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@triffid
triffid committed Jan 7, 2011
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129 changes: 73 additions & 56 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -4,40 +4,37 @@
# #
# by Triffid Hunter, Traumflug, jakepoz #
# #
##############################################################################

##############################################################################
# #
# Change these to suit your application #
# This firmware is Copyright (C) 2009-2010 Michael Moon aka Triffid_Hunter #
# #
##############################################################################

PROGRAM = mendel

SOURCES = $(PROGRAM).c serial.c dda.c gcode_parse.c gcode_process.c clock.c timer.c temp.c sermsg.c dda_queue.c watchdog.c debug.c sersendf.c heater.c analog.c delay.c

##############################################################################
# This program is free software; you can redistribute it and/or modify #
# it under the terms of the GNU General Public License as published by #
# the Free Software Foundation; either version 2 of the License, or #
# (at your option) any later version. #
# #
# Change these to suit your hardware #
# This program is distributed in the hope that it will be useful, #
# but WITHOUT ANY WARRANTY; without even the implied warranty of #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
# GNU General Public License for more details. #
# #
# You should have received a copy of the GNU General Public License #
# along with this program; if not, write to the Free Software #
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA #
# #
##############################################################################

#MCU_TARGET = atmega168
MCU_TARGET = atmega328p
#MCU_TARGET = atmega644p
#MCU_TARGET = atmega1280
F_CPU = 16000000L

##############################################################################
# #
# These defaults should be ok, change if you need to #
# Change these to suit your hardware #
# #
##############################################################################

ARCH = avr-
CC = $(ARCH)gcc
OBJDUMP = $(ARCH)objdump
OBJCOPY = $(ARCH)objcopy
# MCU_TARGET = atmega168
# MCU_TARGET = atmega328p
MCU_TARGET = atmega644p
# MCU_TARGET = atmega1280

# F_CPU = 16000000L

##############################################################################
# #
Expand All @@ -51,16 +48,25 @@ OBJCOPY = $(ARCH)objcopy
# enables reprap-style acceleration #
# ACCELERATION_RAMPING #
# enables start/stop ramping #
# ACCELERATION_TEMPORAL #
# enables experimental temporal step algorithm - not technically a type of #
# acceleration, but since it controls step timing it seems appropriate #
# GEN3 #
# build for standard reprap electronics instead of your custom rig #
# HOST #
# this is the motherboard for GEN3- don't touch! Extruder has its own #
# Makefile. #
# #
##############################################################################

DEFS = -DF_CPU=$(F_CPU)
# DEFS = -DF_CPU=$(F_CPU) -DHOST -DGEN3
# DEFS += "-DDEBUG=1"

OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once
# OPTIMIZE = -O0
CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) -mmcu=$(MCU_TARGET) $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -save-temps
LDFLAGS = -Wl,--as-needed -Wl,--gc-sections
##############################################################################
# #
# Programmer settings for "make program" #
# #
##############################################################################

AVRDUDE = avrdude
AVRDUDECONF = /etc/avrdude.conf
Expand All @@ -73,12 +79,35 @@ AVRDUDECONF = /etc/avrdude.conf
# MODE="0660" #
# #
##############################################################################

PROGPORT = /dev/arduino

# atmega168
#PROGBAUD = 19200
# atmega328p, 644p, 1280
PROGBAUD = 57600


##############################################################################
# #
# These defaults should be ok, change if you need to #
# #
##############################################################################

PROGRAM = mendel

SOURCES = $(PROGRAM).c serial.c dda.c gcode_parse.c gcode_process.c timer.c temp.c sermsg.c dda_queue.c watchdog.c debug.c sersendf.c heater.c analog.c delay.c intercom.c pinio.c clock.c

ARCH = avr-
CC = $(ARCH)gcc
OBJDUMP = $(ARCH)objdump
OBJCOPY = $(ARCH)objcopy

OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once -mcall-prologues
# OPTIMIZE = -O0
CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) -mmcu=$(MCU_TARGET) $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -save-temps
LDFLAGS = -Wl,--as-needed -Wl,--gc-sections

OBJ = $(patsubst %.c,%.o,${SOURCES})

.PHONY: all program clean size
Expand All @@ -93,23 +122,32 @@ program: $(PROGRAM).hex config.h
$(AVRDUDE) -cstk500v1 -b$(PROGBAUD) -p$(MCU_TARGET) -P$(PROGPORT) -C$(AVRDUDECONF) -U flash:w:$^
stty 115200 raw ignbrk -hup -echo ixoff < $(PROGPORT)

program-fuses:
avr-objdump -s -j .fuse mendel.o | perl -ne '/\s0000\s([0-9a-f]{2})/ && print "$$1\n"' > lfuse
avr-objdump -s -j .fuse mendel.o | perl -ne '/\s0000\s..([0-9a-f]{2})/ && print "$$1\n"' > hfuse
avr-objdump -s -j .fuse mendel.o | perl -ne '/\s0000\s....([0-9a-f]{2})/ && print "$$1\n"' > efuse
$(AVRDUDE) -cstk500v1 -b$(PROGBAUD) -p$(MCU_TARGET) -P$(PROGPORT) -C$(AVRDUDECONF) -U lfuse:w:lfuse
$(AVRDUDE) -cstk500v1 -b$(PROGBAUD) -p$(MCU_TARGET) -P$(PROGPORT) -C$(AVRDUDECONF) -U hfuse:w:hfuse
$(AVRDUDE) -cstk500v1 -b$(PROGBAUD) -p$(MCU_TARGET) -P$(PROGPORT) -C$(AVRDUDECONF) -U efuse:w:efuse

clean:
rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex *.al *.i *.s *~
rm -f sim
rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex *.al *.i *.s *~ *fuse

size: $(PROGRAM).elf
@echo " SIZE Atmega168 Atmega328p Atmega644"
@$(OBJDUMP) -h $^ | perl -ne '/.(text)\s+([0-9a-f]+)/ && do { $$a += eval "0x$$2" }; END { printf " FLASH : %5d bytes (%2d%% of %2dkb) (%2d%% of %2dkb) (%2d%% of %2dkb)\n", $$a, $$a * 100 / (14 * 1024), 14, $$a * 100 / (30 * 1024), 30, $$a * 100 / (63 * 1024), 63 }'
@$(OBJDUMP) -h $^ | perl -ne '/.(data|bss)\s+([0-9a-f]+)/ && do { $$a += eval "0x$$2" }; END { printf " RAM : %5d bytes (%2d%% of %2dkb) (%2d%% of %2dkb) (%2d%% of %2dkb)\n", $$a, $$a * 100 / (1 * 1024), 1, $$a * 100 / (2 * 1024), 2, $$a * 100 / (4 * 1024), 4 }'
@$(OBJDUMP) -h $^ | perl -ne '/.(eeprom)\s+([0-9a-f]+)/ && do { $$a += eval "0x$$2" }; END { printf " EEPROM: %5d bytes (%2d%% of %2dkb) (%2d%% of %2dkb) (%2d%% of %2dkb)\n", $$a, $$a * 100 / (1 * 1024), 1, $$a * 100 / (2 * 1024), 2, $$a * 100 / (2 * 1024), 2 }'
@$(OBJDUMP) -h $^ | perl -MPOSIX -ne '/.(text)\s+([0-9a-f]+)/ && do { $$a += eval "0x$$2" }; END { printf " FLASH : %5d bytes (%2d%% of %2dkb) (%2d%% of %2dkb) (%2d%% of %2dkb)\n", $$a, ceil($$a * 100 / (15 * 1024)), 15, ceil($$a * 100 / (31 * 1024)), 31, ceil($$a * 100 / (63 * 1024)), 63 }'
@$(OBJDUMP) -h $^ | perl -MPOSIX -ne '/.(data|bss)\s+([0-9a-f]+)/ && do { $$a += eval "0x$$2" }; END { printf " RAM : %5d bytes (%2d%% of %2dkb) (%2d%% of %2dkb) (%2d%% of %2dkb)\n", $$a, ceil($$a * 100 / (1 * 1024)), 1, ceil($$a * 100 / (2 * 1024)), 2, ceil($$a * 100 / (4 * 1024)), 4 }'
@$(OBJDUMP) -h $^ | perl -MPOSIX -ne '/.(eeprom)\s+([0-9a-f]+)/ && do { $$a += eval "0x$$2" }; END { printf " EEPROM: %5d bytes (%2d%% of %2dkb) (%2d%% of %2dkb) (%2d%% of %2dkb)\n", $$a, ceil($$a * 100 / (1 * 1024)), 1, ceil($$a * 100 / (2 * 1024)), 2, ceil($$a * 100 / (2 * 1024)), 2 }'

config.h: config.h.dist
@echo "Please review config.h, as config.h.dist is more recent."
@echo
@diff -bBEuF '^. [[:digit:]]. [[:upper:]]' config.h config.h.dist
@false

%.o: %.c config.h
%.o: %.c config.h Makefile
@echo " CC $@"
@$(CC) -c $(CFLAGS) -Wa,-adhlns=$(<:.c=.al) -o $@ $<
@$(CC) -c $(CFLAGS) -Wa,-adhlns=$(<:.c=.al) -o $@ $(subst .o,.c,$@)

%.elf: $(OBJ)
@echo " LINK $@"
Expand All @@ -130,24 +168,3 @@ config.h: config.h.dist
%.sym: %.elf
@echo " SYM $@"
@$(OBJDUMP) -t $< | perl -ne 'BEGIN { printf " ADDR NAME SIZE\n"; } /([0-9a-f]+)\s+(\w+)\s+O\s+\.(bss|data)\s+([0-9a-f]+)\s+(\w+)/ && printf "0x%04x %-20s +%d\n", eval("0x$$1") & 0xFFFF, $$5, eval("0x$$4")' | sort -k1 > $@


##############################################################################
# #
# Simulation #
# #
##############################################################################

SIM_SOURCES = $(PROGRAM).c serial_sim.c dda.c gcode_parse.c gcode_process.c timer_sim.c clock_sim.c temp.c sermsg.c dda_queue.c debug.c sersendf.c heater.c analog_sim.c delay_sim.c simulation.c
SIM_HEADERS = config.h serial.h dda.h gcode_parse.h gcode_process.h timer.h clock.h temp.h sermsg.h dda_queue.h debug.h sersendf.h heater.h analog.h delay.h simulation.h

SIM_OBJ = $(patsubst %.c,%.sim.o,${SIM_SOURCES})
SIM_CFLAGS = -g -Wall -Wstrict-prototypes -Os $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fshort-enums

%.sim.o: %.c $(SIM_HEADERS)
@echo " CC $@"
@cc -DDEBUG -DSIMULATION -Wa,-adhlns=$(<:.c=.al) -c $(SIM_CFLAGS) -o $@ $<

sim: $(SIM_OBJ)
@echo " LINK $@"
@cc $(SIM_CFLAGS) -o $@ $^
71 changes: 40 additions & 31 deletions README
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Original file line number Diff line number Diff line change
Expand Up @@ -18,10 +18,25 @@ Rewrite of Reprap Mendel firmware:
2) check programming settings in Makefile
3) make
4) make program
4a) if programming blank chip, make program-fuses
5) ./sender.sh
6) have a play, go to 1) if not right
7) try printing something!

##############################################################################
# #
# Requirements #
# #
##############################################################################

Compile:
gnu make
binutils, gcc, etc built for avr target (avr-gcc, avr-as, etc)
avr-libc
Program:
avrdude
something that avrdude supports: bootloader, separate programmer, whatever

##############################################################################
# #
# License #
Expand Down Expand Up @@ -98,30 +113,15 @@ The fixed-point stuff is fun, although we have to manually ensure that the decim

The PID code in heater.c is probably quite generalisable, and seems to work well when tuned. Google knows of plenty of PID tuning guides.


##############################################################################
# #
# Simulation #
# Resources #
# #
##############################################################################

To compile the simulation code, use

$ make sim

The simulation program will open a serial port for communication. If you don't want to connect a null modem cable, you can use 'socat' to connect a virtual serial port to your terminal:

$ socat -d -d PTY READLINE
2010/10/18 20:24:33 socat[3700] N PTY is /dev/pts/2
2010/10/18 20:24:33 socat[3700] N using readline on stdin for reading and stdio for writing
2010/10/18 20:24:33 socat[3700] N starting data transfer loop with FDs [3,3] and [0,0]

On the first line of output, socat will tell you the name of the virtual serial port. Pass this as an argument to the simulation program (in another terminal):

$ ./sim /dev/pts/2

Now you can send G-codes from the socat terminal. The simulation code will print any data sent via the firmware's serial interface. Stepper positions will be shown in green, counting a rising slope on the pin as one step.

Forum thread: http://forums.reprap.org/read.php?147,33082
Source Repository: http://github.com/triffid/FiveD_on_Arduino
Wiki Page: http://objects.reprap.org/wiki/FiveD_on_Arduino

##############################################################################
# #
Expand All @@ -132,11 +132,14 @@ Now you can send G-codes from the socat terminal. The simulation code will print
*** analog.[ch]
This is the analog subsystem. Only used if you have a thermistor or ad595

*** arduino.h
Pin mappings and helper functions for various arduinos ('168/'328-based and '644-based only so far, feel free to add '1280 and post a patch)
*** arduino.h, arduino_[chip].h
Pin mappings and helper functions for various atmegas

*** clock.[ch]
A system clock for periodic tasks. Supports a long-running clock, but this is disabled by default as nothing uses it (yet!)
Regular functions that run in main loop rather than an interrupt

*** config.h.dist, config.h
Configuration for your electronics and hardware. Copy config.h.dist to config.h, edit config.h to suit

*** copier.[ch]
A totally untested and currently unused chunk of code for copying firmware to another identical chip
Expand All @@ -150,36 +153,42 @@ The queue of moves received from the host.
*** debug.[ch]
Debugging aids

*** delay.[ch]
Delay functions

*** FiveD_on_Arduino.pde
Allows firmware to be built in arduino ide

*** func.sh
Lots of host-side shell scripts for talking to firmware

*** gcode.[ch]
Gcode interpreter. Scaling of factors to internally used integer or fixed point happens here too.
*** gcode_parse.[ch]
Gcode parser. Scaling of factors to internally used integer or fixed point happens here too.

*** gcode_process.[ch]
Gcodes actually get executed here after being parsed.

*** heater.[ch]
Heater management, including PID and PWM algorithms, and some configuration parameters

*** machine.h
Configuration variables to match firmware to your hardware
*** intercom.[ch]
Gen3 serial link control and communication

*** LICENSE
Gnu GPL2 license

*** Makefile
instructions for make on how to build firmware. has a list of modules to build which may need to be updated every so often

*** mendel.c
Firmware startup and main loop code

*** pinout.h
This file associates various functions with particular pins on your avr
*** pinio.h
A few I/O primitives

*** README
this file

*** simulation.[sh]
helper code to run the code on any Unix PC

*** sender.sh
A simple talker

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