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/*
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Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
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Copyright (c) 2009 Michael Margolis. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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||||||
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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||||||
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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||||||
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
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The servos are pulsed in the background using the value most recently written using the write() method
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Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
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Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
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The methods are:
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Servo - Class for manipulating servo motors connected to Arduino pins.
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attach(pin ) - Attaches a servo motor to an i/o pin.
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attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
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default min is 544, max is 2400
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write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
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writeMicroseconds() - Sets the servo pulse width in microseconds
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read() - Gets the last written servo pulse width as an angle between 0 and 180.
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readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
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attached() - Returns true if there is a servo attached.
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detach() - Stops an attached servos from pulsing its i/o pin.
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*/
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#ifdef NUM_SERVOS
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#include <avr/interrupt.h>
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#include <Arduino.h>
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#include "Servo.h"
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#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009
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#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
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#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
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//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
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static servo_t servos[MAX_SERVOS]; // static array of servo structures
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static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
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uint8_t ServoCount = 0; // the total number of attached servos
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// convenience macros
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#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
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#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
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#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
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#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
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#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
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#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
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/************ static functions common to all instances ***********************/
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static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
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{
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if( Channel[timer] < 0 )
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*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
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else{
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if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
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digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
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}
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Channel[timer]++; // increment to the next channel
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if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
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*OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
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if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated
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digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
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}
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else {
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// finished all channels so wait for the refresh period to expire before starting over
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if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed
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*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
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else
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*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
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Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
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}
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}
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#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
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// Interrupt handlers for Arduino
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#if defined(_useTimer1)
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SIGNAL (TIMER1_COMPA_vect)
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{
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handle_interrupts(_timer1, &TCNT1, &OCR1A);
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}
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#endif
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#if defined(_useTimer3)
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SIGNAL (TIMER3_COMPA_vect)
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{
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handle_interrupts(_timer3, &TCNT3, &OCR3A);
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}
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#endif
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#if defined(_useTimer4)
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SIGNAL (TIMER4_COMPA_vect)
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{
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handle_interrupts(_timer4, &TCNT4, &OCR4A);
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}
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#endif
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#if defined(_useTimer5)
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SIGNAL (TIMER5_COMPA_vect)
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{
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handle_interrupts(_timer5, &TCNT5, &OCR5A);
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}
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#endif
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#elif defined WIRING
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// Interrupt handlers for Wiring
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#if defined(_useTimer1)
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void Timer1Service()
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{
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handle_interrupts(_timer1, &TCNT1, &OCR1A);
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}
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#endif
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#if defined(_useTimer3)
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void Timer3Service()
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{
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handle_interrupts(_timer3, &TCNT3, &OCR3A);
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}
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#endif
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#endif
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static void initISR(timer16_Sequence_t timer)
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{
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#if defined (_useTimer1)
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if(timer == _timer1) {
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TCCR1A = 0; // normal counting mode
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TCCR1B = _BV(CS11); // set prescaler of 8
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TCNT1 = 0; // clear the timer count
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#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
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TIFR |= _BV(OCF1A); // clear any pending interrupts;
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TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
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#else
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// here if not ATmega8 or ATmega128
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TIFR1 |= _BV(OCF1A); // clear any pending interrupts;
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TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
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#endif
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#if defined(WIRING)
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timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
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#endif
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}
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#endif
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#if defined (_useTimer3)
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if(timer == _timer3) {
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TCCR3A = 0; // normal counting mode
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TCCR3B = _BV(CS31); // set prescaler of 8
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TCNT3 = 0; // clear the timer count
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#if defined(__AVR_ATmega128__)
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TIFR |= _BV(OCF3A); // clear any pending interrupts;
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ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
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#else
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TIFR3 = _BV(OCF3A); // clear any pending interrupts;
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TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
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#endif
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#if defined(WIRING)
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timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
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#endif
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}
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#endif
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#if defined (_useTimer4)
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if(timer == _timer4) {
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TCCR4A = 0; // normal counting mode
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TCCR4B = _BV(CS41); // set prescaler of 8
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TCNT4 = 0; // clear the timer count
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TIFR4 = _BV(OCF4A); // clear any pending interrupts;
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TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
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}
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#endif
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#if defined (_useTimer5)
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if(timer == _timer5) {
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TCCR5A = 0; // normal counting mode
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TCCR5B = _BV(CS51); // set prescaler of 8
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TCNT5 = 0; // clear the timer count
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TIFR5 = _BV(OCF5A); // clear any pending interrupts;
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TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
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}
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#endif
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}
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static void finISR(timer16_Sequence_t timer)
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{
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//disable use of the given timer
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#if defined WIRING // Wiring
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if(timer == _timer1) {
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#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
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TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
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#else
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TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
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#endif
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timerDetach(TIMER1OUTCOMPAREA_INT);
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}
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else if(timer == _timer3) {
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#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
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TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
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#else
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ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
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#endif
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timerDetach(TIMER3OUTCOMPAREA_INT);
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}
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#else
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//For arduino - in future: call here to a currently undefined function to reset the timer
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#endif
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}
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static boolean isTimerActive(timer16_Sequence_t timer)
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{
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// returns true if any servo is active on this timer
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for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
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if(SERVO(timer,channel).Pin.isActive == true)
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return true;
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}
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return false;
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}
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/****************** end of static functions ******************************/
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Servo::Servo()
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{
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if( ServoCount < MAX_SERVOS) {
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this->servoIndex = ServoCount++; // assign a servo index to this instance
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servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
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}
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else
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this->servoIndex = INVALID_SERVO ; // too many servos
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}
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uint8_t Servo::attach(int pin)
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{
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return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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}
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uint8_t Servo::attach(int pin, int min, int max)
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{
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|
if(this->servoIndex < MAX_SERVOS ) {
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pinMode( pin, OUTPUT) ; // set servo pin to output
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servos[this->servoIndex].Pin.nbr = pin;
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// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
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|
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
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this->max = (MAX_PULSE_WIDTH - max)/4;
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// initialize the timer if it has not already been initialized
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timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
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if(isTimerActive(timer) == false)
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initISR(timer);
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|
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
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|
}
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|
return this->servoIndex ;
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|
}
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||||||
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void Servo::detach()
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||||||
|
{
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||||||
|
servos[this->servoIndex].Pin.isActive = false;
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|
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
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||||||
|
if(isTimerActive(timer) == false) {
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||||||
|
finISR(timer);
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||||||
|
}
|
||||||
|
}
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||||||
|
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||||||
|
void Servo::write(int value)
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||||||
|
{
|
||||||
|
if(value < MIN_PULSE_WIDTH)
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||||||
|
{ // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
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||||||
|
if(value < 0) value = 0;
|
||||||
|
if(value > 180) value = 180;
|
||||||
|
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
|
||||||
|
}
|
||||||
|
this->writeMicroseconds(value);
|
||||||
|
}
|
||||||
|
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||||||
|
void Servo::writeMicroseconds(int value)
|
||||||
|
{
|
||||||
|
// calculate and store the values for the given channel
|
||||||
|
byte channel = this->servoIndex;
|
||||||
|
if( (channel < MAX_SERVOS) ) // ensure channel is valid
|
||||||
|
{
|
||||||
|
if( value < SERVO_MIN() ) // ensure pulse width is valid
|
||||||
|
value = SERVO_MIN();
|
||||||
|
else if( value > SERVO_MAX() )
|
||||||
|
value = SERVO_MAX();
|
||||||
|
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||||||
|
value = value - TRIM_DURATION;
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||||||
|
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
|
||||||
|
|
||||||
|
uint8_t oldSREG = SREG;
|
||||||
|
cli();
|
||||||
|
servos[channel].ticks = value;
|
||||||
|
SREG = oldSREG;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int Servo::read() // return the value as degrees
|
||||||
|
{
|
||||||
|
return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
|
||||||
|
}
|
||||||
|
|
||||||
|
int Servo::readMicroseconds()
|
||||||
|
{
|
||||||
|
unsigned int pulsewidth;
|
||||||
|
if( this->servoIndex != INVALID_SERVO )
|
||||||
|
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION ; // 12 aug 2009
|
||||||
|
else
|
||||||
|
pulsewidth = 0;
|
||||||
|
|
||||||
|
return pulsewidth;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool Servo::attached()
|
||||||
|
{
|
||||||
|
return servos[this->servoIndex].Pin.isActive ;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -0,0 +1,132 @@
|
|||||||
|
/*
|
||||||
|
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||||||
|
Copyright (c) 2009 Michael Margolis. All right reserved.
|
||||||
|
|
||||||
|
This library is free software; you can redistribute it and/or
|
||||||
|
modify it under the terms of the GNU Lesser General Public
|
||||||
|
License as published by the Free Software Foundation; either
|
||||||
|
version 2.1 of the License, or (at your option) any later version.
|
||||||
|
|
||||||
|
This library is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||||
|
Lesser General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU Lesser General Public
|
||||||
|
License along with this library; if not, write to the Free Software
|
||||||
|
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
|
||||||
|
A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
|
||||||
|
The servos are pulsed in the background using the value most recently written using the write() method
|
||||||
|
|
||||||
|
Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
||||||
|
Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
||||||
|
The sequence used to sieze timers is defined in timers.h
|
||||||
|
|
||||||
|
The methods are:
|
||||||
|
|
||||||
|
Servo - Class for manipulating servo motors connected to Arduino pins.
|
||||||
|
|
||||||
|
attach(pin ) - Attaches a servo motor to an i/o pin.
|
||||||
|
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
|
||||||
|
default min is 544, max is 2400
|
||||||
|
|
||||||
|
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
|
||||||
|
writeMicroseconds() - Sets the servo pulse width in microseconds
|
||||||
|
read() - Gets the last written servo pulse width as an angle between 0 and 180.
|
||||||
|
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
|
||||||
|
attached() - Returns true if there is a servo attached.
|
||||||
|
detach() - Stops an attached servos from pulsing its i/o pin.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef Servo_h
|
||||||
|
#define Servo_h
|
||||||
|
|
||||||
|
#include <inttypes.h>
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Defines for 16 bit timers used with Servo library
|
||||||
|
*
|
||||||
|
* If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
|
||||||
|
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
|
||||||
|
* _Nbr_16timers indicates how many 16 bit timers are available.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
// Say which 16 bit timers can be used and in what order
|
||||||
|
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||||
|
#define _useTimer5
|
||||||
|
//#define _useTimer1
|
||||||
|
#define _useTimer3
|
||||||
|
#define _useTimer4
|
||||||
|
//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
|
||||||
|
#elif defined(__AVR_ATmega32U4__)
|
||||||
|
//#define _useTimer1
|
||||||
|
#define _useTimer3
|
||||||
|
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
|
||||||
|
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
|
||||||
|
#define _useTimer3
|
||||||
|
//#define _useTimer1
|
||||||
|
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
|
||||||
|
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
|
||||||
|
#define _useTimer3
|
||||||
|
//#define _useTimer1
|
||||||
|
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
|
||||||
|
#else // everything else
|
||||||
|
//#define _useTimer1
|
||||||
|
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
typedef enum { _Nbr_16timers } timer16_Sequence_t ;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define Servo_VERSION 2 // software version of this library
|
||||||
|
|
||||||
|
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
|
||||||
|
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
|
||||||
|
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
|
||||||
|
#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
|
||||||
|
|
||||||
|
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
|
||||||
|
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
|
||||||
|
|
||||||
|
#define INVALID_SERVO 255 // flag indicating an invalid servo index
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
uint8_t nbr :6 ; // a pin number from 0 to 63
|
||||||
|
uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false
|
||||||
|
} ServoPin_t ;
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
ServoPin_t Pin;
|
||||||
|
unsigned int ticks;
|
||||||
|
} servo_t;
|
||||||
|
|
||||||
|
class Servo
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
Servo();
|
||||||
|
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
|
||||||
|
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
|
||||||
|
void detach();
|
||||||
|
void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
|
||||||
|
void writeMicroseconds(int value); // Write pulse width in microseconds
|
||||||
|
int read(); // returns current pulse width as an angle between 0 and 180 degrees
|
||||||
|
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
|
||||||
|
bool attached(); // return true if this servo is attached, otherwise false
|
||||||
|
private:
|
||||||
|
uint8_t servoIndex; // index into the channel data for this servo
|
||||||
|
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
|
||||||
|
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
File diff suppressed because it is too large
Load Diff
@ -1,223 +1,227 @@
|
|||||||
WARNING:
|
==========================
|
||||||
--------
|
Marlin 3D Printer Firmware
|
||||||
THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0
|
==========================
|
||||||
|
|
||||||
The configuration is now split in two files
|
Notes:
|
||||||
Configuration.h for the normal settings
|
-----
|
||||||
Configuration_adv.h for the advanced settings
|
|
||||||
|
The configuration is now split in two files:
|
||||||
Gen7T is not supported.
|
Configuration.h for the normal settings
|
||||||
|
Configuration_adv.h for the advanced settings
|
||||||
Quick Information
|
|
||||||
===================
|
Gen7T is not supported.
|
||||||
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.
|
|
||||||
|
Quick Information
|
||||||
Derived from Sprinter and Grbl by Erik van der Zalm.
|
===================
|
||||||
Sprinters lead developers are Kliment and caru.
|
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.
|
||||||
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.
|
Derived from Sprinter and Grbl by Erik van der Zalm.
|
||||||
Some features have been added by:
|
Sprinters lead developers are Kliment and caru.
|
||||||
Lampmaker, Bradley Feldman, and others...
|
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:
|
||||||
Features:
|
Lampmaker, Bradley Feldman, and others...
|
||||||
|
|
||||||
* Interrupt based movement with real linear acceleration
|
|
||||||
* High steprate
|
Features:
|
||||||
* Look ahead (Keep the speed high when possible. High cornering speed)
|
|
||||||
* Interrupt based temperature protection
|
* Interrupt based movement with real linear acceleration
|
||||||
* preliminary support for Matthew Roberts advance algorithm
|
* High steprate
|
||||||
For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
|
* Look ahead (Keep the speed high when possible. High cornering speed)
|
||||||
* Full endstop support
|
* Interrupt based temperature protection
|
||||||
* SD Card support
|
* preliminary support for Matthew Roberts advance algorithm
|
||||||
* SD Card folders (works in pronterface)
|
For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
|
||||||
* SD Card autostart support
|
* Full endstop support
|
||||||
* LCD support (ideally 20x4)
|
* SD Card support
|
||||||
* LCD menu system for autonomous SD card printing, controlled by an click-encoder.
|
* SD Card folders (works in pronterface)
|
||||||
* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
|
* SD Card autostart support
|
||||||
* many small but handy things originating from bkubicek's fork.
|
* LCD support (ideally 20x4)
|
||||||
* Arc support
|
* LCD menu system for autonomous SD card printing, controlled by an click-encoder.
|
||||||
* Temperature oversampling
|
* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
|
||||||
* Dynamic Temperature setpointing aka "AutoTemp"
|
* many small but handy things originating from bkubicek's fork.
|
||||||
* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
|
* Arc support
|
||||||
* Endstop trigger reporting to the host software.
|
* Temperature oversampling
|
||||||
* Updated sdcardlib
|
* Dynamic Temperature setpointing aka "AutoTemp"
|
||||||
* Heater power reporting. Useful for PID monitoring.
|
* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
|
||||||
* PID tuning
|
* Endstop trigger reporting to the host software.
|
||||||
* CoreXY kinematics (www.corexy.com/theory.html)
|
* Updated sdcardlib
|
||||||
* Configurable serial port to support connection of wireless adaptors.
|
* Heater power reporting. Useful for PID monitoring.
|
||||||
|
* PID tuning
|
||||||
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.
|
* 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
|
||||||
Differences and additions to the already good Sprinter firmware:
|
|
||||||
================================================================
|
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.
|
||||||
|
|
||||||
*Look-ahead:*
|
|
||||||
|
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.
|
*Look-ahead:*
|
||||||
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.
|
Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner,
|
||||||
|
lookahead will only decelerate and accelerate to a velocity,
|
||||||
*Arc support:*
|
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.
|
||||||
Slic3r can find curves that, although broken into segments, were ment to describe an arc.
|
It leads to less over-deposition at corners, especially at flat angles.
|
||||||
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.
|
*Arc support:*
|
||||||
Also, less serial communication is needed.
|
|
||||||
|
Slic3r can find curves that, although broken into segments, were ment to describe an arc.
|
||||||
*Temperature Oversampling:*
|
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.
|
||||||
To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
|
Also, less serial communication is needed.
|
||||||
|
|
||||||
*AutoTemp:*
|
*Temperature Oversampling:*
|
||||||
|
|
||||||
If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
|
To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
|
||||||
Usually, higher speed requires higher temperature.
|
|
||||||
This can now be performed by the AutoTemp function
|
*AutoTemp:*
|
||||||
By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
|
|
||||||
|
If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
|
||||||
You can leave it by calling M109 without any F.
|
Usually, higher speed requires higher temperature.
|
||||||
If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
|
This can now be performed by the AutoTemp function
|
||||||
The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
|
By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
|
||||||
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.
|
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].
|
||||||
*EEPROM:*
|
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.
|
||||||
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.
|
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.
|
||||||
After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
|
|
||||||
|
*EEPROM:*
|
||||||
*LCD Menu:*
|
|
||||||
|
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 your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
|
After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
|
||||||
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
|
*LCD Menu:*
|
||||||
Also, with just a 20x4 or 16x2 display, useful data is shown.
|
|
||||||
|
If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
|
||||||
*SD card folders:*
|
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
|
||||||
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".
|
Also, with just a 20x4 or 16x2 display, useful data is shown.
|
||||||
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:*
|
||||||
|
|
||||||
*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.
|
||||||
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.
|
Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
|
||||||
First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
|
|
||||||
|
*SD card folders:*
|
||||||
*Endstop trigger reporting:*
|
|
||||||
|
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.
|
||||||
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.
|
First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
|
||||||
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.
|
*Endstop trigger reporting:*
|
||||||
|
|
||||||
*Coding paradigm:*
|
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.
|
||||||
Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
|
However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
|
||||||
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.
|
*Coding paradigm:*
|
||||||
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
|
Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
|
||||||
some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
|
This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
|
||||||
necessary for backwards compatibility.
|
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.
|
||||||
*Interrupt based temperature measurements:*
|
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,
|
||||||
An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
|
necessary for backwards compatibility.
|
||||||
This leads to less blocking in the heater management routine.
|
|
||||||
|
*Interrupt based temperature measurements:*
|
||||||
|
|
||||||
Non-standard M-Codes, different to an old version of sprinter:
|
An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
|
||||||
==============================================================
|
This leads to less blocking in the heater management routine.
|
||||||
Movement:
|
|
||||||
|
|
||||||
* G2 - CW ARC
|
Non-standard M-Codes, different to an old version of sprinter:
|
||||||
* G3 - CCW ARC
|
==============================================================
|
||||||
|
Movement:
|
||||||
General:
|
|
||||||
|
* G2 - CW ARC
|
||||||
* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG.
|
* G3 - CCW ARC
|
||||||
* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG.
|
|
||||||
* M30 - Print time since last M109 or SD card start to serial
|
General:
|
||||||
* M42 - Change pin status via gcode
|
|
||||||
* M80 - Turn on Power Supply
|
* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG.
|
||||||
* M81 - Turn off Power Supply
|
* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG.
|
||||||
* M114 - Output current position to serial port
|
* M30 - Print time since last M109 or SD card start to serial
|
||||||
* M119 - Output Endstop status to serial port
|
* M42 - Change pin status via gcode
|
||||||
|
* M80 - Turn on Power Supply
|
||||||
Movement variables:
|
* M81 - Turn off Power Supply
|
||||||
|
* M114 - Output current position to serial port
|
||||||
* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
|
* M119 - Output Endstop status to serial port
|
||||||
* 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
|
Movement variables:
|
||||||
* 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.
|
* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
|
||||||
* M221 - set the extrude multiplying S:factor in percent
|
* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
|
||||||
* M400 - Finish all buffered moves.
|
* 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)
|
||||||
Temperature variables:
|
* 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.
|
||||||
* M301 - Set PID parameters P I and D
|
* M221 - set the extrude multiplying S:factor in percent
|
||||||
* M302 - Allow cold extrudes
|
* M400 - Finish all buffered moves.
|
||||||
* M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
|
|
||||||
|
Temperature variables:
|
||||||
Advance:
|
* M301 - Set PID parameters P I and D
|
||||||
|
* M302 - Allow cold extrudes
|
||||||
* M200 - Set filament diameter for advance
|
* M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
|
||||||
* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
|
|
||||||
|
Advance:
|
||||||
EEPROM:
|
|
||||||
|
* M200 - Set filament diameter for advance
|
||||||
* M500 - stores paramters in EEPROM. This parameters are stored: axis_steps_per_unit, max_feedrate, max_acceleration ,acceleration,retract_acceleration,
|
* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
|
||||||
minimumfeedrate,mintravelfeedrate,minsegmenttime, jerk velocities, PID
|
|
||||||
* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
|
EEPROM:
|
||||||
* 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)
|
* 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
|
||||||
MISC:
|
* 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.
|
||||||
* M240 - Trigger a camera to take a photograph
|
* M503 - print the current settings (from memory not from eeprom)
|
||||||
* M999 - Restart after being stopped by error
|
|
||||||
|
MISC:
|
||||||
Configuring and compilation:
|
|
||||||
============================
|
* M240 - Trigger a camera to take a photograph
|
||||||
|
* M999 - Restart after being stopped by error
|
||||||
Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
|
|
||||||
http://www.arduino.cc/en/Main/Software
|
Configuring and compilation:
|
||||||
|
============================
|
||||||
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
|
Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
|
||||||
|
http://www.arduino.cc/en/Main/Software
|
||||||
Install Ultimaker's RepG 25 build
|
|
||||||
http://software.ultimaker.com
|
For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
|
||||||
For SD handling and as better substitute (apart from stl manipulation) download
|
copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino
|
||||||
the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun
|
|
||||||
|
Install Ultimaker's RepG 25 build
|
||||||
Copy the Ultimaker Marlin firmware
|
http://software.ultimaker.com
|
||||||
https://github.com/ErikZalm/Marlin/tree/Marlin_v1
|
For SD handling and as better substitute (apart from stl manipulation) download
|
||||||
(Use the download button)
|
the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun
|
||||||
|
|
||||||
Start the arduino IDE.
|
Copy the Ultimaker Marlin firmware
|
||||||
Select Tools -> Board -> Arduino Mega 2560 or your microcontroller
|
https://github.com/ErikZalm/Marlin/tree/Marlin_v1
|
||||||
Select the correct serial port in Tools ->Serial Port
|
(Use the download button)
|
||||||
Open Marlin.pde
|
|
||||||
|
Start the arduino IDE.
|
||||||
Click the Verify/Compile button
|
Select Tools -> Board -> Arduino Mega 2560 or your microcontroller
|
||||||
|
Select the correct serial port in Tools ->Serial Port
|
||||||
Click the Upload button
|
Open Marlin.pde
|
||||||
If all goes well the firmware is uploading
|
|
||||||
|
Click the Verify/Compile button
|
||||||
Start Ultimaker's Custom RepG 25
|
|
||||||
Make sure Show Experimental Profiles is enabled in Preferences
|
Click the Upload button
|
||||||
Select Sprinter as the Driver
|
If all goes well the firmware is uploading
|
||||||
|
|
||||||
Press the Connect button.
|
Start Ultimaker's Custom RepG 25
|
||||||
|
Make sure Show Experimental Profiles is enabled in Preferences
|
||||||
KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z
|
Select Sprinter as the Driver
|
||||||
|
|
||||||
That's ok. Enjoy Silky Smooth Printing.
|
Press the Connect button.
|
||||||
|
|
||||||
|
KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z
|
||||||
|
|
||||||
|
That's ok. Enjoy Silky Smooth Printing.
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
Loading…
Reference in New Issue