Teathimble_Firmware/README.md

Teathimble

Teathimble is a minimalistics firmware to control varity of stepper motor based machines. It runs on most AVR (so arduino as well) microcontrollers and fits into ATmega16 MCU, providing great base for many projects. Teathimble is a trimmed fork of Teacup - lean and efficient firmware for RepRap printers.

Features

• Minimalistic code.
• Communication via buffered serial and text commands (G-code).
• True acceleration, interrupt based, with look-ahead and jerk calculation planning.
• Integer only math to save cpu cycles for performance boost.
• Up to 4 axis in straight or coreXY kinematics scheme.
• Decent performance: can run up to 48'000 evenly spaced steps/second on 20 MHz as mentioned by core developers.

Work progress

Current code is checked on custom made arduino-like board top on ATmega32 to control automated coil winding machine. It is just a matter of formality to port configurations on other avaiable boards. To run inside simulator build project with enclosed makefile, you might also need this arduino core to turn custom board into arduino compatible.

Source files description

Code is written in pure C, but source files are .cpp too keep it simple for arduino IDE.

Name	Description
config.h	Configuration definitions.
debug.cpp	Debugging aids.
gcode_parser.cpp	G-code interpreter, instructions and their actions definitions.
kinematics.cpp	Spearated code for different movement schemes.
maths.cpp	Calculation stuff, functions, constants, tables.
motion_planner.cpp	Ramping acceleration and lookahead related stuff.
motor.cpp	A rather complex block of math that figures out when to step each axis according to speed and acceleration profiles and received moves.
msg.cpp	For numbers parsing.
pinio.cpp	Initialise all I/O.
queue.cpp	The queue of moves received from the host.
serial.cpp	Serial buffers and communication management.
teathimble.ino.cpp	Code starts here.
teathimble.ino	Same as above, allows firmware to be built in Arduino IDE.
timer-avr.cpp	Timer management, used primarily by motor.c for timing steps.