here are a number of futher optimizations for the g3firmware

.gitignore

@@ -1,6 +1,7 @@
 #added by jmil on 2010-04-20
 
 .sconsign.dblite
+G3Firmware.suo
 build
 html
 *.o

G3Firmware.sln

@@ -0,0 +1,158 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Visual Studio 2010
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Extruder", "Extruder", "{B8BCEC9D-EBA2-47E3-A7DF-2D668B3AC267}"
+	ProjectSection(SolutionItems) = preProject
+		firmware\src\Extruder\DebugPacketProcessor.cc = firmware\src\Extruder\DebugPacketProcessor.cc
+		firmware\src\Extruder\DebugPacketProcessor.hh = firmware\src\Extruder\DebugPacketProcessor.hh
+		firmware\src\Extruder\EepromMap.cc = firmware\src\Extruder\EepromMap.cc
+		firmware\src\Extruder\EepromMap.hh = firmware\src\Extruder\EepromMap.hh
+		firmware\src\Extruder\Host.cc = firmware\src\Extruder\Host.cc
+		firmware\src\Extruder\Host.hh = firmware\src\Extruder\Host.hh
+		firmware\src\Extruder\Main.cc = firmware\src\Extruder\Main.cc
+		firmware\src\Extruder\Main.hh = firmware\src\Extruder\Main.hh
+		firmware\src\Extruder\MotorController.cc = firmware\src\Extruder\MotorController.cc
+		firmware\src\Extruder\MotorController.hh = firmware\src\Extruder\MotorController.hh
+		firmware\src\Extruder\Version.hh = firmware\src\Extruder\Version.hh
+	EndProjectSection
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "shared", "shared", "{AE577DDE-9F1C-404B-9AF4-5A9C8D8BF39B}"
+	ProjectSection(SolutionItems) = preProject
+		firmware\src\shared\AnalogPin.cc = firmware\src\shared\AnalogPin.cc
+		firmware\src\shared\AnalogPin.hh = firmware\src\shared\AnalogPin.hh
+		firmware\src\shared\ButtonArray.hh = firmware\src\shared\ButtonArray.hh
+		firmware\src\shared\CircularBuffer.hh = firmware\src\shared\CircularBuffer.hh
+		firmware\src\shared\Commands.hh = firmware\src\shared\Commands.hh
+		firmware\src\shared\CoolingFan.cc = firmware\src\shared\CoolingFan.cc
+		firmware\src\shared\CoolingFan.hh = firmware\src\shared\CoolingFan.hh
+		firmware\src\shared\Display.hh = firmware\src\shared\Display.hh
+		firmware\src\shared\Eeprom.cc = firmware\src\shared\Eeprom.cc
+		firmware\src\shared\Eeprom.hh = firmware\src\shared\Eeprom.hh
+		firmware\src\shared\Heater.cc = firmware\src\shared\Heater.cc
+		firmware\src\shared\Heater.hh = firmware\src\shared\Heater.hh
+		firmware\src\shared\HeatingElement.hh = firmware\src\shared\HeatingElement.hh
+		firmware\src\shared\Interface.cc = firmware\src\shared\Interface.cc
+		firmware\src\shared\Interface.hh = firmware\src\shared\Interface.hh
+		firmware\src\shared\InterfaceBoard.cc = firmware\src\shared\InterfaceBoard.cc
+		firmware\src\shared\InterfaceBoard.hh = firmware\src\shared\InterfaceBoard.hh
+		firmware\src\shared\LiquidCrystal.cc = firmware\src\shared\LiquidCrystal.cc
+		firmware\src\shared\LiquidCrystal.hh = firmware\src\shared\LiquidCrystal.hh
+		firmware\src\shared\Menu.cc = firmware\src\shared\Menu.cc
+		firmware\src\shared\Menu.hh = firmware\src\shared\Menu.hh
+		firmware\src\shared\Packet.cc = firmware\src\shared\Packet.cc
+		firmware\src\shared\Packet.hh = firmware\src\shared\Packet.hh
+		firmware\src\shared\PID.cc = firmware\src\shared\PID.cc
+		firmware\src\shared\PID.hh = firmware\src\shared\PID.hh
+		firmware\src\shared\PinTmplt.hh = firmware\src\shared\PinTmplt.hh
+		firmware\src\shared\ProtocolDocumentation.hh = firmware\src\shared\ProtocolDocumentation.hh
+		firmware\src\shared\PSU.cc = firmware\src\shared\PSU.cc
+		firmware\src\shared\PSU.hh = firmware\src\shared\PSU.hh
+		firmware\src\shared\StepperAxis.cc = firmware\src\shared\StepperAxis.cc
+		firmware\src\shared\StepperAxis.hh = firmware\src\shared\StepperAxis.hh
+		firmware\src\shared\StepperInterface.hh = firmware\src\shared\StepperInterface.hh
+		firmware\src\shared\TemperatureSensor.hh = firmware\src\shared\TemperatureSensor.hh
+		firmware\src\shared\Thermistor.cc = firmware\src\shared\Thermistor.cc
+		firmware\src\shared\Thermistor.hh = firmware\src\shared\Thermistor.hh
+		firmware\src\shared\ThermistorTable.cc = firmware\src\shared\ThermistorTable.cc
+		firmware\src\shared\ThermistorTable.hh = firmware\src\shared\ThermistorTable.hh
+		firmware\src\shared\Thermocouple.cc = firmware\src\shared\Thermocouple.cc
+		firmware\src\shared\Thermocouple.hh = firmware\src\shared\Thermocouple.hh
+		firmware\src\shared\Timeout.cc = firmware\src\shared\Timeout.cc
+		firmware\src\shared\Timeout.hh = firmware\src\shared\Timeout.hh
+		firmware\src\shared\Types.hh = firmware\src\shared\Types.hh
+		firmware\src\shared\UART.cc = firmware\src\shared\UART.cc
+		firmware\src\shared\UART.hh = firmware\src\shared\UART.hh
+	EndProjectSection
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Motherboard", "Motherboard", "{C51D0777-6F43-435A-B194-9FB6DE71E516}"
+	ProjectSection(SolutionItems) = preProject
+		firmware\src\Motherboard\Command.cc = firmware\src\Motherboard\Command.cc
+		firmware\src\Motherboard\Command.hh = firmware\src\Motherboard\Command.hh
+		firmware\src\Motherboard\DebugPacketProcessor.cc = firmware\src\Motherboard\DebugPacketProcessor.cc
+		firmware\src\Motherboard\DebugPacketProcessor.hh = firmware\src\Motherboard\DebugPacketProcessor.hh
+		firmware\src\Motherboard\EepromMap.cc = firmware\src\Motherboard\EepromMap.cc
+		firmware\src\Motherboard\EepromMap.hh = firmware\src\Motherboard\EepromMap.hh
+		firmware\src\Motherboard\Errors.hh = firmware\src\Motherboard\Errors.hh
+		firmware\src\Motherboard\Host.cc = firmware\src\Motherboard\Host.cc
+		firmware\src\Motherboard\Host.hh = firmware\src\Motherboard\Host.hh
+		firmware\src\Motherboard\Main.cc = firmware\src\Motherboard\Main.cc
+		firmware\src\Motherboard\Main.hh = firmware\src\Motherboard\Main.hh
+		firmware\src\Motherboard\Point.hh = firmware\src\Motherboard\Point.hh
+		firmware\src\Motherboard\SDCard.cc = firmware\src\Motherboard\SDCard.cc
+		firmware\src\Motherboard\SDCard.hh = firmware\src\Motherboard\SDCard.hh
+		firmware\src\Motherboard\Steppers.cc = firmware\src\Motherboard\Steppers.cc
+		firmware\src\Motherboard\Steppers.hh = firmware\src\Motherboard\Steppers.hh
+		firmware\src\Motherboard\Tool.cc = firmware\src\Motherboard\Tool.cc
+		firmware\src\Motherboard\Tool.hh = firmware\src\Motherboard\Tool.hh
+		firmware\src\Motherboard\Version.hh = firmware\src\Motherboard\Version.hh
+	EndProjectSection
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "mb24", "mb24", "{C338C176-CD4F-4133-8B44-BA1B2EFD66B8}"
+	ProjectSection(SolutionItems) = preProject
+		firmware\src\Motherboard\boards\mb24\ButtonArray.cc = firmware\src\Motherboard\boards\mb24\ButtonArray.cc
+		firmware\src\Motherboard\boards\mb24\Configuration.hh = firmware\src\Motherboard\boards\mb24\Configuration.hh
+		firmware\src\Motherboard\boards\mb24\Motherboard.cc = firmware\src\Motherboard\boards\mb24\Motherboard.cc
+		firmware\src\Motherboard\boards\mb24\Motherboard.hh = firmware\src\Motherboard\boards\mb24\Motherboard.hh
+	EndProjectSection
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "rrmbv12", "rrmbv12", "{5B20E4BA-3A26-4273-8495-099508DE2D96}"
+	ProjectSection(SolutionItems) = preProject
+		firmware\src\Motherboard\boards\rrmbv12\Configuration.hh = firmware\src\Motherboard\boards\rrmbv12\Configuration.hh
+		firmware\src\Motherboard\boards\rrmbv12\Motherboard.cc = firmware\src\Motherboard\boards\rrmbv12\Motherboard.cc
+		firmware\src\Motherboard\boards\rrmbv12\Motherboard.hh = firmware\src\Motherboard\boards\rrmbv12\Motherboard.hh
+	EndProjectSection
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "lib_sd", "lib_sd", "{656CB7F3-AB12-4881-9A8F-22644216D524}"
+	ProjectSection(SolutionItems) = preProject
+		firmware\src\Motherboard\lib_sd\byteordering.c = firmware\src\Motherboard\lib_sd\byteordering.c
+		firmware\src\Motherboard\lib_sd\byteordering.h = firmware\src\Motherboard\lib_sd\byteordering.h
+		firmware\src\Motherboard\lib_sd\ChangeLog = firmware\src\Motherboard\lib_sd\ChangeLog
+		firmware\src\Motherboard\lib_sd\fat.c = firmware\src\Motherboard\lib_sd\fat.c
+		firmware\src\Motherboard\lib_sd\fat.h = firmware\src\Motherboard\lib_sd\fat.h
+		firmware\src\Motherboard\lib_sd\fat_config.h = firmware\src\Motherboard\lib_sd\fat_config.h
+		firmware\src\Motherboard\lib_sd\partition.c = firmware\src\Motherboard\lib_sd\partition.c
+		firmware\src\Motherboard\lib_sd\partition.h = firmware\src\Motherboard\lib_sd\partition.h
+		firmware\src\Motherboard\lib_sd\partition_config.h = firmware\src\Motherboard\lib_sd\partition_config.h
+		firmware\src\Motherboard\lib_sd\README.txt = firmware\src\Motherboard\lib_sd\README.txt
+		firmware\src\Motherboard\lib_sd\sd-reader_config.h = firmware\src\Motherboard\lib_sd\sd-reader_config.h
+		firmware\src\Motherboard\lib_sd\sd_raw.c = firmware\src\Motherboard\lib_sd\sd_raw.c
+		firmware\src\Motherboard\lib_sd\sd_raw.h = firmware\src\Motherboard\lib_sd\sd_raw.h
+		firmware\src\Motherboard\lib_sd\sd_raw_config.h = firmware\src\Motherboard\lib_sd\sd_raw_config.h
+	EndProjectSection
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "boards", "boards", "{2BF72BB7-EC26-4DFE-AE91-AA5F8996EF2A}"
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "ecv22", "ecv22", "{717E20D4-3D03-4098-BC43-782400939F44}"
+	ProjectSection(SolutionItems) = preProject
+		firmware\src\Extruder\boards\ecv22\Configuration.hh = firmware\src\Extruder\boards\ecv22\Configuration.hh
+		firmware\src\Extruder\boards\ecv22\ExtruderBoard.cc = firmware\src\Extruder\boards\ecv22\ExtruderBoard.cc
+		firmware\src\Extruder\boards\ecv22\ExtruderBoard.hh = firmware\src\Extruder\boards\ecv22\ExtruderBoard.hh
+		firmware\src\Extruder\boards\ecv22\ExtruderMotor.cc = firmware\src\Extruder\boards\ecv22\ExtruderMotor.cc
+		firmware\src\Extruder\boards\ecv22\ExtruderMotor.hh = firmware\src\Extruder\boards\ecv22\ExtruderMotor.hh
+	EndProjectSection
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "ecv34", "ecv34", "{489403D6-ED19-4806-9E94-093A2570008C}"
+	ProjectSection(SolutionItems) = preProject
+		firmware\src\Extruder\boards\ecv34\.UART.cc.swp = firmware\src\Extruder\boards\ecv34\.UART.cc.swp
+		firmware\src\Extruder\boards\ecv34\Configuration.cc = firmware\src\Extruder\boards\ecv34\Configuration.cc
+		firmware\src\Extruder\boards\ecv34\Configuration.hh = firmware\src\Extruder\boards\ecv34\Configuration.hh
+		firmware\src\Extruder\boards\ecv34\ExtruderBoard.cc = firmware\src\Extruder\boards\ecv34\ExtruderBoard.cc
+		firmware\src\Extruder\boards\ecv34\ExtruderBoard.hh = firmware\src\Extruder\boards\ecv34\ExtruderBoard.hh
+		firmware\src\Extruder\boards\ecv34\ExtruderMotor.cc = firmware\src\Extruder\boards\ecv34\ExtruderMotor.cc
+		firmware\src\Extruder\boards\ecv34\ExtruderMotor.hh = firmware\src\Extruder\boards\ecv34\ExtruderMotor.hh
+		firmware\src\Extruder\boards\ecv34\SoftwareServo.hh = firmware\src\Extruder\boards\ecv34\SoftwareServo.hh
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+		{2BF72BB7-EC26-4DFE-AE91-AA5F8996EF2A} = {B8BCEC9D-EBA2-47E3-A7DF-2D668B3AC267}
+		{C338C176-CD4F-4133-8B44-BA1B2EFD66B8} = {C51D0777-6F43-435A-B194-9FB6DE71E516}
+		{5B20E4BA-3A26-4273-8495-099508DE2D96} = {C51D0777-6F43-435A-B194-9FB6DE71E516}
+		{656CB7F3-AB12-4881-9A8F-22644216D524} = {C51D0777-6F43-435A-B194-9FB6DE71E516}
+		{717E20D4-3D03-4098-BC43-782400939F44} = {2BF72BB7-EC26-4DFE-AE91-AA5F8996EF2A}
+		{489403D6-ED19-4806-9E94-093A2570008C} = {2BF72BB7-EC26-4DFE-AE91-AA5F8996EF2A}
+	EndGlobalSection
+EndGlobal

firmware/src/Extruder/DebugPacketProcessor.cc

@@ -67,10 +67,12 @@ bool processDebugPacket(const InPacket& from_host, OutPacket& to_host) {
 				to_host.append8(from_host.read8(i));
 			}
 			return true;
+/*
 		} else if (command == CommandCode::DEBUG_GENERATE_BAD_PACKET) {
 			// TODO
 		} else if (command == CommandCode::DEBUG_SIMULATE_BAD_PACKET) {
 			// TODO
+*/
 		} else if (command == CommandCode::DEBUG_SLAVE_PASSTHRU) {
 			return true;
 		}

firmware/src/Extruder/Main.cc

@@ -28,16 +28,16 @@
 #include "MotorController.hh"
 
 void reset() {
-	cli();
+	ATOMIC_BLOCK(ATOMIC_FORCEON) {
 
-	uint8_t resetFlags = MCUSR & 0x0f;
-	MCUSR = 0x0;
+	    uint8_t resetFlags = MCUSR & 0x0f;
+	    MCUSR = 0x0;
 
-	// Intialize various modules
-	initThermistorTables();
-	eeprom::init();
-	ExtruderBoard::getBoard().reset(resetFlags);
-	sei();
+	    // Intialize various modules
+	    initThermistorTables();
+	    eeprom::init();
+	    ExtruderBoard::getBoard().reset(resetFlags);
+    }
 }
 
 int main() {

firmware/src/Extruder/boards/ecv22/Configuration.hh

@@ -18,6 +18,8 @@
 #ifndef BOARDS_ECV22_CONFIGURATION_HH_
 #define BOARDS_ECV22_CONFIGURATION_HH_
 
+#include "PinTmplt.hh"
+
 // Board configuration files define pin configurations
 // for different motherboards, as well as available
 // features.

firmware/src/Extruder/boards/ecv22/ExtruderBoard.cc

@@ -107,13 +107,13 @@ void ExtruderBoard::reset(uint8_t resetFlags) {
 	TIMSK2 = 0x00; // turn off channel A PWM by default
 	// TIMER2 is used to PWM mosfet channel B on OC2A, and channel A on
 	// PC1 (using the OC2B register).
-	DEBUG_LED.setDirection(true);
-	CHANNEL_A.setValue(false);
-	CHANNEL_A.setDirection(true); // set channel A as output
-	CHANNEL_B.setValue(false);
-	CHANNEL_B.setDirection(true); // set channel B as output
-	CHANNEL_C.setValue(false);
-	CHANNEL_C.setDirection(true); // set channel C as output
+	DEBUG_LED::setDirection(true);
+	CHANNEL_A::setValue(false);
+	CHANNEL_A::setDirection(true); // set channel A as output
+	CHANNEL_B::setValue(false);
+	CHANNEL_B::setDirection(true); // set channel B as output
+	CHANNEL_C::setValue(false);
+	CHANNEL_C::setDirection(true); // set channel C as output
 	TCCR2A = 0b10000011;
 	TCCR2B = 0b00000110; // prescaler 1/256
 	OCR2A = 0;
@@ -209,14 +209,6 @@ void ExtruderBoard::setMotorSpeedRPM(uint32_t speed, bool direction) {
 	setExtruderMotorRPM(speed, direction);
 }
 
-micros_t ExtruderBoard::getCurrentMicros() {
-	micros_t micros_snapshot;
-	ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
-		micros_snapshot = micros;
-	}
-	return micros_snapshot;
-}
-
 // ms between servo updates; conservative to avoid 7805 overheating
 #define SERVO_CYCLE_LENGTH 8
 volatile uint8_t servo_cycle = 0;
@@ -243,10 +235,10 @@ void setChannel(ChannelChoice c, uint8_t value, bool binary) {
 		ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
 			if (binary) {
 				pwmAOn(false);
-				CHANNEL_A.setValue(value != 0);
+				CHANNEL_A::setValue(value != 0);
 			} else if (value == 0 || value == 255) {
 				pwmAOn(false);
-				CHANNEL_A.setValue(value == 255);
+				CHANNEL_A::setValue(value == 255);
 			} else {
 				OCR2B = value;
 				pwmAOn(true);
@@ -256,18 +248,18 @@ void setChannel(ChannelChoice c, uint8_t value, bool binary) {
 		ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
 			if (binary) {
 				pwmBOn(false);
-				CHANNEL_B.setValue(value != 0);
+				CHANNEL_B::setValue(value != 0);
 			} else if (value == 0 || value == 255) {
 				pwmBOn(false);
-				CHANNEL_B.setValue(value == 255);
+				CHANNEL_B::setValue(value == 255);
 			} else {
 				OCR2A = value;
 				pwmBOn(true);
 			}
 		}
 	} else {
 		// channel C -- no pwm
-		CHANNEL_C.setValue(value == 0?false:true);
+		CHANNEL_C::setValue(value == 0?false:true);
 	}
 }
 
@@ -288,7 +280,7 @@ void ExtruderBoard::setValve(bool on) {
 }
 
 void ExtruderBoard::indicateError(int errorCode) {
-	DEBUG_LED.setValue(errorCode != 0);
+	DEBUG_LED::setValue(errorCode != 0);
 }
 
 void ExtruderBoard::setUsingPlatform(bool is_using) {
@@ -322,12 +314,12 @@ void BuildPlatformHeatingElement::setHeatingElement(uint8_t value) {
 
 ISR(TIMER2_OVF_vect) {
 	if (OCR2B != 0) {
-		CHANNEL_A.setValue(true);
+		CHANNEL_A::setValue(true);
 	}
 }
 
 ISR(TIMER2_COMPB_vect) {
-	CHANNEL_A.setValue(false);
+	CHANNEL_A::setValue(false);
 }
 
 #ifdef DEFAULT_EXTERNAL_STEPPER

firmware/src/Extruder/boards/ecv22/ExtruderBoard.hh

@@ -108,7 +108,7 @@ public:
 	/// Get the number of microseconds that have passed since
 	/// the board was initialized.  This value will wrap after
 	/// 2**16 microseconds; callers should compensate for this.
-	micros_t getCurrentMicros();
+    inline micros_t getCurrentMicros() { ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {return micros;} }
 	/// Perform the timer interrupt routine.
 	void doInterrupt();
 	/// Indicate an error by manipulating the debug LED.