This repository is based upon https://github.com/dc42/RepRapFirmware and is a port to RADDS of the RepRapFirmware. All work by dcnewman on this repository was suspended on April 21, 2016.
README.md file is a slightly updated version of the original
README file also found in this repository.
This firmware is intended to be a fully object-oriented highly modular control program for RepRap self-replicating 3D printers.
It owes a lot to Marlin and to the original RepRap FiveD_GCode.
This is the version for the RepRap Duet, blog.think3dprint3d.com/2013/12/Duet-Arduino-Due-compatible-3DPrinter-controller.html
A complete uploadable executable version is in the directory
Release/RepRapFirmware-<version>.bin in this repository. For details
of how to flash it to a Duet see,
For details of how to compile the source code see the
document contained in this repository or Section #4.0 below.
2.0 General design principles
- Control by RepRap G Codes. These are taken to be machine independent, though some may be unsupported.
- Full use of C++ OO techniques,
- Make classes hide their data,
- Make everything except the Platform class (see below) as stateless as possible,
- No use of conditional compilation except for #include guards - if you
need that, you should be forking the repository to make a new branch
- let the repository take the strain,
- 90% concentration of all machine-dependent definitions and code in
- No specials for (X,Y) or (Z) - all movement is 3-dimensional,
- Except in
Platform.h, use real units (mm, seconds, etc.) throughout the rest of the code wherever possible,
- Try to be efficient in memory use, but this is not critical,
- Labour hard to be efficient in time use, and this is critical,
- Don't abhor floats - they work fast enough if you're clever,
- Don't avoid arrays and structs/classes,
- Don't avoid pointers,
- Use operator and function overloading where appropriate.
2.1 Naming conventions
- #defines are all CAPITALS_WITH_OPTIONAL_UNDERSCORES_BETWEEN_WORDS
- No underscores in other names - MakeReadableWithCapitalisation
- Class names and functions start with a CapitalLetter
- Variables start with a lowerCaseLetter (i.e., camel case)
- Use veryLongDescriptiveNames
There are six main classes:
- Platform, and
This is just a container class for the single instances of all the others, and otherwise does very little.
This class is fed GCodes, either from the web interface, or from GCode files, or from a serial interface, interprets them, and requests actions from the RepRap machine via the other classes.
This class implements all heating and temperature control in the RepRap machine.
This class controls all movement of the RepRap machine, both along its axes, and in its extruder drives.
This is the only class that knows anything about the physical setup of the
RepRap machine and its controlling electronics. It implements the interface
between all the other classes and the RepRap machine. All the other classes
are completely machine-independent (though they may declare arrays dimensioned
When the software is running there is one single instance of each main class,
and all the memory allocation is done on initialization.
not be used in the general running code, and
delete is never used. Each class
Init() function that resets it to its boot-up state; the constructors
merely handle that memory allocation on startup. Calling
all the other
Init() functions in the right sequence.
There are other ancillary classes that are declared in the
.h files for the
master classes that use them. For example, Move has a DDA class that implements
a Bresenham/digital differential analyser.
There is a single interrupt chain entered via
controls movement step timing, and this chain of code should be the only
place that volatile declarations and structure/variable-locking are required.
All the rest of the code is called sequentially and repeatedly as follows:
As of version
057r-dc42 the tick interrupt (which is set up by the Arduino
core) is also used to set up ADC conversions, read the result of the last
conversion, and shut down heaters when temperature errors are detected.
All the main classes have a
Spin() function. These are called in a loop
RepRap.Spin() function and implement simple time sharing. No class
does, or ever should, wait inside one of its functions for anything to happen
or call any sort of
delay() function. The general rule is:
Can I do a thing? Yes - do it No - set a flag/timer to remind me to do it next time I'm called at a future time and return.
The restriction this strategy places on almost all the code in the firmware (that it must execute quickly and never cause waits or delays) is balanced by the fact that none of that code needs to worry about synchronization, locking, or other areas of code accessing items upon which it is working. As mentioned, only the interrupt chain needs to concern itself with such problems. Unlike movement, heating (including PID controllers) does not need the fast precision of timing that interrupts alone can offer. Indeed, most heating code only needs to execute a couple of times a second.
Most data is transferred byte-wise, with classes'
typically containing code like this:
Is a byte available for me? Yes read it and add it to my buffer Is my buffer complete? Yes Act on the contents of my buffer No Return No Return
Note that it is simple to raise the "priority" of any class's activities
relative to the others by calling its
Spin() function more than once from
3.0 Compiling from Source (scons)
Follow the directions in
4.0 Compiling from Source (Eclipse)
RepRap Firmware was developed using the Eclipse IDE, which is much more
powerful for big software projects than the Arduino IDE. [But, they are both
IDEs with all the failings of IDEs. If you dislike IDEs, then use scons
We use the Eclipse C/C++ IDE.
You will also need the Eclipse Arduino
support. BIG FAT WARNING: In July 2015, this Arduino plugin for
Eclipse had a bug by wich doing a "clean" would
rm -rf /. You read
that correctly, it would delete your entire file system! Use with
And the Arduino IDE itself (make sure you get the one for the Due/Duet - version 1.6.5 at the time of writing).
As of this firmware version 0.57r-dc42, the Arduino IDE must be patched to
enable watchdog support. Follow Step #6 of
Start by getting the Arduino IDE programming your Duet with a simple Hello World program that prints to the USB,
on the Due/Duet, not
Serial.print("Hello World");... )
Then install Eclipse and the Arduino plugin.
Make temporary copies of
your download in another folder (you will only need to do this once).
Finally use Eclipse to open the Arduino project called RepRapFirmware in the folder where you have downloaded the RepRap Firmware code. Tell Eclipse to use the Arduino-libraries files you downloaded as the local libraries. Eclipse will complain that the project already exists (which it does - it is your download). Ignore this and it will open the project anyway.
Annoyingly the first time it may also overwrite
RepRapFirmware.h. So close the project, overwrite its overwrites with
the two files you saved, open the project again and refresh it. Everything
should now be ship-shape. Add the libraries
to your project. Under no circumstances be tempted to add standard Arduino libraries for devices like Ethernet - these are for the Due, and will not work on the Duet.
You should now be able to compile the code and upload the result to the Duet.
OR NOT! dcnewman found the above directions to be insufficient. A
number of Eclipse project settings needed to be tweaked (e.g., include paths,
include file orderings, etc.). Also be warned that the Arduino Eclipse plugin,
aside from possibly doing a
rm -rf /, will faithfully follow the compile
settings from the Arduino
platform.txt file and will thus turn off all
compiler warnings (
-w) and effect other unwanted compiler flags.
5.0 Note on dc42 fork of this firmware
As well as containing various bug fixes and performance improvements, I have added various functionality compared to the original RepRapPro version. The major changes are:
- Z probe reading is included in the web server poll response
- Homed status (i.e. whether homes since reset) is maintained for all 3 axes and included in the web server poll response
- Once the X and Y axes have been homed, movement is limited to the range of the axis, except when the G0 or G1 command includes the check endstops (S1) parameter. Use the M208 command to set axis travel if the default values in the firmware are incorrect for your machine.
- Implemented M301 (hot end PID parameters) and M304 (bed PID parameters) commands. Extended these commands to allow setting of thermistor resistance at 25C (R parameter) and thermistor beta (B parameter). A negative P parameter means don't use PID, use bang-bang control.
- Implemented M999. This resets the Duet.
- Added temperature (T) and temperature coefficient of height (C) parameters to the G31 command
- Added support for modulated IR sensor (M558 P2) and ultrasonic sensor (M558 P3)
- Various parameters are now saved to flash memory (Z-probe parameters, network parameters, PID parameters)
Version 0.mn beta
Started: 2012-11-18 This README dated: 2013-12-30
Adrian Bowyer RepRap Professional Ltd http://reprappro.com