forked from Traumflug/Teacup_Firmware
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathconfig.ramps-v1.3.h
602 lines (492 loc) · 25.6 KB
/
config.ramps-v1.3.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
/* Notice to developers: this file is intentionally included twice. */
/** \file
\brief RAMPS v1.3 Sample Configuration
http://reprap.org/wiki/Arduino_Mega_Pololu_Shield
*/
/*
CONTENTS
1. Mechanical/Hardware
2. Acceleration settings
3. Pinouts
4. Temperature sensors
5. Heaters
6. Communication options
7. Miscellaneous
8. 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.
*/
#if ! ( defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__) )
#error RAMPS has 1280/2560! set your cpu type in Makefile!
#endif
/** \def F_CPU
CPU clock rate
*/
#ifndef F_CPU
#define F_CPU 16000000UL
#endif
/** \def MOTHERBOARD
This is the motherboard, as opposed to the extruder. See extruder/ directory for GEN3 extruder firmware
*/
#define MOTHERBOARD
/** \def STEPS_PER_M
steps per meter ( = steps per mm * 1000 )
calculate these values appropriate for your machine
for threaded rods, this is
(steps motor per turn) / (pitch of the thread) * 1000
for belts, this is
(steps per motor turn) / (number of gear teeth) / (belt module) * 1000
half-stepping doubles the number, quarter stepping requires * 4, etc.
valid range = 20 to 4'0960'000 (0.02 to 40960 steps/mm)
all numbers are integers, so no decimal point, please :-)
*/
#define STEPS_PER_M_X 80368
#define STEPS_PER_M_Y 80368
#define STEPS_PER_M_Z 3333592
/// http://blog.arcol.hu/?p=157 may help with this one
#define STEPS_PER_M_E 11036
/*
Values depending on the capabilities of your stepper motors and other mechanics.
All numbers are integers, no decimals allowed.
Units are mm/min
*/
/// used for G0 rapid moves and as a cap for all other feedrates
#define MAXIMUM_FEEDRATE_X 200
#define MAXIMUM_FEEDRATE_Y 200
#define MAXIMUM_FEEDRATE_Z 100
#define MAXIMUM_FEEDRATE_E 600
/// Used when doing precision endstop search and as default feedrate.
#define SEARCH_FEEDRATE_X 50
#define SEARCH_FEEDRATE_Y 50
#define SEARCH_FEEDRATE_Z 1
// no SEARCH_FEEDRATE_E, as E can't be searched
/** \def ENDSTOP_CLEARANCE_X
\def ENDSTOP_CLEARANCE_Y
\def ENDSTOP_CLEARANCE_Z
When hitting an endstop, Teacup properly decelerates instead of doing an
aprupt stop to save your mechanics. Ineviteably, this means it overshoots
the endstop trigger point by some distance.
To deal with this, Teacup adapts homing movement speeds to what your
endstops can deal with. The higher the allowed acceleration ( = deceleration,
see #define ACCELERATION) and the more clearance the endstop comes with,
the faster Teacup will do homing movements.
Set here how many micrometers (mm * 1000) your endstop allows the carriage
to overshoot the trigger point. Typically 1000 or 2000 for mechanical
endstops, more for optical ones. You can set it to zero, in which case
SEARCH_FEEDRATE_{XYZ} is used, but expect very slow homing movements.
Units: micrometers
Sane values: 0 to 20000 (0 to 20 mm)
Valid range: 0 to 1000000
*/
#define ENDSTOP_CLEARANCE_X 1000
#define ENDSTOP_CLEARANCE_Y 1000
#define ENDSTOP_CLEARANCE_Z 100
/**
Soft axis limits, in mm.
Define them to your machine's size relative to what your host considers to be the origin.
*/
//#define X_MIN 0.0
//#define X_MAX 200.0
//#define Y_MIN 0.0
//#define Y_MAX 200.0
//#define Z_MIN 0.0
//#define Z_MAX 140.0
/** \def E_ABSOLUTE
Some G-Code creators produce relative length commands for the extruder, others absolute ones. G-Code using absolute lengths can be recognized when there are G92 E0 commands from time to time. If you have G92 E0 in your G-Code, define this flag.
This is the startup default and can be changed with M82/M83 while running.
*/
// #define E_ABSOLUTE
/***************************************************************************\
* *
* 2. ACCELERATION *
* *
* Choose optionally one of ACCELERATION_REPRAP, ACCELERATION_RAMPING or *
* ACCELERATION_TEMPORAL. With none of them defined, movements are done *
* without acceleration. Recommended is ACCELERATION_RAMPING. *
* *
* LOOKAHEAD is experimental for now and works in conjunction with *
* ACCELERATION_RAMPING, only. That's why it's off by default. *
* *
* Also don't forget to adjust ACCELERATION to the capabilities of your *
* printer. The default is very moderate to be on the safe side. *
* *
\***************************************************************************/
/** \def ACCELERATION_REPRAP
acceleration, reprap style.
Each movement starts at the speed of the previous command and accelerates or decelerates linearly to reach target speed at the end of the movement.
*/
// #define ACCELERATION_REPRAP
/** \def ACCELERATION_RAMPING
acceleration and deceleration ramping.
Each movement starts at (almost) no speed, linearly accelerates to target speed and decelerates just in time to smoothly stop at the target. alternative to ACCELERATION_REPRAP
*/
#define ACCELERATION_RAMPING
/** \def ACCELERATION
how fast to accelerate when using ACCELERATION_RAMPING.
given in mm/s^2, decimal allowed, useful range 1. to 10'000. Start with 10. for milling (high precision) or 1000. for printing
*/
#define ACCELERATION 1000.
/** \def ACCELERATION_TEMPORAL
temporal step algorithm
This algorithm causes the timer to fire when any axis needs to step, instead of synchronising to the axis with the most steps ala bresenham.
This algorithm is not a type of acceleration, and I haven't worked out how to integrate acceleration with it.
However it does control step timing, so acceleration algorithms seemed appropriate
The Bresenham algorithm is great for drawing lines, but not so good for steppers - In the case where X steps 3 times to Y's two, Y experiences massive jitter as it steps in sync with X every 2 out of 3 X steps. This is a worst-case, but the problem exists for most non-45/90 degree moves. At higher speeds, the jitter /will/ cause position loss and unnecessary vibration.
This algorithm instead calculates when a step occurs on any axis, and sets the timer to that value.
// TODO: figure out how to add acceleration to this algorithm
*/
// #define ACCELERATION_TEMPORAL
/** \def LOOKAHEAD
Define this to enable look-ahead during *ramping* acceleration to smoothly
transition between moves instead of performing a dead stop every move.
Enabling look-ahead requires about 3600 bytes of flash memory.
*/
// #define LOOKAHEAD
/** \def MAX_JERK_X
\def MAX_JERK_Y
\def MAX_JERK_Z
\def MAX_JERK_E
When performing look-ahead, we need to decide what an acceptable jerk to the
mechanics is. Look-ahead attempts to instantly change direction at movement
crossings, which means instant changes in the speed of the axes participating
in the movement. Define here how big the speed bumps on each of the axes is
allowed to be.
If you want a full stop before and after moving a specific axis, define
MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
to ignore jerk on an axis, define it to twice the maximum feedrate of this
axis.
Having these values too low results in more than neccessary slowdown at
movement crossings, but is otherwise harmless. Too high values can result
in stepper motors suddenly stalling. If angles between movements in your
G-code are small and your printer runs through entire curves full speed,
there's no point in raising the values.
Units: mm/min
Sane values: 0 to 400
Valid range: 0 to 65535
*/
#define MAX_JERK_X 20
#define MAX_JERK_Y 20
#define MAX_JERK_Z 0
#define MAX_JERK_E 20
/***************************************************************************\
* *
* 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"
/** \def USE_INTERNAL_PULLUPS
internal pullup resistors
the ATmega has internal pullup resistors on it's input pins which are counterproductive with the commonly used eletronic endstops, so they should be switched off. For other endstops, like mechanical ones, you may want to uncomment this.
*/
//#define USE_INTERNAL_PULLUPS
/*
This is for the RAMPS v1.3 shield
*/
// TODO: 20110813 SJL - the following two are not yet used&verified for RAMPS1.3
//#define TX_ENABLE_PIN DIO12
//#define RX_ENABLE_PIN DIO13
#define X_STEP_PIN AIO0
#define X_DIR_PIN AIO1
#define X_MIN_PIN DIO3
//#define X_MAX_PIN DIO2
//#define X_ENABLE_PIN DIO38
//#define X_INVERT_DIR
//#define X_INVERT_MIN
//#define X_INVERT_MAX
//#define X_INVERT_ENABLE
#define Y_STEP_PIN AIO6
#define Y_DIR_PIN AIO7
#define Y_MIN_PIN DIO14
//#define Y_MAX_PIN DIO15
//#define Y_ENABLE_PIN AIO2
#define Y_INVERT_DIR
//#define Y_INVERT_MIN
//#define Y_INVERT_MAX
//#define Y_INVERT_ENABLE
#define Z_STEP_PIN DIO46
#define Z_DIR_PIN DIO48
#define Z_INVERT_DIR
#define Z_MIN_PIN DIO18
//#define Z_MAX_PIN DIO19
//#define Z_ENABLE_PIN AIO8
//#define Z_INVERT_MIN
//#define Z_INVERT_MAX
//#define Z_INVERT_ENABLE
#define E_STEP_PIN DIO26
#define E_DIR_PIN DIO28
#define E_ENABLE_PIN DIO24
//#define E_INVERT_DIR
#define E_INVERT_ENABLE
//#define PS_ON_PIN xxxx
//#define PS_MOSFET_PIN xxxx
//#define STEPPER_ENABLE_PIN xxxx
//#define STEPPER_INVERT_ENABLE
// TODO: 20110813 SJL - the following two are not yet used&verified for RAMPS1.3
//#define SD_CARD_DETECT DIO2
//#define SD_WRITE_PROTECT DIO3
/***************************************************************************\
* *
* 4. TEMPERATURE SENSORS *
* *
\***************************************************************************/
/**
TEMP_HYSTERESIS: actual temperature must be target +/- hysteresis before target temperature can be achieved.
Unit is degree Celsius.
*/
#define TEMP_HYSTERESIS 5
/**
TEMP_RESIDENCY_TIME: actual temperature must be close to target (within
set temperature +- TEMP_HYSTERESIS) for this long before target is achieved
(and a M116 succeeds). Unit is seconds.
*/
#define TEMP_RESIDENCY_TIME 60
/**
TEMP_EWMA: Smooth noisy temperature sensors. Good hardware shouldn't be
noisy. Set to 1.0 for unfiltered data (and a 140 bytes smaller binary).
Instrument Engineer's Handbook, 4th ed, Vol 2 p126 says values of
0.05 to 0.1 are typical. Smaller is smoother but slower adjusting, larger is
quicker but rougher. If you need to use this, set the PID parameter to zero
(M132 S0) to make the PID loop insensitive to noise.
Valid range: 0.001 to 1.0
*/
#define TEMP_EWMA 0.1
/// which temperature sensors are you using? List every type of sensor you use here once, to enable the appropriate code. Intercom is the gen3-style separate extruder board.
// #define TEMP_MAX6675
#define TEMP_THERMISTOR
// #define TEMP_AD595
// #define TEMP_PT100
// #define TEMP_INTERCOM
/***************************************************************************\
* *
* Define your temperature sensors here. One line for each sensor, only *
* limited by the number of available ATmega pins. *
* *
* Types are same as TEMP_ list above - TT_MAX6675, TT_THERMISTOR, TT_AD595, *
* TT_PT100, TT_INTERCOM. See list in temp.c. *
* *
* The "additional" field is used for TT_THERMISTOR only. It defines the *
* name of the table(s) in ThermistorTable.h to use. Typically, this is *
* THERMISTOR_EXTRUDER for the first or only table, or THERMISTOR_BED for *
* the second table. See also early in ThermistorTable.{single|double}.h. *
* *
* For a GEN3 set temp_type to TT_INTERCOM and temp_pin to AIO0. The pin *
* won't be used in this case. *
* *
\***************************************************************************/
#ifndef DEFINE_TEMP_SENSOR
#define DEFINE_TEMP_SENSOR(...)
#endif
// name type pin additional
DEFINE_TEMP_SENSOR(extruder, TT_THERMISTOR, AIO13, THERMISTOR_EXTRUDER)
// DEFINE_TEMP_SENSOR(bed, TT_THERMISTOR, AIO14, THERMISTOR_EXTRUDER)
/***************************************************************************\
* *
* 5. HEATERS *
* *
\***************************************************************************/
/** \def HEATER_SANITY_CHECK
check if heater responds to changes in target temperature, disable and spit errors if not
largely untested, please comment in forum if this works, or doesn't work for you!
*/
// #define HEATER_SANITY_CHECK
/***************************************************************************\
* *
* Define your heaters and devices here. *
* *
* To attach a heater to a temp sensor above, simply use exactly the same *
* name - copy+paste is your friend. Some common names are 'extruder', *
* 'bed', 'fan', 'motor', ... names with special meaning can be found *
* in gcode_process.c. Currently, these are: *
* HEATER_extruder (M104) *
* HEATER_bed (M140) *
* HEATER_fan (M106) *
* *
* Devices don't neccessarily have a temperature sensor, e.g. fans or *
* milling spindles. Operate such devices by setting their power (M106), *
* instead of setting their temperature (M104). *
* *
* Also note, the index of a heater (M106 P#) can differ from the index of *
* its attached temperature sensor (M104 P#) in case sensor-less devices *
* are defined or the order of the definitions differs. The first defined *
* device has the index 0 (zero). *
* *
* Set 'pwm' to ... *
* 1 for using PWM on a PWM-able pin and on/off on other pins. *
* 0 for using on/off on a PWM-able pin, too. *
* Using PWM usually gives smoother temperature control but can conflict *
* with slow switches, like solid state relays. PWM frequency can be *
* influenced globally with FAST_PWM, see below. *
* *
\***************************************************************************/
#ifndef DEFINE_HEATER
#define DEFINE_HEATER(...)
#endif
// NOTE: these pins are for RAMPS V1.1 and newer. V1.0 is different
// name port pwm
DEFINE_HEATER(extruder, PB4, 1)
//DEFINE_HEATER( bed, PH5, 1)
/// and now because the c preprocessor isn't as smart as it could be,
/// uncomment the ones you've listed above and comment the rest.
/// NOTE: these are used to enable various capability-specific chunks of code, you do NOT need to create new entries unless you are adding new capabilities elsewhere in the code!
/// so if you list a bed above, uncomment HEATER_BED, but if you list a chamber you do NOT need to create HEATED_CHAMBER
/// I have searched high and low for a way to make the preprocessor do this for us, but so far I have not found a way.
#define HEATER_EXTRUDER HEATER_extruder
//#define HEATER_BED HEATER_bed
/***************************************************************************\
* *
* 6. COMMUNICATION OPTIONS *
* *
\***************************************************************************/
/** \def BAUD
Baud rate for the serial RS232 protocol connection to the host. Usually
115200, other common values are 19200, 38400 or 57600. Ignored when USB_SERIAL
is defined.
*/
#define BAUD 115200
/** \def USB_SERIAL
Define this for using USB instead of the serial RS232 protocol. Works on
USB-equipped ATmegas, like the ATmega32U4, only.
*/
// #define USB_SERIAL
/** \def XONXOFF
Xon/Xoff flow control.
Redundant when using RepRap Host for sending GCode, but mandatory when sending GCode files with a plain terminal emulator, like GtkTerm (Linux), CoolTerm (Mac) or HyperTerminal (Windows).
Can also be set in Makefile
*/
// #define XONXOFF
/***************************************************************************\
* *
* 7. MISCELLANEOUS OPTIONS *
* *
\***************************************************************************/
/** \def EECONFIG
EECONFIG: Enable EEPROM configuration storage.
Enabled by default. Commenting this out makes the binary several hundred
bytes smaller, so you might want to disable EEPROM storage on small MCUs,
like the ATmega168.
*/
#define EECONFIG
/** \def DEBUG
DEBUG
enables /heaps/ of extra output, and some extra M-codes.
WARNING: this WILL break most host-side talkers that expect particular responses from firmware such as reprap host and replicatorG
use with serial terminal or other suitable talker only.
*/
// #define DEBUG
/** \def BANG_BANG
BANG_BANG
drops PID loop from heater control, reduces code size significantly (1300 bytes!)
may allow DEBUG on '168
*/
// #define BANG_BANG
/** \def BANG_BANG_ON
BANG_BANG_ON
PWM value for 'on'
*/
// #define BANG_BANG_ON 200
/** \def BANG_BANG_OFF
BANG_BANG_OFF
PWM value for 'off'
*/
// #define BANG_BANG_OFF 45
/**
move buffer size, in number of moves
note that each move takes a fair chunk of ram (69 bytes as of this writing) so don't make the buffer too big - a bigger serial readbuffer may help more than increasing this unless your gcodes are more than 70 characters long on average.
however, a larger movebuffer will probably help with lots of short consecutive moves, as each move takes a bunch of math (hence time) to set up so a longer buffer allows more of the math to be done during preceding longer moves
*/
#define MOVEBUFFER_SIZE 8
/** \def DC_EXTRUDER
DC extruder
If you have a DC motor extruder, configure it as a "heater" above and define this value as the index or name. You probably also want to comment out E_STEP_PIN and E_DIR_PIN in the Pinouts section above.
*/
// #define DC_EXTRUDER HEATER_motor
// #define DC_EXTRUDER_PWM 180
/** \def USE_WATCHDOG
Teacup implements a watchdog, which has to be reset every 250ms or it will reboot the controller. As rebooting (and letting the GCode sending application trying to continue the build with a then different Home point) is probably even worse than just hanging, and there is no better restore code in place, this is disabled for now.
*/
// #define USE_WATCHDOG
/**
analog subsystem stuff
REFERENCE - which analog reference to use. see analog.h for choices
*/
#define REFERENCE REFERENCE_AVCC
/** \def STEP_INTERRUPT_INTERRUPTIBLE
this option makes the step interrupt interruptible (nested).
this should help immensely with dropped serial characters, but may also make debugging infuriating due to the complexities arising from nested interrupts
\note disable this option if you're using a '168 or for some reason your ram usage is above 90%. This option hugely increases likelihood of stack smashing.
*/
#define STEP_INTERRUPT_INTERRUPTIBLE 1
/**
temperature history count. This is how many temperature readings to keep in order to calculate derivative in PID loop
higher values make PID derivative term more stable at the expense of reaction time
*/
#define TH_COUNT 8
/** \def FAST_PWM
Teacup offers two PWM frequencies, 76(61) Hz and 78000(62500) Hz on a
20(16) MHz electronics. The slower one is the default, as it's the safer
choice. Drawback is, in a quiet environment you might notice the heaters
and your power supply humming.
Uncomment this option if you want to get rid of this humming or want
faster PWM for other reasons.
See also: http://reprap.org/wiki/Gen7_Research#MOSFET_heat_and_PWM
*/
// #define FAST_PWM
/// this is the scaling of internally stored PID values. 1024L is a good value
#define PID_SCALE 1024L
/** \def ENDSTOP_STEPS
number of steps to run into the endstops intentionally
As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives. Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.
*/
#define ENDSTOP_STEPS 4
/***************************************************************************\
* *
* 8. 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 *
* *
\***************************************************************************/