Derived from Sprinter and Grbl by Erik van der Zalm.\r
Sprinters lead developers are Kliment and caru.\r
Grbls lead developer is Simen Svale Skogsrud.\r
-Some features have been added by and configuration has been added by:\r
-Bernhard Kubicek, Matthijs Keuper, Bradley Feldman, and others...\r
+A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.\r
+Some features have been added by:\r
+Lampmaker, Bradley Feldman, and others...\r
\r
\r
Features:\r
- preliminary support for Matthew Roberts advance algorithm \r
For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html\r
- Full endstop support\r
- - Simple LCD support (16x2)\r
- SD Card support\r
- - Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd\r
+ - SD Card folders (works in pronterface)\r
+ - LCD support (ideally 20x4) \r
+ - LCD menu system for autonomous SD card printing, controlled by an click-encoder. \r
+ - EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables\r
+ - many small but handy things originating from bkubicek's fork.\r
+ - Arc support\r
+ - Temperature oversampling\r
+ - Dynamic Temperature setpointing aka "AutoTemp"\r
+ - Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin\r
+ - Endstop trigger reporting to the host software.\r
+ - Updated sdcardlib\r
+ - Heater power reporting. Useful for PID monitoring.\r
\r
This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560).\r
\r
-The default baudrate is 115200. \r
+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.\r
\r
\r
========================================================================================\r
+Differences and additions to the already good Sprinter firmware:\r
+\r
+Look-ahead:\r
+Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, \r
+lookahead will only decelerate and accelerate to a velocity, \r
+so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.\r
+This is only possible, if some future moves are already processed, hence the name. \r
+It leads to less over-deposition at corners, especially at flat angles.\r
+\r
+Arc support: \r
+Splic3r can find curves that, although broken into segments, were ment to describe an arc.\r
+Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,\r
+and can perform the arc with nearly constant velocity, resulting in a nice finish. \r
+Also, less serial communication is needed.\r
+\r
+Temperature Oversampling:\r
+To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.\r
+\r
+AutoTemp:\r
+If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.\r
+Usually, higher speed requires higher temperature.\r
+This can now be performed by the AutoTemp function\r
+By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.\r
+You can leave it by calling M109 without any F.\r
+If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].\r
+The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.\r
+If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.\r
+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.\r
+\r
+EEPROM:\r
+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.\r
+After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.\r
+\r
+LCD Menu:\r
+If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,\r
+accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.\r
+One working hardware is documented here: http://www.thingiverse.com/thing:12663 \r
+Also, with just a 20x4 or 16x2 display, useful data is shown.\r
+\r
+SD card folders:\r
+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".\r
+You can write to file in a subfolder by specifying a similar text using small letters in the path.\r
+Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".\r
+\r
+Endstop trigger reporting:\r
+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.\r
+This is useful, because the user gets a warning message.\r
+However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.\r
+\r
+Coding paradigm:\r
+Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.\r
+This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.\r
+We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.\r
+A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.\r
+In the serial communication, a #define based level of abstraction was enforced, so that it is clear that\r
+some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,\r
+necessary for backwards compatibility.\r
+\r
+Interrupt based temperature measurements:\r
+An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.\r
+This leads to less blocking in the heater management routine.\r
+\r
+========================================================================================\r
+Non-standard M-Codes, different to an old version of sprinter:\r
+\r
+G2 - CW ARC\r
+G3 - CCW ARC\r
+\r
+General:\r
+M17 - Enable/Power all stepper motors\r
+M18 - Disable all stepper motors; same as M84\r
+M30 - Print time since last M109 or SD card start to serial\r
+M42 - Change pin status via gcode\r
+M80 - Turn on Power Supply\r
+M81 - Turn off Power Supply\r
+M114 - Output current position to serial port \r
+M119 - Output Endstop status to serial port\r
+Movement variables:\r
+M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!\r
+M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec\r
+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\r
+M220 - set build speed factor override percentage S:factor in percent ; aka "realtime tuneing in the gcode"\r
+M301 - Set PID parameters P I and D\r
+M400 - Finish all moves\r
+\r
+Advance:\r
+M200 - Set filament diameter for advance\r
+M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk\r
+\r
+EEPROM:\r
+M500 - stores paramters in EEPROM\r
+M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). \r
+M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.\r
+========================================================================================\r
+\r
+\r
\r
Configuring and compilation\r
\r
\r
-Install the latest arduino software IDE/toolset (currently 0022)\r
+Install the arduino software IDE/toolset v22\r
http://www.arduino.cc/en/Main/Software\r
\r
Install Ultimaker's RepG 25 build\r
http://software.ultimaker.com\r
-(or alternatively install Kliment's printrun/pronterface https://github.com/kliment/Printrun_)\r
+For SD handling and as better substitute (apart from stl manipulation) download\r
+the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun\r
\r
Copy the Ultimaker Marlin firmware\r
- https:/github.com/bkubicek/Marlin\r
+ https://github.com/ErikZalm/Marlin/tree/Marlin_v1\r
(Use the download button)\r
\r
Start the arduino IDE.\r
-Select Tools -> Board -> Arduino Mega 2560 \r
+Select Tools -> Board -> Arduino Mega 2560 or your microcontroller\r
Select the correct serial port in Tools ->Serial Port\r
Open Marlin.pde\r
\r
~ianmdlvl / marlin.git / commitdiff