kopia lustrzana https://gitlab.com/markol/Teathimble_Firmware
335 wiersze
10 KiB
C
335 wiersze
10 KiB
C
#ifndef _CONFIG_H
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#define _CONFIG_H
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#include <Arduino.h>
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#include "arduino.h"
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/** \def KINEMATICS_STRAIGHT KINEMATICS_COREXY
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This defines the type of kinematics your device uses. That's essential!
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Valid values:
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KINEMATICS_STRAIGHT
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Motors move axis directions directly. This is the
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traditional type, most popular. Set this for coil winding machine.
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KINEMATICS_COREXY
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A bot using CoreXY kinematics. Typical for CoreXY
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are long and crossing toothed belts and a carriage
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moving on the X-Y-plane.
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*/
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//#define KINEMATICS_STRAIGHT
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#define KINEMATICS_COREXY
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/** \def X_MIN X_MAX Y_MIN Y_MAX Z_MIN Z_MAX
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Soft axis limits. Define them to your machine's size relative to what your
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G-code considers to be the origin.
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Note that relocating the origin at runtime with G92 will also relocate these
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limits.
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Not defining them at all will disable limits checking and make the binary
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about 250 bytes smaller. Enabling only some of them is perfectly fine.
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Units: millimeters
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Sane values: according to device build room size
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Valid range: -1000.0 to 1000.0
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*/
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#define X_MIN 0.0
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#define X_MAX 280.0
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#define Y_MIN 0.0
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#define Y_MAX 280.0
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//#define Z_MIN 0.0
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//#define Z_MAX 140.0
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/** \def STEPS_PER_M_X STEPS_PER_M_Y STEPS_PER_M_Z STEPS_PER_M_E
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Steps per meter ( = steps per mm * 1000 ), calculate these values
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appropriate for your machine.
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All numbers are integers, so no decimal point, please :-)
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Valid range: 20 to 4'0960'000 (0.02 to 40960 steps/mm)
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*/
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/**
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* X = Y = (200 motor steps * 16 microsteps ) / (18 pulley tooth count * 2.03 mm tooth spacing ) * 1000 mm per meter
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**/
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#define STEPS_PER_M_X 87575
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#define STEPS_PER_M_Y 87575
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/*#define STEPS_PER_M_Z 1280000
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#define STEPS_PER_M_E 96271
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*/
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/** \def SEARCH_FEEDRATE_X SEARCH_FEEDRATE_Y SEARCH_FEEDRATE_Z
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Used when doing precision endstop search and as default feedrate.
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(mm / min) 60 mm / min = 1 mm/sec
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*/
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#define SEARCH_FEEDRATE_X 10000
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#define SEARCH_FEEDRATE_Y 10000
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//#define SEARCH_FEEDRATE_Z 400
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/** \def MAXIMUM_FEEDRATE_X MAXIMUM_FEEDRATE_Y MAXIMUM_FEEDRATE_Z MAXIMUM_FEEDRATE_E
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Used for G0 rapid moves and as a cap for all other feedrates. (mm / min)
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*/
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#define MAXIMUM_FEEDRATE_X 33000
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#define MAXIMUM_FEEDRATE_Y 33000
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/*#define MAXIMUM_FEEDRATE_Z 6000
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#define MAXIMUM_FEEDRATE_E 20000
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*/
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/** \def ACCELERATION
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How fast to accelerate when using ACCELERATION_RAMPING. Start with 10 for
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milling (high precision) or 1000 for printing.
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High values affect aproximation accuracy for low speeds.
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Units: mm/s^2
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Useful range: 1 to 10'000
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*/
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#define ACCELERATION 6000
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/** \def ENDSTOP_CLEARANCE
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When hitting an endstop, Teacup properly decelerates instead of doing an
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aprupt stop to save your mechanics. Ineviteably, this means it overshoots
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the endstop trigger point by some distance.
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To deal with this, Teacup adapts homing movement speeds to what your
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endstops can deal with. The higher the allowed acceleration ( = deceleration,
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see #define ACCELERATION) and the more clearance the endstop comes with,
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the faster Teacup will do homing movements.
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Set here how many micrometers (mm * 1000) your endstop allows the carriage
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to overshoot the trigger point. Typically 1000 or 2000 for mechanical
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endstops, more for optical ones. You can set it to zero, in which case
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SEARCH_FEEDRATE_{XYZ} is used, but expect very slow homing movements.
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Units: micrometers
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Sane values: 0 to 20000 (0 to 20 mm)
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Valid range: 0 to 1000000
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*/
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#define ENDSTOP_CLEARANCE_X 100
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#define ENDSTOP_CLEARANCE_Y 100
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/** \def ENDSTOP_STEPS
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Number of steps to run into the endstops intentionally. As endstops trigger
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false alarm sometimes, Teacup debounces them by counting a number of
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consecutive positives.
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Use 4 or less for reliable endstops, 8 or even more for flaky ones.
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Valid range: 1...255.
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*/
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#define ENDSTOP_STEPS 2
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/** \def MILD_HOMING
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Define this to prevent abrupt stop of movement when endstop is trigged. For lightweight mechanics
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and low max speed or high acceleration values it is ok to keep this disabled.
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*/
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#define MILD_HOMING
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/** \def TRIGGERED_MOVEMENT
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Define this to start new G1 movement only by external interrupt from additional sensor switch.
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*/
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#define TRIGGERED_MOVEMENT
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/** \def LOOKAHEAD
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Define this to enable look-ahead during *ramping* acceleration to smoothly
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transition between moves instead of performing a dead stop every move.
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Enabling look-ahead requires about 3600 bytes of flash memory.
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*/
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//#define LOOKAHEAD
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/** \def MAX_JERK_X MAX_JERK_Y MAX_JERK_Z MAX_JERK_E
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When performing look-ahead, we need to decide what an acceptable jerk to the
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mechanics is. Look-ahead attempts to instantly change direction at movement
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crossings, which means instant changes in the speed of the axes participating
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in the movement. Define here how big the speed bumps on each of the axes is
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allowed to be.
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If you want a full stop before and after moving a specific axis, define
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MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
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to ignore jerk on an axis, define it to twice the maximum feedrate of this
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axis.
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Having these values too low results in more than neccessary slowdown at
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movement crossings, but is otherwise harmless. Too high values can result
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in stepper motors suddenly stalling. If angles between movements in your
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G-code are small and your printer runs through entire curves full speed,
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there's no point in raising the values.
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Units: mm/min
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Sane values: 0 to 400
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Valid range: 0 to 65535
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*/
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#define MAX_JERK_X 400
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#define MAX_JERK_Y 400
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/*#define MAX_JERK_Z 0
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#define MAX_JERK_E 200*/
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/** \def BAUD
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Baud rate for the serial RS232 protocol connection to the host. Usually
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115200, other common values are 19200, 38400 or 57600. Ignored when USB_SERIAL
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is defined.
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*/
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#define BAUD 115200
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/** \def XONXOFF
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Xon/Xoff flow control.
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Redundant when using RepRap Host for sending G-code, but mandatory when
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sending G-code files with a plain terminal emulator, like GtkTerm (Linux),
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CoolTerm (Mac) or HyperTerminal (Windows).
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*/
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#define XONXOFF
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/** \def MOTHERBOARD
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***************MOTHERBOARD***************
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* Define this to use one of predefined configuratoins.
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**/
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//#define MOTHERBOARD 2
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#include "boards.h"
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/** \def PINOUT
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***************PINOUT***************
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* Here you can setup pin functions, depending on board configuration.
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* Comment board define above to enable this customizable config.
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**/
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#ifndef MOTHERBOARD
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#define MOTHERBOARD
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#define X_STEP_PIN PC3
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// 19 PC3
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#define X_DIR_PIN PC2
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// 18 PC2
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#define X_MIN_PIN PA5
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//35 PA5
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//#define X_MAX_PIN DIO2
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#define X_ENABLE_PIN PC4
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// 20 PC4
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#define X_INVERT_DIR
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#define X_INVERT_MIN
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#define X_INVERT_MAX
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#define X_INVERT_ENABLE
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#define Y_STEP_PIN DIO9
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//22 PC6
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#define Y_DIR_PIN PC5
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//21 PC5
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// 16 PD2
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#define Y_MIN_PIN PA6
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//#define Y_MAX_PIN DIO7
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#define Y_ENABLE_PIN DIO10
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//23 PC7
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#define Y_INVERT_DIR
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#define Y_INVERT_MIN
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#define Y_INVERT_MAX
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#define Y_INVERT_ENABLE
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/*#define Z_STEP_PIN DIO11
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#define Z_DIR_PIN DIO12
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#define Z_MIN_PIN DIO13
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#define Z_MAX_PIN DIO14
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#define Z_ENABLE_PIN DIO15
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#define Z_INVERT_DIR
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#define Z_INVERT_MIN
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#define Z_INVERT_MAX
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#define Z_INVERT_ENABLE
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#define E_STEP_PIN DIO23
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#define E_DIR_PIN DIO0
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#define E_ENABLE_PIN DIO22
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#define E_INVERT_DIR
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#define E_INVERT_ENABLE
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*/
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#define ENCODER_PIN_A PD3
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#define ENCODER_PIN_B PA4
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#define INVERT_DIRECTION_ENCODER
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#define PWR_OUT1_PIN 18
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#define PWR_OUT2_PIN 19
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#define ANALOG_IN_PIN 33
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#define SWITCH1_PIN 34
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#define SWITCH2_PIN 35
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#define SWITCH3_PIN PD2
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#endif
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/** \def MOVEBUFFER_SIZE
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Move buffer size, in number of moves.
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Note that each move takes a fair chunk of ram (107 bytes as of this writing),
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so don't make the buffer too big. However, a larger movebuffer will probably
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help with lots of short consecutive moves, as each move takes a bunch of
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math (hence time) to set up so a longer buffer allows more of the math to
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be done during preceding longer moves.
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*/
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#define MOVEBUFFER_SIZE 8
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/** \def USE_INTERNAL_PULLUPS
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Most controller chips feature internal pullup resistors on their input pins,
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which get used for endstops by turning on this switch. Don't turn it on when
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using endstops which need no pull resistor, e.g. optical endstops, because
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pull resistors are counterproductive there.
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One can't use USE_INTERNAL_PULLUPS and USE_INTERNAL_PULLDOWNS at the same
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time, of course.
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*/
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#define USE_INTERNAL_PULLUPS
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/** \def F_CPU
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Actual CPU clock rate. #ifndef required for Arduino compatibility.
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*/
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#ifndef F_CPU
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#define F_CPU 16000000UL
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#endif
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/** \def DEBUG_LED_PIN
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Enable flashing of a LED during motor stepping.
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Disabled by default. Uncommenting this makes the binary a few bytes larger
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and adds a few cycles to the step timing interrrupt in timer.c. Also used
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for precision profiling (profiling works even without actually having such
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a LED in hardware), see
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http://reprap.org/wiki/Teacup_Firmware#Doing_precision_profiling
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*/
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#define DEBUG_LED_PIN PC1
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////////////////DEBUG/////////////////////
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//#define SIMINFO
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//#define DEBUG 1
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#ifdef DEBUG
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#define DEBUG_ECHO 1
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#define DEBUG_INFO 2
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#define DEBUG_ERRORS 4
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#define DEBUG_DRYRUN 8
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#define DEBUG_PID 16
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#define DEBUG_DDA 32
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#define DEBUG_POSITION 64
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#else
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// by setting these to zero, the compiler should optimise the relevant code out
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#define DEBUG_PID 0
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#define DEBUG_DDA 0
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#define DEBUG_POSITION 0
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#define DEBUG_ECHO 0
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#define DEBUG_INFO 0
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#define DEBUG_DRYRUN 0
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#endif
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extern volatile uint8_t debug_flags;
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#ifndef BSS
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#define BSS __attribute__ ((__section__ (".bss")))
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#endif
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#endif /* _CONFIG_H */
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