hey everyone how's it going so uh everyone hear me all right good all
right how many people here have heard of Marlin firmware all right that's about
everybody how many people of you how many of you have ever installed or
upgraded your printer right on Wow okay so most of you that's great yeah so my
name is Scott latina I'm the maintainer or custodian janitor of Marlin firmware
and basically right now we're in a big transitional stage moving on to 32-bit
boards expanding our features and just basically trying to keep up with the
state of the art sort of stuff you'd expect to be in your firmware obviously
a lot of new features are coming online people expect you know filament run out
detection and power loss recovery and stuff like that so a lot of that's going
on but let's try this button hey all right so my background is in software I
started out doing you know like a lot of people just playing around with Atari
computers and learning to code and did some game coding in the in the 80s and
90s written some music software for fun on the Mac and for a while did web
development and wrote some Mac apps and got into mobile basically been playing
with all these kind of stuff for a long time
but I got really tired of being on the desktop it's probably why I went to
mobile in the first place and touch sort of started to get away from that
paradigm of you know sitting in front of a screen and doing everything with a
mouse and keyboard and so I started playing with that and creative coding
sort of called to me a little bit and in the process of exploring creative coding
I discovered there's this thing called Arduino and you could do all kinds of
things art installations or whatever with with these little embedded coding
processors and so that sort of drew me in and when I
was looking for projects to to do something with an Arduino as I was
looking around I discovered that they were the the heart of a lot of these
devices called 3d printers and there'd been this RepRap thing and that had
popped up and so I immediately started playing with that I thought that would
be a good first project you know get a printer first and then then you can make
the stuff that you need to make your stuff and so that would be a great start
rather than doing something like a an LED cube or something like that which
can be good but you know it's just it's good soldering practice is basically all
you get out of that so let's hey so there they are
yeah exactly coding and electronics means I can get away from the desktop
and you know we didn't have these things when I was in high school or I might
have gotten into electronics a lot sooner at that time I actually had an
electronics class and I dropped it because I was like I'll take a free
period I'm already doing code and I don't quite get this and at that time
electronics was all about like radio making radios and maybe you could build
a Heathkit computer and things like that so it wasn't quite as interesting or
exciting to me as someone who was doing software already it was like oh I can
make a few logic gates but if I was ever going to build something as complex as
the programs I'm already writing and that would take me forever and I would
rather just sit down write the code have it happen then try and get into gates
and things but later on these things came along and it became quite clear
that there's a whole other level you could you could write your code in C++
now in Python or other languages and just send signals and it became much
clearer that hey it's all about signals and input and output all right of course
so you know what I was already doing at the computer I could now expand into the
real world so of course the first thing I did was I got myself a crucian and
started I built that and started playing around with you know I got very excited
with the first time I could design something and openscad and print it and
have it in my hand have kind of blew my mind so you know
fixing my blenders and making business cards and doing whatever else because
you know what you do you've just disguised the limit so let's try all the
things of course I should mention like this is the 10th anniversary of RepRap
and the first Darwin and the child Darwin
there's Adrian and Nick Oliver of course st. Adrian st. Nick with the first two
and that's what it began at all you know is there you are parent and child of
course the next one your it spawned a whole generation you got your your
Mendel by edsells you got your Mendel I too by Joe Purusha and then Delta
started showing up there's of course the wrote Johann wrote calls rose stock and
and then of course the Prusa i3 came along and as I was hunting around for 3d
printers it was like you could buy one all pre-made in a cube shape or whatever
but this was the one that got me excited I just liked the elegance I thought it
was great to have this elegant design and not a lot of threaded rods and
things and so it was really kind of cool to see something that was developing and
getting more elegant and more and of course you know this one has spawned
more probably clones than any other machine and they were of course the 10th
anniversary celebration at e3d the green cake and a few random makers who you
might know and now of course 3d printing has really grown and spall into the
mainstream we we see shows like black mirror and West world altered carbon and
lost in space all featuring 3d printing in various ways and I think the most
realistic one probably being lost in space it took a couple hours to print
that cast there on their 3d printer with support
material and everything I really want that one I don't think we'll get the
being able to make a clone of yourself just yet but maybe later
so I often make an analogy to the homebrew Computer Club and that this is
movement is a lot like the homebrew Computer Club back in those days people
were building Altair computers and the ability to make one of those at home was
like a big deal and and people were getting excited about what you might be
able to do actually building a computer yourself and so you know we've had
gatherings look they look a lot like this and a lot of us look like these
folks and you know this correspond Bill Gates and Steve Wozniak and people like
Steve Jobs and stuff all came out of this this hobbyist movement and there
became that whole split between people were into open-source and others who
were trying to defend the profit motive and capitalism and all that and so you
know you've got your Apple one came out and there of course you know there's a
beautiful Apple Computer that's just the kind of thing you might build back in
those days of course our movement is much more advanced or is it you can
build one of these right now RepRap made of wood looks kind of like the Apple one
I don't know if those meters actually do anything but they probably do but if you
really want to find out more of course you can learn about it through the media
maybe maybe you'd want to wait though there's the RepRap documentary being
made by Thomson Lotterer and Richard horn and some others so I'd say wait for
that before you get the real full history of what's been going on in
RepRap I don't think it's really been I don't think the story has really been
told yet so I hope it will be soon so anyway Marlon what is Marlon why do why
do we use it what's the big deal there's a lot of
possible software you could use of course we our stack is you're going
from 3d modeling to STL plugin to export your models you're slicing them you've
got some host software and then Marlin sits at the at the end of the chain is
the last piece of software that's processing your G code to produce the
final result on your 3d printer so yeah there's a lot of firmwares out there
actually and some of them are still going sprinter was the basis for marlin
it was a combination of that and herbal which is basically for CNC and so a lot
of the those kind of came together and became Marlin but repetier firmware is
still out there sailfish I guess naming firmware after
sailfish and Marlins is a thing RepRap firmware is actually getting some new
steam and getting new new versions there's now something called clipper
which is which takes more of the load and puts it on to a Raspberry Pi and
then produces code that's a little more efficient so that the the embedded
Arduino or whatever it might be on your printer doesn't have to work as hard and
it can do some fancier things as a result what we're trying to get some of
that into Marlin as well of course Marlin is for your originally for your
8-bit AVR processors which are processors eventually invented around
1998 by a couple of college students and I think AVR is basically just their
initials I think is where the it doesn't really stand for anything but it's a
it's their initials but originally by Eric Vander Zalm and Camille gurbles in
Holland and agaric now works for Ultimaker but it originally was kind of
targeted an Ultimaker and so if you're looking at Marlin 1.0 your default
config is for Ultimaker it is free open-source software we it's
hosted on github has been github for pretty much the whole time and it was
originally conceived in 2011 and as far as our dwee no sketches go it's huge you
know typically your Arduino is gonna have a 5k program on it that does
something but this thing is pretty much if you enable all the features you can
pretty much eat up all the space even on a mega 2560 which has 256 K at
the moment it supports more than 50 different boards with different
configurations and pin settings and so forth over 20 languages probably 25 by
now it supports different kinematics so you
can have a delta bot Escarra h bot it's a very lightweight program
you can it's set up so that it compiles only the code that you would actually
use as opposed to something like smoothie wear which has a little more
room to play with in a faster processor where it actually you can configure
basically it has everything in it and then you just turn stuff on and off with
marlon you just turn on the things you need and that's what ends up in the code
and so it ends up being a more lightweight and runs better on your AV
arse it's very configurable many features
this wouldn't be complete talk without talking a little bit about the GPL and
maybe some of what's been going on with the GPL marlon is an open source and
it's under the general public license which is a very popular license because
it infuse software with rights to the youth to the end user so that you can
basically continue to modify it yourself and the idea of behind marlon is that we
guarantee that when you get marlon you're going to get the source code and
we hope that vendors will abide by that sometimes they don't and that's been
annoying us lately but essentially the rights that you're given
or you can modify it all you want you can install it on any device that you
want it's if you want to use Marlin and your commercial product that's fine
originally they read me at Marlin would say no we'd rather you didn't but we've
warmed up to it there's a lot of clones out there and we want to support those
as much as possible if you're not if you're only using it in your own project
of course you don't have to give away the source code that's not a stipulation
of the GPL that if you modify something you have to give it away to everyone
actually only have to give it to your customers so essentially the obligations
that we hope people will follow are that they'll provide it to their customers
and include a copy of the license so the customers are aware that they have
rights and if you ship and basically if you go away the binary at all and this
is another deal here is if you're contracted to modify it for any client
you've got to give your client the source code - and this became a bit of a
source of contention for cruelty 3d guess there according to them the the
contractor didn't give them the source they so they had to slap them with a wet
fish and eventually they did give them the source so we now have access to that
we could see what they did right and not so good but it's great we have it now so
we can make those improvements and and share it with the rest of the world as
far as getting people to comply well basically it's hard especially across
international borders this is a you know it's protected by copyright and
copyright law is pretty straightforward you've got DMCA and so forth but
essentially we hope that there'll be good trade agreements because it's hard
to enforce the stuff across international borders if there aren't
good guidelines for copyrights and patents and things
but in practice we find that generally it's just good to have dialogue and make
sure that people understand the GPL and its benefits if you're a vendor you can
save yourself years and of effort and lots of money by using something like
Marlin which is already there configuring it setting it up for your
machine and then basically we just ask that you know if you're going to use it
please share your share your source with your customers because they're entitled
to it there's a free software foundation and they'll sometimes step in to help
with legal intervention but basically they recommend as I said the just use a
look keep a dialogue open and make sure people understand the license but we now
have a site called GPL offenders com started by Tim Hoagland of th 3d and
myself basically to just collect information about who's complying and
who's not and sort of give praise and kudos to those who are complying and you
know wag our fingers a little bit at those who need to catch up we think
it'll be good for like basically the culture around 3d printers with vendors
everywhere in China wherever to just basically you know when you get together
with other vendors you know talk about the GPL and and you know its benefits
and let them know that you know to be a good community player it's good to abide
by licenses and so forth because it's good for your reputation it's an
honorable thing to do our liaison in China is Naomi Wu which has been very
helpful in facilitating communication with woods Ben
they're especially Crowley so my work in maintain more maintaining Marlon from
day to day involves you know I'll just go in every day and check the check see
what's going on look for new contributions I clean up and integrate
submissions I read and respond to bug reports I'll do what I can to fix bugs
and implement stuff if I know how to implement it and I'll write
documentation and try to help the developers understand what they need to
do to make the code good I use various tools github desktop and a little
bashing use some scripts to help myself speed the process along
but basically you know having the data sheets and stuff being able to find
these pieces of information online it's super helpful there's a lot of smart
people like I know most of Marlin pretty well but in a very cursory way some of
it and there are people who know it really deeply understand things like ARM
processors in ways that I don't yet so it's important to have those resources
and you know I get donated hardware helps a lot so that I can play around
with new screens and other devices and get them integrated and you know I can
always use funds for coffee that helps so yeah we're Kitab is great it's a
really cool environment for collaboration and all you need to do is
if you want to you know submit ideas or request features or report bugs is just
get an account there it's free and then send us info about you know what's going
on send us show us your videos and pictures
and tell us all about your problems and we'll do what we can to fix them up and
adapt things to your needs our guiding principles are basically we want to keep
it lightweight and keep it working even on the older smaller boards where they
don't have you know gobs of memory and all that stuff
you want to make sure that you know everything is slim and we want to make
sure that it works well with host software we don't want to be too clever
in the firmware because it should run pretty lean and it should be a good you
know it should basically obey your commands and do what you expect so we
don't want to be too smart but sometimes we do it bend the rules we'll have
things like linear advanced extrusion where it tries to basically do the
extrusion based on pressure and anticipate how much use there might be
and prevent that we'll adjust the flow based on the filament widths sensor you
know we do PID for your heaters of course things like firmware based
retraction so you can adjust that and not have the slicer know it some some of
these things are just good to have while it's running we find and of course
kinematics also step in and do some things will tweak especially with SCARA
will do things like tweak the feed rate you give it the feed rate and
millimeters per second and we convert it to degrees per second and make sure that
the extruder and all that line up with the motion of the of the planner and
stuff and your steppers are all going and basically well together there are
some good Forks of Marlin out there that we're starting to integrate them more
into the main fork but there were some really good work by the guy calls
himself Mego Kimbra and worse not days and these were like you know some of the
earliest work for 32-bit boards and so we've been taking a lot of cues from
them and may Marlon Kimber might have ended up as the as the basis for Marlin
2.0 but we we had so much going on that wasn't already there we thought it would
be better to just take the best and use use it as guidance and just follow his
amazing example and just try and continue to improve and make it better
that way so what does it do at the low level
you probably know this pretty well but I'll give you a basic in a general print
session you want to be able to home find out where the printhead is get your bed
probes if it's not perfectly flat and make sure you get a nice first layer and
so when you'll you'll have it wait for the heaters to heat up and then you'll
go in print all your stuff you might pause the print or lose power for some
reason and you want to be able to recover we want to be able to handle
errors and then at the end we finish move the nozzle out of the way throw
your print at you and maybe if it's got a belt on it nowadays it'll we'll roll
it off the belt and start another one so a lot of cool things going on that we
need to be able to do at the basic level so to do that we have a G code
interpreter we basically we process basic RepRap G code very simple stuff
same stuff that's been used in CNC for a long time we do it a little differently
you can't have multiple G codes on the same line for example like you can in
CNC we're starting to adapt to CNC methodologies some of that may come
along all that gets turned into stuff for the planner that anticipates how to
accelerate and decelerate there's a stepper routine that takes care of
moving the steppers and getting everything going along with controlling
the temperature handling your LCD and your interface reading your SD card and
maybe even writing stuff to the SD card and taking care of all the sensors and
extra add-ons so there's a lot going on in there and that's why it is such a big
complex sketch and here's a little diagram you can
memorize it just basically shows what I described is all the things that happen
to make it actually work and how we chew through all those little blocks to keep
things moving along smoothly in configuration we decided early on to use
basically C++ defines which allow us to decide what code to keep what to throw
out and basically make the code as small and compact as possible and that has
some advantages over for example like letting the compiler figure it out later
it compiles a bit faster and you can do things like go looking for some feature
name and find all the blocks that have it and rip them out and then you don't
have to look at that code anymore so you can produce a pretty small very compact
bit of Marlin for just your purposes and I've done like making a tiny piece of
marlin adjusted a z-axis with four motors and some end stops and that was
really easy to do because of this configuration methodology so here's some
example common configuration options you all know your motherboard your axis pre
steps per unit how many extruders your what's your LCD or do you want SD
support thermal protection of course we hope that that'll be turned on when you
ship your product and you know we're adding things all the time so we have
filament run out sensors a fill it with sensor all these things add-ons can be
turned on at will and down at the bottom we're adding some new cool things like
real Junction deviation which is a way of dealing with cornering we have
s-curve accelerations so that as you're printing you won't spill the drink that
you've set on your bed it'll just slosh but not spill but
basically the purpose of that is to keep your printer from shaking your table and
it makes it reduces wringing and things like that which are artifacts that you
see as you change speed and so of course you probably know how to install Marlin
if you've done it you get your Arduino you open the Ino hit click upload we're
focusing a lot more on platform i/o because of the 32-bit stuff and that
actually can speed things up a bit it doesn't get some speedier functions and
we're of course requiring that to do Marlin 2.0 on 32-bit boards but we still
support our Dino ID for the AVR boards so the future Marlin is looking pretty
good we've been adding a lot of good stuff we're improving support for tri
Namek drivers which do much quieter and smoother stepping we've added power loss
recovery which we proud III D was kind enough to provide for us and have been
adapting that that is based on SD cards so it's basically on every layer it
writes to the SD card at least once and if you lose power it just looks for that
file when you start it back up and tries to restart so there's some advantage to
just doing it once per layer like that you know everybody has SD cards so it's
you don't need any special hardware the disadvantage is that if it goes to
restart it's going to start from the beginning of the layer again so you made
you might have some issues with that and of course if you don't get it soon
enough your your print might pop off of your cold bed so it doesn't always work
but it's it's better than not having it at all
we are gonna we've got a lot more configurations for popular printers
especially a lot of new Chinese clones and as I mentioned Junction deviation
and s-curve acceleration are coming in even on a br which is great we have a
guy in Argentina who's really good with assembly language and making stuff fast
and I wanted to marry me yeah he's awesome and of course now we're adding
an auto build option for platform i/o so you just set your motherboard and it
figures out how to what to build for you and you don't have to do anything else
you don't figure out what your processor is or any of that Marlin 2.0 that
finally adds 32-bit support for things like your your do your STM your LPC all
of the you know smoothieboard and all the boards that are basically out there
and more besides it has improved language engines so you'll have a bit
smaller build even on ABR with especially with graphical LCD it's like
you really want to have as much free space as possible we've added hang
printer support is coming with thanks to the help of touristy backlash
compensation is has been added by our friends at lulzbot it has a reorganized
LCD menu also from welsbach and we're adding support for more smart panels
which are basically panels that are usually touchscreens that send g-code to
the printer rather than your you know stupid panels where we're writing to
them all the time and basically they're they have a button or a wheel or
whatever and are we gonna add support for a real-time OS real-time operating
system which is a way that a lot of embedded software is done
quite possibly we're into that and we have a branch that does
that so that could be exciting we have a documentation project so we're always
looking for people to help us with that I'm trying to make more videos about
Marlene myself and write up as much as I can on the website the marlin fw org
website if you want to contribute or help out with that here's our URL and if
you want to get more information about marlin the home page is Marlin firmware
slash Marlin on github that's where all the code is where you send your issues
and make your feature requests Marlin fw org is the website where we're posting
documentation and trying to make it as good as possible and you can find me at
patreon.com slash think ahead where I'm posting stuff all the time and begging
for your help so that I can continue working on it and my copious spare time
that's the end of the slides so thank you very much for hanging out and
getting the lowdown
you
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