Started work on the slave controller code.

Marlin/Marlin.h

@@ -4,7 +4,11 @@
 #ifndef MARLIN_H
 #define MARLIN_H
 
+#include "Configuration.h"
+
+#ifndef REPRAPPRO_MULTIMATERIALS
 #define  HardwareSerial_h // trick to disable the standard HWserial
+#endif
 
 #define  FORCE_INLINE __attribute__((always_inline)) inline
 
@@ -22,7 +26,7 @@
 
 
 #include "fastio.h"
-#include "Configuration.h"
+
 #include "pins.h"
 
 #if ARDUINO >= 100 
@@ -46,12 +50,20 @@
 
 #include "WString.h"
 
-#if MOTHERBOARD == 8  // Teensylu
+#ifdef REPRAPPRO_MULTIMATERIALS
   #define MYSERIAL Serial
+  #define MYSERIAL1 Serial1
+#else
+
+#if MOTHERBOARD == 8 // Teensylu
+  #define MYSERIAL Serial
+  #define MYSERIAL1 Serial1
 #else
   #define MYSERIAL MSerial
 #endif
 
+#endif
+
 //this is a unfinsihed attemp to removes a lot of warning messages, see:
 // http://www.avrfreaks.net/index.php?name=PNphpBB2&file=printview&t=57011
 //typedef char prog_char PROGMEM; 

Marlin/Marlin.pde

@@ -49,9 +49,7 @@
 #include "EEPROMwrite.h"
 #include "language.h"
 #include "pins_arduino.h"
-
-// REMOVE THIS****
-float txyz[EXTRUDERS];
+#include "slave_comms.h"
 
 #define VERSION_STRING  "1.0.1 RRP"
 
@@ -136,6 +134,8 @@ float txyz[EXTRUDERS];
 // M512 - FPU Disable
 // M999 - Restart after being stopped by error
 
+// M555 - Temporary: master/slave comms test
+
 // TN - Select extruder N
 
 //Stepper Movement Variables
@@ -356,6 +356,11 @@ void setup()
   probe_init(); //Initializes probe if PROBE_PIN is defined
   FPUTransform_init(); //Initializes FPU when UMFPUSUPPORT defined
   setup_photpin();
+
+#ifdef REPRAPPRO_MULTIMATERIALS
+  setup_slave();
+#endif
+
 }
 
 
@@ -1358,7 +1363,14 @@ void process_commands()
       FPUDisable();
     }
     break;
-
+#ifdef REPRAPPRO_MULTIMATERIALS    
+    case 555: // Slave comms test
+      talkToSlave("AMFP");
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPGM("Slave response:");
+      SERIAL_ECHO(listenToSlave());
+      break;
+#endif
     }
   }
 
@@ -1394,7 +1406,7 @@ void process_commands()
       y_off_d = extruder_y_off[tmp_extruder] - extruder_y_off[active_extruder];
       z_off_d = extruder_z_off[tmp_extruder] - extruder_z_off[active_extruder];      
 
-      if(z_off_d >= 0)
+      if(z_off_d > 0)
       {
         destination[Z_AXIS] += z_off_d;
         feedrate = fast_home_feedrate[Z_AXIS];

Marlin/MarlinSerial.cpp

@@ -20,7 +20,12 @@
   Modified 28 September 2010 by Mark Sproul
 */
 
+
+
 #include "Marlin.h"
+
+#ifndef REPRAPPRO_MULTIMATERIALS
+
 #include "MarlinSerial.h"
 
 #if MOTHERBOARD != 8 // !teensylu
@@ -324,6 +329,10 @@ void MarlinSerial::printFloat(double number, uint8_t digits)
 
 MarlinSerial MSerial;
 
+MarlinSerial MSerial1;
+
 #endif // whole file
 #endif //teensylu
 
+#endif REPRAPPRO_MULTIMATERIALS
+

Marlin/MarlinSerial.h

@@ -19,10 +19,13 @@
   Modified 28 September 2010 by Mark Sproul
 */
 
+
+
 #ifndef MarlinSerial_h
 #define MarlinSerial_h
 #include "Marlin.h"
 
+#ifndef REPRAPPRO_MULTIMATERIALS
 
 #define DEC 10
 #define HEX 16
@@ -145,6 +148,9 @@ class MarlinSerial //: public Stream
 };
 
 extern MarlinSerial MSerial;
+extern MarlinSerial MSerial1;
 #endif // ! teensylu
 
 #endif
+
+#endif // REPRAPPRO_MULTIMATERIALS

Marlin/pins.h

@@ -73,6 +73,7 @@
 #define SDPOWER            -1
 #define SDSS               31
 
+
 #endif
 
 /****************************************************************************************
@@ -131,6 +132,8 @@
 #define SDPOWER            -1
 #define SDSS               31
 
+#define STEP_TOGGLE	   16
+
 #endif
 
 

Marlin/slave_comms.cpp

@@ -0,0 +1,16 @@
+
+#include "Marlin.h"
+
+#ifdef REPRAPPRO_MULTIMATERIALS
+
+float txyz[EXTRUDERS];
+char slaveBuffer[64];
+long timeout;
+
+void setup_slave()
+{
+	MYSERIAL1.begin(250000);
+	SET_OUTPUT(STEP_TOGGLE);
+}
+
+#endif

Marlin/slave_comms.h

@@ -0,0 +1,66 @@
+#ifndef _SLAVE_COMMSH
+#define _SLAVE_COMMSH
+/*
+   Functions to drive, and to return values from, a slave processor
+
+   Adrian Bowyer 29 July 2012
+*/
+
+#ifdef REPRAPPRO_MULTIMATERIALS
+
+extern float txyz[];
+extern char slaveBuffer[];
+extern long timeout;
+#define TIMEOUT 2
+
+float slaveDegHotend(uint8_t extruder);
+void slaveSetTargetHotend(const float &celsius, uint8_t extruder);
+float slaveDegTargetHotend(uint8_t extruder);
+bool slaveIsHeatingHotend(uint8_t extruder);
+bool slaveIsCoolingHotend(uint8_t extruder);
+void slaveRemoteStep(int8_t extruder, int8_t v);
+void slaveRemoteDir(int8_t extruder, bool forward);
+void talkToSlave(char s[]);
+char* listenToSlave();
+void setup_slave();
+
+
+FORCE_INLINE float slaveDegHotend(uint8_t extruder) { return txyz[extruder]; }
+FORCE_INLINE void slaveSetTargetHotend(const float &celsius, uint8_t extruder) {txyz[extruder] = celsius; }
+FORCE_INLINE float slaveDegTargetHotend(uint8_t extruder) { return txyz[extruder]; }
+FORCE_INLINE bool slaveIsHeatingHotend(uint8_t extruder) { return false; }
+FORCE_INLINE bool  slaveIsCoolingHotend(uint8_t extruder) { return false; }
+
+
+FORCE_INLINE void slaveRemoteStep(int8_t extruder, int8_t v)
+{
+
+}
+
+FORCE_INLINE void slaveRemoteDir(int8_t extruder, bool forward)
+{
+
+}
+
+FORCE_INLINE void talkToSlave(char s[]) { MYSERIAL1.println(s); }
+FORCE_INLINE char* listenToSlave() 
+{
+	int c = 0;
+	timeout = millis();
+	int8_t i = 0;
+	while(c != '\n')
+	{
+		while(!MYSERIAL1.available() && (millis() - timeout < TIMEOUT));
+		c = MYSERIAL1.read();
+		timeout = millis();
+		slaveBuffer[i] = (char)c;
+		i++;
+	}
+	slaveBuffer[i] = 0;
+	return slaveBuffer;
+}
+
+#endif
+
+#endif
+

Marlin/stepper.cpp

@@ -432,10 +432,12 @@ ISR(TIMER1_COMPA_vect)
 
 
 
-    for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) 
+    for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
+      #ifndef REPRAPPRO_MULTIMATERIALS
       #if MOTHERBOARD != 8 // !teensylu
       MSerial.checkRx(); // Check for serial chars.
       #endif 
+      #endif
 
       #ifdef ADVANCE
       counter_e += current_block->steps_e;

Marlin/stepper.h

@@ -22,7 +22,7 @@
 #define stepper_h 
 
 #include "planner.h"
-#include "slave.h"
+#include "slave_comms.h"
 
 #ifdef REPRAPPRO_MULTIMATERIALS
 

Marlin/temperature.cpp

@@ -309,15 +309,16 @@ float analog2tempi(int raw, const float& beta, const float& rs, const float& r_i
 
 
 #ifdef REPRAPPRO_MULTIMATERIALS
-// TODO Put some code in here...
+
 
 float analog2temp_remote(uint8_t e)
 {
-	return 20;
+	return slaveDegHotend(e);
 }
 
 int temp2analog_remote(int celsius, uint8_t e)
 {
+	// What do we do about this, then?
 	return temp2analogi(celsius, E_BETA, E_RS, E_R_INF);
 }
 #endif
@@ -330,17 +331,18 @@ int temp2analog(int celsius, uint8_t e)
 #endif
 	return temp2analogi(celsius, E_BETA, E_RS, E_R_INF); 
 }
-int temp2analogBed(int celsius) 
-{
-	return temp2analogi(celsius, BED_BETA, BED_RS, BED_R_INF); 
-}
 float analog2temp(int raw, uint8_t e) 
 {
 #ifdef REPRAPPRO_MULTIMATERIALS
 	if(e > 0) return analog2temp_remote(e);
 #endif
 	return analog2tempi(raw, E_BETA, E_RS, E_R_INF); 
 }
+
+int temp2analogBed(int celsius) 
+{
+	return temp2analogi(celsius, BED_BETA, BED_RS, BED_R_INF); 
+}
 float analog2tempBed(int raw) 
 { 
 	return analog2tempi(raw, BED_BETA, BED_RS, BED_R_INF); 

Marlin/temperature.h

@@ -23,7 +23,7 @@
 
 #include "Marlin.h"
 #include "planner.h"
-#include "slave.h"
+#include "slave_comms.h"
 
 // If we are using a slave board we have multiple extruders, but we only have to worry
 // about the temperature of the first one of them.