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Initial version.
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‎Makefile

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##############################################################################
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# #
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# BeBoPr - 3D printer software for Linux on BeagleBone #
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# #
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# 2012-05-29 - ARM version for BeagleBone with BeBoPr cape #
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# #
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# Copyright (C) 2011-2012 Bas Laarhoven aka modmaker #
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# #
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# Partly based on code by Triffid Hunter, Traumflug, jakepoz, Markus Hitter, #
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# and many others. #
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# Previous Copyright: (C) 2009-2010 Michael Moon aka Triffid_Hunter #
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# #
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# This program is free software; you can redistribute it and/or modify #
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# it under the terms of the GNU General Public License as published by #
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# the Free Software Foundation; either version 2 of the License, or #
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# (at your option) any later version. #
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# #
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# This program is distributed in the hope that it will be useful, #
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# but WITHOUT ANY WARRANTY; without even the implied warranty of #
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
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# GNU General Public License for more details. #
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# #
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# You should have received a copy of the GNU General Public License #
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# along with this program; if not, write to the Free Software #
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# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA #
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# #
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##############################################################################
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##############################################################################
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# #
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# These defaults should be ok, change if you need to #
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# #
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##############################################################################
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# Name of this Makefile (used for "make depend").
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DEFS=
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#PATH=/home/bas/ti-sdk-am335x-evm-05.03.00.00/linux-devkit/bin:$(PATH)
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ARCH=arm
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CROSS_COMPILE=arm-arago-linux-gnueabi-
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MAKEFILE = Makefile
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CSTD=gnu99
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PROGRAM = mendel
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SOURCES = \
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analog.c \
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beaglebone-stubs.c \
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bebopr_r2.c \
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clock.c \
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dda.c \
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dda_queue.c \
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dda_util.c \
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debug.c \
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gcode_parse.c \
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gcode_process.c \
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gpio.c \
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heater.c \
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home.c \
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limit_switches.c \
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pinio.c \
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pruss.c \
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pwm.c \
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serial.c \
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sermsg.c \
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sersendf.c \
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temp.c \
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thermistor.c \
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timer.c \
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traject.c \
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$(PROGRAM).c
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CC = $(CROSS_COMPILE)gcc
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OBJDUMP = $(CROSS_COMPILE)objdump
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OBJCOPY = $(CROSS_COMPILE)objcopy
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#OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once -mcall-prologues
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# OPTIMIZE = -O0
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CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) $(DEFS) -std=${CSTD} -funsigned-char -funsigned-bitfields -fpack-struct -save-temps -pthread
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LDFLAGS = -Wl,--as-needed -Wl,--gc-sections
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LIBS = -lm -pthread -lrt
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LIBDEPS =
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SUBDIRS =
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OBJ = $(patsubst %.c,%.o,${SOURCES})
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.PHONY: all program clean subdirs doc
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.PRECIOUS: %.o %.elf
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all: config.h $(PROGRAM).elf
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$(PROGRAM).elf: $(LIBDEPS)
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subdirs:
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@for dir in $(SUBDIRS); do \
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$(MAKE) -C $$dir; \
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done
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clean: clean-subdirs
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-rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex *.al *.i *.s *~ *fuse
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clean-subdirs:
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@for dir in $(SUBDIRS); do \
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$(MAKE) -C $$dir clean; \
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done
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doc: Doxyfile *.c *.h
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doxygen $<
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%.o: %.c config.h Makefile
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@echo " CC $@"
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@$(CC) -c $(CFLAGS) -Wa,-adhlns=$(<:.c=.al) -o $@ $(subst .o,.c,$@)
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%.elf: $(OBJ)
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@echo " LINK $@"
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@$(CC) $(CFLAGS) $(LDFLAGS) -o $@ $^ $(LIBS)
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%.lst: %.elf
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@echo " OBJDUMP $@"
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@$(OBJDUMP) -h -S $< > $@
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depend:
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@echo " Appending dependancy information to '$(MAKEFILE)'"
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@if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; then \
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sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > $(MAKEFILE).$$$$ && \
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mv -f $(MAKEFILE).$$$$ $(MAKEFILE); \
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fi; \
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echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' >> $(MAKEFILE) ; \
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if [ "$(MCU_TARGET)x"=="x" ] ; then \
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$(CC) -MM $(CDEFS) $(CINCS) $(SOURCES) $(ASRC) >> $(MAKEFILE) ; \
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else \
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$(CC) -MM -mmcu=$(MCU_TARGET) $(CDEFS) $(CINCS) $(SOURCES) $(ASRC) >> $(MAKEFILE) ; \
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fi
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install:
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@echo " INSTALLING '$(PROGRAM)' TO '$(TARGET_NFS_ROOT)'"
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@if [ -n "$(TARGET_NFS_ROOT)" ] ; then \
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sudo cp $(PROGRAM).elf $(TARGET_NFS_ROOT)/home/root/ ; \
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else \
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echo "INSTALL: no destination specified" ; \
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fi
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.PHONY: all build elf hex eep lss sym program coff extcoff clean depend applet_files install
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# DO NOT DELETE THIS LINE -- make depend depends on it.
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analog.o: analog.c analog.h beaglebone.h mendel.h debug.h
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beaglebone-stubs.o: beaglebone-stubs.c beaglebone.h beaglebone-stubs.h
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bebopr_r2.o: bebopr_r2.c analog.h temp.h beaglebone.h thermistor.h \
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bebopr.h heater.h pwm.h
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clock.o: clock.c clock.h pinio.h config.h config_macros.h prusa_mech.h \
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wades_extruder.h sersendf.h dda_queue.h dda.h timer.h temp.h analog.h \
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debug.h heater.h pwm.h serial.h beaglebone-stubs.h memory_barrier.h \
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gcode_process.h gcode_parse.h
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dda.o: dda.c pruss.h algo2cmds.h dda.h config.h config_macros.h \
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prusa_mech.h wades_extruder.h timer.h serial.h beaglebone-stubs.h \
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sermsg.h gcode_parse.h dda_queue.h debug.h sersendf.h pinio.h \
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memory_barrier.h dda_util.h
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dda_queue.o: dda_queue.c dda_queue.h dda.h config.h config_macros.h \
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prusa_mech.h wades_extruder.h timer.h serial.h beaglebone-stubs.h \
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sermsg.h temp.h analog.h sersendf.h clock.h memory_barrier.h pruss.h \
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algo2cmds.h
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dda_util.o: dda_util.c dda_util.h
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debug.o: debug.c debug.h config.h config_macros.h prusa_mech.h \
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wades_extruder.h
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gcode_parse.o: gcode_parse.c gcode_parse.h dda.h config.h config_macros.h \
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prusa_mech.h wades_extruder.h serial.h beaglebone-stubs.h sermsg.h \
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debug.h heater.h temp.h analog.h pwm.h sersendf.h gcode_process.h
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gcode_process.o: gcode_process.c gcode_process.h gcode_parse.h dda.h \
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config.h config_macros.h prusa_mech.h wades_extruder.h dda_queue.h \
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timer.h serial.h beaglebone-stubs.h sermsg.h temp.h analog.h heater.h \
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pwm.h sersendf.h pinio.h debug.h clock.h home.h traject.h pruss.h \
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algo2cmds.h
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gpio.o: gpio.c gpio.h
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heater.o: heater.c heater.h temp.h analog.h pwm.h debug.h beaglebone.h \
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mendel.h
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home.o: home.c pruss.h algo2cmds.h limit_switches.h home.h dda_queue.h \
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dda.h config.h config_macros.h prusa_mech.h wades_extruder.h timer.h \
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pinio.h sersendf.h memory_barrier.h debug.h gcode_process.h \
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gcode_parse.h traject.h bebopr.h
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limit_switches.o: limit_switches.c limit_switches.h pruss.h algo2cmds.h \
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mendel.h bebopr.h gpio.h
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pinio.o: pinio.c pinio.h config.h config_macros.h prusa_mech.h \
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wades_extruder.h
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pruss.o: pruss.c pruss.h algo2cmds.h beaglebone.h
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pwm.o: pwm.c pwm.h
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serial.o: serial.c serial.h beaglebone-stubs.h mendel.h
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sermsg.o: sermsg.c sermsg.h serial.h beaglebone-stubs.h
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sersendf.o: sersendf.c sersendf.h serial.h beaglebone-stubs.h sermsg.h
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temp.o: temp.c temp.h analog.h beaglebone.h debug.h
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thermistor.o: thermistor.c beaglebone.h thermistor.h
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timer.o: timer.c timer.h platform.h beaglebone.h config.h config_macros.h \
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prusa_mech.h wades_extruder.h dda_queue.h dda.h memory_barrier.h
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traject.o: traject.c traject.h pruss.h algo2cmds.h debug.h
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mendel.o: mendel.c config.h config_macros.h prusa_mech.h wades_extruder.h \
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serial.h beaglebone-stubs.h dda_queue.h dda.h timer.h gcode_parse.h \
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temp.h analog.h sermsg.h debug.h sersendf.h heater.h pwm.h pinio.h \
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platform.h beaglebone.h clock.h bebopr.h mendel.h gcode_process.h \
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limit_switches.h

‎README.md

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

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// default thermistor lookup table
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#if ARCH == arm
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#define PROGMEM
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#endif
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// How many thermistor tables we have
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#define NUMTABLES 1
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#define THERMISTOR_EXTRUDER 0
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// #define THERMISTOR_BED 1
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// Thermistor lookup table, generated with --num-temps=50 and trimmed in lower temperature ranges.
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// You may be able to improve the accuracy of this table in various ways.
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// 1. Measure the actual resistance of the resistor. It's "nominally" 4.7K, but that's ± 5%.
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// 2. Measure the actual beta of your thermistor:http://reprap.org/wiki/MeasuringThermistorBeta
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// 3. Generate more table entries than you need, then trim down the ones in uninteresting ranges. (done)
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// In either case you'll have to regenerate this table, which requires python, which is difficult to install on windows.
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// Since you'll have to do some testing to determine the correct temperature for your application anyway, you
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// may decide that the effort isn't worth it. Who cares if it's reporting the "right" temperature as long as it's
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// keeping the temperature steady enough to print, right?
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// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023
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// r0: 100000
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// t0: 25
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// r1: 0
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// r2: 4700
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// beta: 4066
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// max adc: 1023
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#define NUMTEMPS 20
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// {ADC, temp*4 }, // temp
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uint16_t temptable[NUMTABLES][NUMTEMPS][2] PROGMEM = {
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{
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{1, 3364}, // 841.027617469 C
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{21, 1329}, // 332.486789769 C
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{41, 1104}, // 276.102666373 C
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{61, 987}, // 246.756060004 C
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{81, 909}, // 227.268080588 C
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{101, 851}, // 212.78847342 C
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{121, 805}, // 201.30176775 C
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{141, 767}, // 191.787692666 C
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{161, 734}, // 183.662212795 C
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{181, 706}, // 176.561442671 C
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{201, 680}, // 170.244089549 C
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{221, 658}, // 164.542298163 C
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{241, 637}, // 159.33475843 C
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{321, 567}, // 141.921298995 C
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{381, 524}, // 131.166509425 C
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{581, 406}, // 101.561865389 C
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{781, 291}, // 72.9710018071 C
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{881, 219}, // 54.8051659223 C
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{981, 93}, // 23.4825243529 C
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{1010, 1} // 0.498606463441 C
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}
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};

‎algo2cmds.h

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

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