mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-30 15:26:18 +00:00
250 lines
12 KiB
Markdown
250 lines
12 KiB
Markdown
==========================
|
|
Marlin 3D Printer Firmware
|
|
==========================
|
|
|
|
[](https://flattr.com/submit/auto?user_id=ErikZalm&url=https://github.com/ErikZalm/Marlin&title=Marlin&language=&tags=github&category=software)
|
|
|
|
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:*
|
|
|
|
To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
|
|
|
|
*AutoTemp:*
|
|
|
|
If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
|
|
Usually, higher speed requires higher temperature.
|
|
This can now be performed by the AutoTemp function
|
|
By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
|
|
|
|
You can leave it by calling M109 without any F.
|
|
If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
|
|
The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
|
|
If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
|
|
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.
|
|
|
|
*EEPROM:*
|
|
|
|
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.
|
|
After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
|
|
|
|
*LCD Menu:*
|
|
|
|
If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
|
|
accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
|
|
One working hardware is documented here: http://www.thingiverse.com/thing:12663
|
|
Also, with just a 20x4 or 16x2 display, useful data is shown.
|
|
|
|
*SD card folders:*
|
|
|
|
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".
|
|
You can write to file in a subfolder by specifying a similar text using small letters in the path.
|
|
Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
|
|
|
|
*SD card folders:*
|
|
|
|
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.
|
|
First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
|
|
|
|
*Endstop trigger reporting:*
|
|
|
|
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.
|
|
This is useful, because the user gets a warning message.
|
|
However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
|
|
|
|
*Coding paradigm:*
|
|
|
|
Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
|
|
This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
|
|
We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
|
|
A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
|
|
In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
|
|
some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
|
|
necessary for backwards compatibility.
|
|
|
|
*Interrupt based temperature measurements:*
|
|
|
|
An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
|
|
This leads to less blocking in the heater management routine.
|
|
|
|
Implemented G Codes:
|
|
====================
|
|
|
|
* G0 -> G1
|
|
* G1 - Coordinated Movement X Y Z E
|
|
* G2 - CW ARC
|
|
* G3 - CCW ARC
|
|
* G4 - Dwell S<seconds> or P<milliseconds>
|
|
* G10 - retract filament according to settings of M207
|
|
* G11 - retract recover filament according to settings of M208
|
|
* G28 - Home all Axis
|
|
* G90 - Use Absolute Coordinates
|
|
* G91 - Use Relative Coordinates
|
|
* G92 - Set current position to cordinates given
|
|
|
|
RepRap M Codes
|
|
* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
|
|
* M1 - Same as M0
|
|
* M104 - Set extruder target temp
|
|
* M105 - Read current temp
|
|
* M106 - Fan on
|
|
* M107 - Fan off
|
|
* M109 - Wait for extruder current temp to reach target temp.
|
|
* M114 - Display current position
|
|
|
|
Custom M Codes
|
|
* M17 - Enable/Power all stepper motors
|
|
* M18 - Disable all stepper motors; same as M84
|
|
* M20 - List SD card
|
|
* M21 - Init SD card
|
|
* M22 - Release SD card
|
|
* M23 - Select SD file (M23 filename.g)
|
|
* M24 - Start/resume SD print
|
|
* M25 - Pause SD print
|
|
* M26 - Set SD position in bytes (M26 S12345)
|
|
* M27 - Report SD print status
|
|
* M28 - Start SD write (M28 filename.g)
|
|
* M29 - Stop SD write
|
|
* M30 - Delete file from SD (M30 filename.g)
|
|
* M31 - Output time since last M109 or SD card start to serial
|
|
* M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
|
|
* M80 - Turn on Power Supply
|
|
* M81 - Turn off Power Supply
|
|
* M82 - Set E codes absolute (default)
|
|
* M83 - Set E codes relative while in Absolute Coordinates (G90) mode
|
|
* M84 - Disable steppers until next move, or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
|
|
* M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
|
|
* M92 - Set axis_steps_per_unit - same syntax as G92
|
|
* M114 - Output current position to serial port
|
|
* M115 - Capabilities string
|
|
* M117 - display message
|
|
* M119 - Output Endstop status to serial port
|
|
* M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
|
|
* M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
|
|
* M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
|
|
* M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
|
|
* M140 - Set bed target temp
|
|
* M190 - Wait for bed current temp to reach target temp.
|
|
* M200 - Set filament diameter
|
|
* M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
|
|
* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
|
|
* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
|
|
* 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
|
|
* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
|
|
* M206 - set additional homeing offset
|
|
* M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
|
|
* M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
|
|
* M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
|
|
* M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
|
|
* M220 S<factor in percent>- set speed factor override percentage
|
|
* M221 S<factor in percent>- set extrude factor override percentage
|
|
* M240 - Trigger a camera to take a photograph
|
|
* M280 - set servo position absolute. P: servo index, S: angle or microseconds
|
|
* M300 - Play beepsound S<frequency Hz> P<duration ms>
|
|
* M301 - Set PID parameters P I and D
|
|
* M302 - Allow cold extrudes
|
|
* M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
|
|
* M304 - Set bed PID parameters P I and D
|
|
* M400 - Finish all moves
|
|
* M500 - stores paramters in EEPROM
|
|
* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
|
|
* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
|
|
* M503 - print the current settings (from memory not from eeprom)
|
|
* M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
|
|
* M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
|
|
* M907 - Set digital trimpot motor current using axis codes.
|
|
* M908 - Control digital trimpot directly.
|
|
* M350 - Set microstepping mode.
|
|
* M351 - Toggle MS1 MS2 pins directly.
|
|
* M928 - Start SD logging (M928 filename.g) - ended by M29
|
|
* M999 - Restart after being stopped by error
|
|
|
|
|
|
Configuring and compilation:
|
|
============================
|
|
|
|
Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
|
|
http://www.arduino.cc/en/Main/Software
|
|
|
|
For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
|
|
copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino
|
|
|
|
Copy the Marlin firmware
|
|
https://github.com/ErikZalm/Marlin/tree/Marlin_v1
|
|
(Use the download button)
|
|
|
|
Start the arduino IDE.
|
|
Select Tools -> Board -> Arduino Mega 2560 or your microcontroller
|
|
Select the correct serial port in Tools ->Serial Port
|
|
Open Marlin.pde
|
|
|
|
Click the Verify/Compile button
|
|
|
|
Click the Upload button
|
|
If all goes well the firmware is uploading
|
|
|
|
That's ok. Enjoy Silky Smooth Printing.
|
|
|
|
|
|
|
|
|