diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index 92e3ff9ce..bda479e3c 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -1399,11 +1399,11 @@ void process_commands() updatePID(); SERIAL_PROTOCOL(MSG_OK); SERIAL_PROTOCOL(" p:"); - SERIAL_PROTOCOL(Kp); + SERIAL_PROTOCOL(bedKp); SERIAL_PROTOCOL(" i:"); - SERIAL_PROTOCOL(Ki/PID_dT); + SERIAL_PROTOCOL(bedKi/PID_dT); SERIAL_PROTOCOL(" d:"); - SERIAL_PROTOCOL(Kd*PID_dT); + SERIAL_PROTOCOL(bedKd*PID_dT); SERIAL_PROTOCOLLN(""); } break; diff --git a/README.md b/README.md index 3fd246345..fb2c18968 100644 --- a/README.md +++ b/README.md @@ -1,22 +1,222 @@ WARNING: -------- -This is an experimental modification to allow PID on your bed heater. +THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0 -This will run at the same frequency as the main PID loop. Make sure you heater FET or SSR can do this. I use a fotek SSR-10DA and it's fine +The configuration is now split in two files +Configuration.h for the normal settings +Configuration_adv.h for the advanced settings -add something like this to you configuration (pulling this branch will get you this +Gen7T is not supported. -~~~~~~~~~~~~~~~~~~~~ -#define PIDTEMPBED +Quick Information +=================== +This RepRap firmware is a mashup between Sprinter, grbl and many original parts. -//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10) - #define DEFAULT_bedKp 10.00 - #define DEFAULT_bedKi .023 - #define DEFAULT_bedKd 305.4 -~~~~~~~~~~~~~~~~~~~~ +Derived from Sprinter and Grbl by Erik van der Zalm. +Sprinters lead developers are Kliment and caru. +Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl +A fork by bkubicek for the Ultimaker was merged, and further development was aided by him. +Some features have been added by: +Lampmaker, Bradley Feldman, and others... -Autotune works for the bed. Give it an "M303 E-1 C8 S90" to run autotune on the bed at 90 degrees for 8 cycles. +Features: + +* Interrupt based movement with real linear acceleration +* High steprate +* Look ahead (Keep the speed high when possible. High cornering speed) +* Interrupt based temperature protection +* preliminary support for Matthew Roberts advance algorithm + For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html +* Full endstop support +* SD Card support +* SD Card folders (works in pronterface) +* SD Card autostart support +* LCD support (ideally 20x4) +* LCD menu system for autonomous SD card printing, controlled by an click-encoder. +* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables +* many small but handy things originating from bkubicek's fork. +* Arc support +* Temperature oversampling +* Dynamic Temperature setpointing aka "AutoTemp" +* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin +* Endstop trigger reporting to the host software. +* Updated sdcardlib +* Heater power reporting. Useful for PID monitoring. +* PID tuning +* CoreXY kinematics (www.corexy.com/theory.html) + +The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments. + + +Differences and additions to the already good Sprinter firmware: +================================================================ + +*Look-ahead:* + +Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, +lookahead will only decelerate and accelerate to a velocity, +so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity. +This is only possible, if some future moves are already processed, hence the name. +It leads to less over-deposition at corners, especially at flat angles. + +*Arc support:* + +Slic3r can find curves that, although broken into segments, were ment to describe an arc. +Marlin is able to print those arcs. The advantage is the firmware can choose the resolution, +and can perform the arc with nearly constant velocity, resulting in a nice finish. +Also, less serial communication is needed. + +*Temperature Oversampling:* + +To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged. + +*AutoTemp:* + +If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly. +Usually, higher speed requires higher temperature. +This can now be performed by the AutoTemp function +By calling M109 S T F you enter the autotemp mode. + +You can leave it by calling M109 without any F. +If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec]. +The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax. +If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change. +Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode. + +*EEPROM:* + +If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM. +After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says. + +*LCD Menu:* + +If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures, +accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff. +One working hardware is documented here: http://www.thingiverse.com/thing:12663 +Also, with just a 20x4 or 16x2 display, useful data is shown. + +*SD card folders:* + +If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g". +You can write to file in a subfolder by specifying a similar text using small letters in the path. +Also, backup copies of various operating systems are hidden, as well as files not ending with ".g". + +*SD card folders:* + +If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu. +First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction. + +*Endstop trigger reporting:* + +If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port. +This is useful, because the user gets a warning message. +However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration. + +*Coding paradigm:* + +Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables. +This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization. +We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future. +A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory. +In the serial communication, a #define based level of abstraction was enforced, so that it is clear that +some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol, +necessary for backwards compatibility. + +*Interrupt based temperature measurements:* + +An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures. +This leads to less blocking in the heater management routine. + + +Non-standard M-Codes, different to an old version of sprinter: +============================================================== +Movement: + +* G2 - CW ARC +* G3 - CCW ARC + +General: + +* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG. +* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG. +* M30 - Print time since last M109 or SD card start to serial +* M42 - Change pin status via gcode +* M80 - Turn on Power Supply +* M81 - Turn off Power Supply +* M114 - Output current position to serial port +* M119 - Output Endstop status to serial port + +Movement variables: + +* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!! +* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec +* M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate +* M206 - set home offsets. This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware) +* M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise. +* M221 - set the extrude multiplying S:factor in percent +* M400 - Finish all buffered moves. + +Temperature variables: +* M301 - Set PID parameters P I and D +* M302 - Allow cold extrudes +* M303 - PID relay autotune S sets the target temperature. (default target temperature = 150C) + +Advance: + +* M200 - Set filament diameter for advance +* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk + +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 +* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. +* M503 - print the current settings (from memory not from eeprom) + +MISC: + +* M240 - Trigger a camera to take a photograph +* M999 - Restart after being stopped by error + +Configuring and compilation: +============================ + +Install the arduino software IDE/toolset v22 + http://www.arduino.cc/en/Main/Software + +For gen6 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment. + copy Marlin\sanguino \hardware\Sanguino + +Install Ultimaker's RepG 25 build + http://software.ultimaker.com +For SD handling and as better substitute (apart from stl manipulation) download +the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun + +Copy the Ultimaker Marlin firmware + https://github.com/ErikZalm/Marlin/tree/Marlin_v1 + (Use the download button) + +Start the arduino IDE. +Select Tools -> Board -> Arduino Mega 2560 or your microcontroller +Select the correct serial port in Tools ->Serial Port +Open Marlin.pde + +Click the Verify/Compile button + +Click the Upload button +If all goes well the firmware is uploading + +Start Ultimaker's Custom RepG 25 +Make sure Show Experimental Profiles is enabled in Preferences +Select Sprinter as the Driver + +Press the Connect button. + +KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z + +That's ok. Enjoy Silky Smooth Printing.