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Unwanted artifacts from unclean merge of bed-pid tree

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markfinn committed Oct 9, 2012
1 parent 36a746d commit bf7e453d022dcd305a8b3a714be849c6e44e7acc
Showing with 214 additions and 14 deletions.
  1. +3 −3 Marlin/Marlin.pde
  2. +211 −11
@@ -1399,11 +1399,11 @@ void process_commands()
@@ -1,22 +1,222 @@
-This is an experimental modification to allow PID on your bed heater.
-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
+The configuration is now split in two files
+Configuration.h for the normal settings
+Configuration_adv.h for the advanced settings
-add something like this to you configuration (pulling this branch will get you this
+Gen7T is not supported.
+Quick Information
+This RepRap firmware is a mashup between <a href="">Sprinter</a>, <a href="">grbl</a> and many original parts.
-//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10)
- #define DEFAULT_bedKp 10.00
- #define DEFAULT_bedKi .023
- #define DEFAULT_bedKd 305.4
+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...
-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.
+* 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:
+* 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.
+* Endstop trigger reporting to the host software.
+* Updated sdcardlib
+* Heater power reporting. Useful for PID monitoring.
+* PID tuning
+* CoreXY kinematics (
+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:
+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.
+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.
+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:
+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.
+Non-standard M-Codes, different to an old version of sprinter:
+* G2 - CW ARC
+* G3 - CCW ARC
+* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG.
+* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG.
+* M30 - Print time since last M109 or SD card start to serial
+* M42 - Change pin status via gcode
+* M80 - Turn on Power Supply
+* M81 - Turn off Power Supply
+* M114 - Output current position to serial port
+* M119 - Output Endstop status to serial port
+Movement variables:
+* 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
+* 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)
+* 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.
+* M221 - set the extrude multiplying S:factor in percent
+* M400 - Finish all buffered moves.
+Temperature variables:
+* 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)
+* M200 - Set filament diameter for advance
+* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
+* M500 - stores paramters in EEPROM. This parameters are stored: axis_steps_per_unit, max_feedrate, max_acceleration ,acceleration,retract_acceleration,
+ minimumfeedrate,mintravelfeedrate,minsegmenttime, jerk velocities, PID
+* 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)
+* M240 - Trigger a camera to take a photograph
+* M999 - Restart after being stopped by error
+Configuring and compilation:
+Install the arduino software IDE/toolset v22
+For gen6 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
+ copy Marlin\sanguino <arduino home>\hardware\Sanguino
+Install Ultimaker's RepG 25 build
+For SD handling and as better substitute (apart from stl manipulation) download
+the very nice Kliment's printrun/pronterface
+Copy the Ultimaker Marlin firmware
+ (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
+Start Ultimaker's Custom RepG 25
+Make sure Show Experimental Profiles is enabled in Preferences
+Select Sprinter as the Driver
+Press the Connect button.
+KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z
+That's ok. Enjoy Silky Smooth Printing.

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