Prusa i3 - I motori non si muovono

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#ifndef CONFIGURATION_H
#define CONFIGURATION_H

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

//// The following define selects which electronics board you have. Please choose the one that matches your setup
// MEGA/RAMPS up to 1.2 = 3,
// RAMPS 1.3/1.4 = 33
// Gen6 = 5,
// Sanguinololu up to 1.1 = 6
// Sanguinololu 1.2 and above = 62
// Gen 7 @ 16MHZ only= 7
// Gen 7 @ 20MHZ only= 71
// Teensylu (at90usb) = 8
// Printrboard Rev. B (ATMEGA90USB1286) = 9
// Gen 3 Plus = 21
// gen 3 Monolithic Electronics = 22
// Gen3 PLUS for TechZone Gen3 Remix Motherboard = 23
#define MOTHERBOARD 33

//// Thermistor settings:
// 1 is 100k thermistor
// 2 is 200k thermistor
// 3 is mendel-parts thermistor
// 4 is 10k thermistor
// 5 is ParCan supplied 104GT-2 100K
// 6 is EPCOS 100k
// 7 is 100k Honeywell thermistor 135-104LAG-J01
#define THERMISTORHEATER 1
#define THERMISTORBED 1

//// Calibration variables
// X, Y, Z, E steps per unit - Metric Prusa Mendel with Wade extruder:
#define _AXIS_STEP_PER_UNIT {53.3, 55.23, 2276.069,589.4}
// Metric Prusa Mendel with Makergear geared stepper extruder:
//#define _AXIS_STEP_PER_UNIT {53.333,53,3200/1.25,1380}
// MakerGear Hybrid Prusa Mendel:
// Z axis value is for .9 stepper(if you have 1.8 steppers for Z, you need to use 2272.7272)
//#define _AXIS_STEP_PER_UNIT {104.987, 104.987, 4545.4544, 1487}


//// Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
//If your axes are only moving in one direction, make sure the endstops are connected properly.
//If your axes move in one direction ONLY when the endstops are triggered, set [XYZ]_ENDSTOP_INVERT to true here:
const bool X_ENDSTOP_INVERT = true;
const bool Y_ENDSTOP_INVERT = true;
const bool Z_ENDSTOP_INVERT = true;

// This determines the communication speed of the printer
#define BAUDRATE 115200
//#define BAUDRATE 250000

// Comment out (using // at the start of the line) to disable SD support:
#define SDSUPPORT

// Uncomment to make run init.g from SD on boot
//#define SDINITFILE

//Only work with Atmega1284 you need +1 kb ram
//#define SD_FAST_XFER_AKTIV

//-----------------------------------------------------------------------
//// STORE SETTINGS TO EEPROM
//-----------------------------------------------------------------------
// the microcontroller can store settings in the EEPROM
// 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 settings
// define this to enable eeprom support
//#define USE_EEPROM_SETTINGS

// to disable EEPROM Serial responses and decrease program space by ~1000 byte: comment this out:
// please keep turned on if you can.
//#define PRINT_EEPROM_SETTING

//-----------------------------------------------------------------------
//// ARC Function (G2/G3 Command)
//-----------------------------------------------------------------------
//Uncomment to aktivate the arc (circle) function (G2/G3 Command)
//Without SD function an ARC function the used Flash is smaller 31 kb
#define USE_ARC_FUNCTION

//-----------------------------------------------------------------------
//// ADVANCED SETTINGS - to tweak parameters
//-----------------------------------------------------------------------

#ifdef SDSUPPORT
#ifdef SD_FAST_XFER_AKTIV
//Fast transfer chunk size (> 1024 is unstable, change at your own risk).
#define SD_FAST_XFER_CHUNK_SIZE 1024
#endif
#endif

//-----------------------------------------------------------------------
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
//-----------------------------------------------------------------------
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0

//Uncomment if you have problems with a stepper driver enabeling too late, this will also set how many microseconds delay there will be after enabeling the driver
//#define DELAY_ENABLE 15

//-----------------------------------------------------------------------
// Disables axis when it's not being used.
//-----------------------------------------------------------------------
const bool DISABLE_X = false;
const bool DISABLE_Y = false;
const bool DISABLE_Z = true;
const bool DISABLE_E = false;

//-----------------------------------------------------------------------
// Inverting axis direction
//-----------------------------------------------------------------------
const bool INVERT_X_DIR = false;
const bool INVERT_Y_DIR = false;
const bool INVERT_Z_DIR = true;
const bool INVERT_E_DIR = 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

//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing

const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero.
const bool max_software_endstops = true; //If true, axis won't move to coordinates greater than the defined lengths below.


//-----------------------------------------------------------------------
//Max Length for Prusa Mendel, check the ways of your axis and set this Values
//-----------------------------------------------------------------------
const int X_MAX_LENGTH = 300;
const int Y_MAX_LENGTH = 300;
const int Z_MAX_LENGTH = 190;

//-----------------------------------------------------------------------
//// MOVEMENT SETTINGS
//-----------------------------------------------------------------------
const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E
#define _MAX_FEEDRATE {400, 400, 2, 45} // (mm/sec)
#define _HOMING_FEEDRATE {1500,1500,120} // (mm/min) !!
#define _AXIS_RELATIVE_MODES {false, false, false, false}

#define MAX_STEP_FREQUENCY 30000 // Max step frequency


//-----------------------------------------------------------------------
//// Not used at the Moment
//-----------------------------------------------------------------------

// Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this
// If you enable this, make sure STEP_DELAY_RATIO is disabled.
//#define STEP_DELAY_MICROS 1

// Step delay over interval ratio. If you are still experiencing missing steps, try to uncomment the following line, but be aware this
// If you enable this, make sure STEP_DELAY_MICROS is disabled. (except for Gen6: both need to be enabled.)
//#define STEP_DELAY_RATIO 0.25

///Oscillation reduction. Forces x,y,or z axis to be stationary for ## ms before allowing axis to switch direcitons. Alternative method to prevent skipping steps. Uncomment the line below to activate.
//#define RAPID_OSCILLATION_REDUCTION
#ifdef RAPID_OSCILLATION_REDUCTION
const long min_time_before_dir_change = 30; //milliseconds
#endif

//-----------------------------------------------------------------------
//// Acceleration settings
//-----------------------------------------------------------------------
// 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 _ACCELERATION 1000 // Axis Normal acceleration mm/s^2
#define _RETRACT_ACCELERATION 2000 // Extruder Normal acceleration mm/s^2
#define _MAX_XY_JERK 20.0
#define _MAX_Z_JERK 0.4
//#define _MAX_START_SPEED_UNITS_PER_SECOND {25.0,25.0,0.2,10.0}
#define _MAX_ACCELERATION_UNITS_PER_SQ_SECOND {5000,5000,50,5000} // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts


// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)

#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 0.0

// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN


const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement

//-----------------------------------------------------------------------
// Machine UUID
//-----------------------------------------------------------------------
// This may be useful if you have multiple machines and wish to identify them by using the M115 command.
// By default we set it to zeros.
#define _DEF_CHAR_UUID "00000000-0000-0000-0000-000000000000"



//-----------------------------------------------------------------------
//// Planner buffer Size
//-----------------------------------------------------------------------

// The number of linear motions that can be in the plan at any give time
// if the SD Card need to much memory reduce the Values for Plannerpuffer (base of 2)
#ifdef SDSUPPORT
#define BLOCK_BUFFER_SIZE 16
#define BLOCK_BUFFER_MASK 0x0f
#else
#define BLOCK_BUFFER_SIZE 16
#define BLOCK_BUFFER_MASK 0x0f
#endif

//-----------------------------------------------------------------------
//// SETTINGS FOR ARC FUNCTION (Command G2/G2)
//-----------------------------------------------------------------------

// Arc interpretation settings:
//Step to split a cirrcle in small Lines
#define MM_PER_ARC_SEGMENT 1
//After this count of steps a new SIN / COS caluclation is startet to correct the circle interpolation
#define N_ARC_CORRECTION 25

//-----------------------------------------------------------------------
//// HEATERCONTROL AND PID PARAMETERS
//-----------------------------------------------------------------------

//Testfunction to adjust the Hotend temperatur in case of Printingspeed
//If the Printer print slow the Temp is going to AUTO_TEMP_MIN
//At the moment this Value dont change the targettemp from the Hotend
//The result of this function is only send with the Temperaturerequest to the host
//#define AUTOTEMP
#ifdef AUTOTEMP
#define AUTO_TEMP_MAX 350
#define AUTO_TEMP_MIN 205
#define AUTO_TEMP_FACTOR 0.025
#define AUTOTEMP_OLDWEIGHT 0.98
#endif

//// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!!

//// PID settings:
// Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful.
#define PIDTEMP 1
#ifdef PIDTEMP
//Sanguinololu 1.2 and above, the PWM Output Hotend Timer 1 is used for the Hardware PWM
//but in this Software use Timer1 for the Stepperfunction so it is not possible to use the "analogWrite" function.
//This Soft PWM use Timer 2 with 400 Hz to drive the PWM for the hotend
#define PID_SOFT_PWM

//Measure the MIN/MAX Value of the Hotend Temp and show it with
//Command M601 / Command M602 Reset the MIN/MAX Value
//#define DEBUG_HEATER_TEMP

//PID Controler Settings
#define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors
#define PID_PGAIN 2560 //256 is 1.0 // value of X means that error of 1 degree is changing PWM duty by X, probably no need to go over 25
#define PID_IGAIN 64 //256 is 1.0 // value of X (e.g 0.25) means that each degree error over 1 sec (2 measurements) changes duty cycle by 2X (=0.5) units (verify?)
#define PID_DGAIN 4096 //256 is 1.0 // value of X means that around reached setpoint, each degree change over one measurement (half second) adjusts PWM by X units to compensate

// magic formula 1, to get approximate "zero error" PWM duty. Take few measurements with low PWM duty and make linear fit to get the formula
// for my makergear hot-end: linear fit {50,10},{60,20},{80,30},{105,50},{176,100},{128,64},{208,128}
#define HEATER_DUTY_FOR_SETPOINT(setpoint) ((int)((187L*(long)setpoint)>>8)-27)
// magic formula 2, to make led brightness approximately linear
#define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness))
#endif

// Change this value (range 1-255) to limit the current to the nozzle
#define HEATER_CURRENT 255

// How often should the heater check for new temp readings, in milliseconds
#define HEATER_CHECK_INTERVAL 500
#define BED_CHECK_INTERVAL 5000

// Comment the following line to enable heat management during acceleration
#define DISABLE_CHECK_DURING_ACC
#ifndef DISABLE_CHECK_DURING_ACC
// Uncomment the following line to disable heat management during moves
//#define DISABLE_CHECK_DURING_MOVE
#endif

// Uncomment the following line to disable heat management during travel moves (and extruder-only moves, eg: retracts), strongly recommended if you are missing steps mid print.
// Probably this should remain commented if are using PID.
// It also defines the max milliseconds interval after which a travel move is not considered so for the sake of this feature.
#define DISABLE_CHECK_DURING_TRAVEL 1000

//// Temperature smoothing - only uncomment this if your temp readings are noisy (Gen6 without EvdZ's 5V hack)
//#define SMOOTHING
//#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm


//// Experimental watchdog and minimal temp
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
//#define WATCHPERIOD 5000 //5 seconds

// Actual temperature must be close to target for this long before M109 returns success
//#define TEMP_RESIDENCY_TIME 20 // (seconds)
//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one

//// The minimal temperature defines the temperature below which the heater will not be enabled
#define MINTEMP 5

//// Experimental max temp
// 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 MAXTEMP 330

// Select one of these only to define how the nozzle temp is read.
#define HEATER_USES_THERMISTOR
//#define HEATER_USES_AD595
//#define HEATER_USES_MAX6675

// Select one of these only to define how the bed temp is read.
#define BED_USES_THERMISTOR
//#define BED_USES_AD595

//This is for controlling a fan to cool down the stepper drivers
//it will turn on when any driver is enabled
//and turn off after the set amount of seconds from last driver being disabled again
#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run


//-----------------------------------------------------------------------
// DEBUGING
//-----------------------------------------------------------------------


//Uncomment this to see on the host if a wrong or unknown Command is recived
//Only for Testing !!!
//#define SEND_WRONG_CMD_INFO

// Uncomment the following line to enable debugging. You can better control debugging below the following line
//#define DEBUG
#ifdef DEBUG
//#define DEBUG_PREPARE_MOVE //Enable this to debug prepare_move() function
//#define DEBUG_MOVE_TIME //Enable this to time each move and print the result
//#define DEBUG_HEAT_MGMT //Enable this to debug heat management. WARNING, this will cause axes to jitter!
//#define DEBUG_DISABLE_CHECK_DURING_TRAVEL //Debug the namesake feature, see above in this file
#endif

#endif