rewrite

4 files changed, 948 insertions, 0 deletions

diff --git a/Tonokip_Firmware/ThermistorTable.h b/Tonokip_Firmware/ThermistorTable.h
new file mode 100644
index 0000000..844b8de
--- /dev/null
+++ b/Tonokip_Firmware/ThermistorTable.h
@@ -0,0 +1,43 @@
+#ifndef THERMISTORTABLE_H_
+#define THERMISTORTABLE_H_
+
+// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts)
+// See this page:  
+// http://dev.www.reprap.org/bin/view/Main/Thermistor
+// for details of what goes in this table.
+// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py)
+// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023
+// r0: 100000
+// t0: 25
+// r1: 0
+// r2: 4700
+// beta: 4066
+// max adc: 1023
+
+#define NUMTEMPS 20
+short temptable[NUMTEMPS][2] = {
+   {1, 841},
+   {54, 255},
+   {107, 209},
+   {160, 184},
+   {213, 166},
+   {266, 153},
+   {319, 142},
+   {372, 132},
+   {425, 124},
+   {478, 116},
+   {531, 108},
+   {584, 101},
+   {637, 93},
+   {690, 86},
+   {743, 78},
+   {796, 70},
+   {849, 61},
+   {902, 50},
+   {955, 34},
+   {1008, 3}
+};
+
+
+#endif
+

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
+  }
+}

diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h
new file mode 100644
index 0000000..fec610b
--- /dev/null
+++ b/Tonokip_Firmware/configuration.h
@@ -0,0 +1,45 @@
+#ifndef PARAMETERS_H

+#define PARAMETERS_H

+

+// NO RS485/EXTRUDER CONTROLLER SUPPORT

+// PLEASE VERIFY PIN ASSIGNMENTS FOR YOUR CONFIGURATION!!!!!!!

+#define MOTHERBOARD 4 // ATMEGA168 0, SANGUINO 1, MOTHERBOARD = 2, MEGA 3, ATMEGA328 4

+

+// THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!!

+const bool USE_THERMISTOR = true; //Set to false if using thermocouple

+

+// Calibration formulas

+// e_extruded_steps_per_mm = e_feedstock_steps_per_mm * (desired_extrusion_diameter^2 / feedstock_diameter^2)

+// new_axis_steps_per_mm = previous_axis_steps_per_mm * (test_distance_instructed/test_distance_traveled)

+// units are in millimeters or whatever length unit you prefer: inches,football-fields,parsecs etc

+

+//Calibration variables

+float x_steps_per_unit = 10.047;

+float y_steps_per_unit = 10.047;

+float z_steps_per_unit = 833.398;

+float e_steps_per_unit = 0.706;

+float max_feedrate = 3000;

+

+//For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1

+const bool X_ENABLE_ON = 0;

+const bool Y_ENABLE_ON = 0;

+const bool Z_ENABLE_ON = 0;

+const bool E_ENABLE_ON = 0;

+

+//Disables axis when it's not being used.

+const bool DISABLE_X = false;

+const bool DISABLE_Y = false;

+const bool DISABLE_Z = true;

+const bool DISABLE_E = false;

+

+//Endstop Settings

+const bool ENDSTOPS_INVERTING = true;

+const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero.

+const bool max_software_endstops = true;  //If true, axis won't move to coordinates greater than the defined lengths below.

+const int X_MAX_LENGTH = 200;

+const int Y_MAX_LENGTH = 200;

+const int Z_MAX_LENGTH = 120;

+

+#define BAUDRATE 19200

+

+#endif

diff --git a/Tonokip_Firmware/pins.h b/Tonokip_Firmware/pins.h
new file mode 100644
index 0000000..a585233
--- /dev/null
+++ b/Tonokip_Firmware/pins.h
@@ -0,0 +1,288 @@
+#ifndef PINS_H
+#define PINS_H
+
+/****************************************************************************************
+* Arduino pin assignment
+*
+*                  ATMega168
+*                   +-\/-+
+*             PC6  1|    |28  PC5 (AI 5 / D19)
+*       (D 0) PD0  2|    |27  PC4 (AI 4 / D18)
+*       (D 1) PD1  3|    |26  PC3 (AI 3 / D17)
+*       (D 2) PD2  4|    |25  PC2 (AI 2 / D16)
+*  PWM+ (D 3) PD3  5|    |24  PC1 (AI 1 / D15)
+*       (D 4) PD4  6|    |23  PC0 (AI 0 / D14)
+*             VCC  7|    |22  GND
+*             GND  8|    |21  AREF
+*             PB6  9|    |20  AVCC
+*             PB7 10|    |19  PB5 (D 13)
+*  PWM+ (D 5) PD5 11|    |18  PB4 (D 12)
+*  PWM+ (D 6) PD6 12|    |17  PB3 (D 11) PWM
+*       (D 7) PD7 13|    |16  PB2 (D 10) PWM
+*       (D 8) PB0 14|    |15  PB1 (D 9)  PWM
+*                   +----+
+****************************************************************************************/
+#if MOTHERBOARD == 0
+#ifndef __AVR_ATmega168__
+#error Oops!  Make sure you have 'Arduino Diecimila' selected from the boards menu.
+#endif
+
+#define X_STEP_PIN   (byte)2
+#define X_DIR_PIN    (byte)3
+#define X_ENABLE_PIN (byte)-1
+#define X_MIN_PIN    (byte)4
+#define X_MAX_PIN    (byte)9
+
+#define Y_STEP_PIN   (byte)10
+#define Y_DIR_PIN    (byte)7
+#define Y_ENABLE_PIN (byte)-1
+#define Y_MIN_PIN    (byte)8
+#define Y_MAX_PIN    (byte)13
+
+#define Z_STEP_PIN   (byte)19
+#define Z_DIR_PIN    (byte)18
+#define Z_ENABLE_PIN (byte)5
+#define Z_MIN_PIN    (byte)17
+#define Z_MAX_PIN    (byte)16
+
+#define E_STEP_PIN   (byte)11
+#define E_DIR_PIN    (byte)12
+#define E_ENABLE_PIN (byte)-1
+
+#define LED_PIN      (byte)-1
+#define FAN_PIN      (byte)-1
+#define PS_ON_PIN    (byte)15
+#define KILL_PIN     (byte)-1
+
+#define HEATER_0_PIN (byte)6
+#define TEMP_0_PIN   (byte)0    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+
+
+
+
+
+
+/****************************************************************************************
+* Sanguino/RepRap Motherboard with direct-drive extruders
+*
+*                        ATMega644P
+*
+*                        +---\/---+
+*            (D 0) PB0  1|        |40  PA0 (AI 0 / D31)
+*            (D 1) PB1  2|        |39  PA1 (AI 1 / D30)
+*       INT2 (D 2) PB2  3|        |38  PA2 (AI 2 / D29)
+*        PWM (D 3) PB3  4|        |37  PA3 (AI 3 / D28)
+*        PWM (D 4) PB4  5|        |36  PA4 (AI 4 / D27)
+*       MOSI (D 5) PB5  6|        |35  PA5 (AI 5 / D26)
+*       MISO (D 6) PB6  7|        |34  PA6 (AI 6 / D25)
+*        SCK (D 7) PB7  8|        |33  PA7 (AI 7 / D24)
+*                  RST  9|        |32  AREF
+*                  VCC 10|        |31  GND 
+*                  GND 11|        |30  AVCC
+*                XTAL2 12|        |29  PC7 (D 23)
+*                XTAL1 13|        |28  PC6 (D 22)
+*       RX0 (D 8)  PD0 14|        |27  PC5 (D 21) TDI
+*       TX0 (D 9)  PD1 15|        |26  PC4 (D 20) TDO
+*  INT0 RX1 (D 10) PD2 16|        |25  PC3 (D 19) TMS
+*  INT1 TX1 (D 11) PD3 17|        |24  PC2 (D 18) TCK
+*       PWM (D 12) PD4 18|        |23  PC1 (D 17) SDA
+*       PWM (D 13) PD5 19|        |22  PC0 (D 16) SCL
+*       PWM (D 14) PD6 20|        |21  PD7 (D 15) PWM
+*                        +--------+
+*
+****************************************************************************************/
+#elif MOTHERBOARD == 1
+#ifndef __AVR_ATmega644P__
+#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define X_STEP_PIN   (byte)15
+#define X_DIR_PIN    (byte)18
+#define X_ENABLE_PIN (byte)19
+#define X_MIN_PIN    (byte)20
+#define X_MAX_PIN    (byte)21
+
+#define Y_STEP_PIN   (byte)23
+#define Y_DIR_PIN    (byte)22
+#define Y_ENABLE_PIN (byte)19
+#define Y_MIN_PIN    (byte)25
+#define Y_MAX_PIN    (byte)26
+
+#define Z_STEP_PIN   (byte)29
+#define Z_DIR_PIN    (byte)30
+#define Z_ENABLE_PIN (byte)31
+#define Z_MIN_PIN    (byte)2
+#define Z_MAX_PIN    (byte)1
+
+#define E_STEP_PIN   (byte)12
+#define E_DIR_PIN    (byte)16
+#define E_ENABLE_PIN (byte)3
+
+#define LED_PIN      (byte)0
+#define FAN_PIN      (byte)-1
+#define PS_ON_PIN    (byte)-1
+#define KILL_PIN     (byte)-1
+
+#define HEATER_0_PIN (byte)14
+#define TEMP_0_PIN   (byte)4 //D27   // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+
+/*  Unused (1) (2) (3) 4 5 6 7 8 9 10 11 12 13 (14) (15) (16) 17 (18) (19) (20) (21) (22) (23) 24 (25) (26) (27) 28 (29) (30) (31)  */
+
+
+
+
+
+
+/****************************************************************************************
+* RepRap Motherboard  ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---*******
+*
+****************************************************************************************/
+#elif MOTHERBOARD == 2
+#ifndef __AVR_ATmega644P__
+#error Oops!  Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define X_STEP_PIN      15
+#define X_DIR_PIN       18
+#define X_ENABLE_PIN    19
+#define X_MIN_PIN       20
+#define X_MAX_PIN       21
+
+#define Y_STEP_PIN      23
+#define Y_DIR_PIN       22
+#define Y_ENABLE_PIN    24
+#define Y_MIN_PIN       25
+#define Y_MAX_PIN       26
+
+#define Z_STEP_PINN     27
+#define Z_DIR_PINN      28
+#define Z_ENABLE_PIN    29
+#define Z_MIN_PIN       30
+#define Z_MAX_PIN       31
+
+#define E_STEP_PIN      17
+#define E_DIR_PIN       16
+#define E_ENABLE_PIN (byte)-1
+
+#define LED_PIN          0
+
+#define SD_CARD_WRITE    2
+#define SD_CARD_DETECT   3
+#define SD_CARD_SELECT   4
+
+//our RS485 pins
+#define TX_ENABLE_PIN	12
+#define RX_ENABLE_PIN	13
+
+//pin for controlling the PSU.
+#define PS_ON_PIN       14
+
+#define FAN_PIN      (byte)-1
+#define KILL_PIN     (byte)-1
+
+#define HEATER_0_PIN (byte)-1
+#define TEMP_0_PIN   (byte)-1    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+
+
+
+
+
+
+/****************************************************************************************
+* Arduino Mega pin assignment
+*
+****************************************************************************************/
+#elif MOTHERBOARD == 3
+#ifndef __AVR_ATmega1280__
+#error Oops!  Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define X_STEP_PIN   (byte)22
+#define X_DIR_PIN    (byte)23
+#define X_ENABLE_PIN (byte)24
+#define X_MIN_PIN    (byte)2
+#define X_MAX_PIN    (byte)3
+
+#define Y_STEP_PIN   (byte)25
+#define Y_DIR_PIN    (byte)26
+#define Y_ENABLE_PIN (byte)27
+#define Y_MIN_PIN    (byte)18
+#define Y_MAX_PIN    (byte)19
+
+#define Z_STEP_PIN   (byte)28
+#define Z_DIR_PIN    (byte)29
+#define Z_ENABLE_PIN (byte)30
+#define Z_MIN_PIN    (byte)20
+#define Z_MAX_PIN    (byte)21
+
+#define E_STEP_PIN   (byte)4
+#define E_DIR_PIN    (byte)31
+#define E_ENABLE_PIN (byte)-1
+
+#define LED_PIN      (byte)-1
+#define FAN_PIN      (byte)-1
+#define PS_ON_PIN    (byte)10
+#define KILL_PIN     (byte)-1
+
+#define HEATER_0_PIN (byte)6
+#define TEMP_0_PIN   (byte)0    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+
+
+
+
+
+
+/****************************************************************************************
+* Duemilanove w/ ATMega328P pin assignment
+*
+****************************************************************************************/
+#elif MOTHERBOARD == 4
+#ifndef __AVR_ATmega328P__
+#error Oops!  Make sure you have 'Arduino Duemilanove w/ ATMega328' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define X_STEP_PIN   (byte)19
+#define X_DIR_PIN    (byte)18
+#define X_ENABLE_PIN (byte)-1
+#define X_MIN_PIN    (byte)17
+#define X_MAX_PIN    (byte)-1
+
+#define Y_STEP_PIN   (byte)10
+#define Y_DIR_PIN    (byte)7
+#define Y_ENABLE_PIN (byte)-1
+#define Y_MIN_PIN    (byte)8
+#define Y_MAX_PIN    (byte)-1
+
+#define Z_STEP_PIN   (byte)13
+#define Z_DIR_PIN    (byte)3
+#define Z_ENABLE_PIN (byte)2
+#define Z_MIN_PIN    (byte)4
+#define Z_MAX_PIN    (byte)-1
+
+//#define BASE_HEATER_PIN   (byte)1
+//#define POWER_SUPPLY_PIN (byte)16
+
+#define E_STEP_PIN   (byte)11
+#define E_DIR_PIN    (byte)12
+#define E_ENABLE_PIN (byte)-1
+
+#define LED_PIN      (byte)-1
+#define FAN_PIN      (byte)5
+#define PS_ON_PIN    (byte)-1
+#define KILL_PIN     (byte)-1
+
+#define HEATER_0_PIN (byte)6
+#define TEMP_0_PIN   (byte)0    // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+
+
+
+
+
+
+#else
+
+#error Unknown MOTHERBOARD value in parameters.h
+
+#endif
+
+#endif