1_75mm_MK25-RAMBo10a-E3Dv6full.h 16 KB

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  1. #ifndef CONFIGURATION_PRUSA_H
  2. #define CONFIGURATION_PRUSA_H
  3. /*------------------------------------
  4. GENERAL SETTINGS
  5. *------------------------------------*/
  6. // Printer revision
  7. #define PRINTER_TYPE PRINTER_MK25
  8. #define FILAMENT_SIZE "1_75mm_MK25"
  9. #define NOZZLE_TYPE "E3Dv6full"
  10. // Developer flag
  11. #define DEVELOPER
  12. // Printer name
  13. #define CUSTOM_MENDEL_NAME "Prusa i3 MK2.5"
  14. // Electronics
  15. #define MOTHERBOARD BOARD_RAMBO_MINI_1_0
  16. #define HEATBED_V2
  17. #define STEEL_SHEET
  18. #define TACH0PULLUP
  19. // Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
  20. //#define E3D_PT100_EXTRUDER_WITH_AMP
  21. //#define E3D_PT100_EXTRUDER_NO_AMP
  22. //#define E3D_PT100_BED_WITH_AMP
  23. //#define E3D_PT100_BED_NO_AMP
  24. /*------------------------------------
  25. AXIS SETTINGS
  26. *------------------------------------*/
  27. // Steps per unit {X,Y,Z,E}
  28. #define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,133}
  29. // Endstop inverting
  30. #define X_MIN_ENDSTOP_INVERTING 0 // set to 1 to invert the logic of the endstop.
  31. #define Y_MIN_ENDSTOP_INVERTING 0 // set to 1 to invert the logic of the endstop.
  32. #define Z_MIN_ENDSTOP_INVERTING 0 // set to 1 to invert the logic of the endstop.
  33. // Direction inverting
  34. #define INVERT_X_DIR 0 // for Mendel set to 0, for Orca set to 1
  35. #define INVERT_Y_DIR 0 // for Mendel set to 1, for Orca set to 0
  36. #define INVERT_Z_DIR 0 // for Mendel set to 0, for Orca set to 1
  37. #define INVERT_E0_DIR 1 // for direct drive extruder v9 set to 1, for geared extruder set to 0
  38. #define INVERT_E1_DIR 1 // for direct drive extruder v9 set to 1, for geared extruder set to 0
  39. #define INVERT_E2_DIR 1 // for direct drive extruder v9 set to 1, for geared extruder set to 0
  40. // Home position
  41. #define MANUAL_X_HOME_POS 0
  42. #define MANUAL_Y_HOME_POS -2.2
  43. #define MANUAL_Z_HOME_POS 0.2
  44. // Travel limits after homing
  45. #define X_MAX_POS 250
  46. #define X_MIN_POS 0
  47. #define Y_MAX_POS 210
  48. #define Y_MIN_POS -4
  49. #define Z_MAX_POS 210
  50. #define Z_MIN_POS 0.15
  51. // Canceled home position
  52. #define X_CANCEL_POS 50
  53. #define Y_CANCEL_POS 190
  54. //Pause print position
  55. #define X_PAUSE_POS 50
  56. #define Y_PAUSE_POS 190
  57. #define Z_PAUSE_LIFT 20
  58. #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
  59. #define HOMING_FEEDRATE {3000, 3000, 800, 0} // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
  60. /**
  61. * [0,0] steel sheet print area point X coordinate in bed print area coordinates
  62. */
  63. #define SHEET_PRINT_ZERO_REF_X 0.f
  64. /**
  65. * [0,0] steel sheet print area point Y coordinate in bed print area coordinates
  66. */
  67. #define SHEET_PRINT_ZERO_REF_Y 0.f
  68. #define DEFAULT_MAX_FEEDRATE {200, 200, 12, 120} // (mm/sec) max feedrate (M203)
  69. #define DEFAULT_MAX_ACCELERATION {1000, 1000, 200, 5000} // (mm/sec^2) max acceleration (M201)
  70. #define DEFAULT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves (M204S)
  71. #define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts (M204T)
  72. #define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min)
  73. //number of bytes from end of the file to start check
  74. #define END_FILE_SECTION 10000
  75. #define Z_AXIS_ALWAYS_ON 1
  76. // New XYZ calibration
  77. #define NEW_XYZCAL
  78. // Fan check
  79. #define FANCHECK
  80. // Safety timer
  81. #define SAFETYTIMER
  82. // Filament sensor
  83. #define PAT9125
  84. //#define DEBUG_BUILD
  85. #ifdef DEBUG_BUILD
  86. //#define _NO_ASM
  87. #define DEBUG_DCODES //D codes
  88. #define DEBUG_STACK_MONITOR //Stack monitor in stepper ISR
  89. //#define DEBUG_FSENSOR_LOG //Reports fsensor status to serial
  90. //#define DEBUG_CRASHDET_COUNTERS //Display crash-detection counters on LCD
  91. //#define DEBUG_RESUME_PRINT //Resume/save print debug enable
  92. //#define DEBUG_UVLO_AUTOMATIC_RECOVER // Power panic automatic recovery debug output
  93. //#define DEBUG_DISABLE_XMINLIMIT //x min limit ignored
  94. //#define DEBUG_DISABLE_XMAXLIMIT //x max limit ignored
  95. //#define DEBUG_DISABLE_YMINLIMIT //y min limit ignored
  96. //#define DEBUG_DISABLE_YMAXLIMIT //y max limit ignored
  97. //#define DEBUG_DISABLE_ZMINLIMIT //z min limit ignored
  98. //#define DEBUG_DISABLE_ZMAXLIMIT //z max limit ignored
  99. //#define DEBUG_DISABLE_STARTMSGS //no startup messages
  100. //#define DEBUG_DISABLE_MINTEMP //mintemp error ignored
  101. //#define DEBUG_DISABLE_SWLIMITS //sw limits ignored
  102. //#define DEBUG_DISABLE_LCD_STATUS_LINE //empty four lcd line
  103. //#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
  104. //#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
  105. //#define DEBUG_XSTEP_DUP_PIN 21 //duplicate x-step output to pin 21 (SCL on P3)
  106. //#define DEBUG_YSTEP_DUP_PIN 21 //duplicate y-step output to pin 21 (SCL on P3)
  107. //#define DEBUG_BLINK_ACTIVE
  108. //#define DEBUG_DISABLE_FANCHECK //disable fan check (no ISR INT7, check disabled)
  109. //#define DEBUG_DISABLE_FSENSORCHECK //disable fsensor check (no ISR INT7, check disabled)
  110. //#define DEBUG_DUMP_TO_2ND_SERIAL //dump received characters to 2nd serial line
  111. //#define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message.
  112. //#define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display.
  113. #endif /* DEBUG_BUILD */
  114. /*------------------------------------
  115. EXTRUDER SETTINGS
  116. *------------------------------------*/
  117. // Mintemps
  118. #define HEATER_0_MINTEMP 15
  119. #define HEATER_1_MINTEMP 5
  120. #define HEATER_2_MINTEMP 5
  121. #define BED_MINTEMP 15
  122. // Maxtemps
  123. #if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
  124. #define HEATER_0_MAXTEMP 410
  125. #else
  126. #define HEATER_0_MAXTEMP 305
  127. #endif
  128. #define HEATER_1_MAXTEMP 305
  129. #define HEATER_2_MAXTEMP 305
  130. #define BED_MAXTEMP 125
  131. #if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
  132. // Define PID constants for extruder with PT100
  133. #define DEFAULT_Kp 21.70
  134. #define DEFAULT_Ki 1.60
  135. #define DEFAULT_Kd 73.76
  136. #else
  137. // Define PID constants for extruder
  138. //#define DEFAULT_Kp 40.925
  139. //#define DEFAULT_Ki 4.875
  140. //#define DEFAULT_Kd 86.085
  141. #define DEFAULT_Kp 16.13
  142. #define DEFAULT_Ki 1.1625
  143. #define DEFAULT_Kd 56.23
  144. #endif
  145. // Extrude mintemp
  146. #define EXTRUDE_MINTEMP 180
  147. // Extruder cooling fans
  148. #define EXTRUDER_0_AUTO_FAN_PIN 8
  149. #define EXTRUDER_1_AUTO_FAN_PIN -1
  150. #define EXTRUDER_2_AUTO_FAN_PIN -1
  151. #define EXTRUDER_AUTO_FAN_TEMPERATURE 50
  152. #define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed
  153. /*------------------------------------
  154. LOAD/UNLOAD FILAMENT SETTINGS
  155. *------------------------------------*/
  156. // Load filament commands
  157. #define LOAD_FILAMENT_0 "M83"
  158. #define LOAD_FILAMENT_1 "G1 E70 F400"
  159. #define LOAD_FILAMENT_2 "G1 E40 F100"
  160. // Unload filament commands
  161. #define UNLOAD_FILAMENT_0 "M83"
  162. #define UNLOAD_FILAMENT_1 "G1 E-80 F7000"
  163. /*------------------------------------
  164. CHANGE FILAMENT SETTINGS
  165. *------------------------------------*/
  166. // Filament change configuration
  167. #define FILAMENTCHANGEENABLE
  168. #ifdef FILAMENTCHANGEENABLE
  169. #define FILAMENTCHANGE_XPOS 211
  170. #define FILAMENTCHANGE_YPOS 0
  171. #define FILAMENTCHANGE_ZADD 2
  172. #define FILAMENTCHANGE_FIRSTRETRACT -2
  173. #define FILAMENTCHANGE_FINALRETRACT -80
  174. #define FILAMENTCHANGE_FIRSTFEED 70
  175. #define FILAMENTCHANGE_FINALFEED 50
  176. #define FILAMENTCHANGE_RECFEED 5
  177. #define FILAMENTCHANGE_XYFEED 50
  178. #define FILAMENTCHANGE_EFEED 20
  179. //#define FILAMENTCHANGE_RFEED 400
  180. #define FILAMENTCHANGE_RFEED 7000 / 60
  181. #define FILAMENTCHANGE_EXFEED 2
  182. #define FILAMENTCHANGE_ZFEED 15
  183. #endif
  184. /*------------------------------------
  185. ADDITIONAL FEATURES SETTINGS
  186. *------------------------------------*/
  187. // Define Prusa filament runout sensor
  188. //#define FILAMENT_RUNOUT_SUPPORT
  189. #ifdef FILAMENT_RUNOUT_SUPPORT
  190. #define FILAMENT_RUNOUT_SENSOR 1
  191. #endif
  192. // temperature runaway
  193. #define TEMP_RUNAWAY_BED_HYSTERESIS 5
  194. #define TEMP_RUNAWAY_BED_TIMEOUT 360
  195. #define TEMP_RUNAWAY_EXTRUDER_HYSTERESIS 15
  196. #define TEMP_RUNAWAY_EXTRUDER_TIMEOUT 45
  197. /*------------------------------------
  198. MOTOR CURRENT SETTINGS
  199. *------------------------------------*/
  200. // Motor Current setting for BIG RAMBo
  201. #define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
  202. #define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
  203. // Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
  204. #if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
  205. #define MOTOR_CURRENT_PWM_RANGE 2000
  206. #define DEFAULT_PWM_MOTOR_CURRENT {270, 830, 450} // {XY,Z,E}
  207. #define DEFAULT_PWM_MOTOR_CURRENT_LOUD {540, 830, 500} // {XY,Z,E}
  208. #define Z_SILENT 0
  209. #define Z_HIGH_POWER 200
  210. #endif
  211. /*------------------------------------
  212. PAT9125 SETTINGS
  213. *------------------------------------*/
  214. #define PAT9125_XRES 0
  215. #define PAT9125_YRES 255
  216. /*------------------------------------
  217. BED SETTINGS
  218. *------------------------------------*/
  219. // Define Mesh Bed Leveling system to enable it
  220. #define MESH_BED_LEVELING
  221. #ifdef MESH_BED_LEVELING
  222. #define MBL_Z_STEP 0.01
  223. // Mesh definitions
  224. #define MESH_MIN_X 35
  225. #define MESH_MAX_X 238
  226. #define MESH_MIN_Y 6
  227. #define MESH_MAX_Y 202
  228. // Mesh upsample definition
  229. #define MESH_NUM_X_POINTS 7
  230. #define MESH_NUM_Y_POINTS 7
  231. // Mesh measure definition
  232. #define MESH_MEAS_NUM_X_POINTS 3
  233. #define MESH_MEAS_NUM_Y_POINTS 3
  234. #define MESH_HOME_Z_CALIB 0.2
  235. #define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
  236. #define X_PROBE_OFFSET_FROM_EXTRUDER 23 // Z probe to nozzle X offset: -left +right
  237. #define Y_PROBE_OFFSET_FROM_EXTRUDER 5 // Z probe to nozzle Y offset: -front +behind
  238. #define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4 // Z probe to nozzle Z offset: -below (always!)
  239. #endif
  240. // Bed Temperature Control
  241. // Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
  242. //
  243. // Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
  244. // If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
  245. // which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
  246. // This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
  247. // If your configuration is significantly different than this and you don't understand the issues involved, you probably
  248. // shouldn't use bed PID until someone else verifies your hardware works.
  249. // If this is enabled, find your own PID constants below.
  250. #define PIDTEMPBED
  251. //
  252. //#define BED_LIMIT_SWITCHING
  253. // This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
  254. // all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
  255. // setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
  256. // so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
  257. #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
  258. // Bed temperature compensation settings
  259. #define BED_OFFSET 10
  260. #define BED_OFFSET_START 40
  261. #define BED_OFFSET_CENTER 50
  262. #ifdef PIDTEMPBED
  263. //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
  264. //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
  265. #if defined(E3D_PT100_BED_WITH_AMP) || defined(E3D_PT100_BED_NO_AMP)
  266. // Define PID constants for extruder with PT100
  267. #define DEFAULT_bedKp 21.70
  268. #define DEFAULT_bedKi 1.60
  269. #define DEFAULT_bedKd 73.76
  270. #else
  271. #define DEFAULT_bedKp 126.13
  272. #define DEFAULT_bedKi 4.30
  273. #define DEFAULT_bedKd 924.76
  274. #endif
  275. //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
  276. //from pidautotune
  277. // #define DEFAULT_bedKp 97.1
  278. // #define DEFAULT_bedKi 1.41
  279. // #define DEFAULT_bedKd 1675.16
  280. // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
  281. #endif // PIDTEMPBED
  282. /*-----------------------------------
  283. PREHEAT SETTINGS
  284. *------------------------------------*/
  285. #define FARM_PREHEAT_HOTEND_TEMP 250
  286. #define FARM_PREHEAT_HPB_TEMP 40
  287. #define FARM_PREHEAT_FAN_SPEED 0
  288. #define PLA_PREHEAT_HOTEND_TEMP 215
  289. #define PLA_PREHEAT_HPB_TEMP 60
  290. #define PLA_PREHEAT_FAN_SPEED 0
  291. #define ABS_PREHEAT_HOTEND_TEMP 255
  292. #define ABS_PREHEAT_HPB_TEMP 100
  293. #define ABS_PREHEAT_FAN_SPEED 0
  294. #define HIPS_PREHEAT_HOTEND_TEMP 220
  295. #define HIPS_PREHEAT_HPB_TEMP 100
  296. #define HIPS_PREHEAT_FAN_SPEED 0
  297. #define PP_PREHEAT_HOTEND_TEMP 254
  298. #define PP_PREHEAT_HPB_TEMP 100
  299. #define PP_PREHEAT_FAN_SPEED 0
  300. #define PET_PREHEAT_HOTEND_TEMP 230
  301. #define PET_PREHEAT_HPB_TEMP 85
  302. #define PET_PREHEAT_FAN_SPEED 0
  303. #define FLEX_PREHEAT_HOTEND_TEMP 240
  304. #define FLEX_PREHEAT_HPB_TEMP 50
  305. #define FLEX_PREHEAT_FAN_SPEED 0
  306. /*------------------------------------
  307. THERMISTORS SETTINGS
  308. *------------------------------------*/
  309. //
  310. //--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
  311. //
  312. //// Temperature sensor settings:
  313. // -2 is thermocouple with MAX6675 (only for sensor 0)
  314. // -1 is thermocouple with AD595
  315. // 0 is not used
  316. // 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
  317. // 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
  318. // 3 is Mendel-parts thermistor (4.7k pullup)
  319. // 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
  320. // 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
  321. // 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
  322. // 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
  323. // 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
  324. // 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
  325. // 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
  326. // 10 is 100k RS thermistor 198-961 (4.7k pullup)
  327. // 11 is 100k beta 3950 1% thermistor (4.7k pullup)
  328. // 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
  329. // 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
  330. // 20 is the PT100 circuit found in the Ultimainboard V2.x
  331. // 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
  332. //
  333. // 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
  334. // (but gives greater accuracy and more stable PID)
  335. // 51 is 100k thermistor - EPCOS (1k pullup)
  336. // 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
  337. // 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
  338. //
  339. // 1047 is Pt1000 with 4k7 pullup
  340. // 1010 is Pt1000 with 1k pullup (non standard)
  341. // 147 is Pt100 with 4k7 pullup
  342. // 148 is E3D Pt100 with 4k7 pullup and no PT100 Amplifier on a MiniRambo 1.3a
  343. // 247 is Pt100 with 4k7 pullup and PT100 Amplifier
  344. // 110 is Pt100 with 1k pullup (non standard)
  345. #if defined(E3D_PT100_EXTRUDER_WITH_AMP)
  346. #define TEMP_SENSOR_0 247
  347. #elif defined(E3D_PT100_EXTRUDER_NO_AMP)
  348. #define TEMP_SENSOR_0 148
  349. #else
  350. #define TEMP_SENSOR_0 5
  351. #endif
  352. #define TEMP_SENSOR_1 0
  353. #define TEMP_SENSOR_2 0
  354. #if defined(E3D_PT100_BED_WITH_AMP)
  355. #define TEMP_SENSOR_BED 247
  356. #elif defined(E3D_PT100_BED_NO_AMP)
  357. #define TEMP_SENSOR_BED 148
  358. #else
  359. #define TEMP_SENSOR_BED 1
  360. #endif
  361. #define TEMP_SENSOR_PINDA 1
  362. #define STACK_GUARD_TEST_VALUE 0xA2A2
  363. #define MAX_BED_TEMP_CALIBRATION 50
  364. #define MAX_HOTEND_TEMP_CALIBRATION 50
  365. #define MAX_E_STEPS_PER_UNIT 250
  366. #define MIN_E_STEPS_PER_UNIT 100
  367. #define Z_BABYSTEP_MIN -3999
  368. #define Z_BABYSTEP_MAX 0
  369. #define PINDA_PREHEAT_X 20
  370. #define PINDA_PREHEAT_Y 60
  371. #define PINDA_PREHEAT_Z 0.15
  372. /*
  373. #define PINDA_PREHEAT_X 70
  374. #define PINDA_PREHEAT_Y -3
  375. #define PINDA_PREHEAT_Z 1*/
  376. #define PINDA_HEAT_T 120 //time in s
  377. #define PINDA_MIN_T 50
  378. #define PINDA_STEP_T 10
  379. #define PINDA_MAX_T 100
  380. #define PING_TIME 60 //time in s
  381. #define PING_TIME_LONG 600 //10 min; used when length of commands buffer > 0 to avoid 0 triggering when dealing with long gcodes
  382. #define PING_ALLERT_PERIOD 60 //time in s
  383. #define NC_TIME 10 //time in s for periodic important status messages sending which needs reponse from monitoring
  384. #define NC_BUTTON_LONG_PRESS 15 //time in s
  385. #define LONG_PRESS_TIME 1000 //time in ms for button long press
  386. #define BUTTON_BLANKING_TIME 200 //time in ms for blanking after button release
  387. #define DEFAULT_PID_TEMP 210
  388. #define MIN_PRINT_FAN_SPEED 75
  389. #ifdef SNMM
  390. #define DEFAULT_RETRACTION 4 //used for PINDA temp calibration and pause print
  391. #else
  392. #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
  393. #endif
  394. #define M600_TIMEOUT 600 //seconds
  395. #define SUPPORT_VERBOSITY
  396. #endif //__CONFIGURATION_PRUSA_H