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-rw-r--r--Tonokip_Firmware/ThermistorTable.h43
-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde572
-rw-r--r--Tonokip_Firmware/configuration.h45
-rw-r--r--Tonokip_Firmware/pins.h288
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