ErikZalm
12 years ago
6 changed files with 230 additions and 273 deletions
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WARNING: |
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-------- |
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THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0 |
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This is an experimental modification to allow PID on your bed heater. |
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The configuration is now split in two files |
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Configuration.h for the normal settings |
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Configuration_adv.h for the advanced settings |
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This will run at the same frequency as the main PID loop. Make sure you heater FET or SSR can do this. I use a fotek SSR-10DA and it's fine |
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Gen7T is not supported. |
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add something like this to you configuration (pulling this branch will get you this |
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Quick Information |
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=================== |
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This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts. |
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~~~~~~~~~~~~~~~~~~~~ |
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#define PIDTEMPBED |
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Derived from Sprinter and Grbl by Erik van der Zalm. |
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Sprinters lead developers are Kliment and caru. |
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Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl |
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A fork by bkubicek for the Ultimaker was merged, and further development was aided by him. |
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Some features have been added by: |
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Lampmaker, Bradley Feldman, and others... |
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//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10) |
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#define DEFAULT_bedKp 10.00 |
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#define DEFAULT_bedKi .023 |
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#define DEFAULT_bedKd 305.4 |
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~~~~~~~~~~~~~~~~~~~~ |
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Features: |
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* Interrupt based movement with real linear acceleration |
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* High steprate |
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* Look ahead (Keep the speed high when possible. High cornering speed) |
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* Interrupt based temperature protection |
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* preliminary support for Matthew Roberts advance algorithm |
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For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html |
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* Full endstop support |
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* SD Card support |
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* SD Card folders (works in pronterface) |
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* SD Card autostart support |
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* LCD support (ideally 20x4) |
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* LCD menu system for autonomous SD card printing, controlled by an click-encoder. |
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* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables |
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* many small but handy things originating from bkubicek's fork. |
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* Arc support |
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* Temperature oversampling |
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* Dynamic Temperature setpointing aka "AutoTemp" |
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* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin |
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* Endstop trigger reporting to the host software. |
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* Updated sdcardlib |
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* Heater power reporting. Useful for PID monitoring. |
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* PID tuning |
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* CoreXY kinematics (www.corexy.com/theory.html) |
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The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments. |
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Differences and additions to the already good Sprinter firmware: |
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================================================================ |
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*Look-ahead:* |
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Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, |
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lookahead will only decelerate and accelerate to a velocity, |
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so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity. |
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This is only possible, if some future moves are already processed, hence the name. |
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It leads to less over-deposition at corners, especially at flat angles. |
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*Arc support:* |
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Slic3r can find curves that, although broken into segments, were ment to describe an arc. |
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Marlin is able to print those arcs. The advantage is the firmware can choose the resolution, |
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and can perform the arc with nearly constant velocity, resulting in a nice finish. |
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Also, less serial communication is needed. |
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*Temperature Oversampling:* |
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To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged. |
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*AutoTemp:* |
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If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly. |
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Usually, higher speed requires higher temperature. |
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This can now be performed by the AutoTemp function |
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By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode. |
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You can leave it by calling M109 without any F. |
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If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec]. |
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The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax. |
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If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change. |
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Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode. |
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*EEPROM:* |
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If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM. |
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After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says. |
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*LCD Menu:* |
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If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures, |
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accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff. |
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One working hardware is documented here: http://www.thingiverse.com/thing:12663 |
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Also, with just a 20x4 or 16x2 display, useful data is shown. |
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*SD card folders:* |
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If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g". |
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You can write to file in a subfolder by specifying a similar text using small letters in the path. |
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Also, backup copies of various operating systems are hidden, as well as files not ending with ".g". |
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*SD card folders:* |
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If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu. |
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First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction. |
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*Endstop trigger reporting:* |
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If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port. |
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This is useful, because the user gets a warning message. |
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However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration. |
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*Coding paradigm:* |
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Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables. |
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This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization. |
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We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future. |
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A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory. |
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In the serial communication, a #define based level of abstraction was enforced, so that it is clear that |
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some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol, |
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necessary for backwards compatibility. |
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*Interrupt based temperature measurements:* |
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An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures. |
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This leads to less blocking in the heater management routine. |
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Non-standard M-Codes, different to an old version of sprinter: |
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============================================================== |
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Movement: |
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* G2 - CW ARC |
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* G3 - CCW ARC |
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General: |
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* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG. |
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* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG. |
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* M30 - Print time since last M109 or SD card start to serial |
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* M42 - Change pin status via gcode |
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* M80 - Turn on Power Supply |
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* M81 - Turn off Power Supply |
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* M114 - Output current position to serial port |
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* M119 - Output Endstop status to serial port |
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Movement variables: |
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* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!! |
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* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec |
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* M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate |
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* M206 - set home offsets. This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware) |
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* M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise. |
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* M221 - set the extrude multiplying S:factor in percent |
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* M400 - Finish all buffered moves. |
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Temperature variables: |
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* M301 - Set PID parameters P I and D |
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* M302 - Allow cold extrudes |
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* M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C) |
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Advance: |
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* M200 - Set filament diameter for advance |
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* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk |
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EEPROM: |
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* M500 - stores paramters in EEPROM. This parameters are stored: axis_steps_per_unit, max_feedrate, max_acceleration ,acceleration,retract_acceleration, |
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minimumfeedrate,mintravelfeedrate,minsegmenttime, jerk velocities, PID |
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* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). |
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* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. |
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* M503 - print the current settings (from memory not from eeprom) |
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MISC: |
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* M240 - Trigger a camera to take a photograph |
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* M999 - Restart after being stopped by error |
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Configuring and compilation: |
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============================ |
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Install the arduino software IDE/toolset v22 |
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http://www.arduino.cc/en/Main/Software |
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For gen6 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment. |
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copy Marlin\sanguino <arduino home>\hardware\Sanguino |
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Install Ultimaker's RepG 25 build |
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http://software.ultimaker.com |
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For SD handling and as better substitute (apart from stl manipulation) download |
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the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun |
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Copy the Ultimaker Marlin firmware |
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https://github.com/ErikZalm/Marlin/tree/Marlin_v1 |
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(Use the download button) |
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Start the arduino IDE. |
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Select Tools -> Board -> Arduino Mega 2560 or your microcontroller |
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Select the correct serial port in Tools ->Serial Port |
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Open Marlin.pde |
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Click the Verify/Compile button |
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Click the Upload button |
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If all goes well the firmware is uploading |
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Start Ultimaker's Custom RepG 25 |
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Make sure Show Experimental Profiles is enabled in Preferences |
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Select Sprinter as the Driver |
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Press the Connect button. |
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KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z |
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That's ok. Enjoy Silky Smooth Printing. |
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Autotune works for the bed. Give it an "M303 E-1 C8 S90" to run autotune on the bed at 90 degrees for 8 cycles. |
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