Minnow is an Arduino-based Pacemaker client implementation for 3D printer, CNC and laser cutter controller boards.
The Pacemaker protocol is defined here: https://github.com/JustAnother1/Pacemaker
The Minnow firmware was originally created by Robert Fairlie-Cuninghame based largely on the Marlin printer firmware by Erik van der Zalm.
The firmware is intended for both standalone Arduino-based controller boards (using a PC or similar host platform) as well integrated Arduino + ARM controller boards.
The Minnow firmware and Pacemaker protocol have been specifically designed to support a sustained, high rate of individual movement control segments with minimal processing overhead on the client, thereby allowing the use of a cheaper controller whilst also yielding a far more sophisticated level of motion planning, co-ordinate remapping and better support for non-linear co-ordinate systems than most current solutions without requiring a real time operating system on the host.
The firmware has also been designed to provide a flexible host-based configuration system so that individual firmware builds are not required for different printer and controller configurations.
The Minnow firmware also supports an arbitrary number of devices - steppers, digital input & outputs, heaters, fans, buzzers, etc (limited only by the device’s capabilities).
System requirements:
-
a 16Mhz or 20Mhz AVR Arduino (i.e., not Due)
-
at least 64KB flash memory (currently although this can be reduced using static configuration)
-
at least 2KB SRAM memory
TODO List
-
Makefile and Arduino libraries directory
-
Add event handling
-
Fully test movement control
-
Add advanced stepper & heater configuration
-
Added thermocouple support (thermistor support already available)
-
Add coding guide
-
Define LCD and Rotary encoder extensions
-
World domination
| Name of element | datatype | read/write | allowed values | comment |
|---|---|---|---|---|
System level configuration elements |
||||
system.hardware_name |
string |
rw |
||
system.hardware_type |
uint8 |
rw |
0..255 |
|
system.hardware_rev |
uint8 |
rw |
0..255 |
|
system.board_identity |
string |
rw |
||
system.board_serialnum |
string |
rw |
||
system.num_digital_inputs |
uint8 |
rw |
0..255 |
|
system.num_digital_outputs |
uint8 |
rw |
0..255 |
|
system.num_pwm_outputs |
uint8 |
rw |
0..255 |
|
system.num_buzzers |
uint8 |
rw |
0..255 |
|
system.num_heaters |
uint8 |
rw |
0..255 |
|
system.num_temp_sensors |
uint8 |
rw |
0..255 |
|
system.num_steppers |
uint8 |
rw |
0..255 |
|
system.reset_eeprom (operation) |
string |
w |
||
Device configuration elements |
||||
devices.digital_input.<device number>.name |
string |
rw |
||
devices.digital_input.<device number>.pin |
pin |
rw |
0..255, A0..A15 |
Arduino Pin Number |
devices.digital_input.<device number>.trigger_level |
bool |
rw |
"true", "1" or "false", "0" |
|
devices.digital_input.<device number>.enable_pullup |
bool |
rw |
"true", "1" or "false", "0" |
|
devices.digital_output.<device number>.name |
string |
rw |
||
devices.digital_output.<device number>.pin |
pin |
rw |
0..255, A0..A15 |
Arduino Pin Number |
devices.digital_output.<device number>.initial_state |
string |
rw |
||
devices.pwm_output.<device number>.name |
string |
rw |
||
devices.pwm_output.<device number>.pin |
pin |
rw |
0..255, A0..A15 |
Arduino Pin Number |
devices.pwm_output.<device number>.use_soft_pwm |
bool |
rw |
"true", "1" or "false", "0" |
|
devices.buzzer.<device number>.name |
string |
rw |
||
devices.buzzer.<device number>.pin |
pin |
rw |
0..255, A0..A15 |
Arduino Pin Number |
devices.temp_sensor.<device number>.name |
string |
rw |
||
devices.temp_sensor.<device number>.pin |
pin |
rw |
0..255, A0..A15 |
Arduino Pin Number |
devices.temp_sensor.<device number>.type |
int16 |
rw |
−32768..+32767 |
see below |
devices.heater.<device number>.name |
string |
rw |
||
devices.heater.<device number>.pin |
pin |
rw |
0..255, A0..A15 |
Arduino Pin Number |
devices.heater.<device number>.power_on_level |
uint8 |
rw |
0..255 |
|
devices.heater.<device number>.use_soft_pwm |
bool |
rw |
"true", "1" or "false", "0" |
|
devices.heater.<device number>.use_bang_bang |
bool |
rw |
"true", "1" or "false", "0" |
|
devices.heater.<device number>.use_pid |
bool |
rw |
"true", "1" or "false", "0" |
|
devices.heater.<device number>.temp_sensor |
uint8 |
rw |
0..255 |
|
devices.heater.<device number>.max_temp |
int16 |
rw |
−32768..+32767 |
|
devices.heater.<device number>.bang_bang_hysteresis |
uint8 |
rw |
0..255 |
|
devices.heater.<device number>.pid_range |
uint8 |
rw |
0..255 |
|
devices.heater.<device number>.kp |
float |
rw |
1.2E-38 to 3.4E+38 |
|
devices.heater.<device number>.ki |
float |
rw |
1.2E-38 to 3.4E+38 |
|
devices.heater.<device number>.kd |
float |
rw |
1.2E-38 to 3.4E+38 |
|
devices.heater.<device number>.dpi_do_autotune (operation) |
string |
rw |
||
devices.stepper.<device number>.name |
string |
rw |
||
devices.stepper.<device number>.enable_pin |
pin |
rw |
0..255, A0..A15 |
Arduino Pin Number |
devices.stepper.<device number>.enable_invert |
bool |
rw |
"true", "1" or "false", "0" |
(0 = active low, 1 = active high) |
devices.stepper.<device number>.direction_pin |
pin |
rw |
0..255, A0..A15 |
Arduino Pin Number |
devices.stepper.<device number>.direction_invert |
bool |
rw |
"true", "1" or "false", "0" |
0 = high is increasing, 1 = high is decreasing |
devices.stepper.<device number>.step_pin |
pin |
rw |
0..255, A0..A15 |
Arduino Pin Number |
devices.stepper.<device number>.step_invert |
bool |
rw |
"true", "1" or "false", "0" |
0 = active high, 1 = active low |
Statistics elements |
||||
stats.rx_count |
invalid |
r |
- |
|
stats.rx_errors |
invalid |
r |
- |
|
stats.queue_memory |
invalid |
r |
- |
|
debug.stack_memory |
invalid |
r |
- |
|
Diagnostic/development elements |
||||
debug.stack_low_water_mark |
invalid |
r |
- |
Thermistor sensor types: (>0)
1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup) 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup) 3 is mendel-parts thermistor (4.7k pullup) 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !! 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan) (4.7k pullup) 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup) 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup) 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup) 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup) 10 is 100k RS thermistor 198-961 (4.7k pullup) 57 is 100k i3Berlin Extruder (./createTemperatureLookupMarlin.py --rp=4680 --t1=21.4:106300 --t2=187:1023 --t3=248:281 --num-temps=72) 58 is 100k i3Berlin Bed (./createTemperatureLookup.py --rp=4670 --t1=21.7:110700.0 --t2=190.0:623.0 --t3=259.0:192.0 --num-temps=72) 60 is 100k Maker's Tool Works Kapton Bed Thermister
1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
(but gives greater accuracy and more stable PID on hotend)
51 is 100k thermistor - EPCOS (1k pullup)
52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan) (1k pullup)
Thermocouple sensor types: (<0)
-1 is thermocouple with AD595