This program modifies and extends the original template Intelligent Motor Control code (see https://github.com/BenW0/IMC-Axis-Simple) to implement closed-loop control on a CNC axis. It is designed to work in tandem with the IMC Master variant of the Marlin 3D printer firmware https://github.com/BenW0/IMC_Master_Marlin, and to be separately controlled by a PC using the Controller Configuration GUI https://github.com/BenW0/Ctrl_Design_GUI. For further details, see https://sites.google.com/site/benweisspublic/projects/imc-closed-loop-control.

This code runs on a PJRC.com Teensy 3.0/3.1. Connections can be found in the Schematic directory, or by looking at the comments in main.c.

This code is built using the ARM compiler bundled with Teensyduino, but compiles separately from C using a Makefile.

Modify the TEENSY_PATH variable in the top of the Makefile to point to the Teensyduino Tools path (generally under Arduino/hardware/tools). You will need to use tools/teensy.exe to flash the chip.

All other dependencies are included locally in the teensy-include folder, except for one header file from Freescale which does not have a redistribution license. The header file, MK20DZ10.h, contains an expanded list of constants used by the code, and can be downloaded from Freescale at http://cache.freescale.com/files/microcontrollers/software/device_drivers/Kinetis_Header_File_(RevA_20111104).zip

If that link is broken, you are looking for the Kinetis MCU C/C++ Header Files, Rev A. See the list at http://www.freescale.com/webapp/software-center/library.jsp?tid=SwCHbpKINETIS#/home/t748_t755/~query~/c=c201,c201_c173,c201_c173_c161,c201_c173_c161_c164/popularity/0

Once downloaded, the header file MK20DZ10.h should be placed in the teensy-include folder.

To build, run "make main.hex". If in Windows, MinGW works fine.

At this time, the IMC CLC does not listen for I2C commands from a Master node at boot. To enter IMC mode, connect the Teensy to a computer over USB and use the Controller Configuration GUI to connect to it, enter a control mode (Unity, PID, etc) and then enter IMC Mode. The device is now ready to listen for commands over the IMC/I2C bus.

This code attempts to make only minimal modifications to the IMC template code available at <<>>. All of the code, including slight modifications, is stored in the IMC directory. Re-merging with the IMC repository should be fairly straightforward, but has not yet been attempted.

See COPYING file for details.