rewrite

1 files changed, 572 insertions, 0 deletions

diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
new file mode 100644
index 0000000..e5ee6af
--- /dev/null
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -0,0 +1,572 @@
+// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
+// Licence: GPL
+
+#include "configuration.h"
+#include "pins.h"
+#include "ThermistorTable.h"
+
+// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
+// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
+
+//Implemented Codes
+//-------------------
+// G0 -> G1
+// G1  - Coordinated Movement X Y Z E
+// G4  - Dwell S<seconds> or P<milliseconds>
+// G90 - Use Absolute Coordinates
+// G91 - Use Relative Coordinates
+// G92 - Set current position to cordinates given
+
+//RepRap M Codes
+// M104 - Set target temp
+// M105 - Read current temp
+// M109 - Wait for current temp to reach target temp.
+
+//Custom M Codes
+// M80  - Turn on Power Supply
+// M81  - Turn off Power Supply
+// M82  - Set E codes absolute (default)
+// M83  - Set E codes relative while in Absolute Coordinates (G90) mode
+// M84  - Disable steppers until next move
+
+
+//Stepper Movement Variables
+bool direction_x, direction_y, direction_z, direction_e;
+unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater;
+unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
+float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0;
+float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0;
+float x_interval, y_interval, z_interval, e_interval; // for speed delay
+float feedrate = 1500, next_feedrate;
+float time_for_move;
+long gcode_N, gcode_LastN;
+bool relative_mode = false;  //Determines Absolute or Relative Coordinates
+bool relative_mode_e = false;  //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
+
+// comm variables
+#define MAX_CMD_SIZE 256
+char cmdbuffer[MAX_CMD_SIZE];
+char serial_char;
+int serial_count = 0;
+boolean comment_mode = false;
+char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
+
+//manage heater variables
+int target_raw = 0;
+int current_raw;
+
+
+
+void setup()
+{ 
+  //Initialize Step Pins
+  if(X_STEP_PIN > -1) pinMode(X_STEP_PIN,OUTPUT);
+  if(Y_STEP_PIN > -1) pinMode(Y_STEP_PIN,OUTPUT);
+  if(Z_STEP_PIN > -1) pinMode(Z_STEP_PIN,OUTPUT);
+  if(E_STEP_PIN > -1) pinMode(E_STEP_PIN,OUTPUT);
+  
+  //Initialize Dir Pins
+  if(X_DIR_PIN > -1) pinMode(X_DIR_PIN,OUTPUT);
+  if(Y_DIR_PIN > -1) pinMode(Y_DIR_PIN,OUTPUT);
+  if(Z_DIR_PIN > -1) pinMode(Z_DIR_PIN,OUTPUT);
+  if(E_DIR_PIN > -1) pinMode(E_DIR_PIN,OUTPUT);
+
+  //Steppers default to disabled.
+  if(X_ENABLE_PIN > -1) if(!X_ENABLE_ON) digitalWrite(X_ENABLE_PIN,HIGH);
+  if(Y_ENABLE_PIN > -1) if(!Y_ENABLE_ON) digitalWrite(Y_ENABLE_PIN,HIGH);
+  if(Z_ENABLE_PIN > -1) if(!Z_ENABLE_ON) digitalWrite(Z_ENABLE_PIN,HIGH);
+  if(E_ENABLE_PIN > -1) if(!E_ENABLE_ON) digitalWrite(E_ENABLE_PIN,HIGH);
+  
+  //Initialize Enable Pins
+  if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT);
+  if(Y_ENABLE_PIN > -1) pinMode(Y_ENABLE_PIN,OUTPUT);
+  if(Z_ENABLE_PIN > -1) pinMode(Z_ENABLE_PIN,OUTPUT);
+  if(E_ENABLE_PIN > -1) pinMode(E_ENABLE_PIN,OUTPUT);
+
+  if(HEATER_0_PIN > -1) pinMode(HEATER_0_PIN,OUTPUT);
+  
+  Serial.begin(BAUDRATE);
+  Serial.println("start");
+}
+
+
+void loop()
+{
+  get_command();
+  manage_heater();
+}
+
+inline void get_command() 
+{ 
+
+  if( Serial.available() ) {
+    serial_char = Serial.read();
+    if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) 
+    {
+      if(!serial_count) return; //if empty line
+      cmdbuffer[serial_count] = 0; //terminate string
+      Serial.print("Echo:");
+      Serial.println(&cmdbuffer[0]);
+      
+      process_commands();
+      
+      comment_mode = false; //for new command
+      serial_count = 0; //clear buffer
+      //Serial.println("ok"); 
+    }
+    else
+    {
+      if(serial_char == ';') comment_mode = true;
+      if(!comment_mode) cmdbuffer[serial_count++] = serial_char; 
+    }
+  }  
+}
+
+
+//#define code_num (strtod(&cmdbuffer[strchr_pointer - cmdbuffer + 1], NULL))
+//inline void code_search(char code) { strchr_pointer = strchr(cmdbuffer, code); }
+inline float code_value() { return (strtod(&cmdbuffer[strchr_pointer - cmdbuffer + 1], NULL)); }
+inline long code_value_long() { return (strtol(&cmdbuffer[strchr_pointer - cmdbuffer + 1], NULL, 10)); }
+inline bool code_seen(char code_string[]) { return (strstr(cmdbuffer, code_string) != NULL); }  //Return True if the string was found
+
+inline bool code_seen(char code)
+{
+  strchr_pointer = strchr(cmdbuffer, code);
+  return (strchr_pointer != NULL);  //Return True if a character was found
+}
+
+
+
+inline void process_commands()
+{
+  unsigned long codenum; //throw away variable
+  
+  if(code_seen('N'))
+  {
+    gcode_N = code_value_long();
+    if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer, "M110") == NULL) ) {
+    //if(gcode_N != gcode_LastN+1 && !code_seen("M110") ) {   //Hmm, compile size is different between using this vs the line above even though it should be the same thing. Keeping old method.
+      Serial.print("Serial Error: Line Number is not Last Line Number+1, Last Line:");
+      Serial.println(gcode_LastN);
+      FlushSerialRequestResend();
+      return;
+    }
+    
+    if(code_seen('*'))
+    {
+      byte checksum = 0;
+      byte count=0;
+      while(cmdbuffer[count] != '*') checksum = checksum^cmdbuffer[count++];
+     
+      if( (int)code_value() != checksum) {
+        Serial.print("Error: checksum mismatch, Last Line:");
+        Serial.println(gcode_LastN);
+        FlushSerialRequestResend();
+        return;
+      }
+      //if no errors, continue parsing
+    }
+    else 
+    {
+      Serial.print("Error: No Checksum with line number, Last Line:");
+      Serial.println(gcode_LastN);
+      FlushSerialRequestResend();
+      return;
+    }
+    
+    gcode_LastN = gcode_N;
+    //if no errors, continue parsing
+  }
+  else  // if we don't receive 'N' but still see '*'
+  {
+    if(code_seen('*'))
+    {
+      Serial.print("Error: No Line Number with checksum, Last Line:");
+      Serial.println(gcode_LastN);
+      return;
+    }
+  }
+
+  //continues parsing only if we don't receive any 'N' or '*' or no errors if we do. :)
+  
+  if(code_seen('G'))
+  {
+    switch((int)code_value())
+    {
+      case 0: // G0 -> G1
+      case 1: // G1
+        get_coordinates(); // For X Y Z E F
+        x_steps_to_take = abs(destination_x - current_x)*x_steps_per_unit;
+        y_steps_to_take = abs(destination_y - current_y)*y_steps_per_unit;
+        z_steps_to_take = abs(destination_z - current_z)*z_steps_per_unit;
+        e_steps_to_take = abs(destination_e - current_e)*e_steps_per_unit;
+
+        #define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000))
+        #define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000))
+        #define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*feedrate/60000000))
+        #define E_TIME_FOR_MOVE ((float)e_steps_to_take / (e_steps_per_unit*feedrate/60000000))
+        
+        time_for_move = max(X_TIME_FOR_MOVE,Y_TIME_FOR_MOVE);
+        time_for_move = max(time_for_move,Z_TIME_FOR_MOVE);
+        //time_for_move = max(time_for_move,E_TIME_FOR_MOVE); //Commented so E axis doesn't trigger max feedrate.
+
+        if(x_steps_to_take) x_interval = time_for_move/x_steps_to_take;
+        if(y_steps_to_take) y_interval = time_for_move/y_steps_to_take;
+        if(z_steps_to_take) z_interval = time_for_move/z_steps_to_take;
+        if(e_steps_to_take) e_interval = time_for_move/e_steps_to_take;
+        
+        #define DEBUGGING false
+        if(DEBUGGING) {
+          Serial.print("destination_x: "); Serial.println(destination_x); 
+          Serial.print("current_x: "); Serial.println(current_x); 
+          Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take); 
+          Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE); 
+          Serial.print("x_interval: "); Serial.println(x_interval); 
+          Serial.println("");
+          Serial.print("destination_y: "); Serial.println(destination_y); 
+          Serial.print("current_y: "); Serial.println(current_y); 
+          Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take); 
+          Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE); 
+          Serial.print("y_interval: "); Serial.println(y_interval); 
+          Serial.println("");
+          Serial.print("destination_z: "); Serial.println(destination_z); 
+          Serial.print("current_z: "); Serial.println(current_z); 
+          Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take); 
+          Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE); 
+          Serial.print("z_interval: "); Serial.println(z_interval); 
+          Serial.println("");
+          Serial.print("destination_e: "); Serial.println(destination_e); 
+          Serial.print("current_e: "); Serial.println(current_e); 
+          Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take); 
+          Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE); 
+          Serial.print("e_interval: "); Serial.println(e_interval); 
+          Serial.println("");
+        }
+        
+        linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
+        ClearToSend();
+        return;
+      case 4: // G4 dwell
+        codenum = 0;
+        if(code_seen('P')) codenum = code_value(); // milliseconds to wait
+        if(code_seen('S')) codenum = code_value()*1000; // seconds to wait
+        previous_millis_heater = millis();  // keep track of when we started waiting
+        while((millis() - previous_millis_heater) < codenum ) manage_heater(); //manage heater until time is up
+        break;
+      case 90: // G90
+        relative_mode = false;
+        break;
+      case 91: // G91
+        relative_mode = true;
+        break;
+      case 92: // G92
+        if(code_seen('X')) current_x = code_value();
+        if(code_seen('Y')) current_y = code_value();
+        if(code_seen('Z')) current_z = code_value();
+        if(code_seen('E')) current_e = code_value();
+        break;
+        
+    }
+  }
+
+  if(code_seen('M'))
+  {
+    
+    switch( (int)code_value() ) 
+    {
+      case 104: // M104
+        if (code_seen('S')) target_raw = temp2analog(code_value());
+        break;
+      case 105: // M105
+          Serial.print("T:");
+          Serial.println( analog2temp(analogRead(TEMP_0_PIN)) ); 
+          if(code_seen('N')) Serial.println("ok");  // If M105 is sent from generated gcode, then it needs a response.
+          return; //If RepSnapper sends the M105 then DON'T respond "ok".
+        break;
+      case 109: // M109 - Wait for heater to reach target.
+        if (code_seen('S')) target_raw = temp2analog(code_value());
+        previous_millis_heater = millis(); 
+        while(current_raw < target_raw) {
+          if( (millis()-previous_millis_heater) > 1000 ) //Print Temp Reading every 1 second while heating up.
+          {
+            Serial.print("T:");
+            Serial.println( analog2temp(analogRead(TEMP_0_PIN)) ); 
+            previous_millis_heater = millis(); 
+          }
+          manage_heater();
+        }
+        break;
+      case 80: // M81 - ATX Power On
+        if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,OUTPUT); //GND
+        break;
+      case 81: // M81 - ATX Power Off
+        if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); //Floating
+        break;
+      case 82:
+        relative_mode_e = false;
+        break;
+      case 83:
+        relative_mode_e = true;
+        break;
+      case 84:
+        disable_x();
+        disable_y();
+        disable_z();
+        disable_e();
+        break;
+    }
+    
+  }
+  
+  ClearToSend();
+}
+
+inline void FlushSerialRequestResend()
+{
+  char cmdbuffer[100]="Resend:";
+  ltoa(gcode_LastN+1, cmdbuffer+7, 10);
+  Serial.flush();
+  Serial.println(cmdbuffer);
+  ClearToSend();
+}
+
+inline void ClearToSend()
+{
+  Serial.println("ok"); 
+}
+
+inline void get_coordinates()
+{
+  if(code_seen('X')) destination_x = (float)code_value() + relative_mode*current_x;
+  else destination_x = current_x;                                                       //Are these else lines really needed?
+  if(code_seen('Y')) destination_y = (float)code_value() + relative_mode*current_y;
+  else destination_y = current_y;
+  if(code_seen('Z')) destination_z = (float)code_value() + relative_mode*current_z;
+  else destination_z = current_z;
+  if(code_seen('E')) destination_e = (float)code_value() + (relative_mode_e || relative_mode)*current_e;
+  else destination_e = current_e;
+  if(code_seen('F')) {
+    next_feedrate = code_value();
+    if(next_feedrate > 0.0) feedrate = next_feedrate;
+  }
+  
+  //Find direction
+  if(destination_x >= current_x) direction_x=1;
+  else direction_x=0;
+  if(destination_y >= current_y) direction_y=1;
+  else direction_y=0;
+  if(destination_z >= current_z) direction_z=1;
+  else direction_z=0;
+  if(destination_e >= current_e) direction_e=1;
+  else direction_e=0;
+  
+  
+  if (min_software_endstops) {
+    if (destination_x < 0) destination_x = 0.0;
+    if (destination_y < 0) destination_y = 0.0;
+    if (destination_z < 0) destination_z = 0.0;
+  }
+
+  if (max_software_endstops) {
+    if (destination_x > X_MAX_LENGTH) destination_x = X_MAX_LENGTH;
+    if (destination_y > Y_MAX_LENGTH) destination_y = Y_MAX_LENGTH;
+    if (destination_z > Z_MAX_LENGTH) destination_z = Z_MAX_LENGTH;
+  }
+  
+  if(feedrate > max_feedrate) feedrate = max_feedrate;
+}
+
+void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining) // make linear move with preset speeds and destinations, see G0 and G1
+{
+  //Determine direction of movement
+  if (destination_x > current_x) digitalWrite(X_DIR_PIN,HIGH);
+  else digitalWrite(X_DIR_PIN,LOW);
+  if (destination_y > current_y) digitalWrite(Y_DIR_PIN,HIGH);
+  else digitalWrite(Y_DIR_PIN,LOW);
+  if (destination_z > current_z) digitalWrite(Z_DIR_PIN,HIGH);
+  else digitalWrite(Z_DIR_PIN,LOW);
+  if (destination_e > current_e) digitalWrite(E_DIR_PIN,HIGH);
+  else digitalWrite(E_DIR_PIN,LOW);
+  
+  //Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
+  if(x_steps_remaining) enable_x();
+  if(y_steps_remaining) enable_y();
+  if(z_steps_remaining) enable_z();
+  if(e_steps_remaining) enable_e();
+
+  if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
+  if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
+  if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
+  
+  previous_millis_heater = millis();
+
+  //while(x_steps_remaining > 0 || y_steps_remaining > 0 || z_steps_remaining > 0 || e_steps_remaining > 0) // move until no more steps remain
+  while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) // move until no more steps remain
+  { 
+    if(x_steps_remaining) {
+      if ((micros()-previous_micros_x) >= x_interval) { do_x_step(); x_steps_remaining--; }
+      if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
+    }
+    
+    if(y_steps_remaining) {
+      if ((micros()-previous_micros_y) >= y_interval) { do_y_step(); y_steps_remaining--; }
+      if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
+    }
+    
+    if(z_steps_remaining) {
+      if ((micros()-previous_micros_z) >= z_interval) { do_z_step(); z_steps_remaining--; }
+      if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
+    }    
+    
+    if(e_steps_remaining) if ((micros()-previous_micros_e) >= e_interval) { do_e_step(); e_steps_remaining--; }
+    
+    if( (millis() - previous_millis_heater) >= 500 ) {
+      manage_heater();
+      previous_millis_heater = millis();
+    }
+  }
+  
+  if(DISABLE_X) disable_x();
+  if(DISABLE_Y) disable_y();
+  if(DISABLE_Z) disable_z();
+  if(DISABLE_E) disable_e();
+  
+  // Update current position partly based on direction, we probably can combine this with the direction code above...
+  if (destination_x > current_x) current_x = current_x + x_steps_to_take/x_steps_per_unit;
+  else current_x = current_x - x_steps_to_take/x_steps_per_unit;
+  if (destination_y > current_y) current_y = current_y + y_steps_to_take/y_steps_per_unit;
+  else current_y = current_y - y_steps_to_take/y_steps_per_unit;
+  if (destination_z > current_z) current_z = current_z + z_steps_to_take/z_steps_per_unit;
+  else current_z = current_z - z_steps_to_take/z_steps_per_unit;
+  if (destination_e > current_e) current_e = current_e + e_steps_to_take/e_steps_per_unit;
+  else current_e = current_e - e_steps_to_take/e_steps_per_unit;
+}
+
+
+inline void do_x_step()
+{
+  digitalWrite(X_STEP_PIN, HIGH);
+  previous_micros_x = micros();
+  //delayMicroseconds(3);
+  digitalWrite(X_STEP_PIN, LOW);
+}
+
+inline void do_y_step()
+{
+  digitalWrite(Y_STEP_PIN, HIGH);
+  previous_micros_y = micros();
+  //delayMicroseconds(3);
+  digitalWrite(Y_STEP_PIN, LOW);
+}
+
+inline void do_z_step()
+{
+  digitalWrite(Z_STEP_PIN, HIGH);
+  previous_micros_z = micros();
+  //delayMicroseconds(3);
+  digitalWrite(Z_STEP_PIN, LOW);
+}
+
+inline void do_e_step()
+{
+  digitalWrite(E_STEP_PIN, HIGH);
+  previous_micros_e = micros();
+  //delayMicroseconds(3);
+  digitalWrite(E_STEP_PIN, LOW);
+}
+
+inline void disable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON); }
+inline void disable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON); }
+inline void disable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON); }
+inline void disable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON); }
+inline void  enable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN, X_ENABLE_ON); }
+inline void  enable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON); }
+inline void  enable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON); }
+inline void  enable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN, E_ENABLE_ON); }
+
+inline void manage_heater()
+{
+  current_raw = analogRead(TEMP_0_PIN);                  // If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target, 
+  if(USE_THERMISTOR) current_raw = 1023 - current_raw;   // this switches it up so that the reading appears lower than target for the control logic.
+  
+  if(current_raw >= target_raw) digitalWrite(HEATER_0_PIN,LOW);
+  else digitalWrite(HEATER_0_PIN,HIGH);
+}
+
+// Takes temperature value as input and returns corresponding analog value from RepRap thermistor temp table.
+// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
+// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
+float temp2analog(int celsius) {
+  if(USE_THERMISTOR) {
+    int raw = 0;
+    byte i;
+    
+    for (i=1; i<NUMTEMPS; i++)
+    {
+      if (temptable[i][1] < celsius)
+      {
+        raw = temptable[i-1][0] + 
+          (celsius - temptable[i-1][1]) * 
+          (temptable[i][0] - temptable[i-1][0]) /
+          (temptable[i][1] - temptable[i-1][1]);
+      
+        break;
+      }
+    }
+
+    // Overflow: Set to last value in the table
+    if (i == NUMTEMPS) raw = temptable[i-1][0];
+
+    return 1023 - raw;
+  } else {
+    return celsius * (1024.0/(5.0*100.0));
+  }
+}
+
+// Derived from RepRap FiveD extruder::getTemperature()
+float analog2temp(int raw) {
+  if(USE_THERMISTOR) {
+    int celsius = 0;
+    byte i;
+
+    for (i=1; i<NUMTEMPS; i++)
+    {
+      if (temptable[i][0] > raw)
+      {
+        celsius  = temptable[i-1][1] + 
+          (raw - temptable[i-1][0]) * 
+          (temptable[i][1] - temptable[i-1][1]) /
+          (temptable[i][0] - temptable[i-1][0]);
+
+        break;
+      }
+    }
+
+    // Overflow: Set to last value in the table
+    if (i == NUMTEMPS) celsius = temptable[i-1][1];
+
+    return celsius;
+    
+  } else {
+    return raw * ((5.0*100.0)/1024.0);
+  }
+}
+
+inline void kill()
+{
+  if(HEATER_0_PIN > -1) digitalWrite(HEATER_0_PIN,LOW);
+  
+  disable_x;
+  disable_y;
+  disable_z;
+  disable_e;
+  
+  if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
+  
+  while(1)
+  {
+    Serial.print("Fatal Exception Shutdown, Last Line: ");
+    Serial.println(gcode_LastN);
+    delay(5000); // 5 Second delay
+  }
+}