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347 lines
18 KiB
Markdown
347 lines
18 KiB
Markdown
==========================
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Marlin 3D Printer Firmware
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==========================
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[](https://scan.coverity.com/projects/2224)
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Marlin has a GPL license because I believe in open development.
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Please do not use this code in products (3D printers, CNC etc) that are closed source or are crippled by a patent.
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[](https://flattr.com/submit/auto?user_id=ErikZalm&url=https://github.com/ErikZalm/Marlin&title=Marlin&language=&tags=github&category=software)
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Quick Information
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===================
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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.
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Derived from Sprinter and Grbl by Erik van der Zalm.
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Sprinters lead developers are Kliment and caru.
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Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
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A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
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Some features have been added by:
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Lampmaker, Bradley Feldman, and others...
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Features:
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=========
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* Interrupt based movement with real linear acceleration
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* High steprate
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* Look ahead (Keep the speed high when possible. High cornering speed)
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* Interrupt based temperature protection
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* preliminary support for Matthew Roberts advance algorithm
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For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
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* Full endstop support
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* SD Card support
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* SD Card folders (works in pronterface)
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* SD Card autostart support
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* LCD support (ideally 20x4)
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* LCD menu system for autonomous SD card printing, controlled by an click-encoder.
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* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
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* many small but handy things originating from bkubicek's fork.
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* Arc support
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* Temperature oversampling
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* Dynamic Temperature setpointing aka "AutoTemp"
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* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
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* Endstop trigger reporting to the host software.
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* Updated sdcardlib
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* Heater power reporting. Useful for PID monitoring.
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* PID tuning
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* CoreXY kinematics (www.corexy.com/theory.html)
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* Delta kinematics
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* Dual X-carriage support for multiple extruder systems
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* Configurable serial port to support connection of wireless adaptors.
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* Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
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* RC Servo Support, specify angle or duration for continuous rotation servos.
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* Bed Auto Leveling.
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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.
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Differences and additions to the already good Sprinter firmware:
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================================================================
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Look-ahead:
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-----------
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Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner,
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lookahead will only decelerate and accelerate to a velocity,
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so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
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This is only possible, if some future moves are already processed, hence the name.
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It leads to less over-deposition at corners, especially at flat angles.
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Arc support:
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------------
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Slic3r can find curves that, although broken into segments, were ment to describe an arc.
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Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
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and can perform the arc with nearly constant velocity, resulting in a nice finish.
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Also, less serial communication is needed.
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Temperature Oversampling:
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-------------------------
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To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
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AutoTemp:
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---------
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If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
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Usually, higher speed requires higher temperature.
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This can now be performed by the AutoTemp function
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By calling M109 S<mintemp> B<maxtemp> F<factor> you enter the autotemp mode.
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You can leave it by calling M109 without any F.
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If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
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The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
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If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
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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.
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EEPROM:
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-------
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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.
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After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
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LCD Menu:
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---------
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If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
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accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
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One working hardware is documented here: http://www.thingiverse.com/thing:12663
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Also, with just a 20x4 or 16x2 display, useful data is shown.
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SD card folders:
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----------------
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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".
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You can write to file in a subfolder by specifying a similar text using small letters in the path.
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Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
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SD card folders:
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----------------
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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.
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First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
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Endstop trigger reporting:
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--------------------------
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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.
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This is useful, because the user gets a warning message.
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However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
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Coding paradigm:
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----------------
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Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
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This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
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We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
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A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
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In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
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some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
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necessary for backwards compatibility.
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Interrupt based temperature measurements:
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-----------------------------------------
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An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
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This leads to less blocking in the heater management routine.
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Implemented G Codes:
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====================
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* G0 -> G1
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* G1 - Coordinated Movement X Y Z E
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* G2 - CW ARC
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* G3 - CCW ARC
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* G4 - Dwell S<seconds> or P<milliseconds>
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* G10 - retract filament according to settings of M207
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* G11 - retract recover filament according to settings of M208
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* G28 - Home all Axis
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* G29 - Detailed Z-Probe, probes the bed at 3 points. You must de at the home position for this to work correctly.
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* G30 - Single Z Probe, probes bed at current XY location.
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* G90 - Use Absolute Coordinates
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* G91 - Use Relative Coordinates
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* G92 - Set current position to cordinates given
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M Codes
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* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
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* M1 - Same as M0
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* M17 - Enable/Power all stepper motors
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* M18 - Disable all stepper motors; same as M84
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* M20 - List SD card
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* M21 - Init SD card
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* M22 - Release SD card
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* M23 - Select SD file (M23 filename.g)
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* M24 - Start/resume SD print
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* M25 - Pause SD print
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* M26 - Set SD position in bytes (M26 S12345)
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* M27 - Report SD print status
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* M28 - Start SD write (M28 filename.g)
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* M29 - Stop SD write
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* M30 - Delete file from SD (M30 filename.g)
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* M31 - Output time since last M109 or SD card start to serial
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* M32 - Select file and start SD print (Can be used when printing from SD card)
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* M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
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* M80 - Turn on Power Supply
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* M81 - Turn off Power Supply
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* M82 - Set E codes absolute (default)
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* M83 - Set E codes relative while in Absolute Coordinates (G90) mode
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* M84 - Disable steppers until next move, or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
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* M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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* M92 - Set axis_steps_per_unit - same syntax as G92
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* M104 - Set extruder target temp
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* M105 - Read current temp
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* M106 - Fan on
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* M107 - Fan off
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* M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
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* Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
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* M112 - Emergency stop
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* M114 - Output current position to serial port
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* M115 - Capabilities string
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* M117 - display message
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* M119 - Output Endstop status to serial port
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* M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
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* M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
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* M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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* M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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* M140 - Set bed target temp
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* M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
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* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
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* M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
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* M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
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* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
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* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
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* 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
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* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
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* M206 - set additional homeing offset
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* M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
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* M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
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* M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
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* M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
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* M220 S<factor in percent>- set speed factor override percentage
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* M221 S<factor in percent>- set extrude factor override percentage
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* M240 - Trigger a camera to take a photograph
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* M280 - Position an RC Servo P<index> S<angle/microseconds>, ommit S to report back current angle
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* M300 - Play beepsound S<frequency Hz> P<duration ms>
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* M301 - Set PID parameters P I and D
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* M302 - Allow cold extrudes
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* M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
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* M304 - Set bed PID parameters P I and D
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* M400 - Finish all moves
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* M401 - Lower z-probe if present
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* M402 - Raise z-probe if present
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* M500 - stores paramters in EEPROM
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* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
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* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
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* M503 - print the current settings (from memory not from eeprom)
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* M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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* M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
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* M907 - Set digital trimpot motor current using axis codes.
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* M908 - Control digital trimpot directly.
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* M350 - Set microstepping mode.
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* M351 - Toggle MS1 MS2 pins directly.
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* M928 - Start SD logging (M928 filename.g) - ended by M29
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* M999 - Restart after being stopped by error
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Configuring and compilation:
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============================
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Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x)
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http://www.arduino.cc/en/Main/Software
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Download the Marlin firmware
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https://github.com/ErikZalm/Marlin/tree/Marlin_v1
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Use the "Download Zip" button on the right.
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For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
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copy ArduinoAddons\Arduino_x.x.x\sanguino <arduino home>\hardware\Sanguino
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Start the arduino IDE.
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Select Tools -> Board -> Arduino Mega 2560 or your microcontroller
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Select the correct serial port in Tools ->Serial Port
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Open Marlin.pde
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Click the Verify/Compile button
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Click the Upload button
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If all goes well the firmware is uploading
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That's ok. Enjoy Silky Smooth Printing.
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===============================================
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Instructions for configuring Bed Auto Leveling
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===============================================
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Uncomment the "ENABLE_AUTO_BED_LEVELING" define (commented by default)
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You will probably need a swivel Z-MIN endstop in the extruder. A rc servo do a great job.
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Check the system working here: http://www.youtube.com/watch?v=3IKMeOYz-1Q (Enable English subtitles)
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Teasing ;-) video: http://www.youtube.com/watch?v=x8eqSQNAyro
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In order to get the servo working, you need to enable:
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* \#define NUM_SERVOS 1 // Servo index starts with 0 for M280 command
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* \#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
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* \#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 165,60} // X,Y,Z Axis Extend and Retract angles
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The first define tells firmware how many servos you have.
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The second tells what axis this servo will be attached to. In the example above, we have a servo in Z axis.
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The third one tells the angle in 2 situations: Probing (165º) and resting (60º). Check this with command M280 P0 S{angle} (example: M280 P0 S60 moves the servo to 60º)
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For RAMPS users:
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----------------
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By default, RAMPS have no power on servo bus (if you happen to have a multimeter, check the voltage on servo power pins).
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In order to get the servo working, you need to supply 5V to 5V pin.. You can do it using your power supply (if it has a 5V output) or jumping the "Vcc" from Arduino to the 5V RAMPS rail.
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These 2 pins are located just between the Reset Button and the yellow fuses... There are marks in the board showing 5V and VCC.. just connect them..
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If jumping the arduino Vcc do RAMPS 5V rail, take care to not use a power hungry servo, otherwise you will cause a blackout in the arduino board ;-)
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Next you need to define the Z endstop (probe) offset from hotend.
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My preferred method:
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* a) Make a small mark in the bed with a marker/felt-tip pen.
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* b) Place the hotend tip as *exactly* as possible on the mark, touching the bed. Raise the hotend 0.1mm (a regular paper thickness) and zero all axis (G92 X0 Y0 Z0);
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* d) Raise the hotend 10mm (or more) for probe clearance, lower the Z probe (Z-Endstop) with M401 and place it just on that mark by moving X, Y and Z;
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* e) Lower the Z in 0.1mm steps, with the probe always touching the mark (it may be necessary to adjust X and Y as well) until you hear the "click" meaning the mechanical endstop was trigged. You can confirm with M119;
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* f) Now you have the probe in the same place as your hotend tip was before. Perform a M114 and write down the values, for example: X:24.3 Y:-31.4 Z:5.1;
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* g) You can raise the z probe with M402 command;
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* h) Fill the defines bellow multiplying the values by "-1" (just change the signal)
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* \#define X_PROBE_OFFSET_FROM_EXTRUDER -24.3
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* \#define Y_PROBE_OFFSET_FROM_EXTRUDER 31.4
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* \#define Z_PROBE_OFFSET_FROM_EXTRUDER -5.1
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The following options define the probing positions. These are good starting values.
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I recommend to keep a better clearance from borders in the first run and then make the probes as close as possible to borders:
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* \#define LEFT_PROBE_BED_POSITION 30
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* \#define RIGHT_PROBE_BED_POSITION 140
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* \#define BACK_PROBE_BED_POSITION 140
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* \#define FRONT_PROBE_BED_POSITION 30
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A few more options:
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* \#define XY_TRAVEL_SPEED 6000
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X and Y axis travel speed between probes, in mm/min.
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Bear in mind that really fast moves may render step skipping. 6000 mm/min (100mm/s) is a good value.
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* \#define Z_RAISE_BEFORE_PROBING 10
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* \#define Z_RAISE_BETWEEN_PROBINGS 10
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The Z axis is lifted when traveling to the first probe point by Z_RAISE_BEFORE_PROBING value
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and then lifted when traveling from first to second and second to third point by Z_RAISE_BETWEEN_PROBINGS.
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All values are in mm as usual.
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That's it.. enjoy never having to calibrate your Z endstop neither leveling your bed by hand anymore ;-)
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