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.

// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,

// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.

// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.

// If your configuration is significantly different than this and you don't understand the issues involved, you probably

// shouldn't use bed PID until someone else verifies your hardware works.

// If this is enabled, find your own PID constants below.

#define PIDTEMPBED

// 热床PID温控开启

//#define BED_LIMIT_SWITCHING

// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.

// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)

// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,

// so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)

#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current

#ifdef PIDTEMPBED

//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_bedKi .023

   // #define  DEFAULT_bedKd 305.4

//D-force

  #define  DEFAULT_bedKp 22.97

  #define  DEFAULT_bedKi 3.76

#define  DEFAULT_bedKd 29.2

//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)

//from pidautotune

//    #define  DEFAULT_bedKp 97.1

//    #define  DEFAULT_bedKi 1.41

//    #define  DEFAULT_bedKd 1675.16

// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.

#endif // PIDTEMPBED

可以使用“M303 E-1 C8 S90”来自动测量PID的三个参数

//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit

//can be software-disabled for whatever purposes by

//防止不安全的挤出动作，比如温度没有达到要求，此时软件不会挤出，可以发送M302允许冷挤出。进行测试。

#define PREVENT_DANGEROUS_EXTRUDE

//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.

#define PREVENT_LENGTHY_EXTRUDE

//是否运行长挤出

#define EXTRUDE_MINTEMP 170 //挤出头最低温度设定

#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.

//===========================================================================

//=============================Mechanical Settings===========================

//===========================================================================

// Uncomment the following line to enable CoreXY kinematics //如果使用CoreXY运动系统需要去掉前面的“//”

// #define COREXY

// coarse Endstop Settings

#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

#ifndef ENDSTOPPULLUPS

  // fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined

  // #define ENDSTOPPULLUP_XMAX

  // #define ENDSTOPPULLUP_YMAX    分别对各个限位开关进行上拉电阻的配置

  // #define ENDSTOPPULLUP_ZMAX

  // #define ENDSTOPPULLUP_XMIN

  // #define ENDSTOPPULLUP_YMIN

  // #define ENDSTOPPULLUP_ZMIN

#endif

#ifdef ENDSTOPPULLUPS

  #define ENDSTOPPULLUP_XMAX

  #define ENDSTOPPULLUP_YMAX

  #define ENDSTOPPULLUP_ZMAX

  #define ENDSTOPPULLUP_XMIN

  #define ENDSTOPPULLUP_YMIN

  #define ENDSTOPPULLUP_ZMIN

#endif

// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.

//如果你使用机械式的限位开关，并且接到了信号和GND两个接口，那么上面的上拉配置需要打开

const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.

const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.

const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.

const bool X_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.

const bool Y_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.

const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.

//配置3个轴的限位开关类型的，配置为true，限位开关应该接常开端子。如果你接常闭端子，则将true改为false。

//#define DISABLE_MAX_ENDSTOPS

//#define DISABLE_MIN_ENDSTOPS

// Disable max endstops for compatibility with endstop checking routine

#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)

  #define DISABLE_MAX_ENDSTOPS

#endif

// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1

//步进驱动使能管脚电平高低配置，对于4988驱动，保持默认的0即可

#define X_ENABLE_ON 0

#define Y_ENABLE_ON 0

#define Z_ENABLE_ON 0

#define E_ENABLE_ON 0 // For all extruders

// Disables axis when it's not being used. //是否开启自动关闭各轴电机功能

#define DISABLE_X false

#define DISABLE_Y false

#define DISABLE_Z false

#define DISABLE_E false // For all extruders

word/media/image2.gif

//各轴运行方向的配置。根据自己机械的类型不通，两个的配置不尽相同。但是原则就是要保证原点应该在打印平台的左下角（原点位置为[0,0]），或右上角（原点位置为[max,max]）。只有这样打印出来的模型才是正确的，否则会是某个轴的镜像而造成模型方位不对

#define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true

#define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false

#define INVERT_Z_DIR false    // for Mendel set to false, for Orca set to true

#define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false

#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false

#define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false

// ENDSTOP SETTINGS:

// Sets direction of endstops when homing; 1=MAX, -1=MIN

#define X_HOME_DIR 1

#define Y_HOME_DIR 1

#define Z_HOME_DIR 1

//配置回原点的方向，-1为MIN限位方向，1为MAX限位方向

#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.

#define max_software_endstops true  // If true, axis won't move to coordinates greater than the defined lengths below.

//软限位配置，如果为true，超过轴极限后，不运行

// Travel limits after homing   //各轴最大运行距离

#define X_MAX_POS DELTA_PRINTABLE_RADIUS

#define X_MIN_POS -DELTA_PRINTABLE_RADIUS

#define Y_MAX_POS DELTA_PRINTABLE_RADIUS

#define Y_MIN_POS -DELTA_PRINTABLE_RADIUS

#define Z_MAX_POS MANUAL_Z_HOME_POS

#define Z_MIN_POS 0

#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)

#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)

#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)

//============================= Bed Auto Leveling ===========================

#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)

//是否开启自动调平功能

#ifdef ENABLE_AUTO_BED_LEVELING

  // these are the positions on the bed to do the probing

  #define DELTA_PROBABLE_RADIUS (DELTA_PRINTABLE_RADIUS*0.9)

  #define LEFT_PROBE_BED_POSITION -DELTA_PRINTABLE_RADIUS

  #define RIGHT_PROBE_BED_POSITION DELTA_PRINTABLE_RADIUS

  #define BACK_PROBE_BED_POSITION DELTA_PRINTABLE_RADIUS

  #define FRONT_PROBE_BED_POSITION -DELTA_PRINTABLE_RADIUS

  // these are the offsets to the probe relative to the extruder tip (Hotend - Probe)

//调平传感器与挤出头的坐标偏移，加热头坐标-调平探针坐标

  #define X_PROBE_OFFSET_FROM_EXTRUDER 0.0

  #define Y_PROBE_OFFSET_FROM_EXTRUDER 0.0

  #define Z_PROBE_OFFSET_FROM_EXTRUDER 0.1  // Increase this if the first layer is too thin.

  #define Z_RAISE_BEFORE_HOMING 4       // (in mm) Raise Z before homing (G28) for Probe Clearance.

                                        // Be sure you have this distance over your Z_MAX_POS in case

//回原点前，z轴升起的距离，放置太低，调平探针无法放下

  #define XY_TRAVEL_SPEED 6000         // X and Y axis travel speed between probes, in mm/min调平时，XY轴的运行速度

  #define Z_RAISE_BEFORE_PROBING 25  //How much the extruder will be raised before traveling to the first probing point. //运行到第一个调平点前，Z轴升起的距离

  #define Z_RAISE_BETWEEN_PROBINGS 2  //How much the extruder will be raised when traveling from between next probing points //运行到下一个调平点前，Z轴升起的距离

  #define Z_RAISE_AFTER_PROBING 50  //How much the extruder will be raised after the last probing point.

  //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk

  //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.

  // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.

//舵机关闭延时，为了防止抖动，建议开启这个功能。否则舵机会抖动

//  #define PROBE_SERVO_DEACTIVATION_DELAY 300

//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,

//it is highly recommended you let this Z_SAFE_HOMING enabled!!!

  #define Z_SAFE_HOMING   // This feature is meant to avoid Z homing with probe outside the bed area.

                          // When defined, it will:

                          // - Allow Z homing only after X and Y homing AND stepper drivers still enabled

                          // - If stepper drivers timeout, it will need X and Y homing again before Z homing

                          // - Position the probe in a defined XY point before Z Homing when homing all axis (G28)

                          // - Block Z homing only when the probe is outside bed area.

  #ifdef Z_SAFE_HOMING

    #define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2)    // X point for Z homing when homing all axis (G28)

    #define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2)    // Y point for Z homing when homing all axis (G28)

  #endif

  // with accurate bed leveling, the bed is sampled in a ACCURATE_BED_LEVELING_POINTSxACCURATE_BED_LEVELING_POINTS grid and least squares solution is calculated

  // Note: this feature occupies 10'206 byte

  #define ACCURATE_BED_LEVELING

  #ifdef ACCURATE_BED_LEVELING

    #define ACCURATE_BED_LEVELING_POINTS 9

    #define ACCURATE_BED_LEVELING_GRID_X ((RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS - 1))

    #define ACCURATE_BED_LEVELING_GRID_Y ((BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS - 1))

    // NONLINEAR_BED_LEVELING means: don't try to calculate linear coefficients but instead

    // compensate by interpolating between the nearest four Z probe values for each point.

    // Useful for deltabots where the print surface may appear like a bowl or dome shape.

    // Works best with ACCURATE_BED_LEVELING_POINTS 5 or higher.

    #define NONLINEAR_BED_LEVELING

  #endif

  // Force Sensing Resistors under the print surface, wired to heated bed thermistor input.

  // Autolevel by measuring how much the hotend is pushing down, without separate Z probe.

// #define FSR_BED_LEVELING

#endif

// The position of the homing switches

#define MANUAL_HOME_POSITIONS  // If defined, MANUAL_*_HOME_POS below will be used

#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)

//Manual homing switch locations:

// For deltabots this means top and center of the Cartesian print volume.

#define MANUAL_X_HOME_POS 0

#define MANUAL_Y_HOME_POS 0

#define MANUAL_Z_HOME_POS 305 // Distance between nozzle and print surface after homing.

//// MOVEMENT SETTINGS

#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E

#define HOMING_FEEDRATE {200*60, 200*60, 200*60, 0}  // set the homing speeds (mm/min)

//配置回零速度

// default settings

#define XYZ_FULL_STEPS_PER_ROTATION 200

#define XYZ_MICROSTEPS 16

#define XYZ_BELT_PITCH 2

#define XYZ_PULLEY_TEETH 20

#define XYZ_STEPS (XYZ_FULL_STEPS_PER_ROTATION * XYZ_MICROSTEPS / double(XYZ_BELT_PITCH) / double(XYZ_PULLEY_TEETH))

计算公式

#define DEFAULT_AXIS_STEPS_PER_UNIT   {XYZ_STEPS, XYZ_STEPS, XYZ_STEPS, 93}

#define DEFAULT_MAX_FEEDRATE          {200, 200, 200, 200}    // (mm/sec)

#define DEFAULT_MAX_ACCELERATION      {9000,9000,9000,9000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.

#define DEFAULT_ACCELERATION          2500    // X, Y, Z and E max acceleration in mm/s^2 for printing moves

#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for retracts

// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).

// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

// For the other hotends it is their distance from the extruder 0 hotend.

//如果有多个挤出头，需要配置各挤出头的偏移量

// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis

// #define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis

// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)

//各轴不需要加速的距离，即无需加速，立即完成的距离

#define DEFAULT_XYJERK                20.0    // (mm/sec)

#define DEFAULT_ZJERK                 20.0    // (mm/sec)

#define DEFAULT_EJERK                 20.0    // (mm/sec)

//===========================================================================

//=============================Additional Features===========================

//===========================================================================

// EEPROM

// The microcontroller can store settings in the EEPROM, e.g. max velocity...

// M500 - stores parameters 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.

//define this to enable EEPROM support //是否开启EEPROM，开启后，可以通过Gcode或LCD来修改，载入，保存相关参数。

#define EEPROM_SETTINGS

//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:

// please keep turned on if you can. //关闭串口修改EEPROM的功能

//#define EEPROM_CHITCHAT

// Preheat Constants //预热参数配置

#define PLA_PREHEAT_HOTEND_TEMP 190  // Current J-Head thermistor reads hot

#define PLA_PREHEAT_HPB_TEMP 40

#define PLA_PREHEAT_FAN_SPEED 150   // Insert Value between 0 and 255

#define ABS_PREHEAT_HOTEND_TEMP 230

#define ABS_PREHEAT_HPB_TEMP 80

#define ABS_PREHEAT_FAN_SPEED 150   // Insert Value between 0 and 255

//LCD and SD support

//#define ULTRA_LCD  //general LCD support, also 16x2

//#define DOGLCD  // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)

//#define SDSUPPORT // Enable SD Card Support in Hardware Console

//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)

//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder

//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking

//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.

//#define ULTIPANEL  //the UltiPanel as on Thingiverse

//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click

//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click

// The MaKr3d Makr-Panel with graphic controller and SD support

// http://reprap.org/wiki/MaKr3d_MaKrPanel //如果你使用了MakerLab的Mini Panel，需要开启这个选项

//#define MAKRPANEL

// The RepRapDiscount Smart Controller (white PCB)

// http://reprap.org/wiki/RepRapDiscount_Smart_Controller

#define REPRAP_DISCOUNT_SMART_CONTROLLER

// The GADGETS3D G3D LCD/SD Controller (blue PCB)

// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel

//#define G3D_PANEL

// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)

// http://reprap.org/wiki/RepRapDis ... ic_Smart_Controller

//

// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder:http://code.google.com/p/u8glib/wiki/u8glib

//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER

// The RepRapWorld REPRAPWORLD_KEYPAD v1.1

// http://reprapworld.com/?products ... amp;cPath=1591_1626

//#define REPRAPWORLD_KEYPAD

//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click

// The Elefu RA Board Control Panel

// http://www.elefu.com/index.php?r ... t&product_id=53

// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARUDINO library folder:https://github.com/kiyoshigawa/LiquidCrystal_I2C

//#define RA_CONTROL_PANEL

//automatic expansion

#if defined (MAKRPANEL)

#define DOGLCD

#define SDSUPPORT

#define ULTIPANEL

#define NEWPANEL

#define DEFAULT_LCD_CONTRAST 17

#endif

#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)

#define DOGLCD

#define U8GLIB_ST7920

#define REPRAP_DISCOUNT_SMART_CONTROLLER

#endif

#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)

#define ULTIPANEL

#define NEWPANEL

#endif

#if defined(REPRAPWORLD_KEYPAD)

  #define NEWPANEL

  #define ULTIPANEL

#endif

#if defined(RA_CONTROL_PANEL)

#define ULTIPANEL

#define NEWPANEL

#define LCD_I2C_TYPE_PCA8574

#define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander

#endif

//I2C PANELS

//#define LCD_I2C_SAINSMART_YWROBOT

#ifdef LCD_I2C_SAINSMART_YWROBOT

  // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )

  // Make sure it is placed in the Arduino libraries directory.

  #define LCD_I2C_TYPE_PCF8575

  #define LCD_I2C_ADDRESS 0x27   // I2C Address of the port expander

  #define NEWPANEL

  #define ULTIPANEL

#endif

// PANELOLU2 LCD with status LEDs, separate encoder and click inputs

//#define LCD_I2C_PANELOLU2

#ifdef LCD_I2C_PANELOLU2

  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )

  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.

  // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)

  // Note: The PANELOLU2 encoder click input can either be directly connected to a pin

  //       (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).

  #define LCD_I2C_TYPE_MCP23017

  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander

  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD

  #define NEWPANEL

  #define ULTIPANEL

  #ifndef ENCODER_PULSES_PER_STEP

         #define ENCODER_PULSES_PER_STEP 4

  #endif

  #ifndef ENCODER_STEPS_PER_MENU_ITEM

         #define ENCODER_STEPS_PER_MENU_ITEM 1

  #endif

  #ifdef LCD_USE_I2C_BUZZER

         #define LCD_FEEDBACK_FREQUENCY_HZ 1000

         #define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100

  #endif

#endif

// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs

//#define LCD_I2C_VIKI

#ifdef LCD_I2C_VIKI

  // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )

  // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.

  // Note: The pause/stop/resume LCD button pin should be connected to the Arduino

  //       BTN_ENC pin (or set BTN_ENC to -1 if not used)

  #define LCD_I2C_TYPE_MCP23017

  #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander

  #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)

  #define NEWPANEL

  #define ULTIPANEL

#endif

// Shift register panels

// ---------------------

// 2 wire Non-latching LCD SR from:

// https://bitbucket.org/fmalpartid ... register-connection

//#define SR_LCD

#ifdef SR_LCD

   #define SR_LCD_2W_NL    // Non latching 2 wire shift register

   //#define NEWPANEL

#endif

#ifdef ULTIPANEL

//  #define NEWPANEL  //enable this if you have a click-encoder panel

  #define SDSUPPORT

  #define ULTRA_LCD

  #ifdef DOGLCD // Change number of lines to match the DOG graphic display

    #define LCD_WIDTH 20

    #define LCD_HEIGHT 5

  #else

    #define LCD_WIDTH 20

    #define LCD_HEIGHT 4

  #endif

#else //no panel but just LCD

  #ifdef ULTRA_LCD

  #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display

    #define LCD_WIDTH 20

    #define LCD_HEIGHT 5

  #else

    #define LCD_WIDTH 16

    #define LCD_HEIGHT 2

  #endif

  #endif

#endif

// default LCD contrast for dogm-like LCD displays

#ifdef DOGLCD

# ifndef DEFAULT_LCD_CONTRAST

#  define DEFAULT_LCD_CONTRAST 32

# endif

#endif

// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino

//#define FAST_PWM_FAN

// Temperature status LEDs that display the hotend and bet temperature.

// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.

// Otherwise the RED led is on. There is 1C hysteresis.

//#define TEMP_STAT_LEDS

// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency

// which is not ass annoying as with the hardware PWM. On the other hand, if this frequency

// is too low, you should also increment SOFT_PWM_SCALE.

//风扇的软PWM开启

//#define FAN_SOFT_PWM

// Incrementing this by 1 will double the software PWM frequency,

// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.

// However, control resolution will be halved for each increment;

// at zero value, there are 128 effective control positions.

#define SOFT_PWM_SCALE 0

// M240  Triggers a camera by emulating a Canon RC-1 Remote

// Data from: http://www.doc-diy.net/photo/rc-1_hacked/

// #define PHOTOGRAPH_PIN     23

// SF send wrong arc g-codes when using Arc Point as fillet procedure

//#define SF_ARC_FIX

// Support for the BariCUDA Paste Extruder.

//#define BARICUDA

//define BlinkM/CyzRgb Support

//#define BLINKM

/*********************************************************************\

* R/C SERVO support

* Sponsored by TrinityLabs, Reworked by codexmas

**********************************************************************/

//舵机配置

// Number of servos

//

// If you select a configuration below, this will receive a default value and does not need to be set manually

// set it manually if you have more servos than extruders and wish to manually control some

// leaving it undefined or defining as 0 will disable the servo subsystem

// If unsure, leave commented / disabled

// //配置舵机数量，自动调平一般用1个就够了

//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command

// Servo Endstops

//

// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.

// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.

//

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

//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles

#include "Configuration_adv.h"

#include "thermistortables.h"

#endif //__CONFIGURATION_H