Merge pull request #1344 from grob6000/independent_pid
Independent PID parameters for each extruder
This commit is contained in:
Bo Herrmannsen
@ -38,7 +38,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
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// wrong data being written to the variables.
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// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
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#define EEPROM_VERSION "V13"
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#define EEPROM_VERSION "V14"
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#ifdef EEPROM_SETTINGS
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void Config_StoreSettings()
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@ -63,11 +63,11 @@ void Config_StoreSettings()
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EEPROM_WRITE_VAR(i,delta_radius);
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EEPROM_WRITE_VAR(i,delta_diagonal_rod);
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EEPROM_WRITE_VAR(i,delta_segments_per_second);
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#endif
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#endif//DELTA
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#ifndef ULTIPANEL
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int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
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int absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP, absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP, absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
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#endif
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#endif//ULTIPANEL
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EEPROM_WRITE_VAR(i,plaPreheatHotendTemp);
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EEPROM_WRITE_VAR(i,plaPreheatHPBTemp);
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EEPROM_WRITE_VAR(i,plaPreheatFanSpeed);
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@ -76,37 +76,58 @@ void Config_StoreSettings()
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EEPROM_WRITE_VAR(i,absPreheatFanSpeed);
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EEPROM_WRITE_VAR(i,zprobe_zoffset);
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#ifdef PIDTEMP
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EEPROM_WRITE_VAR(i,Kp);
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EEPROM_WRITE_VAR(i,Ki);
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EEPROM_WRITE_VAR(i,Kd);
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#else
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float dummy = 0.0f;
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for (int e = 0; e < 3; e++)
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{
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if (e < EXTRUDERS)
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{
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EEPROM_WRITE_VAR(i,PID_PARAM(Kp,e));
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EEPROM_WRITE_VAR(i,PID_PARAM(Ki,e));
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EEPROM_WRITE_VAR(i,PID_PARAM(Kd,e));
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#ifdef PID_ADD_EXTRUSION_RATE
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EEPROM_WRITE_VAR(i,PID_PARAM(Kc,e));
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#else//PID_ADD_EXTRUSION_RATE
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dummy = 1.0f; // 1.0 = default kc
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EEPROM_WRITE_VAR(dummmy);
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#endif//PID_ADD_EXTRUSION_RATE
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}
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else
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{
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dummy = 3000.0f;
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EEPROM_WRITE_VAR(i, dummy);
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dummy = 0.0f;
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EEPROM_WRITE_VAR(i,dummy);
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EEPROM_WRITE_VAR(i,dummy);
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}
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}
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#else//PIDTEMP
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float dummy = 3000.0f;
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EEPROM_WRITE_VAR(i,dummy);
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dummy = 0.0f;
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EEPROM_WRITE_VAR(i,dummy);
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EEPROM_WRITE_VAR(i,dummy);
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#endif
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#endif//PIDTEMP
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#ifndef DOGLCD
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int lcd_contrast = 32;
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#endif
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#endif//DOGLCD
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EEPROM_WRITE_VAR(i,lcd_contrast);
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#ifdef SCARA
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EEPROM_WRITE_VAR(i,axis_scaling); // Add scaling for SCARA
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#endif
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#endif//SCARA
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#ifdef FWRETRACT
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EEPROM_WRITE_VAR(i,autoretract_enabled);
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EEPROM_WRITE_VAR(i,retract_length);
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#if EXTRUDERS > 1
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EEPROM_WRITE_VAR(i,retract_length_swap);
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#endif
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#endif//EXTRUDERS > 1
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EEPROM_WRITE_VAR(i,retract_feedrate);
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EEPROM_WRITE_VAR(i,retract_zlift);
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EEPROM_WRITE_VAR(i,retract_recover_length);
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#if EXTRUDERS > 1
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EEPROM_WRITE_VAR(i,retract_recover_length_swap);
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#endif
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#endif//EXTRUDERS > 1
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EEPROM_WRITE_VAR(i,retract_recover_feedrate);
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#endif
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#endif//FWRETRACT
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// Save filament sizes
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EEPROM_WRITE_VAR(i, volumetric_enabled);
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@ -115,8 +136,8 @@ void Config_StoreSettings()
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EEPROM_WRITE_VAR(i, filament_size[1]);
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#if EXTRUDERS > 2
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EEPROM_WRITE_VAR(i, filament_size[2]);
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#endif
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#endif
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#endif//EXTRUDERS > 2
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#endif//EXTRUDERS > 1
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char ver2[4]=EEPROM_VERSION;
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i=EEPROM_OFFSET;
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@ -149,7 +170,7 @@ SERIAL_ECHOLNPGM("Scaling factors:");
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SERIAL_ECHOLN("");
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SERIAL_ECHO_START;
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#endif
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#endif//SCARA
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SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M203 X", max_feedrate[X_AXIS]);
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@ -206,16 +227,16 @@ SERIAL_ECHOLNPGM("Scaling factors:");
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SERIAL_ECHOPAIR(" R" ,delta_radius );
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SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
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SERIAL_ECHOLN("");
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#endif
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#endif//DELTA
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#ifdef PIDTEMP
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("PID settings:");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M301 P",Kp);
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SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki));
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SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M301 P", PID_PARAM(Kp,0)); // for compatibility with hosts, only echos values for E0
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SERIAL_ECHOPAIR(" I", unscalePID_i(PID_PARAM(Ki, 0)));
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SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, 0)));
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SERIAL_ECHOLN("");
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#endif
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#endif//PIDTEMP
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#ifdef FWRETRACT
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)");
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@ -244,7 +265,7 @@ SERIAL_ECHOLNPGM("Scaling factors:");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" Swap rec. addl. length (mm): ", retract_recover_length_swap);
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SERIAL_ECHOLN("");
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#endif
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#endif//EXTRUDERS > 1
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SERIAL_ECHO_START;
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if (volumetric_enabled) {
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SERIAL_ECHOLNPGM("Filament settings:");
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@ -259,14 +280,14 @@ SERIAL_ECHOLNPGM("Scaling factors:");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M200 T2 D", filament_size[2]);
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SERIAL_ECHOLN("");
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#endif
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#endif
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#endif//EXTRUDERS > 2
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#endif//EXTRUDERS > 1
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} else {
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SERIAL_ECHOLNPGM("Filament settings: Disabled");
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}
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#endif
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#endif//FWRETRACT
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}
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#endif
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#endif//DISABLE_M503
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#ifdef EEPROM_SETTINGS
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@ -301,11 +322,11 @@ void Config_RetrieveSettings()
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EEPROM_READ_VAR(i,delta_radius);
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EEPROM_READ_VAR(i,delta_diagonal_rod);
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EEPROM_READ_VAR(i,delta_segments_per_second);
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#endif
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#endif//DELTA
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#ifndef ULTIPANEL
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int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
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int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
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#endif
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#endif//ULTIPANEL
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EEPROM_READ_VAR(i,plaPreheatHotendTemp);
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EEPROM_READ_VAR(i,plaPreheatHPBTemp);
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EEPROM_READ_VAR(i,plaPreheatFanSpeed);
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@ -313,35 +334,68 @@ void Config_RetrieveSettings()
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EEPROM_READ_VAR(i,absPreheatHPBTemp);
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EEPROM_READ_VAR(i,absPreheatFanSpeed);
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EEPROM_READ_VAR(i,zprobe_zoffset);
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#ifndef PIDTEMP
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float Kp,Ki,Kd;
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#endif
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// do not need to scale PID values as the values in EEPROM are already scaled
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EEPROM_READ_VAR(i,Kp);
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EEPROM_READ_VAR(i,Ki);
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EEPROM_READ_VAR(i,Kd);
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#ifdef PIDTEMP
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float dummy = 0.0f;
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for (int e = 0; e < 3; e++) // 3 = max extruders supported by marlin
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{
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if (e < EXTRUDERS)
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{
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// do not need to scale PID values as the values in EEPROM are already scaled
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EEPROM_READ_VAR(i,PID_PARAM(Kp,e));
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EEPROM_READ_VAR(i,PID_PARAM(Ki,e));
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EEPROM_READ_VAR(i,PID_PARAM(Kd,e));
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#ifdef PID_ADD_EXTRUSION_RATE
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EEPROM_READ_VAR(i,PID_PARAM(Kc,e));
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#else//PID_ADD_EXTRUSION_RATE
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EEPROM_READ_VAR(i,dummy);
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#endif//PID_ADD_EXTRUSION_RATE
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}
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else
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{
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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}
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}
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#else//PIDTEMP
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// 4 x 3 = 12 slots for PID parameters
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float dummy = 0.0f;
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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#endif//PIDTEMP
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#ifndef DOGLCD
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int lcd_contrast;
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#endif
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#endif//DOGLCD
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EEPROM_READ_VAR(i,lcd_contrast);
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#ifdef SCARA
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EEPROM_READ_VAR(i,axis_scaling);
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#endif
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#endif//SCARA
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#ifdef FWRETRACT
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EEPROM_READ_VAR(i,autoretract_enabled);
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EEPROM_READ_VAR(i,retract_length);
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#if EXTRUDERS > 1
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EEPROM_READ_VAR(i,retract_length_swap);
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#endif
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#endif//EXTRUDERS > 1
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EEPROM_READ_VAR(i,retract_feedrate);
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EEPROM_READ_VAR(i,retract_zlift);
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EEPROM_READ_VAR(i,retract_recover_length);
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#if EXTRUDERS > 1
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EEPROM_READ_VAR(i,retract_recover_length_swap);
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#endif
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#endif//EXTRUDERS > 1
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EEPROM_READ_VAR(i,retract_recover_feedrate);
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#endif
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#endif//FWRETRACT
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EEPROM_READ_VAR(i, volumetric_enabled);
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EEPROM_READ_VAR(i, filament_size[0]);
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@ -349,8 +403,8 @@ void Config_RetrieveSettings()
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EEPROM_READ_VAR(i, filament_size[1]);
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#if EXTRUDERS > 2
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EEPROM_READ_VAR(i, filament_size[2]);
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#endif
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#endif
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#endif//EXTRUDERS > 2
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#endif//EXTRUDERS > 1
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calculate_volumetric_multipliers();
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// Call updatePID (similar to when we have processed M301)
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updatePID();
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@ -363,9 +417,9 @@ void Config_RetrieveSettings()
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}
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#ifdef EEPROM_CHITCHAT
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Config_PrintSettings();
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#endif
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#endif//EEPROM_CHITCHAT
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}
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#endif
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#endif//EEPROM_SETTINGS
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void Config_ResetDefault()
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{
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@ -379,7 +433,7 @@ void Config_ResetDefault()
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max_acceleration_units_per_sq_second[i]=pgm_read_float(&tmp3[i]);
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#ifdef SCARA
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axis_scaling[i]=1;
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#endif
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#endif//SCARA
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}
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// steps per sq second need to be updated to agree with the units per sq second
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@ -400,7 +454,7 @@ void Config_ResetDefault()
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delta_diagonal_rod= DELTA_DIAGONAL_ROD;
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delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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#endif
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#endif//DELTA
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#ifdef ULTIPANEL
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plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP;
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plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP;
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@ -408,24 +462,29 @@ void Config_ResetDefault()
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absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP;
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absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP;
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absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
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#endif
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#endif//ULTIPANEL
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#ifdef ENABLE_AUTO_BED_LEVELING
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zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
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#endif
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#endif//ENABLE_AUTO_BED_LEVELING
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#ifdef DOGLCD
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lcd_contrast = DEFAULT_LCD_CONTRAST;
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#endif
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#endif//DOGLCD
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#ifdef PIDTEMP
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Kp = DEFAULT_Kp;
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Ki = scalePID_i(DEFAULT_Ki);
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Kd = scalePID_d(DEFAULT_Kd);
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#ifdef PID_PARAMS_PER_EXTRUDER
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for (int e = 0; e < EXTRUDERS; e++)
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#else // PID_PARAMS_PER_EXTRUDER
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int e = 0; // only need to write once
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#endif // PID_PARAMS_PER_EXTRUDER
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{
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PID_PARAM(Kp,e) = DEFAULT_Kp;
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PID_PARAM(Ki,e) = scalePID_i(DEFAULT_Ki);
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PID_PARAM(Kd,e) = scalePID_d(DEFAULT_Kd);
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#ifdef PID_ADD_EXTRUSION_RATE
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PID_PARAM(Kc,e) = DEFAULT_Kc;
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#endif//PID_ADD_EXTRUSION_RATE
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}
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// call updatePID (similar to when we have processed M301)
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updatePID();
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#ifdef PID_ADD_EXTRUSION_RATE
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Kc = DEFAULT_Kc;
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#endif//PID_ADD_EXTRUSION_RATE
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#endif//PIDTEMP
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#ifdef FWRETRACT
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@ -433,15 +492,15 @@ void Config_ResetDefault()
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retract_length = RETRACT_LENGTH;
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#if EXTRUDERS > 1
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retract_length_swap = RETRACT_LENGTH_SWAP;
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#endif
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#endif//EXTRUDERS > 1
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retract_feedrate = RETRACT_FEEDRATE;
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retract_zlift = RETRACT_ZLIFT;
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retract_recover_length = RETRACT_RECOVER_LENGTH;
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#if EXTRUDERS > 1
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retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
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#endif
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#endif//EXTRUDERS > 1
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retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
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#endif
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#endif//FWRETRACT
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volumetric_enabled = false;
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filament_size[0] = DEFAULT_NOMINAL_FILAMENT_DIA;
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@ -449,11 +508,11 @@ void Config_ResetDefault()
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filament_size[1] = DEFAULT_NOMINAL_FILAMENT_DIA;
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#if EXTRUDERS > 2
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filament_size[2] = DEFAULT_NOMINAL_FILAMENT_DIA;
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#endif
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#endif
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#endif//EXTRUDERS > 2
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#endif//EXTRUDERS > 1
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calculate_volumetric_multipliers();
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("Hardcoded Default Settings Loaded");
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}
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}
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