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Bernhard Kubicek 2011-11-20 09:00:19 +01:00
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README.md
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@ -14,26 +14,26 @@ Lampmaker, Bradley Feldman, and others...
Features: Features:
- Interrupt based movement with real linear acceleration * Interrupt based movement with real linear acceleration
- High steprate * High steprate
- Look ahead (Keep the speed high when possible. High cornering speed) * Look ahead (Keep the speed high when possible. High cornering speed)
- Interrupt based temperature protection * Interrupt based temperature protection
- preliminary support for Matthew Roberts advance algorithm * preliminary support for Matthew Roberts advance algorithm
For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html * For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- Full endstop support * Full endstop support
- SD Card support * SD Card support
- SD Card folders (works in pronterface) * SD Card folders (works in pronterface)
- LCD support (ideally 20x4) * LCD support (ideally 20x4)
- LCD menu system for autonomous SD card printing, controlled by an click-encoder. * 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 * EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
- many small but handy things originating from bkubicek's fork. * many small but handy things originating from bkubicek's fork.
- Arc support * Arc support
- Temperature oversampling * Temperature oversampling
- Dynamic Temperature setpointing aka "AutoTemp" * Dynamic Temperature setpointing aka "AutoTemp"
- Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin * 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. * Endstop trigger reporting to the host software.
- Updated sdcardlib * Updated sdcardlib
- Heater power reporting. Useful for PID monitoring. * Heater power reporting. Useful for PID monitoring.
This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560). This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560).
@ -42,15 +42,18 @@ The default baudrate is 250000. This baudrate has less jitter and hence errors t
======================================================================================== ========================================================================================
Differences and additions to the already good Sprinter firmware: Differences and additions to the already good Sprinter firmware:
================================================================
Look-ahead: Look-ahead:
-----------
Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner,
lookahead will only decelerate and accelerate to a velocity, lookahead will only decelerate and accelerate to a velocity,
so that the change in vectorial velocity magnitude is less than the xy_jerk_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. 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. It leads to less over-deposition at corners, especially at flat angles.
Arc support: Arc support:
------------
Splic3r can find curves that, although broken into segments, were ment to describe an arc. Splic3r 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, 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. and can perform the arc with nearly constant velocity, resulting in a nice finish.
@ -60,10 +63,12 @@ Temperature Oversampling:
To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged. To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
AutoTemp: AutoTemp:
---------
If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly. 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. Usually, higher speed requires higher temperature.
This can now be performed by the AutoTemp function This can now be performed by the AutoTemp function
By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode. By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
You can leave it by calling M109 without any F. 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]. 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. The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
@ -71,26 +76,31 @@ If the target temperature is set manually or by gcode to a value less then tempm
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. 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: 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. 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. After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
LCD Menu: 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, 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. 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 One working hardware is documented here: http://www.thingiverse.com/thing:12663
Also, with just a 20x4 or 16x2 display, useful data is shown. Also, with just a 20x4 or 16x2 display, useful data is shown.
SD card folders: 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". 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. 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". Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
Endstop trigger reporting: 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. 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. 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. However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
Coding paradigm: Coding paradigm:
----------------
Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables. 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. 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. We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
@ -100,12 +110,13 @@ some transfer is information (usually beginning with "echo:"), an error "error:"
necessary for backwards compatibility. necessary for backwards compatibility.
Interrupt based temperature measurements: Interrupt based temperature measurements:
-----------------------------------------
An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures. An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
This leads to less blocking in the heater management routine. This leads to less blocking in the heater management routine.
======================================================================================== ========================================================================================
Non-standard M-Codes, different to an old version of sprinter: Non-standard M-Codes, different to an old version of sprinter:
==============================================================
G2 - CW ARC G2 - CW ARC
G3 - CCW ARC G3 - CCW ARC
@ -135,10 +146,8 @@ M500 - stores paramters in EEPROM
M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). 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. M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
======================================================================================== ========================================================================================
Configuring and compilation:
============================
Configuring and compilation
Install the arduino software IDE/toolset v22 Install the arduino software IDE/toolset v22