https://github.com/manish-git-tech/3d_printer_firmware_2
Firmware for raspberry pi pico made in PlatformIO for my custom built 3d Printer
https://github.com/manish-git-tech/3d_printer_firmware_2
bresenham-line-drawing-algorithm cascaded-pid gcode-parser pid-control platformio quadrature-encoder raspberry-pi-pico
Last synced: 9 days ago
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Firmware for raspberry pi pico made in PlatformIO for my custom built 3d Printer
- Host: GitHub
- URL: https://github.com/manish-git-tech/3d_printer_firmware_2
- Owner: Manish-git-tech
- Created: 2025-06-11T07:22:12.000Z (12 days ago)
- Default Branch: main
- Last Pushed: 2025-06-11T17:02:37.000Z (12 days ago)
- Last Synced: 2025-06-11T18:03:17.810Z (12 days ago)
- Topics: bresenham-line-drawing-algorithm, cascaded-pid, gcode-parser, pid-control, platformio, quadrature-encoder, raspberry-pi-pico
- Language: C++
- Homepage:
- Size: 46.9 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Custom 3D Printer Firmware for Raspberry Pi Pico with Quadrature Encoders and Advanced Motion Control
This 3D Printer Firmware implements precise multi-axis motion control for my custom built 3D printer using Raspberry Pi Pico/RP2040, featuring quadrature encoder feedback, Bresenham-based path planning, cascaded PID control, and robust configuration storage using LittleFS. Designed for PlatformIO with modular architecture and real-time performance.
---
## Table of Contents
1. [Installation Guide](#installation-guide)
2. [Building the Firmware](#building-the-firmware)
3. [Flashing to Raspberry Pi Pico](#flashing-to-raspberry-pi-pico)
4. [Hardware Configuration](#hardware-configuration)
5. [Core System Architecture](#core-system-architecture)
6. [Advanced Configuration](#advanced-configuration)
7. [Troubleshooting](#troubleshooting)
8. [Customization for Other Boards](#customization-for-other-boards)
---
## Installation Guide
### Prerequisites
- **PlatformIO Core** (VSCode extension or standalone)
- **Python 3.7+**
- **Git** for version control
### Repository Setup
```bash
git clone https://github.com/Manish-git-tech/3d_printer_firmware_2.git
cd 3d_printer_firmware_2
```
### PlatformIO Configuration
1. Install dependencies:
```bash
pio pkg install
```
2. Configure board in `platformio.ini`:
```ini
[env:pico]
platform = raspberrypi
board = pico
framework = arduino
```
### File Structure
```
src/
├── comms/ # G-code parsing and serial communication
│ ├── comms.cpp # Command state machine
│ └── comms_parser.h # G-code syntax definitions
├── motion/ # Motor control and feedback
│ ├── encoder.cpp # Quadrature decoding
│ └── pid_control.cpp # Cascaded PID implementation
├── path_planning/ # Motion algorithms
│ └── bresenham.cpp # Coordinated movement
├── config/ # Hardware parameters
│ ├── pins.h # GPIO mappings
│ └── motion_params.h # Kinematic settings
└── main.cpp # Firmware entry point
```
---
## Building the Firmware
### Compilation Commands
```bash
# Build for Raspberry Pi Pico
pio run -e pico
# Build for ESP8266 (WiFi module)
pio run -e esp8266
# Clean build artifacts
pio run -t clean
```
### Build Flags
| Environment Variable | Description |
|----------------------|-------------|
| `ENABLE_DEBUG_LOG` | Verbose serial output |
| `FORCE_EEPROM_RESET` | Clear stored settings |
---
## Flashing to Raspberry Pi Pico
### Method 1: PlatformIO Upload
```bash
pio run -e pico -t upload
```
### Method 2: Manual UF2 Installation
1. Hold BOOTSEL button while connecting USB
2. Copy `.pio/build/pico/firmware.uf2` to RPI-RP2 drive
3. Wait for automatic reboot
### Required Components
- Raspberry Pi Pico (Main Controller)
- ESP8266 (WiFi Communication)
- MX1508 Motor Drivers (2 per axis)
- DC Motors with Quadrature Encoders
- 24V Power Supply
### Pin Mapping Example (`config/pins.h`)
```cpp
// X-axis Configuration
#define X_ENC_A 2 // Encoder Phase A
#define X_ENC_B 3 // Encoder Phase B
#define X_MOT_IN1 4 // MX1508 Direction 1
#define X_MOT_IN2 5 // MX1508 Direction 2
```
### Encoder Specifications
| Axis | Slits/mm | CPR | Maximum RPM |
|------|----------|-----|-------------|
| X | 120 | 480 | 300 |
| Y | 150 | 600 | 250 |
| Z | 200 | 800 | 150 |
---
## Core System Architecture
### 1. Quadrature Encoder Handling
**Implementation:** `motion/encoder.cpp`
- Uses pin change interrupts for real-time decoding
- 4x counting mode with state transition table:
```cpp
const int8_t ENCODER_STATES[] = {0,-1,1,0,1,0,0,-1,-1,0,0,1,0,1,-1,0};
```
- Velocity calculation via position differentiation:
```cpp
float getVelocity() {
return (current_pos - last_pos) / (micros() - last_time) * 1e6;
}
```
### 2. Bresenham Algorithm Implementation
**Implementation:** `path_planning/bresenham.cpp`
- Coordinated multi-axis movement
- Error accumulation for step synchronization:
```cpp
void BresenhamPlanner::planMove(int32_t target[]) {
steps[X] = abs(target[X] - current[X]);
steps[Y] = abs(target[Y] - current[Y]);
err = steps[X] - steps[Y];
while(current != target) {
if(err * 2 >= -steps[Y]) {
err -= steps[Y];
current[X] += x_dir;
}
if(err * 2
### Motion Parameters (`config/motion_params.h`)
```cpp
// X-axis Settings
constexpr uint16_t X_STEPS_PER_MM = 80;
constexpr float X_MAX_ACCEL = 1500.0f; // mm/s²
constexpr float X_JERK = 20.0f; // mm/s
// PID Defaults
constexpr float DEFAULT_KP = 10.0f;
constexpr float DEFAULT_KI = 0.05f;
```
### Serial Communication Protocol
| Command | Parameters | Description |
|---------|------------|-------------|
| G0 | X Y Z F | Linear move |
| G1 | X Y Z E F | Linear move with extrusion |
| M2000 | Pid values | change and save pid values in EEPROM |
| M2001 | -- | Load pid values |
---
## Troubleshooting
### Common Issues
| Symptom | Likely Cause | Solution |
|---------|--------------|----------|
| Position drift | Encoder noise | Add 0.1μF capacitors to encoder inputs |
| Motor stalling | PWM below 47% | Increase minimum power in `motor_control.cpp` |
| EEPROM corruption | Improper shutdown | Implement atomic writes with checksums |
### Diagnostic Commands
```bash
# Report encoder counts
M119
# Dump EEPROM contents
M503
# Test axis movement
G0 X100 F500
```
---
## Customization for Other Boards
### Adapting for ESP32
1. Modify `platformio.ini`:
```ini
[env:esp32]
platform = espressif32
board = esp32dev
framework = arduino
```
2. Update pin mappings in `config/pins.h`
### Supporting New Encoders
1. Implement encoder interface:
```cpp
class CustomEncoder : public EncoderBase {
public:
int32_t read() override;
void init() override;
};
```
2. Register in `motion/motion.cpp`:
```cpp
Encoder* x_encoder = new CustomEncoder(X_ENC_A, X_ENC_B);
```
**MIT License** - Free for personal and commercial use
**Special Thanks:**
- Marlin Firmware Team for motion control foundations
- PlatformIO for build system
- Raspberry Pi Foundation for Pico SDK
> **Note:** Always verify electrical connections before powering on the system. Incorrect wiring may damage components.