From: Michel Pollet <buserror@gmail.com>
Date: Mon, 14 May 2012 09:33:16 +0000 (+0100)
Subject: reprap: Some more updates, also a Marlin binary to test
X-Git-Url: http://git.rot13.org/?a=commitdiff_plain;h=83cfc56c5e71a9e6c0da94c259e3286ca3800039;hp=b3fcfd2f32c0b51cf795d0e367401c0ddec671d9;p=simavr

reprap: Some more updates, also a Marlin binary to test

Added a marlin binary that works, to help repsnapper's

Signed-off-by: Michel Pollet <buserror@gmail.com>
---

diff --git a/examples/board_reprap/marlin/Configuration.h b/examples/board_reprap/marlin/Configuration.h
new file mode 100644
index 0000000..a84c46e
--- /dev/null
+++ b/examples/board_reprap/marlin/Configuration.h
@@ -0,0 +1,249 @@
+#ifndef __CONFIGURATION_H
+#define __CONFIGURATION_H
+
+// This configurtion file contains the basic settings.
+// Advanced settings can be found in Configuration_adv.h 
+// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
+
+//User specified version info of THIS file to display in [Pronterface, etc] terminal window during startup.
+//Implementation of an idea by Prof Braino to inform user that any changes made
+//to THIS file by the user have been successfully uploaded into firmware.
+#define STRING_VERSION_CONFIG_H "2012-02-25" //Personal revision number for changes to THIS file.
+#define STRING_CONFIG_H_AUTHOR "erik" //Who made the changes.
+
+// This determines the communication speed of the printer
+//#define BAUDRATE 250000
+#define BAUDRATE 115200
+
+//// The following define selects which electronics board you have. Please choose the one that matches your setup
+// Gen7 custom (Alfons3 Version) = 10 "https://github.com/Alfons3/Generation_7_Electronics"
+// Gen7 v1.1, v1.2 = 11
+// Gen7 v1.3 = 12
+// Gen7 v1.4 = 13
+// MEGA/RAMPS up to 1.2 = 3
+// RAMPS 1.3 = 33 (Power outputs: Extruder, Bed, Fan)
+// RAMPS 1.3 = 34 (Power outputs: Extruder0, Extruder1, Bed)
+// Gen6 = 5
+// Gen6 deluxe = 51
+// Sanguinololu 1.2 and above = 62
+// Ultimaker = 7
+// Teensylu = 8
+// Gen3+ =9
+
+#ifndef MOTHERBOARD
+#define MOTHERBOARD 7
+#endif
+
+//===========================================================================
+//=============================Thermal Settings  ============================
+//===========================================================================
+
+//// Temperature sensor settings:
+// -2 is thermocouple with MAX6675 (only for sensor 0)
+// -1 is thermocouple with AD595
+// 0 is not used
+// 1 is 100k thermistor
+// 2 is 200k thermistor
+// 3 is mendel-parts thermistor
+// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
+// 5 is ParCan supplied 104GT-2 100K
+// 6 is EPCOS 100k
+// 7 is 100k Honeywell thermistor 135-104LAG-J01
+
+#define TEMP_SENSOR_0 5
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_BED 5
+
+// Actual temperature must be close to target for this long before M109 returns success
+#define TEMP_RESIDENCY_TIME 10	// (seconds)
+#define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
+
+// The minimal temperature defines the temperature below which the heater will not be enabled It is used
+// to check that the wiring to the thermistor is not broken. 
+// Otherwise this would lead to the heater being powered on all the time.
+#define HEATER_0_MINTEMP 5
+#define HEATER_1_MINTEMP 5
+#define HEATER_2_MINTEMP 5
+//#define BED_MINTEMP 5
+
+// When temperature exceeds max temp, your heater will be switched off.
+// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
+// You should use MINTEMP for thermistor short/failure protection.
+#define HEATER_0_MAXTEMP 275
+#define HEATER_1_MAXTEMP 275
+#define HEATER_2_MAXTEMP 275
+#define BED_MAXTEMP 150
+
+#define CONFIG_STEPPERS_TOSHIBA	1
+
+// PID settings:
+// Comment the following line to disable PID and enable bang-bang.
+//#define PIDTEMP
+#define PID_MAX 255 // limits current to nozzle; 255=full current
+#ifdef PIDTEMP
+  //#define PID_DEBUG // Sends debug data to the serial port. 
+  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
+  #define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+  #define K1 0.95 //smoothing factor withing the PID
+  #define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the
+
+// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
+// Ultimaker
+    #define  DEFAULT_Kp 22.2
+    #define  DEFAULT_Ki 1.08  
+    #define  DEFAULT_Kd 114  
+
+// Makergear
+//    #define  DEFAULT_Kp 7.0
+//    #define  DEFAULT_Ki 0.1  
+//    #define  DEFAULT_Kd 12  
+
+// Mendel Parts V9 on 12V    
+//    #define  DEFAULT_Kp 63.0
+//    #define  DEFAULT_Ki 2.25
+//    #define  DEFAULT_Kd 440
+#endif // PIDTEMP
+
+/*
+ * Use M303 to find suitable values for your hotend.
+ * 
+ */
+#define PIDTEMP
+	#define PID_INTEGRAL_DRIVE_MAX 255  //limit for the integral term
+	#define K1 0.95 //smoothing factor withing the PID
+	#define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the
+    #define	DEFAULT_Kp  29.03
+    #define	DEFAULT_Ki 1.83
+    #define	DEFAULT_Kd 115.24
+
+//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
+//can be software-disabled for whatever purposes by
+#define PREVENT_DANGEROUS_EXTRUDE
+#define EXTRUDE_MINTEMP 150
+#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
+
+//===========================================================================
+//=============================Mechanical Settings===========================
+//===========================================================================
+
+// Endstop Settings
+#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
+
+// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
+const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+#define DISABLE_MAX_ENDSTOPS
+
+// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
+#define X_ENABLE_ON 1
+#define Y_ENABLE_ON 1
+#define Z_ENABLE_ON 1
+#define E_ENABLE_ON 1 // For all extruders
+
+// Disables axis when it's not being used.
+#define DISABLE_X false
+#define DISABLE_Y false
+#define DISABLE_Z false
+#define DISABLE_E false // For all extruders
+
+#define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
+#define INVERT_Y_DIR true    // for Mendel set to true, for Orca set to false
+#define INVERT_Z_DIR false     // for Mendel set to false, for Orca set to true
+#define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+
+// ENDSTOP SETTINGS:
+// Sets direction of endstops when homing; 1=MAX, -1=MIN
+#define X_HOME_DIR -1
+#define Y_HOME_DIR -1
+#define Z_HOME_DIR -1
+
+#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops true  //If true, axis won't move to coordinates greater than the defined lengths below.
+#define X_MAX_LENGTH 205
+#define Y_MAX_LENGTH 205
+#define Z_MAX_LENGTH 120
+
+// The position of the homing switches. Use MAX_LENGTH * -0.5 if the center should be 0, 0, 0
+#define X_HOME_POS 0
+#define Y_HOME_POS 0
+#define Z_HOME_POS 0
+
+//// MOVEMENT SETTINGS
+#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
+#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)
+
+// default settings 
+//#define //DEFAULT_AXIS_STEPS_PER_UNIT   {79.87, 79.87, 2566, 563,78} // Al's TVRR
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {81.26, 80.01, 2561, 599.14} // Michel TVRR old
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {80.00, 79.84, 2560, 599.14} // Michel TVRR
+
+#ifndef DEFAULT_AXIS_STEPS_PER_UNIT
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200*8/3,760*1.1}                    // default steps per unit for ultimaker 
+#endif
+#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 45}    // (mm/sec)    
+#define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
+
+/* MICHEL: This has an impact on the "ripples" in print walls */
+#define DEFAULT_ACCELERATION          500    // X, Y, Z and E max acceleration in mm/s^2 for printing moves 
+#define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
+
+// 
+#define DEFAULT_XYJERK                20.0    // (mm/sec)
+#define DEFAULT_ZJERK                 0.4     // (mm/sec)
+#define DEFAULT_EJERK                 5.0    // (mm/sec)
+
+//===========================================================================
+//=============================Additional Features===========================
+//===========================================================================
+
+// EEPROM
+// the microcontroller can store settings in the EEPROM, e.g. max velocity...
+// M500 - stores paramters in EEPROM
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
+// M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
+//define this to enable eeprom support
+//#define EEPROM_SETTINGS
+//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
+// please keep turned on if you can.
+//#define EEPROM_CHITCHAT
+
+//LCD and SD support
+//#define ULTRA_LCD  //general lcd support, also 16x2
+//#define SDSUPPORT // Enable SD Card Support in Hardware Console
+
+//#define ULTIPANEL
+#ifdef ULTIPANEL
+//  #define NEWPANEL  //enable this if you have a click-encoder panel
+  #define SDSUPPORT
+  #define ULTRA_LCD
+  #define LCD_WIDTH 20
+  #define LCD_HEIGHT 4
+  
+// Preheat Constants
+  #define PLA_PREHEAT_HOTEND_TEMP 180 
+  #define PLA_PREHEAT_HPB_TEMP 70
+  #define PLA_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+
+  #define ABS_PREHEAT_HOTEND_TEMP 240
+  #define ABS_PREHEAT_HPB_TEMP 100
+  #define ABS_PREHEAT_FAN_SPEED 255		// Insert Value between 0 and 255
+
+#else //no panel but just lcd 
+  #ifdef ULTRA_LCD
+    #define LCD_WIDTH 16
+    #define LCD_HEIGHT 2    
+  #endif
+#endif
+
+// M240  Triggers a camera by emulating a Canon RC-1 Remote
+// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
+// #define PHOTOGRAPH_PIN     23
+
+#include "Configuration_adv.h"
+#include "thermistortables.h"
+
+#endif //__CONFIGURATION_H
diff --git a/examples/board_reprap/marlin/Configuration_adv.h b/examples/board_reprap/marlin/Configuration_adv.h
new file mode 100644
index 0000000..8697194
--- /dev/null
+++ b/examples/board_reprap/marlin/Configuration_adv.h
@@ -0,0 +1,242 @@
+#ifndef __CONFIGURATION_ADV_H
+#define __CONFIGURATION_ADV_H
+
+//===========================================================================
+//=============================Thermal Settings  ============================
+//===========================================================================
+
+// Select one of these only to define how the bed temp is read.
+//
+//#define BED_LIMIT_SWITCHING
+#ifdef BED_LIMIT_SWITCHING
+  #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
+#endif
+#define BED_CHECK_INTERVAL 5000 //ms
+
+//// Heating sanity check:
+// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
+// If the temperature has not increased at the end of that period, the target temperature is set to zero. 
+// It can be reset with another M104/M109
+//#define WATCHPERIOD 20000 //20 seconds
+
+// Wait for Cooldown
+// This defines if the M109 call should not block if it is cooling down.
+// example: From a current temp of 220, you set M109 S200. 
+// if CooldownNoWait is defined M109 will not wait for the cooldown to finish
+#define CooldownNoWait true
+
+#ifdef PIDTEMP
+  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
+  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
+  #define PID_ADD_EXTRUSION_RATE  
+  #ifdef PID_ADD_EXTRUSION_RATE
+    #define  DEFAULT_Kc (1) //heatingpower=Kc*(e_speed)
+  #endif
+#endif
+
+
+//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
+//The maximum buffered steps/sec of the extruder motor are called "se".
+//You enter the autotemp mode by a M109 S<mintemp> T<maxtemp> F<factor>
+// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
+// you exit the value by any M109 without F*
+// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
+// on an ultimaker, some initial testing worked with M109 S215 T260 F0.1 in the start.gcode
+//#define AUTOTEMP
+#ifdef AUTOTEMP
+  #define AUTOTEMP_OLDWEIGHT 0.98
+#endif
+
+//  extruder run-out prevention. 
+//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+//#define EXTRUDER_RUNOUT_PREVENT  
+#define EXTRUDER_RUNOUT_MINTEMP 190  
+#define EXTRUDER_RUNOUT_SECONDS 30.
+#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
+#define EXTRUDER_RUNOUT_SPEED 1500.  //extrusion speed
+#define EXTRUDER_RUNOUT_EXTRUDE 100
+
+//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
+//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
+#define TEMP_SENSOR_AD595_OFFSET 0.0
+#define TEMP_SENSOR_AD595_GAIN   1.0
+
+//This is for controlling a fan to cool down the stepper drivers
+//it will turn on when any driver is enabled
+//and turn off after the set amount of seconds from last driver being disabled again
+//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
+#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run
+
+//===========================================================================
+//=============================Mechanical Settings===========================
+//===========================================================================
+
+// This defines the number of extruders
+#define EXTRUDERS 1
+
+//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+
+//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
+
+//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
+#define X_HOME_RETRACT_MM 5 
+#define Y_HOME_RETRACT_MM 5 
+#define Z_HOME_RETRACT_MM 1 
+#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
+
+#define AXIS_RELATIVE_MODES {false, false, false, false}
+
+#ifdef CONFIG_STEPPERS_TOSHIBA
+#define MAX_STEP_FREQUENCY 10000 // Max step frequency for Toshiba Stepper Controllers
+#else
+#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
+#endif
+
+//default stepper release if idle
+#define DEFAULT_STEPPER_DEACTIVE_TIME 60
+
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
+#define DEFAULT_MINTRAVELFEEDRATE     0.0
+
+// minimum time in microseconds that a movement needs to take if the buffer is emptied.   Increase this number if you see blobs while printing high speed & high detail.  It will slowdown on the detailed stuff.
+#define DEFAULT_MINSEGMENTTIME        20000   // Obsolete delete this
+
+// If defined the movements slow down when the look ahead buffer is only half full
+#define SLOWDOWN
+
+// Frequency limit
+// See nophead's blog for more info
+// Not working O
+//#define XY_FREQUENCY_LIMIT  15
+
+// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
+// of the buffer and all stops. This should not be much greater than zero and should only be changed
+// if unwanted behavior is observed on a user's machine when running at very slow speeds.
+#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
+
+//===========================================================================
+//=============================Additional Features===========================
+//===========================================================================
+
+
+#define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
+#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // no z because of layer shift.
+
+// The hardware watchdog should halt the Microcontroller, in case the firmware gets stuck somewhere. However:
+// the Watchdog is not working well, so please only enable this for testing
+// this enables the watchdog interrupt.
+//#define USE_WATCHDOG
+//#ifdef USE_WATCHDOG
+  // you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
+//#define RESET_MANUAL
+//#define WATCHDOG_TIMEOUT 4  //seconds
+//#endif
+
+// extruder advance constant (s2/mm3)
+//
+// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
+//
+// hooke's law says:		force = k * distance
+// bernoulli's priniciple says:	v ^ 2 / 2 + g . h + pressure / density = constant
+// so: v ^ 2 is proportional to number of steps we advance the extruder
+//#define ADVANCE
+
+#ifdef ADVANCE
+  #define EXTRUDER_ADVANCE_K .0
+
+  #define D_FILAMENT 2.85
+  #define STEPS_MM_E 836
+  #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
+  #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
+
+#endif // ADVANCE
+
+// A debugging feature to compare calculated vs performed steps, to see if steps are lost by the software.
+//#define DEBUG_STEPS
+
+// Arc interpretation settings:
+#define MM_PER_ARC_SEGMENT 1
+#define N_ARC_CORRECTION 25
+
+const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
+
+// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
+// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT 
+// in the pins.h file.  When using a push button pulling the pin to ground this will need inverted.  This setting should
+// be commented out otherwise
+#define SDCARDDETECTINVERTED 
+
+#ifdef ULTIPANEL
+ #undef SDCARDDETECTINVERTED
+#endif
+//===========================================================================
+//=============================Buffers           ============================
+//===========================================================================
+
+// The number of linear motions that can be in the plan at any give time.  
+// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
+#if defined SDSUPPORT
+  #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
+#else
+  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
+#endif
+
+
+//The ASCII buffer for recieving from the serial:
+#define MAX_CMD_SIZE 96
+#define BUFSIZE 4
+
+//===========================================================================
+//=============================  Define Defines  ============================
+//===========================================================================
+
+#if TEMP_SENSOR_0 > 0
+  #define THERMISTORHEATER_0 TEMP_SENSOR_0
+  #define HEATER_0_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_1 > 0
+  #define THERMISTORHEATER_1 TEMP_SENSOR_1
+  #define HEATER_1_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_2 > 0
+  #define THERMISTORHEATER_2 TEMP_SENSOR_2
+  #define HEATER_2_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_BED > 0
+  #define THERMISTORBED TEMP_SENSOR_BED
+  #define BED_USES_THERMISTOR
+#endif
+#if TEMP_SENSOR_0 == -1
+  #define HEATER_0_USES_AD595
+#endif
+#if TEMP_SENSOR_1 == -1
+  #define HEATER_1_USES_AD595
+#endif
+#if TEMP_SENSOR_2 == -1
+  #define HEATER_2_USES_AD595
+#endif
+#if TEMP_SENSOR_BED == -1
+  #define BED_USES_AD595
+#endif
+#if TEMP_SENSOR_0 == -2
+  #define HEATER_0_USES_MAX6675
+#endif
+#if TEMP_SENSOR_0 == 0
+  #undef HEATER_0_MINTEMP
+  #undef HEATER_0_MAXTEMP
+#endif
+#if TEMP_SENSOR_1 == 0
+  #undef HEATER_1_MINTEMP
+  #undef HEATER_1_MAXTEMP
+#endif
+#if TEMP_SENSOR_2 == 0
+  #undef HEATER_2_MINTEMP
+  #undef HEATER_2_MAXTEMP
+#endif
+#if TEMP_SENSOR_BED == 0
+  #undef BED_MINTEMP
+  #undef BED_MAXTEMP
+#endif
+
+
+#endif //__CONFIGURATION_ADV_H
diff --git a/examples/board_reprap/marlin/Marlin.hex b/examples/board_reprap/marlin/Marlin.hex
new file mode 100644
index 0000000..9ec87c2
--- /dev/null
+++ b/examples/board_reprap/marlin/Marlin.hex
@@ -0,0 +1,2877 @@
+:10000000EFC700000C9418080C9418080C941808FA
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+:10006000E7C70000E5C70000E3C70000E1C70000E4
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diff --git a/examples/board_reprap/src/reprap.c b/examples/board_reprap/src/reprap.c
index c93829a..d8f8ce0 100644
--- a/examples/board_reprap/src/reprap.c
+++ b/examples/board_reprap/src/reprap.c
@@ -47,9 +47,9 @@
 #define __AVR_ATmega644__
 #include "marlin/pins.h"
 
+#include <stdbool.h>
 #define PROGMEM
-#define THERMISTORHEATER_0 5
-#include "marlin/thermistortables.h"
+#include "marlin/Configuration.h"
 
 /*
  * these are the sources of heat and cold to register to the heatpots
@@ -114,6 +114,11 @@ ardupin_t arduidiot_644[32] = {
 	[31] = { .ardupin = 31, .port = 'A', .pin =  0, .analog = 1, .adc = 0 },
 };
 
+// gnu hackery to make sure the parameter is expanded
+#define _TERMISTOR_TABLE(num) \
+		temptable_##num
+#define TERMISTOR_TABLE(num) \
+		_TERMISTOR_TABLE(num)
 
 struct avr_irq_t *
 get_ardu_irq(
@@ -235,7 +240,7 @@ int main(int argc, char *argv[])
 	avr->frequency = 20000000;
 	avr->aref = avr->avcc = avr->vcc = 5 * 1000;	// needed for ADC
 
-	if (1) {
+	if (0) {
 		elf_firmware_t f;
 		const char * fname = "/opt/reprap/tvrrug/Marlin.base/Marlin/applet/Marlin.elf";
 		elf_read_firmware(fname, &f);
@@ -247,7 +252,7 @@ int main(int argc, char *argv[])
 		uint32_t base, size;
 //		snprintf(path, sizeof(path), "%s/%s", pwd, "ATmegaBOOT_168_atmega328.ihex");
 		strcpy(path, "marlin/Marlin.hex");
-		strcpy(path, "marlin/bootloader-644-20MHz.hex");
+//		strcpy(path, "marlin/bootloader-644-20MHz.hex");
 		uint8_t * boot = read_ihex_file(path, &size, &base);
 		if (!boot) {
 			fprintf(stderr, "%s: Unable to load %s\n", argv[0], path);
@@ -278,11 +283,16 @@ int main(int argc, char *argv[])
 	uart_pty_connect(&uart_pty, '0');
 
 	thermistor_init(avr, &therm_hotend, 0,
-			(short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, OVERSAMPLENR, 25.0f);
+			(short*)TERMISTOR_TABLE(TEMP_SENSOR_0),
+			sizeof(TERMISTOR_TABLE(TEMP_SENSOR_0)) / sizeof(short) / 2,
+			OVERSAMPLENR, 25.0f);
 	thermistor_init(avr, &therm_hotbed, 2,
-			(short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, OVERSAMPLENR, 30.0f);
+			(short*)TERMISTOR_TABLE(TEMP_SENSOR_BED),
+			sizeof(TERMISTOR_TABLE(TEMP_SENSOR_BED)) / sizeof(short) / 2,
+			OVERSAMPLENR, 30.0f);
 	thermistor_init(avr, &therm_spare, 1,
-			(short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, OVERSAMPLENR, 10.0f);
+			(short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2,
+			OVERSAMPLENR, 10.0f);
 
 	heatpot_init(avr, &hotend, "hotend", 28.0f);
 	heatpot_init(avr, &hotbed, "hotbed", 25.0f);
@@ -291,13 +301,14 @@ int main(int argc, char *argv[])
 	avr_connect_irq(hotend.irq + IRQ_HEATPOT_TEMP_OUT, therm_hotend.irq + IRQ_TERM_TEMP_VALUE_IN);
 	avr_connect_irq(hotbed.irq + IRQ_HEATPOT_TEMP_OUT, therm_hotbed.irq + IRQ_TERM_TEMP_VALUE_IN);
 
+	float axis_pp_per_mm[4] = DEFAULT_AXIS_STEPS_PER_UNIT;	// from Marlin!
 	{
 		avr_irq_t * e = get_ardu_irq(avr, X_ENABLE_PIN, arduidiot_644);
 		avr_irq_t * s = get_ardu_irq(avr, X_STEP_PIN, arduidiot_644);
 		avr_irq_t * d = get_ardu_irq(avr, X_DIR_PIN, arduidiot_644);
 		avr_irq_t * m = get_ardu_irq(avr, X_MIN_PIN, arduidiot_644);
 
-		stepper_init(avr, &step_x, "X", 80.80, 100, 220, 0);
+		stepper_init(avr, &step_x, "X", axis_pp_per_mm[0], 100, 220, 0);
 		stepper_connect(&step_x, s, d, e, m, stepper_endstop_inverted);
 	}
 	{
@@ -306,7 +317,7 @@ int main(int argc, char *argv[])
 		avr_irq_t * d = get_ardu_irq(avr, Y_DIR_PIN, arduidiot_644);
 		avr_irq_t * m = get_ardu_irq(avr, Y_MIN_PIN, arduidiot_644);
 
-		stepper_init(avr, &step_y, "Y", 79.79, 100, 220, 0);
+		stepper_init(avr, &step_y, "Y", axis_pp_per_mm[1], 100, 220, 0);
 		stepper_connect(&step_y, s, d, e, m, stepper_endstop_inverted);
 	}
 	{
@@ -315,7 +326,7 @@ int main(int argc, char *argv[])
 		avr_irq_t * d = get_ardu_irq(avr, Z_DIR_PIN, arduidiot_644);
 		avr_irq_t * m = get_ardu_irq(avr, Z_MIN_PIN, arduidiot_644);
 
-		stepper_init(avr, &step_z, "Z", 2560, 20, 110, 0);
+		stepper_init(avr, &step_z, "Z", axis_pp_per_mm[2], 20, 110, 0);
 		stepper_connect(&step_z, s, d, e, m, stepper_endstop_inverted);
 	}
 	{
@@ -323,7 +334,7 @@ int main(int argc, char *argv[])
 		avr_irq_t * s = get_ardu_irq(avr, E0_STEP_PIN, arduidiot_644);
 		avr_irq_t * d = get_ardu_irq(avr, E0_DIR_PIN, arduidiot_644);
 
-		stepper_init(avr, &step_e, "E", 599.14, 0, 0, 0);
+		stepper_init(avr, &step_e, "E", axis_pp_per_mm[3], 0, 0, 0);
 		stepper_connect(&step_e, s, d, e, NULL, 0);
 	}
 
diff --git a/examples/board_reprap/src/stepper.c b/examples/board_reprap/src/stepper.c
index 832b1f2..d047288 100644
--- a/examples/board_reprap/src/stepper.c
+++ b/examples/board_reprap/src/stepper.c
@@ -38,7 +38,7 @@ stepper_update_timer(
 		float f;
 		uint32_t i;
 	} m = { .f = p->position / p->steps_per_mm };
-	printf("%s (%s) %3.4f\n", __func__, p->name, m.f);
+//	printf("%s (%s) %3.4f\n", __func__, p->name, m.f);
 	avr_raise_irq(p->irq + IRQ_STEPPER_POSITION_OUT, m.i);
 	avr_raise_irq(p->irq + IRQ_STEPPER_ENDSTOP_OUT, p->position == p->endstop);
 	return when + p->timer_period;