Initial version.

Makefile

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+##############################################################################
+#                                                                            #
+# BeBoPr - 3D printer software for Linux on BeagleBone                       #
+#                                                                            #
+# 2012-05-29 - ARM version for BeagleBone with BeBoPr cape                   #
+#                                                                            #
+#           Copyright (C) 2011-2012 Bas Laarhoven aka modmaker               #
+#                                                                            #
+# Partly based on code by Triffid Hunter, Traumflug, jakepoz, Markus Hitter, #
+# and many others.                                                           #
+# Previous Copyright: (C) 2009-2010 Michael Moon aka Triffid_Hunter          #
+#                                                                            #
+# 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.                                        #
+#                                                                            #
+# 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 #
+#                                                                            #
+##############################################################################
+
+##############################################################################
+#                                                                            #
+# These defaults should be ok, change if you need to                         #
+#                                                                            #
+##############################################################################
+
+# Name of this Makefile (used for "make depend").
+
+DEFS=
+
+#PATH=/home/bas/ti-sdk-am335x-evm-05.03.00.00/linux-devkit/bin:$(PATH)
+ARCH=arm
+CROSS_COMPILE=arm-arago-linux-gnueabi-
+
+MAKEFILE = Makefile
+
+CSTD=gnu99
+
+PROGRAM = mendel
+
+SOURCES = \
+	analog.c \
+	beaglebone-stubs.c \
+	bebopr_r2.c \
+	clock.c \
+	dda.c \
+	dda_queue.c \
+	dda_util.c \
+	debug.c \
+	gcode_parse.c \
+	gcode_process.c \
+	gpio.c \
+	heater.c \
+	home.c \
+	limit_switches.c \
+	pinio.c \
+	pruss.c \
+	pwm.c \
+	serial.c \
+	sermsg.c \
+	sersendf.c \
+	temp.c \
+	thermistor.c \
+	timer.c \
+	traject.c \
+	$(PROGRAM).c
+
+CC = $(CROSS_COMPILE)gcc
+OBJDUMP = $(CROSS_COMPILE)objdump
+OBJCOPY = $(CROSS_COMPILE)objcopy
+
+#OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once -mcall-prologues
+# OPTIMIZE = -O0
+CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) $(DEFS) -std=${CSTD} -funsigned-char -funsigned-bitfields -fpack-struct -save-temps -pthread
+LDFLAGS = -Wl,--as-needed -Wl,--gc-sections
+LIBS = -lm -pthread -lrt
+LIBDEPS =
+
+SUBDIRS =
+
+OBJ = $(patsubst %.c,%.o,${SOURCES})
+
+.PHONY: all program clean subdirs doc
+.PRECIOUS: %.o %.elf
+
+all: config.h $(PROGRAM).elf
+
+$(PROGRAM).elf: $(LIBDEPS)
+
+subdirs:
+	@for dir in $(SUBDIRS); do \
+	  $(MAKE) -C $$dir; \
+	done
+
+clean: clean-subdirs
+	-rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex *.al *.i *.s *~ *fuse
+
+clean-subdirs:
+	@for dir in $(SUBDIRS); do \
+	  $(MAKE) -C $$dir clean; \
+	done
+
+doc: Doxyfile *.c *.h
+	doxygen $<
+
+%.o: %.c config.h Makefile
+	@echo "  CC        $@"
+	@$(CC) -c $(CFLAGS) -Wa,-adhlns=$(<:.c=.al) -o $@ $(subst .o,.c,$@)
+
+%.elf: $(OBJ)
+	@echo "  LINK      $@"
+	@$(CC) $(CFLAGS) $(LDFLAGS) -o $@ $^ $(LIBS)
+
+%.lst: %.elf
+	@echo "  OBJDUMP   $@"
+	@$(OBJDUMP) -h -S $< > $@
+
+depend:
+	@echo "  Appending dependancy information to '$(MAKEFILE)'"
+	@if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; then \
+		sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > $(MAKEFILE).$$$$ && \
+			mv -f $(MAKEFILE).$$$$ $(MAKEFILE); \
+	fi; \
+	echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' >> $(MAKEFILE) ; \
+	if [ "$(MCU_TARGET)x"=="x" ] ; then \
+		$(CC) -MM $(CDEFS) $(CINCS) $(SOURCES) $(ASRC) >> $(MAKEFILE) ; \
+	else \
+		$(CC) -MM -mmcu=$(MCU_TARGET) $(CDEFS) $(CINCS) $(SOURCES) $(ASRC) >> $(MAKEFILE) ; \
+	fi
+
+install:
+	@echo "  INSTALLING '$(PROGRAM)' TO '$(TARGET_NFS_ROOT)'"
+	@if [ -n "$(TARGET_NFS_ROOT)" ] ; then \
+		sudo cp $(PROGRAM).elf $(TARGET_NFS_ROOT)/home/root/ ; \
+	else \
+		echo "INSTALL: no destination specified" ; \
+	fi
+
+.PHONY:	all build elf hex eep lss sym program coff extcoff clean depend applet_files install
+
+# DO NOT DELETE THIS LINE -- make depend depends on it.
+analog.o: analog.c analog.h beaglebone.h mendel.h debug.h
+beaglebone-stubs.o: beaglebone-stubs.c beaglebone.h beaglebone-stubs.h
+bebopr_r2.o: bebopr_r2.c analog.h temp.h beaglebone.h thermistor.h \
+ bebopr.h heater.h pwm.h
+clock.o: clock.c clock.h pinio.h config.h config_macros.h prusa_mech.h \
+ wades_extruder.h sersendf.h dda_queue.h dda.h timer.h temp.h analog.h \
+ debug.h heater.h pwm.h serial.h beaglebone-stubs.h memory_barrier.h \
+ gcode_process.h gcode_parse.h
+dda.o: dda.c pruss.h algo2cmds.h dda.h config.h config_macros.h \
+ prusa_mech.h wades_extruder.h timer.h serial.h beaglebone-stubs.h \
+ sermsg.h gcode_parse.h dda_queue.h debug.h sersendf.h pinio.h \
+ memory_barrier.h dda_util.h
+dda_queue.o: dda_queue.c dda_queue.h dda.h config.h config_macros.h \
+ prusa_mech.h wades_extruder.h timer.h serial.h beaglebone-stubs.h \
+ sermsg.h temp.h analog.h sersendf.h clock.h memory_barrier.h pruss.h \
+ algo2cmds.h
+dda_util.o: dda_util.c dda_util.h
+debug.o: debug.c debug.h config.h config_macros.h prusa_mech.h \
+ wades_extruder.h
+gcode_parse.o: gcode_parse.c gcode_parse.h dda.h config.h config_macros.h \
+ prusa_mech.h wades_extruder.h serial.h beaglebone-stubs.h sermsg.h \
+ debug.h heater.h temp.h analog.h pwm.h sersendf.h gcode_process.h
+gcode_process.o: gcode_process.c gcode_process.h gcode_parse.h dda.h \
+ config.h config_macros.h prusa_mech.h wades_extruder.h dda_queue.h \
+ timer.h serial.h beaglebone-stubs.h sermsg.h temp.h analog.h heater.h \
+ pwm.h sersendf.h pinio.h debug.h clock.h home.h traject.h pruss.h \
+ algo2cmds.h
+gpio.o: gpio.c gpio.h
+heater.o: heater.c heater.h temp.h analog.h pwm.h debug.h beaglebone.h \
+ mendel.h
+home.o: home.c pruss.h algo2cmds.h limit_switches.h home.h dda_queue.h \
+ dda.h config.h config_macros.h prusa_mech.h wades_extruder.h timer.h \
+ pinio.h sersendf.h memory_barrier.h debug.h gcode_process.h \
+ gcode_parse.h traject.h bebopr.h
+limit_switches.o: limit_switches.c limit_switches.h pruss.h algo2cmds.h \
+ mendel.h bebopr.h gpio.h
+pinio.o: pinio.c pinio.h config.h config_macros.h prusa_mech.h \
+ wades_extruder.h
+pruss.o: pruss.c pruss.h algo2cmds.h beaglebone.h
+pwm.o: pwm.c pwm.h
+serial.o: serial.c serial.h beaglebone-stubs.h mendel.h
+sermsg.o: sermsg.c sermsg.h serial.h beaglebone-stubs.h
+sersendf.o: sersendf.c sersendf.h serial.h beaglebone-stubs.h sermsg.h
+temp.o: temp.c temp.h analog.h beaglebone.h debug.h
+thermistor.o: thermistor.c beaglebone.h thermistor.h
+timer.o: timer.c timer.h platform.h beaglebone.h config.h config_macros.h \
+ prusa_mech.h wades_extruder.h dda_queue.h dda.h memory_barrier.h
+traject.o: traject.c traject.h pruss.h algo2cmds.h debug.h
+mendel.o: mendel.c config.h config_macros.h prusa_mech.h wades_extruder.h \
+ serial.h beaglebone-stubs.h dda_queue.h dda.h timer.h gcode_parse.h \
+ temp.h analog.h sermsg.h debug.h sersendf.h heater.h pwm.h pinio.h \
+ platform.h beaglebone.h clock.h bebopr.h mendel.h gcode_process.h \
+ limit_switches.h

README.md

@@ -1,4 +1,23 @@
 BeBoPr
 ======
 
-3D printer controller software for BeagleBone with BeBoPr Cape.
+3D printer controller software for BeagleBone with BeBoPr Cape.
+
+Currently this is a very preliminary version, that allows some interactive
+experiments with the stepper driver. For this one needs the binary 'stepper.bin'
+that's not in this repository and only comes with the BeBoPr Cape.
+
+Compilation:
+------------
+Change setenv to reflect the compilation environment.
+Source setenv before running 'make'.
+After compilation, copy mendel.elf together with stepper.bin and
+bebopr_test.sh to the beaglebone.
+The Linux kernel used needs several features to be able to run this code:
+The uio_pruss module should be available and the adc, pwm and gpio
+interfaces should be present in the /sys filesystem.
+The kernel should also contain the Cape EEPROM parsing code, otherwise all
+settings must be made manually.
+If all these conditions are met, run mendel.elf as root and play with
+the interactive gcode interpreter.
+

ThermistorTable.h

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+// default thermistor lookup table
+
+#if ARCH == arm
+#define PROGMEM
+#endif
+
+// How many thermistor tables we have
+#define NUMTABLES 1
+
+#define THERMISTOR_EXTRUDER	0
+// #define THERMISTOR_BED		1
+
+// Thermistor lookup table, generated with --num-temps=50 and trimmed in lower temperature ranges.
+// You may be able to improve the accuracy of this table in various ways.
+//   1. Measure the actual resistance of the resistor. It's "nominally" 4.7K, but that's ± 5%.
+//   2. Measure the actual beta of your thermistor:http://reprap.org/wiki/MeasuringThermistorBeta
+//   3. Generate more table entries than you need, then trim down the ones in uninteresting ranges. (done)
+// In either case you'll have to regenerate this table, which requires python, which is difficult to install on windows.
+// Since you'll have to do some testing to determine the correct temperature for your application anyway, you
+// may decide that the effort isn't worth it. Who cares if it's reporting the "right" temperature as long as it's
+// keeping the temperature steady enough to print, right?
+// ./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
+// {ADC, temp*4 }, // temp
+uint16_t temptable[NUMTABLES][NUMTEMPS][2] PROGMEM = {
+{
+   {1, 3364}, // 841.027617469 C
+   {21, 1329}, // 332.486789769 C
+   {41, 1104}, // 276.102666373 C
+   {61, 987}, // 246.756060004 C
+   {81, 909}, // 227.268080588 C
+   {101, 851}, // 212.78847342 C
+   {121, 805}, // 201.30176775 C
+   {141, 767}, // 191.787692666 C
+   {161, 734}, // 183.662212795 C
+   {181, 706}, // 176.561442671 C
+   {201, 680}, // 170.244089549 C
+   {221, 658}, // 164.542298163 C
+   {241, 637}, // 159.33475843 C
+   {321, 567}, // 141.921298995 C
+   {381, 524}, // 131.166509425 C
+   {581, 406}, // 101.561865389 C
+   {781, 291}, // 72.9710018071 C
+   {881, 219}, // 54.8051659223 C
+   {981, 93}, // 23.4825243529 C
+   {1010, 1} // 0.498606463441 C
+}
+};

algo2cmds.h

@@ -0,0 +1,14 @@
+
+#define	CMD_AXIS_SET_ORIGIN	0
+#define CMD_AXIS_RAMP_UP	1
+#define CMD_AXIS_DWELL		2
+#define CMD_AXIS_RAMP_DOWN	3
+#define CMD_AXES_EXECUTE	4
+#define	CMD_AXIS_SET_ACCEL	5
+#define	CMD_AXIS_SET_PULSE_LENGTH 6
+#define	CMD_AXIS_CONFIG_AXIS	7
+
+#define CMD_ENABLE		12
+#define CMD_DISABLE		13
+
+#define CMD_HALT_PRU		15