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Merge pull request #262 from markfinn/bedpid-clean3

Remove unwanted artifacts in merge of bed-pid tree
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commit bc27d809fb4232abd33c85f33ec2bb78d7ce3444 2 parents 36a746d + bf7e453
Erik van der Zalm authored

Showing 2 changed files with 214 additions and 14 deletions. Show diff stats Hide diff stats

  1. +3 3 Marlin/Marlin.pde
  2. +211 11 README.md
6 Marlin/Marlin.pde
@@ -1399,11 +1399,11 @@ void process_commands()
1399 1399 updatePID();
1400 1400 SERIAL_PROTOCOL(MSG_OK);
1401 1401 SERIAL_PROTOCOL(" p:");
1402   - SERIAL_PROTOCOL(Kp);
  1402 + SERIAL_PROTOCOL(bedKp);
1403 1403 SERIAL_PROTOCOL(" i:");
1404   - SERIAL_PROTOCOL(Ki/PID_dT);
  1404 + SERIAL_PROTOCOL(bedKi/PID_dT);
1405 1405 SERIAL_PROTOCOL(" d:");
1406   - SERIAL_PROTOCOL(Kd*PID_dT);
  1406 + SERIAL_PROTOCOL(bedKd*PID_dT);
1407 1407 SERIAL_PROTOCOLLN("");
1408 1408 }
1409 1409 break;
222 README.md
Source Rendered
... ... @@ -1,22 +1,222 @@
1 1 WARNING:
2 2 --------
3   -This is an experimental modification to allow PID on your bed heater.
  3 +THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0
4 4
5   -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
  5 +The configuration is now split in two files
  6 +Configuration.h for the normal settings
  7 +Configuration_adv.h for the advanced settings
6 8
7   -add something like this to you configuration (pulling this branch will get you this
  9 +Gen7T is not supported.
8 10
9   -~~~~~~~~~~~~~~~~~~~~
10   -#define PIDTEMPBED
  11 +Quick Information
  12 +===================
  13 +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.
11 14
12   -//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10)
13   - #define DEFAULT_bedKp 10.00
14   - #define DEFAULT_bedKi .023
15   - #define DEFAULT_bedKd 305.4
16   -~~~~~~~~~~~~~~~~~~~~
  15 +Derived from Sprinter and Grbl by Erik van der Zalm.
  16 +Sprinters lead developers are Kliment and caru.
  17 +Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
  18 +A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
  19 +Some features have been added by:
  20 +Lampmaker, Bradley Feldman, and others...
17 21
18 22
19   -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.
  23 +Features:
  24 +
  25 +* Interrupt based movement with real linear acceleration
  26 +* High steprate
  27 +* Look ahead (Keep the speed high when possible. High cornering speed)
  28 +* Interrupt based temperature protection
  29 +* preliminary support for Matthew Roberts advance algorithm
  30 + For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  31 +* Full endstop support
  32 +* SD Card support
  33 +* SD Card folders (works in pronterface)
  34 +* SD Card autostart support
  35 +* LCD support (ideally 20x4)
  36 +* LCD menu system for autonomous SD card printing, controlled by an click-encoder.
  37 +* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
  38 +* many small but handy things originating from bkubicek's fork.
  39 +* Arc support
  40 +* Temperature oversampling
  41 +* Dynamic Temperature setpointing aka "AutoTemp"
  42 +* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
  43 +* Endstop trigger reporting to the host software.
  44 +* Updated sdcardlib
  45 +* Heater power reporting. Useful for PID monitoring.
  46 +* PID tuning
  47 +* CoreXY kinematics (www.corexy.com/theory.html)
  48 +
  49 +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.
  50 +
  51 +
  52 +Differences and additions to the already good Sprinter firmware:
  53 +================================================================
  54 +
  55 +*Look-ahead:*
  56 +
  57 +Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner,
  58 +lookahead will only decelerate and accelerate to a velocity,
  59 +so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
  60 +This is only possible, if some future moves are already processed, hence the name.
  61 +It leads to less over-deposition at corners, especially at flat angles.
  62 +
  63 +*Arc support:*
  64 +
  65 +Slic3r can find curves that, although broken into segments, were ment to describe an arc.
  66 +Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
  67 +and can perform the arc with nearly constant velocity, resulting in a nice finish.
  68 +Also, less serial communication is needed.
  69 +
  70 +*Temperature Oversampling:*
  71 +
  72 +To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
  73 +
  74 +*AutoTemp:*
  75 +
  76 +If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
  77 +Usually, higher speed requires higher temperature.
  78 +This can now be performed by the AutoTemp function
  79 +By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
  80 +
  81 +You can leave it by calling M109 without any F.
  82 +If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
  83 +The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
  84 +If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
  85 +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.
  86 +
  87 +*EEPROM:*
  88 +
  89 +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.
  90 +After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
  91 +
  92 +*LCD Menu:*
  93 +
  94 +If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
  95 +accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
  96 +One working hardware is documented here: http://www.thingiverse.com/thing:12663
  97 +Also, with just a 20x4 or 16x2 display, useful data is shown.
  98 +
  99 +*SD card folders:*
  100 +
  101 +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".
  102 +You can write to file in a subfolder by specifying a similar text using small letters in the path.
  103 +Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
  104 +
  105 +*SD card folders:*
  106 +
  107 +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.
  108 +First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
  109 +
  110 +*Endstop trigger reporting:*
  111 +
  112 +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.
  113 +This is useful, because the user gets a warning message.
  114 +However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
  115 +
  116 +*Coding paradigm:*
  117 +
  118 +Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
  119 +This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
  120 +We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
  121 +A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
  122 +In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
  123 +some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
  124 +necessary for backwards compatibility.
  125 +
  126 +*Interrupt based temperature measurements:*
  127 +
  128 +An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
  129 +This leads to less blocking in the heater management routine.
  130 +
  131 +
  132 +Non-standard M-Codes, different to an old version of sprinter:
  133 +==============================================================
  134 +Movement:
  135 +
  136 +* G2 - CW ARC
  137 +* G3 - CCW ARC
  138 +
  139 +General:
  140 +
  141 +* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG.
  142 +* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG.
  143 +* M30 - Print time since last M109 or SD card start to serial
  144 +* M42 - Change pin status via gcode
  145 +* M80 - Turn on Power Supply
  146 +* M81 - Turn off Power Supply
  147 +* M114 - Output current position to serial port
  148 +* M119 - Output Endstop status to serial port
  149 +
  150 +Movement variables:
  151 +
  152 +* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  153 +* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  154 +* 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
  155 +* 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)
  156 +* 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.
  157 +* M221 - set the extrude multiplying S:factor in percent
  158 +* M400 - Finish all buffered moves.
  159 +
  160 +Temperature variables:
  161 +* M301 - Set PID parameters P I and D
  162 +* M302 - Allow cold extrudes
  163 +* M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  164 +
  165 +Advance:
  166 +
  167 +* M200 - Set filament diameter for advance
  168 +* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  169 +
  170 +EEPROM:
  171 +
  172 +* M500 - stores paramters in EEPROM. This parameters are stored: axis_steps_per_unit, max_feedrate, max_acceleration ,acceleration,retract_acceleration,
  173 + minimumfeedrate,mintravelfeedrate,minsegmenttime, jerk velocities, PID
  174 +* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  175 +* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  176 +* M503 - print the current settings (from memory not from eeprom)
  177 +
  178 +MISC:
  179 +
  180 +* M240 - Trigger a camera to take a photograph
  181 +* M999 - Restart after being stopped by error
  182 +
  183 +Configuring and compilation:
  184 +============================
  185 +
  186 +Install the arduino software IDE/toolset v22
  187 + http://www.arduino.cc/en/Main/Software
  188 +
  189 +For gen6 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
  190 + copy Marlin\sanguino <arduino home>\hardware\Sanguino
  191 +
  192 +Install Ultimaker's RepG 25 build
  193 + http://software.ultimaker.com
  194 +For SD handling and as better substitute (apart from stl manipulation) download
  195 +the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun
  196 +
  197 +Copy the Ultimaker Marlin firmware
  198 + https://github.com/ErikZalm/Marlin/tree/Marlin_v1
  199 + (Use the download button)
  200 +
  201 +Start the arduino IDE.
  202 +Select Tools -> Board -> Arduino Mega 2560 or your microcontroller
  203 +Select the correct serial port in Tools ->Serial Port
  204 +Open Marlin.pde
  205 +
  206 +Click the Verify/Compile button
  207 +
  208 +Click the Upload button
  209 +If all goes well the firmware is uploading
  210 +
  211 +Start Ultimaker's Custom RepG 25
  212 +Make sure Show Experimental Profiles is enabled in Preferences
  213 +Select Sprinter as the Driver
  214 +
  215 +Press the Connect button.
  216 +
  217 +KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z
  218 +
  219 +That's ok. Enjoy Silky Smooth Printing.
20 220
21 221
22 222

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