Optical autocal (MarlinFirmware#2)

* add NUCLEO-STM32F746 board def and configs

* add F746ZG to pins

* fix formatting

* add config file changes

* add naive config options and torsk airsystem files

* move more config defines

* tweak some constants

* add flags for door controls, disable features by defautl

* add more feature flags for unimplemented Cellink printer features.

* use ordered pair over separate XYZ

* move air system to features

* add empty lidgripper feature files

* add rough lidgripper class definition

* use signed ints for error reporting, add calibration implementation

* add functions for moving to-from gripper location

* add placeholder Gcodes for lid gripping

* small marlin best practice tweaks

* add naive G501 and G502 implementations

* use instance over static, remove const because overloads aren't const :(

* add more (unused as of now) config options for lid gripper

* fix endstop logic for 2209

* more complex lid gripper construction to check for errors

* add pin names for lid gripper

* tweak axes scaling

* move lid_gripper location up

* add bedlevel, manual probe, and backlash compensation commands

* define extruder flag as constant false if no extruder is defined

* add constructor body

* add measured backlash values as default

* put LG on real pins

* rename address

* add lid gripper stepper functions

* add lid gripper bindings

* tune step widths

* add a serial buffer for smoother communication

* remove templating, temporarily switch to TMC2130 driver

* change pins to use SPI for lid gripper

* add lid gripper initialization

* return of the templates

* fix calibrate implementation

* add calibrate Gcode

* increase stall sensitivity

* decrease max feedrate

* init LG serial

* change move to and from gripper routines, add debugging, extern define necesarry serial port

* change accessory serial pins

* adjust maximum printer moves

* add autocal options

* fix syntax

* add initial optical autocal support

* use absolute coordinates

* return after interrupt detach

* add gcode parameters

* add parameterss and defaults for g510

* use correct position reporting API

* use an instanced ISR for flexibility

* increase float precision

* add adjustable z_increment to Gcode

* const all the things, smarter isr

* const all the things, smarter isr

Marlin/Configuration.h

@@ -920,14 +920,14 @@
  * Override with M92
  *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
  */
-#define DEFAULT_AXIS_STEPS_PER_UNIT   { 313, 313, 1200}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   { 320, 320, 1280}
 
 /**
  * Default Max Feed Rate (mm/s)
  * Override with M203
  *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
  */
-#define DEFAULT_MAX_FEEDRATE          { 600, 600, 100}
+#define DEFAULT_MAX_FEEDRATE          { 200, 200, 100}
 
 //#define LIMITED_MAX_FR_EDITING        // Limit edit via M203 or LCD to DEFAULT_MAX_FEEDRATE * 2
 #if ENABLED(LIMITED_MAX_FR_EDITING)
@@ -940,7 +940,7 @@
  * Override with M201
  *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
  */
-#define DEFAULT_MAX_ACCELERATION      { 1200, 1200, 100}
+#define DEFAULT_MAX_ACCELERATION      { 2000, 2000, 100}
 
 //#define LIMITED_MAX_ACCEL_EDITING     // Limit edit via M201 or LCD to DEFAULT_MAX_ACCELERATION * 2
 #if ENABLED(LIMITED_MAX_ACCEL_EDITING)
@@ -1057,7 +1057,7 @@
  * Use G29 repeatedly, adjusting the Z height at each point with movement commands
  * or (with LCD_BED_LEVELING) the LCD controller.
  */
-//#define PROBE_MANUALLY
+#define PROBE_MANUALLY
 
 /**
  * A Fix-Mounted Probe either doesn't deploy or needs manual deployment.
@@ -1369,8 +1369,8 @@
 #define X_MIN_POS 0
 #define Y_MIN_POS 0
 #define Z_MIN_POS 0
-#define X_MAX_POS 300
-#define Y_MAX_POS 150
+#define X_MAX_POS 350
+#define Y_MAX_POS 175
 #define Z_MAX_POS 40
 //#define I_MIN_POS 0
 //#define I_MAX_POS 50
@@ -1530,7 +1530,7 @@
 //#define AUTO_BED_LEVELING_3POINT
 //#define AUTO_BED_LEVELING_LINEAR
 //#define AUTO_BED_LEVELING_BILINEAR
-//#define AUTO_BED_LEVELING_UBL
+#define AUTO_BED_LEVELING_UBL
 //#define MESH_BED_LEVELING
 
 /**
@@ -1738,7 +1738,7 @@
 #endif
 
 // Homing speeds (mm/min)
-#define HOMING_FEEDRATE_MM_M { (20*60), (36*20), (15*60) }
+#define HOMING_FEEDRATE_MM_M { (20*60), (35*20), (15*60) }
 
 // Validate that endstops are triggered on homing moves
 #define VALIDATE_HOMING_ENDSTOPS
@@ -1797,7 +1797,7 @@
   #endif
 
   // Enable this option for M852 to set skew at runtime
-  //#define SKEW_CORRECTION_GCODE
+  #define SKEW_CORRECTION_GCODE
 #endif
 
 //=============================================================================
@@ -1815,12 +1815,12 @@
  *   M501 - Read settings from EEPROM. (i.e., Throw away unsaved changes)
  *   M502 - Revert settings to "factory" defaults. (Follow with M500 to init the EEPROM.)
  */
-//#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
+#define EEPROM_SETTINGS     // Persistent storage with M500 and M501
 //#define DISABLE_M503        // Saves ~2700 bytes of PROGMEM. Disable for release!
 #define EEPROM_CHITCHAT       // Give feedback on EEPROM commands. Disable to save PROGMEM.
 //#define EEPROM_BOOT_SILENT    // Keep M503 quiet and only give errors during first load
 #if ENABLED(EEPROM_SETTINGS)
-  #define EEPROM_AUTO_INIT  // Init EEPROM automatically on any errors.
+  //#define EEPROM_AUTO_INIT  // Init EEPROM automatically on any errors.
 #endif
 
 //

Marlin/Configuration_adv.h

@@ -999,12 +999,12 @@
 // Backlash Compensation
 // Adds extra movement to axes on direction-changes to account for backlash.
 //
-//#define BACKLASH_COMPENSATION
+#define BACKLASH_COMPENSATION
 #if ENABLED(BACKLASH_COMPENSATION)
   // Define values for backlash distance and correction.
   // If BACKLASH_GCODE is enabled these values are the defaults.
-  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) One value for each linear axis
-  #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
+  #define BACKLASH_DISTANCE_MM { 0.06, 0, 0 } // (mm) One value for each linear axis
+  #define BACKLASH_CORRECTION    1.0       // 0.0 = no correction; 1.0 = full correction
 
   // Add steps for motor direction changes on CORE kinematics
   //#define CORE_BACKLASH
@@ -1014,11 +1014,11 @@
   //#define BACKLASH_SMOOTHING_MM 3 // (mm)
 
   // Add runtime configuration and tuning of backlash values (M425)
-  //#define BACKLASH_GCODE
+  #define BACKLASH_GCODE
 
   #if ENABLED(BACKLASH_GCODE)
     // Measure the Z backlash when probing (G29) and set with "M425 Z"
-    #define MEASURE_BACKLASH_WHEN_PROBING
+    //#define MEASURE_BACKLASH_WHEN_PROBING
 
     #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
       // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT
@@ -1044,7 +1044,7 @@
  * Note: HOTEND_OFFSET and CALIBRATION_OBJECT_CENTER must be set to within
  *       ±5mm of true values for G425 to succeed.
  */
-//#define CALIBRATION_GCODE
+#define CALIBRATION_GCODE
 #if ENABLED(CALIBRATION_GCODE)
 
   //#define CALIBRATION_SCRIPT_PRE  "M117 Starting Auto-Calibration\nT0\nG28\nG12\nM117 Calibrating..."
@@ -2146,13 +2146,13 @@
 // For debug-echo: 128 bytes for the optimal speed.
 // Other output doesn't need to be that speedy.
 // :[0, 2, 4, 8, 16, 32, 64, 128, 256]
-#define TX_BUFFER_SIZE 0
+#define TX_BUFFER_SIZE 256
 
 // Host Receive Buffer Size
 // Without XON/XOFF flow control (see SERIAL_XON_XOFF below) 32 bytes should be enough.
 // To use flow control, set this buffer size to at least 1024 bytes.
 // :[0, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048]
-//#define RX_BUFFER_SIZE 1024
+#define RX_BUFFER_SIZE 1024
 
 #if RX_BUFFER_SIZE >= 1024
   // Enable to have the controller send XON/XOFF control characters to
@@ -2220,7 +2220,7 @@
 #define SERIAL_OVERRUN_PROTECTION
 
 // For serial echo, the number of digits after the decimal point
-//#define SERIAL_FLOAT_PRECISION 4
+#define SERIAL_FLOAT_PRECISION 4
 
 // @section extras
 
@@ -2919,11 +2919,11 @@
 
   #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
     // TMC2209: 0...255. TMC2130: -64...63
-    #define X_STALL_SENSITIVITY  45
+    #define X_STALL_SENSITIVITY  50
     //#define X2_STALL_SENSITIVITY X_STALL_SENSITIVITY
-    #define Y_STALL_SENSITIVITY  32
+    #define Y_STALL_SENSITIVITY  50
     #define Y2_STALL_SENSITIVITY Y_STALL_SENSITIVITY
-    #define Z_STALL_SENSITIVITY  51
+    #define Z_STALL_SENSITIVITY  55
     //#define Z2_STALL_SENSITIVITY Z_STALL_SENSITIVITY
     //#define Z3_STALL_SENSITIVITY Z_STALL_SENSITIVITY
     //#define Z4_STALL_SENSITIVITY Z_STALL_SENSITIVITY
@@ -4135,6 +4135,121 @@
   //#define SERVICE_INTERVAL_3    1 // print hours
 #endif
 
+// @section bioprinting features
+
+// enables support for modular printheads
+// addressed and controlled via UART/RS285
+// and using an interrupt trigger pin
+//#define MODULAR_PRINTHEADS
+#if ENABLED(MODULAR_PRINTHEADS)
+
+  #define NUMBER_MODULAR_PRINHEADS 3
+
+
+
+#endif // MODULAR_PRINTHEADS
+
+// enbables support for pneumatic/pressure systems
+//#define PNEUMATIC_SYSTEM
+#if ENABLED(PNEUMATIC_SYSTEM)
+
+  //The maximum pressure we can use for extrusion in kPa
+  #define MAXIMUM_EXTRUDE_PRESSURE 		700 
+  //in Kpa. This is the minimum pressure required to be maintained in the tank.
+  #define TANK_REQUIRED_PRESSURE_DEFAULT 	260 
+  //Dictates how much more the tank needs to be filled
+  #define TANK_FULL_PRESSURE_DEFAULT		310	
+  // polarity pneumatic pins
+  #define AIR_RELEASE_PUMP_OPEN	false
+  #define AIR_RELEASE_TANK_OPEN false
+  #define AIR_SOURCE_EXTERNAL   true
+
+  #define AIRTANK_FULL_PRESSURE	(REQUIRED_TANK_PRESSURE*TANK_PRESSURE_BUFFER_FACTOR)
+
+  #define PRESSURE_PWM_BITS 12
+  #define PRESSURE_PWM_TOP ((1<<PRESSURE_PWM_BITS)-1)
+  //PWM-frewuency: 16000000/((2^12)*2) = 1953Hz
+  //Pressure-resolution= FULLSCALE/(2^12)
+
+  //The max voltage the control signal can have
+  #define PRESSURE_MAX_CTRL_VOLTAGE	5000
+  //The smallest control voltage that should be used (it's technically possible ot use smaller, but not meaningful)
+  #define PRESSURE_MIN_CTRL_VOLTAGE	10
+  //The maximum feedback voltage from the regulator output sensor. This will correspond to PRESSURE_FULL_SCALE
+  #define PRESSURE_FEEDBACK_MAX_VOLT	5000
+  //The minimum feedback voltage from the regulator output sensor. This corresponds to 0 pressure
+  #define PRESSURE_FEEDBACK_MIN_VOLT	1000
+
+  //The cycle time for the pump control task (ms)
+  #define PUMP_TASK_TIME	95
+  //Startup time for the pump (it cannot start under pressure). (ms)
+  #define PUMP_STARTUP_HOLDOFF	150
+
+  //Maximum pressure sensor pressure (for MPX5700AP). Unit is kPa
+  #define PRESSURE_SENSOR_MAX_PRESSURE 700
+  //The pressure sensor has some kind of offset when reading atmosphere pressure. This is in ADC ticks. Empirically measured.
+  #define PRESSURE_SENSOR_OFFSET 168
+
+  //The maximum number of regulators we can have
+  #define NOF_MAX_REGULATORS 2
+
+  //Defines which printheads are supplied by which regulator
+
+  #define REGULATOR_1_PHS	{1,3,5} 
+  #if NOF_MAX_REGULATORS > 1
+    #define REGULATOR_2_PHS	{2,4,6}
+  #endif
+
+#endif // PNEUMATIC_SYSTEM
+
+// Enables the untrasonic auto calibration system.
+//#define ULTRASONIC_AUTOCALIBRATION
+
+
+// Enable door sensor feature
+//#define DOOR_OPEN_SENSOR
+#if ENABLED(DOOR_OPEN_SENSOR)
+  // override pin for door sensor, or definition place if no
+  // door sensor pin is defined for your board (interrupt capable input)
+  #define DOOR_OPEN_PIN_OVERIDE 0
+#endif
+
+// Enable power door opening feature
+//#define POWER_DOOR_OPENER
+
+// options for lid gripping station
+#define LID_GRIPPER_STATION
+#if ENABLED(LID_GRIPPER_STATION)
+
+  // Position to move printbed before the lid gripper
+  // attempts to grip a lid {x,y,z}
+  #define LID_GRIPPER_COORDS {400,51,50}
+
+  // define stall sensitivity to use sensorless lid detection and
+  // gripping ability, and to adjust the force needed to stop the
+  // lid gripper. (0-255)
+  #define LID_GRIPPER_STALL_SENSITIVITY 50
+
+  // RMS current for driver to supply to motor (mA)
+  #define LID_GRIPPER_CURRENT 400
+
+  #define LID_GRIPPER_STEPS_PER_MM 140
+
+  // if using stallguard lid detection and gripping, this value is
+  // the maximum number of mm the gripper should close before we
+  // know for sure there is no lid present.
+  #define LID_GRIPPER_DETECTION_THRESHOLD 50000
+#endif
+
+// enable optical autocalibration routines
+#define OPTICAL_AUTOCAL
+#if ENABLED(OPTICAL_AUTOCAL)
+  #define AUTOCAL_START_POSITION {242.0, 150.0, 19.0}
+  #define AUTOCAL_DEFAULT_FEEDRATE 1.0
+  #define AUTOCAL_DEFAULT_CYCLES 100
+  #define AUTOCAL_DEFAULT_Z_INCREMENT 0.025
+#endif
+
 // @section develop
 
 //
@@ -4145,15 +4260,15 @@
 //
 // M42 - Set pin states
 //
-//#define DIRECT_PIN_CONTROL
+#define DIRECT_PIN_CONTROL
 
 //
 // M43 - display pin status, toggle pins, watch pins, watch endstops & toggle LED, test servo probe
 //
-//#define PINS_DEBUGGING
+// #define PINS_DEBUGGING
 
 // Enable Marlin dev mode which adds some special commands
-//#define MARLIN_DEV_MODE
+#define MARLIN_DEV_MODE
 
 /**
  * Postmortem Debugging captures misbehavior and outputs the CPU status and backtrace to serial.

Marlin/src/MarlinCore.cpp

@@ -164,6 +164,10 @@
   bool G38_did_trigger; // = false
 #endif
 
+#if ENABLED(LID_GRIPPER_STATION)
+  #include "feature/lidgripper.h"
+#endif
+
 #if ENABLED(DELTA)
   #include "module/delta.h"
 #elif IS_SCARA
@@ -1627,6 +1631,11 @@ void setup() {
     ui.check_touch_calibration();
   #endif
 
+  #if ENABLED(LID_GRIPPER_STATION)
+    LGSerial.begin(115200);
+    SETUP_RUN(lid_gripper.init_pins());
+  #endif
+
   marlin_state = MF_RUNNING;
 
   SETUP_LOG("setup() completed.");