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g2core - The Next Generation
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g2core

Build Status

What it is

g2core is a 9 axes (XYZABC+UVW) motion control system designed for high-performance on small to mid-sized machines.

Our default target is the Arduino Due, though it can also be used with other boards.

Some features:

Mailing List

For both user and developer discussions of g2core, we recently created a mailing list:

Please feel welcome to join in. :smile:

g2core - Edge Branch

G2 Edge is the branch for beta testing new features under development. New features are developed in feature branches and merged into the edge branch. Periodically edge is promoted to (stable) master.

Edge is for the adventurous. It is not guaranteed to be stable, but we do our best to achieve this. For production uses we recommend using the Master branch.

Firmware Build 101 {fb:101.xx}

Feature Enhancements

New features added. See linked issues and pull requests for details

Internal Changes and Bug Fixes

Many things have changed in the internals for this very large pull request. The following list highlights some of these changes but is not meant to be comprehensive.

Feature Enhancements

Firmware Build 101 {fb:101.xx}

The fb:101 release is a mostly internal change from the fb:100 branches. Here are the highlights, more detailed on each item are further below:

Firmware Build 100 {fb:100.xx}

The fb:100 release is a major change from the fb:089 and earlier branches. It represents about a year of development and has many major feature enhancements summarized below. These are described in more detail in the rest of this readme and the linked wiki pages.

Project Changes

The project is now called g2core (even if the repo remains g2). As of this release the g2core code base is split from the TinyG code base. TinyG will continue to be supported for the Xmega 8-bit platform, and new features will be added, specifically as related to continued support for CNC milling applications. The g2core project will focus on various ARM platforms, as it currently does, and add functions that are not possible in the 8-bit platform.

In this release the Motate hardware abstraction layer has been split into a separate project and is included in g2core as a git submodule. This release also provides better support for cross platform / cross target compilation. A summary of project changes is provided below, with details in this readme and linked wiki pages.

More To Come

The fb:100 release is the base for number of other enhancements in the works and planned, including:

Changelog for Edge Branch

Edge branch, Build 101.xx

This build is primarily focused on support for the new boards based on the Atmel SamS70 family, as well as refining the motion control and long awaited feature enhancements. This list will be added to as development proceed.s

Edge branch, Build 100.xx

Build 100.xx has a number of changes, mostly related to extending Gcode support and supporting 3D printing using g2core. These include temperature controls, auto-bed leveling, planner performance improvements and active JSON comments in Gcode.

Communications has advanced to support a linemode protocol to greatly simplify host communications and flow control for very rapid Gcode streams. Please read the Communications pages for details. Also see the NodeJS communications module docs if you are building a UI or host controller.

Build 100.xx also significantly advances the project structure to support multiple processor architectures, hardware configurations and machine configurations in the same code base. Motate has been cleaved off into its own subproject. We recommend carefully reading the Dev pages if you are coding or compiling.

Functional Changes:

Note: Click the header next to the arrow to expand and display the details.

Linear-Velocity Segment Execution - The overall motion is still jerk-controlled and the computation of motion remains largely the same (although slightly simplified). At the smallest level above raw steps (what we call "segments," which are nominally 0.25ms to 1ms in duration) we previously executed the steps at a constant velocity. We now execute them with a linear change from a start velocity to an end velocity. This results in smoother motion that is more faithful to the planned jerk constraints. - This changed the way the forward differences are used to compute the segment speeds as well. Previously, we were computing the curve at the midpoint (time-wise) of each segment in order to get the median velocity. Now that we want the start and end velocity of each segment we only compute the end (time-wise) of each segment, and use that again later as the start-point of the next segment.
Probing enhancements - Added `{"prbs":true}` to store the current position as if it were to position of a succesful probe. - Added `{"prbr":true}` to enable and `{"prbr":false}` to enable and disable (respectively) the JSON `{prb:{...}}` report after a probe.
gQuintic support - Support for the gQuintic rev B was added. Support for rev D will come shortly.
Temperature control enhancements - Added the following settings defines: - `HAS_TEMPERATURE_SENSOR_1`, `HAS_TEMPERATURE_SENSOR_2`, and `HAS_TEMPERATURE_SENSOR_3` - `EXTRUDER_1_OUTPUT_PIN`, `EXTRUDER_2_OUTPUT_PIN`, and `BED_OUTPUT_PIN` - Added `BED_OUTPUT_INIT` in order to control configuration of the Bed output pin settings. - Defaults to `{kNormal, fet_pin3_freq}`. - `EXTRUDER_1_FAN_PIN` for control of the temperature-enabled fan on extruder 1. (Only available on extruder 1 at the moment.) - (*Experimental*) Analog input is now interpreted through one of various `ADCCircuit` objects. - Three are provided currently: `ADCCircuitSimplePullup`, `ADCCircuitDifferentialPullup`, `ADCCircuitRawResistance` - `Thermistor` and `PT100` objects no longer take the pullup value in their constructor, but instead take a pointer to an `ADCCircuit` object. - `Thermistor` and `PT100` objects no longer assume an `ADCPin` is used, but now take the type that conforms to the `ADCPin` interface as a template argument. - **TODO:** Make more of these configurable at runtime. Separate the ADC input from the consumer, and allow other things than temperature to read it. - PID+FF control adds feed-forward (FF) to adjust the output to a reasonable minimum based on heat loss dues to room temperature. - This can be effectively disabled, making the controller a PID controller, by setting the F value to `0.0`. - **Warning** setting this value too high can cause thermal runaway. Set this value conservatively (low), since there's currently no ambient temperature, and the actual heat loss may be less than computed. This will be magnified by another heater (such as that on a heat bed of a 3D printer) in close proximity.
TMC2130 JSON controls - Added the following setting keys to the motors (`1` - `6`): - `ts` - *(R)* get the value of the `TSTEP` register - `pth` - *(R/W)* get/set the value of the `TPWMTHRS` register - `cth` - *(R/W)* get/set the value of the `TCOOLTHRS` register - `hth` - *(R/W)* get/set the value of the `THIGH` register - `sgt` - *(R/W)* get/set the value of the `sgt` value of the `COOLCONF` register - `sgr` - *(R)* get the `SG_RESULT` value of the `DRV_STATUS` register - `csa` - *(R)* get the `CS_ACTUAL` value of the `DRV_STATUS` register - `sgs` - *(R)* get the `stallGuard` value of the `DRV_STATUS` register - `tbl` - *(R/W)* get/set the `TBL` value of the `CHOPCONF` register - `pgrd` - *(R/W)* get/set the `PWM_GRAD` value of the `PWMCONF` register - `pamp` - *(R/W)* get/set the `PWM_AMPL` value of the `PWMCONF` register - `hend` - *(R/W)* get/set the `HEND_OFFSET` value of the `CHOPCONF` register - `hsrt` - *(R/W)* get/set the `HSTRT/TFD012` value of the `CHOPCONF` register - `smin` - *(R/W)* get/set the `semin` value of the `COOLCONF` register - `smax` - *(R/W)* get/set the `semax` value of the `COOLCONF` register - `sup` - *(R/W)* get/set the `seup` value of the `COOLCONF` register - `sdn` - *(R/W)* get/set the `sedn` value of the `COOLCONF` register - Note that all gets retrieve the last cached value.
Core XY Kinematics Support - Enabled at compile-time by setting the `KINEMATICS` define to `KINE_CORE_XY` - The default (and only other valid value) for `KINEMATICS` is `KINE_CARTESIAN` - Note that the X and Y axes must have the same settings, or the behavior is undefined. - For the sake of motor mapping, the values `AXIS_COREXY_A` and `AXIS_COREXY_B` have been created. - Example usage: ```c++ #define M1_MOTOR_MAP AXIS_COREXY_A // 1ma #define M2_MOTOR_MAP AXIS_COREXY_B // 2ma ```
Planner settings control from board files - The defines `PLANNER_QUEUE_SIZE` and `MIN_SEGMENT_MS` are now set in the `board/*/hardware.h` files. - `PLANNER_QUEUE_SIZE` sets the size of the planner buffer array. - Default value if not defined: `48` - `MIN_SEGMENT_MS` sets the minimum segment time (in milliseconds) and several other settings that are comuted based on it. - Default values if not defined: `0.75` - A few of the computed values are shown: ```c++ #define NOM_SEGMENT_MS ((float)MIN_SEGMENT_MS*2.0) // nominal segment ms (at LEAST MIN_SEGMENT_MS * 2) #define MIN_BLOCK_MS ((float)MIN_SEGMENT_MS*2.0) // minimum block (whole move) milliseconds ```
Experimental traverse at high jerk - The new define `TRAVERSE_AT_HIGH_JERK` can be set to `true`, making traverse (`G0`) moves (including `E`-only moves in Marlin-flavored gcode mode) will use the jerk-high (`jh`) settings. - If set to `false` or undefined `G0` moves will continue to use the jerk-max (`jm`) settings that feed (`G1`) moves use.
PID+FF - added feed forward - There is a new JSON value `f` in each `pid`*`n`* object (read-only, for reporting) as well as an `f` setting in the `he`*`n`* objects (for control). - This is controlled in the settings file via `H`*`n`*`_DEFAULT_F`, such as `H1_DEFAULT_F`. Default value is `0.0`. - This is a value that is multiplied to by current temp - 21 and added to the current computed output. - **Warning!** Setting this value too high can result in thermal runaway. Set it conservatively (low) or disable it completely if in doubt. - Set the `he`*`n`*`f` value to `0.0` to effectively disable feed-forward.
Output setting as soon as possible - At board initialization, the output value on each of the `out` objects is set to whatever the pin is configured to be "inactive." This is based on the settings file `DO`*n*`_MODE` setting. - For example, if `DO10_MODE == IO_ACTIVE_LOW` then the pin at `DO10` is initialized as `HIGH` at board setup. This happen even before the `main()` function starts, shortly after the GPIO clocks are enabled for each port.