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@ -1,223 +1,227 @@
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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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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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Gen7T is not supported.
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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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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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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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* Configurable serial port to support connection of wireless adaptors.
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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 v23 (Some configurations also work with 1.x.x)
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http://www.arduino.cc/en/Main/Software
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For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
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copy ArduinoAddons\Arduino_x.x.x\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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==========================
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Marlin 3D Printer Firmware
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==========================
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Notes:
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-----
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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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|
|
|
|
|
|
|
|
|
Gen7T is not supported.
|
|
|
|
|
|
|
|
|
|
Quick Information
|
|
|
|
|
===================
|
|
|
|
|
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.
|
|
|
|
|
|
|
|
|
|
Derived from Sprinter and Grbl by Erik van der Zalm.
|
|
|
|
|
Sprinters lead developers are Kliment and caru.
|
|
|
|
|
Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
|
|
|
|
|
A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
|
|
|
|
|
Some features have been added by:
|
|
|
|
|
Lampmaker, Bradley Feldman, and others...
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Features:
|
|
|
|
|
|
|
|
|
|
* Interrupt based movement with real linear acceleration
|
|
|
|
|
* High steprate
|
|
|
|
|
* Look ahead (Keep the speed high when possible. High cornering speed)
|
|
|
|
|
* Interrupt based temperature protection
|
|
|
|
|
* preliminary support for Matthew Roberts advance algorithm
|
|
|
|
|
For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
|
|
|
|
|
* Full endstop support
|
|
|
|
|
* SD Card support
|
|
|
|
|
* SD Card folders (works in pronterface)
|
|
|
|
|
* SD Card autostart support
|
|
|
|
|
* LCD support (ideally 20x4)
|
|
|
|
|
* LCD menu system for autonomous SD card printing, controlled by an click-encoder.
|
|
|
|
|
* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
|
|
|
|
|
* many small but handy things originating from bkubicek's fork.
|
|
|
|
|
* Arc support
|
|
|
|
|
* Temperature oversampling
|
|
|
|
|
* Dynamic Temperature setpointing aka "AutoTemp"
|
|
|
|
|
* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
|
|
|
|
|
* Endstop trigger reporting to the host software.
|
|
|
|
|
* Updated sdcardlib
|
|
|
|
|
* Heater power reporting. Useful for PID monitoring.
|
|
|
|
|
* PID tuning
|
|
|
|
|
* CoreXY kinematics (www.corexy.com/theory.html)
|
|
|
|
|
* Configurable serial port to support connection of wireless adaptors.
|
|
|
|
|
* Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
|
|
|
|
|
|
|
|
|
|
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.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Differences and additions to the already good Sprinter firmware:
|
|
|
|
|
================================================================
|
|
|
|
|
|
|
|
|
|
*Look-ahead:*
|
|
|
|
|
|
|
|
|
|
Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner,
|
|
|
|
|
lookahead will only decelerate and accelerate to a velocity,
|
|
|
|
|
so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
|
|
|
|
|
This is only possible, if some future moves are already processed, hence the name.
|
|
|
|
|
It leads to less over-deposition at corners, especially at flat angles.
|
|
|
|
|
|
|
|
|
|
*Arc support:*
|
|
|
|
|
|
|
|
|
|
Slic3r can find curves that, although broken into segments, were ment to describe an arc.
|
|
|
|
|
Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
|
|
|
|
|
and can perform the arc with nearly constant velocity, resulting in a nice finish.
|
|
|
|
|
Also, less serial communication is needed.
|
|
|
|
|
|
|
|
|
|
*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 v23 (Some configurations also work with 1.x.x)
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|
http://www.arduino.cc/en/Main/Software
|
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For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
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copy ArduinoAddons\Arduino_x.x.x\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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ErikZalm