reprap teacup firmware config
authorBernhard Tittelbach <xro@realraum.at>
Fri, 5 Jul 2013 01:35:35 +0000 (01:35 +0000)
committerBernhard Tittelbach <xro@realraum.at>
Fri, 5 Jul 2013 01:35:35 +0000 (01:35 +0000)
teacup_firmware/config.h [new file with mode: 0644]
teacup_firmware/extruder/config.h [new file with mode: 0644]
teacup_firmware/extruder/extruder.c [new file with mode: 0644]

diff --git a/teacup_firmware/config.h b/teacup_firmware/config.h
new file mode 100644 (file)
index 0000000..bab04fe
--- /dev/null
@@ -0,0 +1,552 @@
+/* Notice to developers: this file is intentionally included twice. */
+
+/** \file
+       \brief Gen3 Electronics Sample Configuration
+*/
+
+/*
+       CONTENTS
+
+       1. Mechanical/Hardware
+       2. Acceleration settings
+       3. Pinouts
+       4. Temperature sensors
+       5. Heaters
+       6. Communication options
+       7. Miscellaneous
+       8. Appendix A - PWMable pins and mappings
+*/
+
+/***************************************************************************\
+*                                                                           *
+* 1. MECHANICAL/HARDWARE                                                    *
+*                                                                           *
+\***************************************************************************/
+
+/*
+       Set your microcontroller type in Makefile! atmega168/atmega328p/atmega644p/atmega1280
+
+       If you want to port this to a new chip, start off with arduino.h and see how you go.
+*/
+#if ! ( defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__) )
+       #error GEN3 has a 644P/644PA! set your cpu type in Makefile!
+#endif
+
+/** \def F_CPU
+       CPU clock rate
+*/
+#ifndef        F_CPU
+       #define F_CPU   16000000UL
+#endif
+
+/** \def MOTHERBOARD
+       This is the motherboard, as opposed to the extruder. See extruder/ directory for GEN3 extruder firmware
+*/
+#define        MOTHERBOARD
+
+
+/** \def STEPS_PER_M
+       steps per meter ( = steps per mm * 1000 )
+
+       calculate these values appropriate for your machine
+
+       for threaded rods, this is
+               (steps motor per turn) / (pitch of the thread) * 1000
+
+       for belts, this is
+               (steps per motor turn) / (number of gear teeth) / (belt module) * 1000
+
+       half-stepping doubles the number, quarter stepping requires * 4, etc.
+
+       valid range = 20 to 4'0960'000 (0.02 to 40960 steps/mm)
+
+       all numbers are integers, so no decimal point, please :-)
+*/
+//#define      STEPS_PER_M_X                                   10047
+//#define      STEPS_PER_M_X                                   8000
+#define        STEPS_PER_M_X                                   6766
+// 200 steps / 20 gearteeth / 2.5mm (abtsand zahnriemen-zähne)
+//#define      STEPS_PER_M_Y                                   10047
+//#define      STEPS_PER_M_Y                                   8000
+//rechnerisch 8000, experimentell auf der Y-Achse 6766.1691
+#define        STEPS_PER_M_Y                                   6766
+//160000 für single step mit M8 Muttern, 320000 für half-step mit M8 Muttern
+//200 steps / 1.25 * 1000 * 2
+#define        STEPS_PER_M_Z                                   320000
+
+/// http://blog.arcol.hu/?p=157 may help with this one
+#define        STEPS_PER_M_E                                   35200
+// Extruder gear ratio Gr = 14.0 / 43.0
+// Extruder nozzle diameter = 0.5 (? oder 0.35, oder 0.25)
+
+/*
+       Values depending on the capabilities of your stepper motors and other mechanics.
+               All numbers are integers, no decimals allowed.
+
+               Units are mm/min
+*/
+
+/// used for G0 rapid moves and as a cap for all other feedrates
+#define        MAXIMUM_FEEDRATE_X              5000
+#define        MAXIMUM_FEEDRATE_Y              5000
+#define        MAXIMUM_FEEDRATE_Z              100
+#define        MAXIMUM_FEEDRATE_E              200
+
+/// used when searching endstops and as default feedrate
+#define        SEARCH_FEEDRATE_X                       50
+#define        SEARCH_FEEDRATE_Y                       50
+#define        SEARCH_FEEDRATE_Z                       50
+// no SEARCH_FEEDRATE_E, as E can't be searched
+
+/** \def SLOW_HOMING
+       wether to search the home point slowly
+               With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
+*/
+// #define     SLOW_HOMING
+
+/// this is how many steps to suck back the filament by when we stop. set to zero to disable
+#define        E_STARTSTOP_STEPS                       20
+
+/**
+       Soft axis limits, in mm.
+       Define them to your machine's size relative to what your host considers to be the origin.
+*/
+
+#define        X_MIN                   0.0
+#define        X_MAX                   184.0
+
+#define        Y_MIN                   0.0
+#define        Y_MAX                   220.0
+
+#define        Z_MIN                   0.0
+#define        Z_MAX                   125.0
+
+/**    \def E_ABSOLUTE
+       Some G-Code creators produce relative length commands for the extruder, others absolute ones. G-Code using absolute lengths can be recognized when there are G92 E0 commands from time to time. If you have G92 E0 in your G-Code, define this flag.
+
+       This is the startup default and can be changed with M82/M83 while running.
+*/
+// #define E_ABSOLUTE
+
+
+
+/***************************************************************************\
+*                                                                           *
+* 2. ACCELERATION                                                           *
+*                                                                           *
+* IMPORTANT: choose only one! These algorithms choose when to step, trying  *
+*            to use more than one will have undefined and probably          *
+*            disastrous results!                                            *
+*                                                                           *
+\***************************************************************************/
+
+/** \def ACCELERATION_REPRAP
+       acceleration, reprap style.
+               Each movement starts at the speed of the previous command and accelerates or decelerates linearly to reach target speed at the end of the movement.
+*/
+// #define ACCELERATION_REPRAP
+
+
+/** \def ACCELERATION_RAMPING
+       acceleration and deceleration ramping.
+               Each movement starts at (almost) no speed, linearly accelerates to target speed and decelerates just in time to smoothly stop at the target. alternative to ACCELERATION_REPRAP
+*/
+#define ACCELERATION_RAMPING
+
+/** \def ACCELERATION
+       how fast to accelerate when using ACCELERATION_RAMPING.
+               given in mm/s^2, decimal allowed, useful range 1. to 10'000. Start with 10. for milling (high precision) or 1000. for printing
+*/
+#define ACCELERATION 1000.
+
+/** \def ACCELERATION_TEMPORAL
+       temporal step algorithm
+               This algorithm causes the timer to fire when any axis needs to step, instead of synchronising to the axis with the most steps ala bresenham.
+
+               This algorithm is not a type of acceleration, and I haven't worked out how to integrate acceleration with it.
+               However it does control step timing, so acceleration algorithms seemed appropriate
+
+               The Bresenham algorithm is great for drawing lines, but not so good for steppers - In the case where X steps 3 times to Y's two, Y experiences massive jitter as it steps in sync with X every 2 out of 3 X steps. This is a worst-case, but the problem exists for most non-45/90 degree moves. At higher speeds, the jitter /will/ cause position loss and unnecessary vibration.
+               This algorithm instead calculates when a step occurs on any axis, and sets the timer to that value.
+
+               \todo figure out how to add acceleration to this algorithm
+*/
+// #define ACCELERATION_TEMPORAL
+
+
+
+/***************************************************************************\
+*                                                                           *
+* 3. PINOUTS                                                                *
+*                                                                           *
+\***************************************************************************/
+
+/**
+       Machine Pin Definitions
+       - make sure to avoid duplicate usage of a pin
+       - comment out pins not in use, as this drops the corresponding code and makes operations faster
+*/
+
+#include       "arduino.h"
+
+/** \def USE_INTERNAL_PULLUPS
+       internal pullup resistors
+               the ATmega has internal pullup resistors on it's input pins which are counterproductive with the commonly used eletronic endstops, so they should be switched off. For other endstops, like mechanical ones, you may want to uncomment this.
+*/
+//#define USE_INTERNAL_PULLUPS
+
+/**
+       this is the official gen3 reprap motherboard pinout
+*/
+#define TX_ENABLE_PIN                                  DIO12
+#define        RX_ENABLE_PIN                                   DIO13
+
+#define        X_STEP_PIN                                              DIO15
+#define        X_DIR_PIN                                                       DIO18
+//~ #define    X_MIN_PIN                                                       DIO20
+//~ #define    X_MAX_PIN                                                       DIO21
+#define        X_ENABLE_PIN                                    DIO19
+//#define      X_INVERT_DIR
+//~ #define    X_INVERT_MIN
+//~ #define    X_INVERT_MAX
+#define        X_INVERT_ENABLE
+
+#define        Y_STEP_PIN                                              DIO23
+#define        Y_DIR_PIN                                                       DIO22
+//~ #define    Y_MIN_PIN                                                       AIO6
+#define        Y_MAX_PIN                                                       AIO5
+#define        Y_ENABLE_PIN                                    AIO7
+//#define      Y_INVERT_DIR
+//~ #define    Y_INVERT_MIN
+//~ #define    Y_INVERT_MAX
+#define        Y_INVERT_ENABLE
+
+#define        Z_STEP_PIN                                              AIO4
+#define        Z_DIR_PIN                                                       AIO3
+#define        Z_MIN_PIN                                                       AIO1
+//~ #define    Z_MAX_PIN                                                       AIO0
+#define        Z_ENABLE_PIN                                    AIO2
+//#define      Z_INVERT_DIR
+//~ #define    Z_INVERT_MIN
+//~ #define    Z_INVERT_MAX
+#define        Z_INVERT_ENABLE
+
+#define        E_STEP_PIN                                              DIO17
+#define        E_DIR_PIN                                                       DIO16
+//#define E_ENABLE_PIN                                 xxxx
+//#define      E_INVERT_DIR
+//#define      E_INVERT_ENABLE
+
+#define        SD_CARD_DETECT                          DIO2
+#define        SD_WRITE_PROTECT                        DIO3
+
+//#define      PS_ON_PIN                                                       DIO14
+#define        PS_ON_PIN                                                       PD4 // on TCC Motherboard, JTAG Port, TDI Pin
+//#define      STEPPER_ENABLE_PIN              xxxx
+//#define      STEPPER_INVERT_ENABLE
+
+
+
+/***************************************************************************\
+*                                                                           *
+* 4. TEMPERATURE SENSORS                                                    *
+*                                                                           *
+\***************************************************************************/
+
+/**
+       TEMP_HYSTERESIS: actual temperature must be target +/- hysteresis before target temperature can be achieved.
+       Unit is degree Celsius.
+*/
+#define        TEMP_HYSTERESIS                         5
+
+/**
+       TEMP_RESIDENCY_TIME: actual temperature must be close to target (within
+       set temperature +- TEMP_HYSTERESIS) for this long before target is achieved
+       (and a M116 succeeds). Unit is seconds.
+*/
+#define        TEMP_RESIDENCY_TIME             60
+
+/**
+  TEMP_EWMA: Smooth noisy temperature sensors. Good hardware shouldn't be
+  noisy. Set to 1.0 for unfiltered data (and a 140 bytes smaller binary).
+
+  Instrument Engineer's Handbook, 4th ed, Vol 2 p126 says values of
+  0.05 to 0.1 are typical. Smaller is smoother but slower adjusting, larger is
+  quicker but rougher. If you need to use this, set the PID parameter to zero
+  (M132 S0) to make the PID loop insensitive to noise.
+
+  Valid range: 0.001 to 1.0
+*/
+#define TEMP_EWMA             0.1
+
+/// which temperature sensors are you using? List every type of sensor you use here once, to enable the appropriate code. Intercom is the gen3-style separate extruder board.
+// #define     TEMP_MAX6675
+// #define     TEMP_THERMISTOR
+// #define     TEMP_AD595
+// #define     TEMP_PT100
+#define        TEMP_INTERCOM
+
+/***************************************************************************\
+*                                                                           *
+* Define your temperature sensors here. One line for each sensor, only      *
+* limited by the number of available ATmega pins.                           *
+*                                                                           *
+* Types are same as TEMP_ list above - TT_MAX6675, TT_THERMISTOR, TT_AD595, *
+*   TT_PT100, TT_INTERCOM. See list in temp.c.                              *
+*                                                                           *
+* The "additional" field is used for TT_THERMISTOR only. It defines the     *
+* name of the table(s) in ThermistorTable.h to use. Typically, this is      *
+* THERMISTOR_EXTRUDER for the first or only table, or THERMISTOR_BED for    *
+* the second table. See also early in ThermistorTable.{single|double}.h.    *
+*                                                                           *
+* For a GEN3 set temp_type to TT_INTERCOM and temp_pin to AIO0. The pin     *
+* won't be used in this case.                                               *
+*                                                                           *
+\***************************************************************************/
+
+#ifndef DEFINE_TEMP_SENSOR
+       #define DEFINE_TEMP_SENSOR(...)
+#endif
+
+//                 name       type            pin        additional
+DEFINE_TEMP_SENSOR(noheater,  TT_INTERCOM,    AIO0,      0)
+DEFINE_TEMP_SENSOR(bed,       TT_INTERCOM,    AIO1,      0)
+
+// bed has no heater attached
+#define HEATER_bed HEATER_noheater
+
+
+/***************************************************************************\
+*                                                                           *
+* 5. HEATERS                                                                *
+*                                                                           *
+\***************************************************************************/
+
+/** \def HEATER_SANITY_CHECK
+       check if heater responds to changes in target temperature, disable and spit errors if not
+       largely untested, please comment in forum if this works, or doesn't work for you!
+*/
+// #define     HEATER_SANITY_CHECK
+
+/***************************************************************************\
+*                                                                           *
+* Define your heaters and devices here.                                     *
+*                                                                           *
+* To attach a heater to a temp sensor above, simply use exactly the same    *
+* name - copy+paste is your friend. Some common names are 'extruder',       *
+* 'bed', 'fan', 'motor', ... names with special meaning can be found        *
+* in gcode_process.c. Currently, these are:                                 *
+*   HEATER_extruder   (M104)                                                *
+*   HEATER_bed        (M140)                                                *
+*   HEATER_fan        (M106)                                                *
+*                                                                           *
+* Devices don't neccessarily have a temperature sensor, e.g. fans or        *
+* milling spindles. Operate such devices by setting their power (M106),     *
+* instead of setting their temperature (M104).                              *
+*                                                                           *
+* Also note, the index of a heater (M106 P#) can differ from the index of   *
+* its attached temperature sensor (M104 P#) in case sensor-less devices     *
+* are defined or the order of the definitions differs. The first defined    *
+* device has the index 0 (zero).                                            *
+*                                                                           *
+* Set 'pwm' to ...                                                          *
+*  1  for using PWM on a PWM-able pin and on/off on other pins.             *
+*  0  for using on/off on a PWM-able pin, too.                              *
+* Using PWM usually gives smoother temperature control but can conflict     *
+* with slow switches, like solid state relays. PWM frequency can be         *
+* influenced globally with FAST_PWM, see below.                             *
+*                                                                           *
+\***************************************************************************/
+
+#ifndef DEFINE_HEATER
+       #define DEFINE_HEATER(...)
+#endif
+
+//            name      port   pwm
+// DEFINE_HEATER(extruder, PINB3, 1)
+// DEFINE_HEATER(bed,      PINB4, 1)
+
+/** \def HEATER_EXTRUDER
+       \def HEATER_BED
+       \def HEATER_FAN
+       and now because the c preprocessor isn't as smart as it could be,
+       uncomment the ones you've listed above and comment the rest.
+       \NOTE these are used to enable various capability-specific chunks of code, you do NOT need to create new entries unless you are adding new capabilities elsewhere in the code!
+       so if you list a bed above, uncomment HEATER_BED, but if you list a chamber you do NOT need to create HEATED_CHAMBER
+       I have searched high and low for a way to make the preprocessor do this for us, but so far I have not found a way.
+*/
+
+// #define     HEATER_EXTRUDER HEATER_extruder
+
+// workaround for heated bed over intercom. HEATER_BED is the intercom temp channel number.
+#define HEATER_BED 1
+
+
+
+/***************************************************************************\
+*                                                                           *
+* 6. COMMUNICATION OPTIONS                                                  *
+*                                                                           *
+\***************************************************************************/
+
+/** \def BAUD
+  Baud rate for the serial RS232 protocol connection to the host. Usually
+  115200, other common values are 19200, 38400 or 57600. Ignored when USB_SERIAL
+  is defined.
+*/
+#define BAUD 115200
+
+/** \def USB_SERIAL
+  Define this for using USB instead of the serial RS232 protocol. Works on
+  USB-equipped ATmegas, like the ATmega32U4, only.
+*/
+// #define USB_SERIAL
+
+/** \def XONXOFF
+       Xon/Xoff flow control.
+               Redundant when using RepRap Host for sending GCode, but mandatory when sending GCode files with a plain terminal emulator, like GtkTerm (Linux), CoolTerm (Mac) or HyperTerminal (Windows).
+               Can also be set in Makefile
+*/
+// #define     XONXOFF
+
+
+
+/***************************************************************************\
+*                                                                           *
+* 7. MISCELLANEOUS OPTIONS                                                  *
+*                                                                           *
+\***************************************************************************/
+
+/** \def EECONFIG
+  EECONFIG: Enable EEPROM configuration storage.
+
+  Enabled by default. Commenting this out makes the binary several hundred
+  bytes smaller, so you might want to disable EEPROM storage on small MCUs,
+  like the ATmega168.
+*/
+#define EECONFIG
+
+/** \def DEBUG
+       DEBUG
+               enables /heaps/ of extra output, and some extra M-codes.
+               WARNING: this WILL break most host-side talkers that expect particular responses from firmware such as reprap host and replicatorG
+               use with serial terminal or other suitable talker only.
+*/
+// #define     DEBUG
+
+/** \def BANG_BANG
+       BANG_BANG
+               drops PID loop from heater control, reduces code size significantly (1300 bytes!)
+               may allow DEBUG on '168
+*//** \def BANG_BANG_ON
+       BANG_BANG_ON
+               PWM value for 'on'
+*//** \def BANG_BANG_OFF
+       BANG_BANG_OFF
+               PWM value for 'off'
+*/
+// #define     BANG_BANG
+// #define     BANG_BANG_ON    200
+// #define     BANG_BANG_OFF   45
+
+/**
+       move buffer size, in number of moves
+               note that each move takes a fair chunk of ram (69 bytes as of this writing) so don't make the buffer too big - a bigger serial readbuffer may help more than increasing this unless your gcodes are more than 70 characters long on average.
+               however, a larger movebuffer will probably help with lots of short consecutive moves, as each move takes a bunch of math (hence time) to set up so a longer buffer allows more of the math to be done during preceding longer moves
+*/
+#define        MOVEBUFFER_SIZE 8
+
+/** \def DC_EXTRUDER
+       DC extruder
+               If you have a DC motor extruder, configure it as a "heater" above and define this value as the index or name. You probably also want to comment out E_STEP_PIN and E_DIR_PIN in the Pinouts section above.
+*/
+// #define     DC_EXTRUDER HEATER_motor
+// #define     DC_EXTRUDER_PWM 180
+
+/** \def USE_WATCHDOG
+       Teacup implements a watchdog, which has to be reset every 250ms or it will reboot the controller. As rebooting (and letting the GCode sending application trying to continue the build with a then different Home point) is probably even worse than just hanging, and there is no better restore code in place, this is disabled for now.
+*/
+// #define USE_WATCHDOG
+
+/**
+       analog subsystem stuff
+       REFERENCE - which analog reference to use. see analog.h for choices
+*/
+#define        REFERENCE                       REFERENCE_AVCC
+
+/** \def STEP_INTERRUPT_INTERRUPTIBLE
+       this option makes the step interrupt interruptible (nested).
+       this should help immensely with dropped serial characters, but may also make debugging infuriating due to the complexities arising from nested interrupts
+*/
+#define                STEP_INTERRUPT_INTERRUPTIBLE    1
+
+/**
+       temperature history count. This is how many temperature readings to keep in order to calculate derivative in PID loop
+       higher values make PID derivative term more stable at the expense of reaction time
+*/
+#define        TH_COUNT                                        8
+
+/** \def FAST_PWM
+       Teacup offers two PWM frequencies, 76(61) Hz and 78000(62500) Hz on a
+       20(16) MHz electronics. The slower one is the default, as it's the safer
+       choice. Drawback is, in a quiet environment you might notice the heaters
+       and your power supply humming.
+
+       Uncomment this option if you want to get rid of this humming or want
+       faster PWM for other reasons.
+
+       See also: http://reprap.org/wiki/Gen7_Research#MOSFET_heat_and_PWM
+*/
+// #define     FAST_PWM
+
+/// this is the scaling of internally stored PID values. 1024L is a good value
+#define        PID_SCALE                                               1024L
+
+/** \def ENDSTOP_STEPS
+       number of steps to run into the endstops intentionally
+               As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
+*/
+#define        ENDSTOP_STEPS   4
+
+
+
+/***************************************************************************\
+*                                                                           *
+* 8. APPENDIX A - PWMABLE PINS AND MAPPINGS                                 *
+*                                                                           *
+*                                                                           *
+* list of PWM-able pins and corresponding timers                            *
+* timer1 is used for step timing so don't use OC1A/OC1B                     *
+* they are omitted from this listing for that reason                        *
+*                                                                           *
+* For the atmega168/328, timer/pin mappings are as follows                  *
+*                                                                           *
+* OCR0A - PD6  - DIO6                                                       *
+* OCR0B - PD5  - DIO5                                                       *
+* OCR2A - PB3  - DIO11                                                      *
+* OCR2B - PD3  - DIO3                                                       *
+*                                                                           *
+* For the atmega644, timer/pin mappings are as follows                      *
+*                                                                           *
+* OCR0A - PB3  - DIO3                                                       *
+* OCR0B - PB4  - DIO4                                                       *
+* OCR2A - PD7  - DIO15                                                      *
+* OCR2B - PD6  - DIO14                                                      *
+*                                                                           *
+* For the atmega1280, timer/pin mappings are as follows                     *
+*                                                                           *
+* OCR0A  - PB7 - DIO13                                                      *
+* OCR0B  - PG5 - DIO4                                                       *
+* OCR2A  - PB4 - DIO10                                                      *
+* OCR2B  - PH6 - DIO9                                                       *
+* OCR3AL - PE3 - DIO5                                                       *
+* OCR3BL - PE4 - DIO2                                                       *
+* OCR3CL - PE5 - DIO3                                                       *
+* OCR4AL - PH3 - DIO6                                                       *
+* OCR4BL - PH4 - DIO7                                                       *
+* OCR4CL - PH5 - DIO8                                                       *
+* OCR5AL - PL3 - DIO46                                                      *
+* OCR5BL - PL4 - DIO45                                                      *
+* OCR5CL - PL5 - DIO44                                                      *
+*                                                                           *
+\***************************************************************************/
diff --git a/teacup_firmware/extruder/config.h b/teacup_firmware/extruder/config.h
new file mode 100644 (file)
index 0000000..c842060
--- /dev/null
@@ -0,0 +1,95 @@
+/* Notice to developers: this file is intentionally included twice. */
+\r
+/*\r
+       CPU clock rate\r
+*/\r
+#ifndef        F_CPU\r
+       #define F_CPU   16000000L\r
+#endif\r
+\r
+/*\r
+       other fallbacks for the Arduino IDE\r
+*/\r
+#define EXTRUDER\r
+#define GEN3\r
+\r
+#include       "arduino.h"\r
+\r
+// controller index- bus is multidrop after all\r
+#define        THIS_CONTROLLER_NUM 0\r
+\r
+//RS485 Interface pins\r
+#define RX_ENABLE_PIN DIO4\r
+#define TX_ENABLE_PIN AIO2\r
+\r
+// Control pins for the A3949 chips\r
+#define H1D DIO7\r
+#define H1E DIO5\r
+#define H2D DIO8\r
+#define H2E DIO6\r
+\r
+// PWM versions of the enable_pins\r
+#define H1E_PWM OCR0B\r
+#define H2E_PWM OCR0A\r
+\r
+//Step/Dir Pins from motherboard to extruder\r
+//IMPORTANT: Assumes that the step pin is on PCIE0\r
+#define E_STEP_PIN DIO10\r
+#define E_DIR_PIN DIO9\r
+\r
+//Trimpot is on AIO0, pin 23\r
+#define TRIM_POT AIO0\r
+#define TRIM_POT_CHANNEL 0\r
+\r
+//Read analog voltage from thermistor\r
+#define TEMP_PIN AIO3\r
+#define TEMP_PIN_CHANNEL 3\r
+\r
+//Read analog voltage from thermistor\r
+#define TEMP_BED_PIN AIO6\r
+#define TEMP_BED_PIN_CHANNEL 6\r
+\r
+\r
+#define        REFERENCE       REFERENCE_AVCC\r
+\r
+#define        TEMP_THERMISTOR\r
+\r
+#define        HEATER_PIN      DIO11\r
+#define BED_PIN                AIO1\r
+#define FAN_PIN                DIO12\r
+\r
+// extruder settings\r
+#define        TEMP_HYSTERESIS                         5
+#define        TEMP_RESIDENCY_TIME             60\r
+\r
+#ifdef DEFINE_TEMP_SENSOR\r
+DEFINE_TEMP_SENSOR(extruder,   TT_THERMISTOR,          TEMP_PIN_CHANNEL,               THERMISTOR_EXTRUDER)\r
+DEFINE_TEMP_SENSOR(bed,                        TT_THERMISTOR,          TEMP_BED_PIN_CHANNEL,   THERMISTOR_EXTRUDER)\r
+// dummy temp sensor so analog_mask includes trim pot\r
+DEFINE_TEMP_SENSOR(noheater,   TT_THERMISTOR,          TRIM_POT_CHANNEL,               0)\r
+#endif\r
+\r
+#ifdef DEFINE_HEATER\r
+DEFINE_HEATER(extruder,        DIO11)\r
+DEFINE_HEATER(bed,                     AIO1)\r
+#endif\r
+\r
+// list of PWM-able pins and corresponding timers\r
+// timer1 is used for step timing so don't use OC1A/OC1B (DIO9/DIO10)\r
+// OC0A                                                                                                DIO6\r
+// OC0B                                                                                                DIO5\r
+// OC1A                                                                                                DIO9\r
+// OC1B                                                                                                DIO10\r
+// OC2A                                                                                                DIO11\r
+// OC2B                                                                                                DIO3\r
+\r
+#define        TH_COUNT                                        8\r
+#define        PID_SCALE                                       1024L\r
+\r
+\r
+/*\r
+       Motors\r
+*/\r
+\r
+#define enable_motors()                                do { TCCR0A |= MASK(COM0A1) | MASK(COM0B1); } while (0)\r
+#define disable_motors()                       do { TCCR0A &= ~MASK(COM0A1) & ~MASK(COM0B1); } while (0)\r
diff --git a/teacup_firmware/extruder/extruder.c b/teacup_firmware/extruder/extruder.c
new file mode 100644 (file)
index 0000000..b9a5f50
--- /dev/null
@@ -0,0 +1,250 @@
+#include    <stdint.h>\r
+#include    <string.h>\r
+\r
+#include    <avr/interrupt.h>\r
+\r
+#include    "intercom.h"\r
+#include    "analog.h"\r
+#include    "config.h"\r
+#include    "watchdog.h"\r
+#include    "heater.h"\r
+#include    "temp.h"\r
+#include    "timer.h"\r
+\r
+static uint8_t motor_pwm;\r
+static uint8_t motor_idle_counter;\r
+\r
+void io_init(void) {\r
+    // setup I/O pins\r
+    WRITE(DEBUG_LED, 0); SET_OUTPUT(DEBUG_LED);\r
+    WRITE(H1D,0); SET_OUTPUT(H1D);\r
+    WRITE(H1E,0); SET_OUTPUT(H1E);\r
+    WRITE(H2D,0); SET_OUTPUT(H2D);\r
+    WRITE(H2E,0); SET_OUTPUT(H2E);\r
+\r
+    SET_INPUT(TRIM_POT);\r
+    SET_INPUT(TEMP_PIN);\r
+    SET_INPUT(TEMP_BED_PIN);\r
+    SET_INPUT(E_STEP_PIN);\r
+    SET_INPUT(E_DIR_PIN);\r
+\r
+    // use pull up resistors to avoid noise\r
+    WRITE(E_STEP_PIN, 1);\r
+    WRITE(E_DIR_PIN, 1);\r
+\r
+    //Enable the RS485 transceiver\r
+    SET_OUTPUT(RX_ENABLE_PIN);\r
+    SET_OUTPUT(TX_ENABLE_PIN);\r
+    WRITE(RX_ENABLE_PIN,0);\r
+    disable_transmit();\r
+\r
+    #ifdef  HEATER_PIN\r
+        WRITE(HEATER_PIN, 0); SET_OUTPUT(HEATER_PIN);\r
+    #endif\r
+\r
+    #ifdef BED_PIN\r
+        WRITE(BED_PIN, 0); SET_OUTPUT(BED_PIN);\r
+    #endif\r
+\r
+    #ifdef FAN_PIN\r
+        WRITE(FAN_PIN, 0); SET_OUTPUT(FAN_PIN);\r
+    #endif\r
+\r
+//  #if defined(HEATER_PWM) || defined(FAN_PWM) || defined(BED_PWM)\r
+        // setup PWM timer: fast PWM, no prescaler\r
+        TCCR2A = MASK(WGM21) | MASK(WGM20);\r
+        TCCR2B = MASK(CS22);\r
+        TIMSK2 = 0;\r
+        OCR2A = 0;\r
+        OCR2B = 0;\r
+//  #endif\r
+\r
+    #if defined(H1E_PWM) && defined(H2E_PWM)\r
+        TCCR0A = MASK(WGM01) | MASK(WGM00);\r
+        TCCR0B = MASK(CS20);\r
+        TIMSK0 = 0;\r
+        OCR0A = 0;\r
+        OCR0B = 0;\r
+    #endif\r
+}\r
+\r
+void motor_init(void) {\r
+    //Enable an interrupt to be triggered when the step pin changes\r
+    //This will be PCIE0\r
+    motor_idle_counter = 0;\r
+    PCICR = MASK(PCIE0);\r
+    PCMSK0 = MASK(PCINT2);\r
+}\r
+\r
+ISR(PCINT0_vect) {\r
+    static uint8_t coil_pos, pwm;\r
+\r
+    //if the step pin is high, we advance the motor\r
+    if (READ(E_STEP_PIN)) {\r
+\r
+        //Turn on motors only on first tick to save power I guess\r
+        enable_motors();\r
+\r
+        //Set motor idle counter to zero\r
+        motor_idle_counter = 0;\r
+\r
+        //Advance the coil position\r
+        if (READ(E_DIR_PIN))\r
+            coil_pos++;\r
+        else\r
+            coil_pos--;\r
+\r
+        coil_pos &= 7;\r
+\r
+        //Grab the latest motor power to use\r
+        pwm = motor_pwm;\r
+\r
+        switch(coil_pos) {\r
+            case 0:\r
+              WRITE(H1D, 0);\r
+              WRITE(H2D, 0);\r
+              H1E_PWM = 0;\r
+              H2E_PWM = pwm;\r
+              break;\r
+            case 1:\r
+              WRITE(H1D, 1);\r
+              WRITE(H2D, 0);\r
+              H1E_PWM = pwm;\r
+              H2E_PWM = pwm;\r
+              break;\r
+            case 2:\r
+              WRITE(H1D, 1);\r
+              WRITE(H2D, 0);\r
+              H1E_PWM = pwm;\r
+              H2E_PWM = 0;\r
+              break;\r
+            case 3:\r
+              WRITE(H1D, 1);\r
+              WRITE(H2D, 1);\r
+              H1E_PWM = pwm;\r
+              H2E_PWM = pwm;\r
+              break;\r
+            case 4:\r
+              WRITE(H1D, 1);\r
+              WRITE(H2D, 1);\r
+              H1E_PWM = 0;\r
+              H2E_PWM = pwm;\r
+              break;\r
+            case 5:\r
+              WRITE(H1D, 0);\r
+              WRITE(H2D, 1);\r
+              H1E_PWM = pwm;\r
+              H2E_PWM = pwm;\r
+              break;\r
+            case 6:\r
+              WRITE(H1D, 0);\r
+              WRITE(H2D, 1);\r
+              H1E_PWM = pwm;\r
+              H2E_PWM = 0;\r
+              break;\r
+            case 7:\r
+              WRITE(H1D, 0);\r
+              WRITE(H2D, 0);\r
+              H1E_PWM = pwm;\r
+              H2E_PWM = pwm;\r
+              break;\r
+        }\r
+    }\r
+}\r
+\r
+void init(void) {\r
+    // set up watchdog\r
+    wd_init();\r
+\r
+    // setup analog reading\r
+    analog_init();\r
+\r
+    // set up serial\r
+    intercom_init();\r
+\r
+    // set up inputs and outputs\r
+    io_init();\r
+\r
+    // temp sensor\r
+    temp_init();\r
+\r
+    // heater\r
+    heater_init();\r
+\r
+    // set up extruder motor driver\r
+    motor_init();\r
+\r
+    // set up clock\r
+    timer_init();\r
+\r
+    // enable interrupts\r
+    sei();\r
+\r
+    // reset watchdog\r
+    wd_reset();\r
+}\r
+\r
+uint8_t writebuff[11];\r
+int main (void)\r
+{\r
+    init();\r
+\r
+    enable_heater();\r
+\r
+    // main loop\r
+    for (;;)\r
+    {\r
+        wd_reset();\r
+\r
+        //Read motor PWM\r
+        motor_pwm = analog_read(TRIM_POT_CHANNEL) >> 2;\r
+\r
+        ifclock(CLOCK_FLAG_10MS) {\r
+            // check temperatures and manage heaters\r
+            temp_sensor_tick();\r
+        }\r
+        ifclock(CLOCK_FLAG_250MS) {\r
+            // this is of course bad code, since the interupt routine setting motor_idle_counter to 0 can be run at any time during this code. Worst case, it runs  while disable_motors() is halfway in progress\r
+            motor_idle_counter++;\r
+            if (motor_idle_counter > 3)\r
+                disable_motors();\r
+        }\r
+\r
+        // check if we've had a new intercom packet\r
+        if (intercom_flags & FLAG_NEW_RX) {\r
+            intercom_flags &= ~FLAG_NEW_RX;\r
+\r
+            switch (rx.packet.control_word) {\r
+                // M105- read temperatures\r
+                case 105:\r
+                    send_temperature(0, temp_get(0));\r
+                    temp_set(0, read_temperature(0));\r
+                    send_temperature(1, temp_get(1));\r
+                    temp_set(1, read_temperature(1));\r
+                    start_send();\r
+                    break;\r
+                // M130 - set PID P factor\r
+                case 130:\r
+                    pid_set_p(rx.packet.control_index, rx.packet.control_data_int32);\r
+                // M131 - set PID I factor\r
+                case 131:\r
+                    pid_set_i(rx.packet.control_index, rx.packet.control_data_int32);\r
+                // M132 - set PID D factor\r
+                case 132:\r
+                    pid_set_d(rx.packet.control_index, rx.packet.control_data_int32);\r
+                // M133 - set PID I limit\r
+                case 133:\r
+                    pid_set_i_limit(rx.packet.control_index, rx.packet.control_data_int32);\r
+                // M134 - save PID values to eeprom\r
+                case 134:\r
+                    heater_save_settings();\r
+                    break;\r
+            }\r
+        }\r
+
+        if (intercom_flags & FLAG_TX_FINISHED) {
+            WRITE(TX_ENABLE_PIN,0);
+        }\r
+
+    }\r
+}\r