config.arduino.h

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//TODO: fix this blasphemy!
/* Notice to developers: this file is intentionally included twice. */

/*
  CONTENTS

  1. Mechanical/Hardware
  2. Acceleration settings
  3. Pinouts
  4. Communication options
  5. Miscellaneous
  6. Appendix A - PWMable pins and mappings
*/


/***************************************************************************\
*                                                                           *
* 1. MECHANICAL/HARDWARE                                                    *
*                                                                           *
\***************************************************************************/

/*
  Set your microcontroller type in Makefile! atmega168/atmega328p/atmega644p/atmega1280

  If you want to port this to a new chip, start off with arduino.h and see how you go.
*/

//TODO: make this more crystal clear when splitting the code into panel and physics
#define  HOST

/*
  Values reflecting the gearing of your machine.
*/
// The S-720 has 6mm pitch lead screws, 1.8deg steppers and the Zero3 is a 1:10
// microstepping driver, thus giving 333333.(3) steps per meter.
// YES, coming up with a fractional numer of steps per whole length unit is
// stupid, but that's what you get when you don't design and build your own.
#define STEPS_PER_M_X 333333
#define STEPS_PER_M_Y 333333
#define STEPS_PER_M_Z 333333

/*
  Values depending on the capabilities of your stepper motors and other mechanics.
  All numbers are integers, no decimals allowed.

  Units are mm/min
*/
//TODO: sort out why we can't seem to go over 2000mm/min when we should be able to do 2500mm/min according to the specs
#define MAXIMUM_FEEDRATE_X 2000
#define MAXIMUM_FEEDRATE_Y 2000
#define MAXIMUM_FEEDRATE_Z 2000

#define SEARCH_FEEDRATE_X 60
#define SEARCH_FEEDRATE_Y 60
#define SEARCH_FEEDRATE_Z 60

// The S-720 is well enough engineered that (for X) there are 720mm of travel
// between the home switch and the hard limit with about 5mm to spare at both
// ends. Thus, no cropping needed.
#define  X_MIN      0.0
#define  X_MAX      720.0
#define  Y_MIN      0.0
#define  Y_MAX      420.0
#define  Z_MIN      0.0
#define  Z_MAX      110.0


/***************************************************************************\
*                                                                           *
* 2. ACCELERATION                                                           *
*                                                                           *
* IMPORTANT: choose only one! These algorithms choose when to step, trying  *
*            to use more than one will have undefined and probably          *
*            disastrous results!                                            *
*                                                                           *
\***************************************************************************/

// #define ACCELERATION_REPRAP

#define ACCELERATION_RAMPING

#define ACCELERATION 50.

// #define ACCELERATION_TEMPORAL


/***************************************************************************\
*                                                                           *
* 3. PINOUTS                                                                *
*                                                                           *
\***************************************************************************/

/*
  Machine Pin Definitions
  - make sure to avoid duplicate usage of a pin
  - comment out pins not in use, as this drops the corresponding code and makes operations faster
*/
#include "arduino.h"

/*
  user defined pins
  adjust to suit your electronics, or adjust your electronics to suit this

  Please note that Spindle/Coolant ON/OFF and Spindle PWM are missing
  because they're generated by the Panel MCU.
  E-Stop and Charge Pump are here because we need to stop ASAP if the button
  is hit and we can't risk leaving that to the Panel MCU.
  Please note that this refers to the E-Stop button on our front panel -- the
  Zero3 already takes action by itself for the one on the machine and the one on
  its own panel.
*/

// This pin mapping puts Charge Pump on a PWM-able pin, just in case we decide
// to generate it in hardware in the future. It also leaves out the other two
// PWM pins, just in case we need them later on.
// This also does not use the SPI pins such that INTERCOM can run over those.
// In the production assembly (which uses the Pro Mini instead of the Uno), the
// I2C pins are also free.
// X-axis controls
#define X_STEP_PIN AIO0
#define X_DIR_PIN AIO1
#define X_MIN_PIN AIO2
// The S-720 has the X-axis backwards
#define X_INVERT_DIR 1
// ... and all limit switches active-low
#define X_INVERT_MIN  1

// Y-axis controls
#define Y_STEP_PIN AIO3
// AIO6 in production (Pro Mini)
#define Y_DIR_PIN AIO4
// AIO7 in production (Pro Mini)
#define Y_MIN_PIN AIO5
//#define Y_INVERT_DIR
#define Y_INVERT_MIN 1

// Z-axis controls
#define Z_STEP_PIN DIO2
#define Z_DIR_PIN DIO4
#define Z_MIN_PIN DIO7
//#define Z_INVERT_DIR
#define Z_INVERT_MIN 1

// 12.5kHz Watchdog signal
#define CHARGEPUMP_PIN DIO3

// Emergency stop signal
#define ESTOP_IN_PIN DIO8
// The Zero3 has an active-low E-Stop Output
#define ESTOP_INVERT_IN 1


/***************************************************************************\
*                                                                           *
* 4. COMMUNICATION OPTIONS                                                  *
*                                                                           *
\***************************************************************************/

#define  BAUD  115200

#define  XONXOFF


/***************************************************************************\
*                                                                           *
* 5. MISCELLANEOUS OPTIONS                                                  *
*                                                                           *
\***************************************************************************/

// #define  DEBUG

#define MOVEBUFFER_SIZE 8

#define USE_WATCHDOG

//#define    STEP_INTERRUPT_INTERRUPTIBLE  1
#define STEP_INTERRUPT_INTERRUPTIBLE 0

#define ENDSTOP_STEPS 4


/***************************************************************************\
*                                                                           *
* 6. APPENDIX A - PWMABLE PINS AND MAPPINGS                                 *
*                                                                           *
*                                                                           *
* list of PWM-able pins and corresponding timers                            *
* timer1 is used for step timing so don't use OC1A/OC1B                     *
* they are omitted from this listing for that reason                        *
*                                                                           *
* For the atmega168/328, timer/pin mappings are as follows                  *
*                                                                           *
* OCR0A - PD6  - DIO6                                                       *
* OCR0B - PD5  - DIO5                                                       *
* OCR2A - PB3  - DIO11                                                      *
* OCR2B - PD3  - DIO3                                                       *
*                                                                           *
* For the atmega644, timer/pin mappings are as follows                      *
*                                                                           *
* OCR0A - PB3  - DIO3                                                       *
* OCR0B - PB4  - DIO4                                                       *
* OCR2A - PD7  - DIO15                                                      *
* OCR2B - PD6  - DIO14                                                      *
*                                                                           *
* For the atmega1280, timer/pin mappings are as follows                     *
*                                                                           *
* OCR0A  - PB7 - DIO13                                                      *
* OCR0B  - PG5 - DIO4                                                       *
* OCR2A  - PB4 - DIO10                                                      *
* OCR2B  - PH6 - DIO9                                                       *
* OCR3AL - PE3 - DIO5                                                       *
* OCR3BL - PE4 - DIO2                                                       *
* OCR3CL - PE5 - DIO3                                                       *
* OCR4AL - PH3 - DIO6                                                       *
* OCR4BL - PH4 - DIO7                                                       *
* OCR4CL - PH5 - DIO8                                                       *
* OCR5AL - PL3 - DIO46                                                      *
* OCR5BL - PL4 - DIO45                                                      *
* OCR5CL - PL5 - DIO44                                                      *
*                                                                           *
\***************************************************************************/

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