Merge branch 'bugfix-2.1.x' into HEVO-BTT-SKR-1.3

Marlin/Configuration.h

@@ -498,6 +498,210 @@
 //#define COREZX
 //#define COREZY
 
+// Enable for a belt style printer with endless "Z" motion
+//#define BELTPRINTER
+
+// Enable for Polargraph Kinematics
+//#define POLARGRAPH
+#if ENABLED(POLARGRAPH)
+  #define POLARGRAPH_MAX_BELT_LEN 1035.0
+  #define DEFAULT_SEGMENTS_PER_SECOND 5
+#endif
+
+// @section delta
+
+// Enable for DELTA kinematics and configure below
+//#define DELTA
+#if ENABLED(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 DEFAULT_SEGMENTS_PER_SECOND 200
+
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
+
+  // Delta calibration menu
+  // Add three-point calibration to the MarlinUI menu.
+  // See http://minow.blogspot.com/index.html#4918805519571907051
+  //#define DELTA_CALIBRATION_MENU
+
+  // G33 Delta Auto-Calibration. Enable EEPROM_SETTINGS to store results.
+  //#define DELTA_AUTO_CALIBRATION
+
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    // Default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
+  #endif
+
+  #if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
+    // Step size for paper-test probing
+    #define PROBE_MANUALLY_STEP 0.05      // (mm)
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define PRINTABLE_RADIUS       140.0    // (mm)
+
+  // Maximum reachable area
+  #define DELTA_MAX_RADIUS       140.0    // (mm)
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 250.0        // (mm)
+
+  // Distance between bed and nozzle Z home position
+  #define DELTA_HEIGHT 250.00             // (mm) Get this value from G33 auto calibrate
+
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 124.0              // (mm) Get this value from G33 auto calibrate
+
+  // Trim adjustments for individual towers
+  // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
+  // measured in degrees anticlockwise looking from above the printer
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate
+
+  // Delta radius and diagonal rod adjustments (mm)
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
+#endif
+
+// @section scara
+
+/**
+ * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
+ * Implemented and slightly reworked by JCERNY in June, 2014.
+ *
+ * Mostly Printed SCARA is an open source design by Tyler Williams. See:
+ *   https://www.thingiverse.com/thing:2487048
+ *   https://www.thingiverse.com/thing:1241491
+ */
+//#define MORGAN_SCARA
+//#define MP_SCARA
+#if EITHER(MORGAN_SCARA, MP_SCARA)
+  // If movement is choppy try lowering this value
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define SCARA_LINKAGE_1 150       // (mm)
+  #define SCARA_LINKAGE_2 150       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define SCARA_OFFSET_X  100       // (mm)
+  #define SCARA_OFFSET_Y  -56       // (mm)
+
+  #if ENABLED(MORGAN_SCARA)
+
+    //#define DEBUG_SCARA_KINEMATICS
+    #define FEEDRATE_SCALING        // Convert XY feedrate from mm/s to degrees/s on the fly
+
+    // Radius around the center where the arm cannot reach
+    #define MIDDLE_DEAD_ZONE_R   0  // (mm)
+
+    #define THETA_HOMING_OFFSET  0  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+    #define PSI_HOMING_OFFSET    0  // Calculated from Calibration Guide and M364 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+
+  #elif ENABLED(MP_SCARA)
+
+    #define SCARA_OFFSET_THETA1  12 // degrees
+    #define SCARA_OFFSET_THETA2 131 // degrees
+
+  #endif
+
+#endif
+
+// @section tpara
+
+// Enable for TPARA kinematics and configure below
+//#define AXEL_TPARA
+#if ENABLED(AXEL_TPARA)
+  #define DEBUG_TPARA_KINEMATICS
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
+
+  // Length of inner and outer support arms. Measure arm lengths precisely.
+  #define TPARA_LINKAGE_1 120       // (mm)
+  #define TPARA_LINKAGE_2 120       // (mm)
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define TPARA_OFFSET_X    0       // (mm)
+  #define TPARA_OFFSET_Y    0       // (mm)
+  #define TPARA_OFFSET_Z    0       // (mm)
+
+  #define FEEDRATE_SCALING        // Convert XY feedrate from mm/s to degrees/s on the fly
+
+  // Radius around the center where the arm cannot reach
+  #define MIDDLE_DEAD_ZONE_R   0  // (mm)
+
+  // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
+  #define THETA_HOMING_OFFSET  0
+  #define PSI_HOMING_OFFSET    0
+#endif
+
+// @section polar
+
+/**
+ * POLAR Kinematics
+ *  developed by Kadir ilkimen for PolarBear CNC and babyBear
+ *  https://github.com/kadirilkimen/Polar-Bear-Cnc-Machine
+ *  https://github.com/kadirilkimen/babyBear-3D-printer
+ *
+ * A polar machine can have different configurations.
+ * This kinematics is only compatible with the following configuration:
+ *        X : Independent linear
+ *   Y or B : Polar
+ *        Z : Independent linear
+ *
+ * For example, PolarBear has CoreXZ plus Polar Y or B.
+ *
+ * Motion problem for Polar axis near center / origin:
+ *
+ * 3D printing:
+ * Movements very close to the center of the polar axis take more time than others.
+ * This brief delay results in more material deposition due to the pressure in the nozzle.
+ *
+ * Current Kinematics and feedrate scaling deals with this by making the movement as fast
+ * as possible. It works for slow movements but doesn't work well with fast ones. A more
+ * complicated extrusion compensation must be implemented.
+ *
+ * Ideally, it should estimate that a long rotation near the center is ahead and will cause
+ * unwanted deposition. Therefore it can compensate the extrusion beforehand.
+ *
+ * Laser cutting:
+ * Same thing would be a problem for laser engraving too. As it spends time rotating at the
+ * center point, more likely it will burn more material than it should. Therefore similar
+ * compensation would be implemented for laser-cutting operations.
+ *
+ * Milling:
+ * This shouldn't be a problem for cutting/milling operations.
+ */
+//#define POLAR
+#if ENABLED(POLAR)
+  #define DEFAULT_SEGMENTS_PER_SECOND 180   // If movement is choppy try lowering this value
+  #define PRINTABLE_RADIUS 82.0f            // (mm) Maximum travel of X axis
+
+  // Movements fall inside POLAR_FAST_RADIUS are assigned the highest possible feedrate
+  // to compensate unwanted deposition related to the near-origin motion problem.
+  #define POLAR_FAST_RADIUS 3.0f            // (mm)
+
+  // Radius which is unreachable by the tool.
+  // Needed if the tool is not perfectly aligned to the center of the polar axis.
+  #define POLAR_CENTER_OFFSET 0.0f          // (mm)
+
+  #define FEEDRATE_SCALING                  // Convert XY feedrate from mm/s to degrees/s on the fly
+#endif
+
+// @section machine
+
+// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
+//#define ARTICULATED_ROBOT_ARM
+
+// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire
+// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics).
+//#define FOAMCUTTER_XYUV
+
 //===========================================================================
 //============================== Endstop Settings ===========================
 //===========================================================================
@@ -755,8 +959,75 @@
 //
 
 /**
- *   Z Probe to nozzle (X,Y) offset, relative to (0, 0).
- *   X and Y offsets must be integers.
+ * Magnetically Mounted Probe
+ * For probes such as Euclid, Klicky, Klackender, etc.
+ */
+//#define MAG_MOUNTED_PROBE
+#if ENABLED(MAG_MOUNTED_PROBE)
+  #define PROBE_DEPLOY_FEEDRATE (133*60)  // (mm/min) Probe deploy speed
+  #define PROBE_STOW_FEEDRATE   (133*60)  // (mm/min) Probe stow speed
+
+  #define MAG_MOUNTED_DEPLOY_1 { PROBE_DEPLOY_FEEDRATE, { 245, 114, 30 } }  // Move to side Dock & Attach probe
+  #define MAG_MOUNTED_DEPLOY_2 { PROBE_DEPLOY_FEEDRATE, { 210, 114, 30 } }  // Move probe off dock
+  #define MAG_MOUNTED_DEPLOY_3 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_DEPLOY_4 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_DEPLOY_5 { PROBE_DEPLOY_FEEDRATE, {   0,   0,  0 } }  // Extra move if needed
+  #define MAG_MOUNTED_STOW_1   { PROBE_STOW_FEEDRATE,   { 245, 114, 20 } }  // Move to dock
+  #define MAG_MOUNTED_STOW_2   { PROBE_STOW_FEEDRATE,   { 245, 114,  0 } }  // Place probe beside remover
+  #define MAG_MOUNTED_STOW_3   { PROBE_STOW_FEEDRATE,   { 230, 114,  0 } }  // Side move to remove probe
+  #define MAG_MOUNTED_STOW_4   { PROBE_STOW_FEEDRATE,   { 210, 114, 20 } }  // Side move to remove probe
+  #define MAG_MOUNTED_STOW_5   { PROBE_STOW_FEEDRATE,   {   0,   0,  0 } }  // Extra move if needed
+#endif
+
+// Duet Smart Effector (for delta printers) - https://bit.ly/2ul5U7J
+// When the pin is defined you can use M672 to set/reset the probe sensitivity.
+//#define DUET_SMART_EFFECTOR
+#if ENABLED(DUET_SMART_EFFECTOR)
+  #define SMART_EFFECTOR_MOD_PIN  -1  // Connect a GPIO pin to the Smart Effector MOD pin
+#endif
+
+/**
+ * Use StallGuard2 to probe the bed with the nozzle.
+ * Requires stallGuard-capable Trinamic stepper drivers.
+ * CAUTION: This can damage machines with Z lead screws.
+ *          Take extreme care when setting up this feature.
+ */
+//#define SENSORLESS_PROBING
+
+/**
+ * Allen key retractable z-probe as seen on many Kossel delta printers - https://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
+ * Deploys by touching z-axis belt. Retracts by pushing the probe down.
+ */
+//#define Z_PROBE_ALLEN_KEY
+#if ENABLED(Z_PROBE_ALLEN_KEY)
+  // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
+  // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, PRINTABLE_RADIUS, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (PRINTABLE_RADIUS) * 0.75, 100.0 }
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position
+  #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_2 { -64.0, 56.0, 3.0 } // Push it down
+  #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_FEEDRATE)/10
+
+  #define Z_PROBE_ALLEN_KEY_STOW_3 { -64.0, 56.0, 50.0 } // Move it up to clear
+  #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_FEEDRATE
+
+  #define Z_PROBE_ALLEN_KEY_STOW_4 { 0.0, 0.0, 50.0 }
+  #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_FEEDRATE
+
+#endif // Z_PROBE_ALLEN_KEY
+
+/**
+ * Nozzle-to-Probe offsets { X, Y, Z }
  *
  *   In the following example the X and Y offsets are both positive:
  *   #define X_PROBE_OFFSET_FROM_EXTRUDER 10

Marlin/Configuration_adv.h

@@ -160,12 +160,15 @@
 // before a MINTEMP error is triggered. (Shouldn't be more than 10.)
 //#define MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED 0
 
-// The number of milliseconds a hotend will preheat before starting to check
-// the temperature. This value should NOT be set to the time it takes the
-// hot end to reach the target temperature, but the time it takes to reach
-// the minimum temperature your thermistor can read. The lower the better/safer.
-// This shouldn't need to be more than 30 seconds (30000)
-//#define MILLISECONDS_PREHEAT_TIME 0
+/**
+ * The number of milliseconds a hotend will preheat before starting to check
+ * the temperature. This value should NOT be set to the time it takes the
+ * hot end to reach the target temperature, but the time it takes to reach
+ * the minimum temperature your thermistor can read. The lower the better/safer.
+ * This shouldn't need to be more than 30 seconds (30000)
+ */
+//#define PREHEAT_TIME_HOTEND_MS 0
+//#define PREHEAT_TIME_BED_MS 0
 
 // @section extruder
 

Marlin/Version.h

@@ -41,7 +41,7 @@
  * here we define this default string as the date where the latest release
  * version was tagged.
  */
-//#define STRING_DISTRIBUTION_DATE "2023-01-09"
+//#define STRING_DISTRIBUTION_DATE "2023-01-11"
 
 /**
  * Defines a generic printer name to be output to the LCD after booting Marlin.

Marlin/src/HAL/NATIVE_SIM/HAL.h

@@ -208,8 +208,8 @@ class MarlinHAL {
   MarlinHAL() {}
 
   // Watchdog
-  static void watchdog_init()    IF_DISABLED(USE_WATCHDOG, {});
-  static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {});
+  static void watchdog_init();
+  static void watchdog_refresh();
 
   static void init() {}        // Called early in setup()
   static void init_board() {}  // Called less early in setup()

Marlin/src/MarlinCore.cpp

@@ -168,6 +168,8 @@
   #include "module/polargraph.h"
 #elif IS_SCARA
   #include "module/scara.h"
+#elif ENABLED(POLAR)
+  #include "module/polar.h"
 #endif
 
 #if HAS_LEVELING

Marlin/src/core/language.h

@@ -279,6 +279,7 @@
 #define STR_S_SEG_PER_SEC                   "S<seg-per-sec>"
 #define STR_DELTA_SETTINGS                  "Delta (L<diagonal-rod> R<radius> H<height> S<seg-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
 #define STR_SCARA_SETTINGS                  "SCARA"
+#define STR_POLAR_SETTINGS                  "Polar"
 #define STR_POLARGRAPH_SETTINGS             "Polargraph"
 #define STR_SCARA_P_T_Z                     "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
 #define STR_ENDSTOP_ADJUSTMENT              "Endstop adjustment"