Added automatic mesh bed leveling feature

Firmware/Configuration.h

@@ -374,7 +374,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 //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.
+  //#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

Firmware/ConfigurationStore.cpp

@@ -5,6 +5,10 @@
 #include "ConfigurationStore.h"
 #include "Configuration_prusa.h"
 
+#ifdef MESH_BED_LEVELING
+#include "mesh_bed_leveling.h"
+#endif
+
 void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size)
 {
     do

Firmware/Marlin_main.cpp

@@ -44,6 +44,10 @@
   #endif
 #endif // ENABLE_AUTO_BED_LEVELING
 
+#ifdef MESH_BED_LEVELING
+  #include "mesh_bed_leveling.h"
+#endif
+
 #include "ultralcd.h"
 #include "Configuration_prusa.h"
 #include "planner.h"
@@ -79,6 +83,10 @@
 
 #include "ultralcd.h"
 
+// Macros for bit masks
+#define BIT(b) (1<<(b))
+#define TEST(n,b) (((n)&BIT(b))!=0)
+#define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
 
 
 // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
@@ -103,6 +111,8 @@
 // G30 - Single Z Probe, probes bed at current XY location.
 // G31 - Dock sled (Z_PROBE_SLED only)
 // G32 - Undock sled (Z_PROBE_SLED only)
+// G80 - Automatic mesh bed leveling
+// G81 - Print bed profile
 // G90 - Use Absolute Coordinates
 // G91 - Use Relative Coordinates
 // G92 - Set current position to coordinates given
@@ -597,6 +607,13 @@ void servo_init()
 }
 
 static void lcd_language_menu();
+
+
+#ifdef MESH_BED_LEVELING
+   enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };
+#endif
+
+
 void setup()
 {
   setup_killpin();
@@ -912,6 +929,10 @@ long code_value_long()
   return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
 }
 
+int16_t code_value_short() {
+    return (int16_t)(strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
+}
+
 bool code_seen(char code)
 {
   strchr_pointer = strchr(cmdbuffer[bufindr], code);
@@ -1051,6 +1072,10 @@ static void axis_is_at_home(int axis) {
 #endif
 }
 
+
+inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
+inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
+
 #ifdef ENABLE_AUTO_BED_LEVELING
 #ifdef AUTO_BED_LEVELING_GRID
 static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
@@ -1251,6 +1276,8 @@ static void homeaxis(int axis) {
     if (axis == X_AXIS)
       axis_home_dir = x_home_dir(active_extruder);
 #endif
+      
+
 
     current_position[axis] = 0;
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
@@ -1698,6 +1725,11 @@ void process_commands()
 #ifdef ENABLE_AUTO_BED_LEVELING
       plan_bed_level_matrix.set_to_identity();  //Reset the plane ("erase" all leveling data)
 #endif //ENABLE_AUTO_BED_LEVELING
+            
+            // For mesh bed leveling deactivate the matrix temporarily
+        #ifdef MESH_BED_LEVELING
+            mbl.active = 0;
+        #endif
 
       saved_feedrate = feedrate;
       saved_feedmultiply = feedmultiply;
@@ -1847,7 +1879,24 @@ void process_commands()
               plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
               st_synchronize();
             #endif
+            #ifdef MESH_BED_LEVELING // If Mesh bed leveling, moxve X&Y to safe position for home
+              destination[X_AXIS] = MESH_MIN_X - X_PROBE_OFFSET_FROM_EXTRUDER;
+              destination[Y_AXIS] = MESH_MIN_Y - Y_PROBE_OFFSET_FROM_EXTRUDER;
+              destination[Z_AXIS] = MESH_HOME_Z_SEARCH;    // Set destination away from bed
+              feedrate = homing_feedrate[Z_AXIS]/10;
+              current_position[Z_AXIS] = 0;
+              
+              plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+              plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
+              st_synchronize();
+              current_position[X_AXIS] = destination[X_AXIS];
+              current_position[Y_AXIS] = destination[Y_AXIS];
+              HOMEAXIS(Z);
+          
+            
+            #else
             HOMEAXIS(Z);
+            #endif
           }
         #else                      // Z Safe mode activated.
           if(home_all_axis) {
@@ -1906,6 +1955,8 @@ void process_commands()
           current_position[Z_AXIS] += zprobe_zoffset;  //Add Z_Probe offset (the distance is negative)
         }
       #endif
+    
+  
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 #endif // else DELTA
 
@@ -1922,7 +1973,7 @@ void process_commands()
       feedmultiply = saved_feedmultiply;
       previous_millis_cmd = millis();
       endstops_hit_on_purpose();
-
+#ifndef MESH_BED_LEVELING
       if(card.sdprinting) {
         EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoad[2]);
 
@@ -1933,6 +1984,7 @@ void process_commands()
         }
 
       }
+#endif
       
       
 
@@ -2120,6 +2172,124 @@ void process_commands()
         break;
 #endif // Z_PROBE_SLED
 #endif // ENABLE_AUTO_BED_LEVELING
+            
+#ifdef MESH_BED_LEVELING
+            /**
+             * G80: Mesh-based Z probe, probes a grid and produces a
+             *      mesh to compensate for variable bed height
+             *
+             * The S0 report the points as below
+             *
+             *  +----> X-axis
+             *  |
+             *  |
+             *  v Y-axis
+             *
+             */
+    case 80:
+        {
+            // Firstly check if we know where we are
+            if ( !( axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS] ) ){
+                // We don't know where we are!!! HOME!
+                enquecommand_P((PSTR("G28")));
+                enquecommand_P((PSTR("G80")));
+                break;
+            }
+            
+            mbl.reset();
+           
+            
+            // Cycle through all points and probe them
+            current_position[X_AXIS] = MESH_MIN_X - X_PROBE_OFFSET_FROM_EXTRUDER;
+            current_position[Y_AXIS] = MESH_MIN_Y - Y_PROBE_OFFSET_FROM_EXTRUDER;
+            
+            plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS]/30, active_extruder);
+            
+            current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
+            plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
+            st_synchronize();
+            
+            int mesh_point = 0;
+            
+            int ix = 0;
+            int iy = 0;
+            
+            int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS]/20;
+            int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS]/60;
+            int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS]/40;
+            
+            while (!(mesh_point == ((MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS)) )) {
+            
+                // Move Z to proper distance
+                current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
+                plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+                
+                st_synchronize();
+                
+                // Get cords of measuring point
+                ix = mesh_point % MESH_NUM_X_POINTS;
+                iy = mesh_point / MESH_NUM_X_POINTS;
+                if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
+                
+                current_position[X_AXIS] = mbl.get_x(ix);
+                current_position[Y_AXIS] = mbl.get_y(iy);
+                
+                current_position[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
+                current_position[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
+                plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
+                
+                st_synchronize();
+                
+                // Go down until endstop is hit
+            while ((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING ) == 0) {
+
+                current_position[Z_AXIS] -= MBL_Z_STEP;
+                
+                plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_PROBE_FEEDRATE, active_extruder);
+                st_synchronize();
+                delay(1);
+            }
+                
+                
+                mbl.set_z(ix, iy, current_position[Z_AXIS]);
+                
+                mesh_point++;
+                
+            }
+            current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
+            plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+            mbl.active = 1;
+            current_position[X_AXIS] = X_MIN_POS+0.2;
+            current_position[Y_AXIS] = Y_MIN_POS+0.2;
+            current_position[Z_AXIS] = Z_MIN_POS;
+            plan_buffer_line(current_position[X_AXIS], current_position[X_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
+            st_synchronize();
+            
+        }
+        break;
+            
+        case 81:
+            if (mbl.active) {
+                SERIAL_PROTOCOLPGM("Num X,Y: ");
+                SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
+                SERIAL_PROTOCOLPGM(",");
+                SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
+                SERIAL_PROTOCOLPGM("\nZ search height: ");
+                SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
+                SERIAL_PROTOCOLLNPGM("\nMeasured points:");
+                for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
+                    for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
+                        SERIAL_PROTOCOLPGM("  ");
+                        SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
+                    }
+                    SERIAL_PROTOCOLPGM("\n");
+                }
+            }
+            else
+                SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
+            break;
+#endif  // ENABLE_MESH_BED_LEVELING
+
     case 90: // G90
       relative_mode = false;
       break;
@@ -4450,6 +4620,79 @@ void calculate_delta(float cartesian[3])
 }
 #endif
 
+
+#ifdef MESH_BED_LEVELING
+    
+// This function is used to split lines on mesh borders so each segment is only part of one mesh area
+    void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
+        if (!mbl.active) {
+            plan_buffer_line(x, y, z, e, feed_rate, extruder);
+            set_current_to_destination();
+            return;
+        }
+        int pix = mbl.select_x_index(current_position[X_AXIS]);
+        int piy = mbl.select_y_index(current_position[Y_AXIS]);
+        int ix = mbl.select_x_index(x);
+        int iy = mbl.select_y_index(y);
+        pix = min(pix, MESH_NUM_X_POINTS - 2);
+        piy = min(piy, MESH_NUM_Y_POINTS - 2);
+        ix = min(ix, MESH_NUM_X_POINTS - 2);
+        iy = min(iy, MESH_NUM_Y_POINTS - 2);
+        if (pix == ix && piy == iy) {
+            // Start and end on same mesh square
+            plan_buffer_line(x, y, z, e, feed_rate, extruder);
+            set_current_to_destination();
+            return;
+        }
+        float nx, ny, ne, normalized_dist;
+        if (ix > pix && (x_splits) & BIT(ix)) {
+            nx = mbl.get_x(ix);
+            normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
+            ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
+            ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
+            x_splits ^= BIT(ix);
+        }
+        else if (ix < pix && (x_splits) & BIT(pix)) {
+            nx = mbl.get_x(pix);
+            normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
+            ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
+            ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
+            x_splits ^= BIT(pix);
+        }
+        else if (iy > piy && (y_splits) & BIT(iy)) {
+            ny = mbl.get_y(iy);
+            normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
+            nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
+            ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
+            y_splits ^= BIT(iy);
+        }
+        else if (iy < piy && (y_splits) & BIT(piy)) {
+            ny = mbl.get_y(piy);
+            normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
+            nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
+            ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
+            y_splits ^= BIT(piy);
+        }
+        else {
+            // Already split on a border
+            plan_buffer_line(x, y, z, e, feed_rate, extruder);
+            set_current_to_destination();
+            return;
+        }
+        // Do the split and look for more borders
+        destination[X_AXIS] = nx;
+        destination[Y_AXIS] = ny;
+        destination[E_AXIS] = ne;
+        mesh_plan_buffer_line(nx, ny, z, ne, feed_rate, extruder, x_splits, y_splits);
+        destination[X_AXIS] = x;
+        destination[Y_AXIS] = y;
+        destination[E_AXIS] = e;
+        mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
+    }
+#endif  // MESH_BED_LEVELING
+    
+    
+    
 void prepare_move()
 {
   clamp_to_software_endstops(destination);
@@ -4565,10 +4808,18 @@ for (int s = 1; s <= steps; s++) {
 #if ! (defined DELTA || defined SCARA)
   // Do not use feedmultiply for E or Z only moves
   if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
+#ifdef MESH_BED_LEVELING
+      mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+#else
       plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+#endif
   }
   else {
-    plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+#ifdef MESH_BED_LEVELING
+    mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+#else
+     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+#endif
   }
 #endif // !(DELTA || SCARA)
 

Firmware/mesh_bed_leveling.cpp

@@ -0,0 +1,16 @@
+#include "mesh_bed_leveling.h"
+
+#ifdef MESH_BED_LEVELING
+
+  mesh_bed_leveling mbl;
+
+  mesh_bed_leveling::mesh_bed_leveling() { reset(); }
+
+  void mesh_bed_leveling::reset() {
+    active = 0;
+    for (int y = 0; y < MESH_NUM_Y_POINTS; y++)
+      for (int x = 0; x < MESH_NUM_X_POINTS; x++)
+        z_values[y][x] = 0;
+  }
+
+#endif  // MESH_BED_LEVELING

Firmware/mesh_bed_leveling.h

@@ -0,0 +1,57 @@
+#include "Marlin.h"
+
+#ifdef MESH_BED_LEVELING
+
+  #define MESH_X_DIST ((MESH_MAX_X - MESH_MIN_X)/(MESH_NUM_X_POINTS - 1))
+  #define MESH_Y_DIST ((MESH_MAX_Y - MESH_MIN_Y)/(MESH_NUM_Y_POINTS - 1))
+
+  class mesh_bed_leveling {
+  public:
+    uint8_t active;
+    float z_values[MESH_NUM_Y_POINTS][MESH_NUM_X_POINTS];
+
+    mesh_bed_leveling();
+
+    void reset();
+
+    float get_x(int i) { return MESH_MIN_X + MESH_X_DIST * i; }
+    float get_y(int i) { return MESH_MIN_Y + MESH_Y_DIST * i; }
+    void set_z(int ix, int iy, float z) { z_values[iy][ix] = z; }
+
+    int select_x_index(float x) {
+      int i = 1;
+      while (x > get_x(i) && i < MESH_NUM_X_POINTS - 1) i++;
+      return i - 1;
+    }
+
+    int select_y_index(float y) {
+      int i = 1;
+      while (y > get_y(i) && i < MESH_NUM_Y_POINTS - 1) i++;
+      return i - 1;
+    }
+
+    float calc_z0(float a0, float a1, float z1, float a2, float z2) {
+      float delta_z = (z2 - z1) / (a2 - a1);
+      float delta_a = a0 - a1;
+      return z1 + delta_a * delta_z;
+    }
+
+    float get_z(float x0, float y0) {
+      int x_index = select_x_index(x0);
+      int y_index = select_y_index(y0);
+      float z1 = calc_z0(x0,
+                         get_x(x_index), z_values[y_index][x_index],
+                         get_x(x_index + 1), z_values[y_index][x_index + 1]);
+      float z2 = calc_z0(x0,
+                         get_x(x_index), z_values[y_index + 1][x_index],
+                         get_x(x_index + 1), z_values[y_index + 1][x_index + 1]);
+      float z0 = calc_z0(y0,
+                         get_y(y_index), z1,
+                         get_y(y_index + 1), z2);
+      return z0;
+    }
+  };
+
+  extern mesh_bed_leveling mbl;
+
+#endif  // MESH_BED_LEVELING

Firmware/planner.cpp

@@ -58,6 +58,10 @@
 #include "ultralcd.h"
 #include "language.h"
 
+#ifdef MESH_BED_LEVELING
+#include "mesh_bed_leveling.h"
+#endif
+
 //===========================================================================
 //=============================public variables ============================
 //===========================================================================
@@ -556,7 +560,15 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   long target[4];
   target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
   target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
-  target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
+#ifdef MESH_BED_LEVELING
+    if (mbl.active){
+        target[Z_AXIS] += lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]);
+    }else{
+        target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
+    }
+#else
+    target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
+#endif // ENABLE_MESH_BED_LEVELING
   target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
 
   #ifdef PREVENT_DANGEROUS_EXTRUDE
@@ -1058,10 +1070,19 @@ void plan_set_position(float x, float y, float z, const float &e)
 void plan_set_position(const float &x, const float &y, const float &z, const float &e)
 {
 #endif // ENABLE_AUTO_BED_LEVELING
-
+    
+    
   position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
   position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
-  position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
+#ifdef MESH_BED_LEVELING
+    if (mbl.active){
+      position[Z_AXIS] += lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]);
+    }else{
+        position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
+    }
+#else
+  position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
+#endif // ENABLE_MESH_BED_LEVELING
   position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);  
   st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
   previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.

Firmware/ultralcd.cpp

@@ -1084,9 +1084,12 @@ static void lcd_settings_menu()
 
 
   MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu_1mm);
-
+    
+#ifndef MESH_BED_LEVELING
   MENU_ITEM(gcode, MSG_HOMEYZ, PSTR("G28 Z"));
-
+#else
+  MENU_ITEM(gcode, MSG_HOMEYZ, PSTR("G80"));
+#endif
   MENU_ITEM(gcode, MSG_DISABLE_STEPPERS, PSTR("M84"));
 
 

Firmware/variants/1_7dev-RAMBo13a-E3Dv6lite.h

@@ -0,0 +1,257 @@
+#ifndef CONFIGURATION_PRUSA_H
+#define CONFIGURATION_PRUSA_H
+
+/*------------------------------------
+    GENERAL SETTINGS
+*------------------------------------*/
+
+// Printer revision
+#define FILAMENT_SIZE "1_7dev"
+#define NOZZLE_TYPE "E3Dv6lite"
+
+// Printer name
+#define CUSTOM_MENDEL_NAME "Prusa i3 dev"
+
+// Electronics
+#define MOTHERBOARD BOARD_RAMBO_MINI_1_3
+
+
+/*------------------------------------
+    AXIS SETTINGS
+*------------------------------------*/
+
+// Steps per unit {X,Y,Z,E}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,174.2}
+
+// Endstop inverting
+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.
+
+// Home position
+#define MANUAL_X_HOME_POS 0
+#define MANUAL_Y_HOME_POS -1.2
+#define MANUAL_Z_HOME_POS 0.25
+
+// Travel limits after homing
+#define X_MAX_POS 255
+#define X_MIN_POS 0
+#define Y_MAX_POS 210
+#define Y_MIN_POS -1.2
+#define Z_MAX_POS 202
+#define Z_MIN_POS 0.23
+
+#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
+#define HOMING_FEEDRATE {3000, 3000, 800, 0}  // set the homing speeds (mm/min)
+
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 1800, 25}    // (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {9000,9000,1000,10000}    // 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          3000    // 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
+
+
+#define MANUAL_FEEDRATE {3000, 3000, 2000, 100}   // set the speeds for manual moves (mm/min)
+
+
+/*------------------------------------
+    EXTRUDER SETTINGS
+*------------------------------------*/
+
+// Mintemps
+#define HEATER_0_MINTEMP 15
+#define HEATER_1_MINTEMP 5
+#define HEATER_2_MINTEMP 5
+#define BED_MINTEMP 15
+
+// Maxtemps
+#define HEATER_0_MAXTEMP 265
+#define HEATER_1_MAXTEMP 265
+#define HEATER_2_MAXTEMP 265
+#define BED_MAXTEMP 150
+
+// Define PID constants for extruder
+#define  DEFAULT_Kp 40.925
+#define  DEFAULT_Ki 4.875
+#define  DEFAULT_Kd 86.085
+
+// Extrude mintemp
+#define EXTRUDE_MINTEMP 190
+
+// Extruder cooling fans
+#define EXTRUDER_0_AUTO_FAN_PIN   8
+#define EXTRUDER_1_AUTO_FAN_PIN   -1
+#define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+
+
+/*------------------------------------
+    LOAD/UNLOAD FILAMENT SETTINGS
+*------------------------------------*/
+
+// Load filament commands
+#define LOAD_FILAMENT_0 "M83"
+#define LOAD_FILAMENT_1 "G1 E70 F400"
+#define LOAD_FILAMENT_2 "G1 E40 F100"
+
+// Unload filament commands
+#define UNLOAD_FILAMENT_0 "M83"
+#define UNLOAD_FILAMENT_1 "G1 E-80 F400"
+
+/*------------------------------------
+    CHANGE FILAMENT SETTINGS
+*------------------------------------*/    
+
+// Filament change configuration
+#define FILAMENTCHANGEENABLE
+  #ifdef FILAMENTCHANGEENABLE
+    #define FILAMENTCHANGE_XPOS 211
+    #define FILAMENTCHANGE_YPOS 0
+    #define FILAMENTCHANGE_ZADD 2
+    #define FILAMENTCHANGE_FIRSTRETRACT -2
+    #define FILAMENTCHANGE_FINALRETRACT -80
+    
+    #define FILAMENTCHANGE_FIRSTFEED 70
+    #define FILAMENTCHANGE_FINALFEED 50
+    #define FILAMENTCHANGE_RECFEED 5
+
+    #define FILAMENTCHANGE_XYFEED 70
+    #define FILAMENTCHANGE_EFEED 20
+    #define FILAMENTCHANGE_RFEED 400
+    #define FILAMENTCHANGE_EXFEED 2
+    #define FILAMENTCHANGE_ZFEED 300
+
+#endif
+
+/*------------------------------------
+    ADDITIONAL FEATURES SETTINGS
+*------------------------------------*/  
+
+// Define Prusa filament runout sensor
+//#define FILAMENT_RUNOUT_SUPPORT
+
+#ifdef FILAMENT_RUNOUT_SUPPORT
+    #define FILAMENT_RUNOUT_SENSOR 1
+#endif
+
+/*------------------------------------
+    MOTOR CURRENT SETTINGS
+*------------------------------------*/  
+
+// Motor Current setting for BIG RAMBo
+#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
+
+// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
+#if MOTHERBOARD == 102 || MOTHERBOARD == 302
+  #define MOTOR_CURRENT_PWM_RANGE 2000
+  #define DEFAULT_PWM_MOTOR_CURRENT  {270, 450, 450} // {XY,Z,E}
+  #define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {540, 450, 500} // {XY,Z,E}
+#endif
+
+/*------------------------------------
+ BED SETTINGS
+ *------------------------------------*/
+
+// Define Mesh Bed Leveling system to enable it
+#define MESH_BED_LEVELING
+#ifdef MESH_BED_LEVELING
+
+    #define MBL_Z_STEP 0.01
+
+    // Mesh definitions
+    #define MESH_MIN_X 35
+    #define MESH_MAX_X 238
+    #define MESH_MIN_Y 7
+    #define MESH_MAX_Y 203
+
+    #define MESH_NUM_X_POINTS 3  // Don't use more than 7 points per axis, implementation limited.
+    #define MESH_NUM_Y_POINTS 3
+    #define MESH_HOME_Z_CALIB 0.2
+    #define MESH_HOME_Z_SEARCH 5
+
+    #define X_PROBE_OFFSET_FROM_EXTRUDER 23     // Z probe to nozzle X offset: -left  +right
+    #define Y_PROBE_OFFSET_FROM_EXTRUDER 8     // Z probe to nozzle Y offset: -front +behind
+    #define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4  // Z probe to nozzle Z offset: -below (always!)
+
+
+
+#endif
+
+/*------------------------------------
+    PREHEAT SETTINGS
+*------------------------------------*/  
+
+#define PLA_PREHEAT_HOTEND_TEMP 210
+#define PLA_PREHEAT_HPB_TEMP 50
+#define PLA_PREHEAT_FAN_SPEED 0  
+
+#define ABS_PREHEAT_HOTEND_TEMP 255
+#define ABS_PREHEAT_HPB_TEMP 100
+#define ABS_PREHEAT_FAN_SPEED 0 
+
+#define HIPS_PREHEAT_HOTEND_TEMP 220
+#define HIPS_PREHEAT_HPB_TEMP 100
+#define HIPS_PREHEAT_FAN_SPEED 0 
+
+#define PP_PREHEAT_HOTEND_TEMP 254
+#define PP_PREHEAT_HPB_TEMP 100
+#define PP_PREHEAT_FAN_SPEED 0 
+
+#define PET_PREHEAT_HOTEND_TEMP 240
+#define PET_PREHEAT_HPB_TEMP 90
+#define PET_PREHEAT_FAN_SPEED 0 
+
+#define FLEX_PREHEAT_HOTEND_TEMP 230
+#define FLEX_PREHEAT_HPB_TEMP 50
+#define FLEX_PREHEAT_FAN_SPEED 0 
+
+
+/*------------------------------------
+    THERMISTORS 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)
+// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
+// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
+// 13 is 100k Hisens 3950  1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE" 
+// 20 is the PT100 circuit found in the Ultimainboard V2.x
+// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
+//
+//    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 5
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_BED 1
+
+
+#endif //__CONFIGURATION_PRUSA_H