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Add support for an atmega32u4 on a Teensy 2.0 carrier board. 

The atmega32u4 timer 4 registers differ from other AVRs, requiring
changes in heater.c and mendel.c The teensy/atmega32u4 uses LUFA USB,
but does not have 'usb' in the name, requiring changes in the
makefile PID values read from a blank EEPROM are set to default
rather than using zeros.
This commit is contained in:
David Forrest 2012-09-27 12:23:46 -04:00 committed by Markus Hitter
parent 915dc4294d
commit 3d02790032
2 changed files with 1056 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

462
arduino_32U4.h Normal file
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// teensy pin assignments
// UART xxx checks this against USBs?
#define RXD DIO7
#define TXD DIO8
//#define RXD0 DIO7
//#define TXD0 DIO8
#define RXD1 DIO7
#define TXD1 DIO8
// ATmega32U4 doesn't have a serial port 0, maybe its a USB?
// do some munging of port 0 to port 1 the help serial.c
#define UCSR0A UCSR1A
#define U2X0 U2X1
#define UBRR0 UBRR1
#define UCSR0B UCSR1B
#define RXEN0 RXEN1
#define TXEN0 TXEN1
#define UCSR0C UCSR1C
#define UCSZ01 UCSZ11
#define UCSZ00 UCSZ10
#define RXCIE0 RXCIE1
#define UDRIE0 UDRIE1
#define USART0_UDRE_vect USART1_UDRE_vect
#define UDR0 UDR1
#define UCSR0B UCSR1B
// SPI
#define SCK DIO1
#define MISO DIO3
#define MOSI DIO2
#define SS DIO0
// TWI (I2C)
#define SCL DIO5
#define SDA DIO6
// timers and PWM
#define TIMER4_IS_10_BIT
#define OC0A DIO4
#define OC0B DIO5
#define OC3A DIO9
#define OC4A D1O10
#define OC4D DIO12
#define OC1A DIO14
#define OC1B DIO16
// change for your board
#define DEBUG_LED DIO22 /* led D11 red */
#define DEBUG_LED_PIN DIO22
/*
pins
*/
#define DIO0_PIN PINB0
#define DIO0_RPORT PINB
#define DIO0_WPORT PORTB
#define DIO0_PWM NULL
#define DIO0_DDR DDRB
#define DIO1_PIN PINB1
#define DIO1_RPORT PINB
#define DIO1_WPORT PORTB
#define DIO1_PWM NULL
#define DIO1_DDR DDRB
#define DIO2_PIN PINB2
#define DIO2_RPORT PINB
#define DIO2_WPORT PORTB
#define DIO2_PWM NULL
#define DIO2_DDR DDRB
#define DIO3_PIN PINB3
#define DIO3_RPORT PINB
#define DIO3_WPORT PORTB
#define DIO3_PWM NULL
#define DIO3_DDR DDRB
#define DIO4_PIN PINB7
#define DIO4_RPORT PINB
#define DIO4_WPORT PORTB
// teensy card says RTS OC1C OC0A PB7 PWM / ATMega32U4 datasheet says PCINT7/OC0A/OC1C/~RTS PB7
// Timer 1 would be a problem drf 2012-01-09
// Timer 0 might be used by serial.c
#define DIO4_PWM &OCR0A
//#define DIO4_PWM &OCR1C
//#define DIO4_PWM NULL
#define DIO4_DDR DDRB
#define DIO5_PIN PIND0
#define DIO5_RPORT PIND
#define DIO5_WPORT PORTD
#define DIO5_PWM &OCR0B
//#define DIO5_PWM NULL
#define DIO5_DDR DDRD
#define DIO6_PIN PIND1
#define DIO6_RPORT PIND
#define DIO6_WPORT PORTD
#define DIO6_PWM NULL
#define DIO6_DDR DDRD
#define DIO7_PIN PIND2
#define DIO7_RPORT PIND
#define DIO7_WPORT PORTD
#define DIO7_PWM NULL
#define DIO7_DDR DDRD
#define DIO8_PIN PIND3
#define DIO8_RPORT PIND
#define DIO8_WPORT PORTD
#define DIO8_PWM NULL
#define DIO8_DDR DDRD
#define DIO9_PIN PINC6
#define DIO9_RPORT PINC
#define DIO9_WPORT PORTC
#define DIO9_PWM &OCR3A
#define DIO9_DDR DDRC
#define DIO10_PIN PINC7
#define DIO10_RPORT PINC
#define DIO10_WPORT PORTC
#define DIO10_PWM &OCR4A
#define DIO10_DDR DDRC
#define DIO11_PIN PIND6
#define DIO11_RPORT PIND
#define DIO11_WPORT PORTD
// note that this PWM is true on not-OCR4D
#define DIO11_PWM &OCR4D
#define DIO11_DDR DDRD
#define DIO12_PIN PIND7
#define DIO12_RPORT PIND
#define DIO12_WPORT PORTD
#define DIO12_PWM &OCR4D
#define DIO12_DDR DDRD
#define DIO13_PIN PINB4
#define DIO13_RPORT PINB
#define DIO13_WPORT PORTB
#define DIO13_PWM NULL
#define DIO13_DDR DDRB
#define DIO14_PIN PINB5
#define DIO14_RPORT PINB
#define DIO14_WPORT PORTB
#define DIO14_PWM &OCR4B
#define DIO14_DDR DDRB
#define DIO15_PIN PINB6
#define DIO15_RPORT PINB
#define DIO15_WPORT PORTB
#define DIO15_PWM &OCR4B
#define DIO15_DDR DDRB
#define DIO16_PIN PINF7
#define DIO16_RPORT PINF
#define DIO16_WPORT PORTF
#define DIO16_PWM NULL
#define DIO16_DDR DDRF
#define DIO17_PIN PINF6
#define DIO17_RPORT PINF
#define DIO17_WPORT PORTF
#define DIO17_PWM NULL
#define DIO17_DDR DDRF
#define DIO18_PIN PINF5
#define DIO18_RPORT PINF
#define DIO18_WPORT PORTF
#define DIO18_PWM NULL
#define DIO18_DDR DDRF
#define DIO19_PIN PINF4
#define DIO19_RPORT PINF
#define DIO19_WPORT PORTF
#define DIO19_PWM NULL
#define DIO19_DDR DDRF
#define DIO20_PIN PINF1
#define DIO20_RPORT PINF
#define DIO20_WPORT PORTF
#define DIO20_PWM NULL
#define DIO20_DDR DDRF
#define DIO21_PIN PINF0
#define DIO21_RPORT PINF
#define DIO21_WPORT PORTF
#define DIO21_PWM NULL
#define DIO21_DDR DDRF
#define DIO22_PIN PIND4
#define DIO22_RPORT PIND
#define DIO22_WPORT PORTD
#define DIO22_PWM NULL
#define DIO22_DDR DDRD
#define DIO23_PIN PIND5
#define DIO23_RPORT PIND
#define DIO23_WPORT PORTD
#define DIO23_PWM NULL
#define DIO23_DDR DDRD
#define DIO24_PIN PINE6
#define DIO24_RPORT PINE
#define DIO24_WPORT PORTE
#define DIO24_PWM NULL
#define DIO24_DDR DDRE
// ADC converters
#define AIO0_PIN PINF0
#define AIO0_RPORT PINF
#define AIO0_WPORT PORTF
#define AIO0_PWM NULL
#define AIO0_DDR DDRF
#define AIO1_PIN PINF1
#define AIO1_RPORT PINF
#define AIO1_WPORT PORTF
#define AIO1_PWM NULL
#define AIO1_DDR DDRF
#define AIO2_PIN PINF4
#define AIO2_RPORT PINF
#define AIO2_WPORT PORTF
#define AIO2_PWM NULL
#define AIO2_DDR DDRF
#define AIO3_PIN PINF5
#define AIO3_RPORT PINF
#define AIO3_WPORT PORTF
#define AIO3_PWM NULL
#define AIO3_DDR DDRF
#define AIO4_PIN PINF6
#define AIO4_RPORT PINF
#define AIO4_WPORT PORTF
#define AIO4_PWM NULL
#define AIO4_DDR DDRF
#define AIO5_PIN PINF7
#define AIO5_RPORT PINF
#define AIO5_WPORT PORTF
#define AIO5_PWM NULL
#define AIO5_DDR DDRF
#define AIO6_PIN PINB6
#define AIO6_RPORT PINB
#define AIO6_WPORT PORTB
#define AIO6_PWM NULL
#define AIO6_DDR DDRB
#define AIO7_PIN PINB5
#define AIO7_RPORT PINB
#define AIO7_WPORT PORTB
#define AIO7_PWM NULL
#define AIO7_DDR DDRB
#define AIO8_PIN PINB4
#define AIO8_RPORT PINB
#define AIO8_WPORT PORTB
#define AIO8_PWM NULL
#define AIO8_DDR DDRB
#define AIO9_PIN PIND7
#define AIO9_RPORT PIND
#define AIO9_WPORT PORTD
#define AIO9_PWM NULL
#define AIO9_DDR DDRD
#define AIO10_PIN PIND6
#define AIO10_RPORT PIND
#define AIO10_WPORT PORTD
#define AIO10_PWM NULL
#define AIO10_DDR DDRD
#define AIO11_PIN PIND4
#define AIO11_RPORT PIND
#define AIO11_WPORT PORTD
#define AIO11_PWM NULL
#define AIO11_DDR DDRD
// The PWM
// Port A isn't defined
// Port B is fully available
#undef PB0
#define PB0_PIN PINB0
#define PB0_RPORT PINB
#define PB0_WPORT PORTB
#define PB0_PWM NULL
#define PB0_DDR DDRB
#undef PB1
#define PB1_PIN PINB1
#define PB1_RPORT PINB
#define PB1_WPORT PORTB
#define PB1_PWM NULL
#define PB1_DDR DDRB
#undef PB2
#define PB2_PIN PINB2
#define PB2_RPORT PINB
#define PB2_WPORT PORTB
#define PB2_PWM NULL
#define PB2_DDR DDRB
#undef PB3
#define PB3_PIN PINB3
#define PB3_RPORT PINB
#define PB3_WPORT PORTB
#define PB3_PWM NULL
#define PB3_DDR DDRB
#undef PB4
#define PB4_PIN PINB4
#define PB4_RPORT PINB
#define PB4_WPORT PORTB
#define PB4_PWM NULL
#define PB4_DDR DDRB
#undef PB5
#define PB5_PIN PINB5
#define PB5_RPORT PINB
#define PB5_WPORT PORTB
#define PB5_PWM NULL
#define PB5_DDR DDRB
#undef PB6
#define PB6_PIN PINB6
#define PB6_RPORT PINB
#define PB6_WPORT PORTB
#define PB6_PWM NULL
#define PB6_DDR DDRB
#undef PB7
#define PB7_PIN PINB7
#define PB7_RPORT PINB
#define PB7_WPORT PORTB
#define PB7_PWM NULL
#define PB7_DDR DDRB
// Port C has only bits 6&7 available on pins
#undef PC6
#define PC6_PIN PINC6
#define PC6_RPORT PINC
#define PC6_WPORT PORTC
#define PC6_PWM NULL
#define PC6_DDR DDRC
#undef PC7
#define PC7_PIN PINC7
#define PC7_RPORT PINC
#define PC7_WPORT PORTC
#define PC7_PWM NULL
#define PC7_DDR DDRC
//Port D is fully available
#undef PD0
#define PD0_PIN PIND0
#define PD0_RPORT PIND
#define PD0_WPORT PORTD
#define PD0_PWM NULL
#define PD0_DDR DDRD
#undef PD1
#define PD1_PIN PIND1
#define PD1_RPORT PIND
#define PD1_WPORT PORTD
#define PD1_PWM NULL
#define PD1_DDR DDRD
#undef PD2
#define PD2_PIN PIND2
#define PD2_RPORT PIND
#define PD2_WPORT PORTD
#define PD2_PWM NULL
#define PD2_DDR DDRD
#undef PD3
#define PD3_PIN PIND3
#define PD3_RPORT PIND
#define PD3_WPORT PORTD
#define PD3_PWM NULL
#define PD3_DDR DDRD
#undef PD4
#define PD4_PIN PIND4
#define PD4_RPORT PIND
#define PD4_WPORT PORTD
#define PD4_PWM NULL
#define PD4_DDR DDRD
#undef PD5
#define PD5_PIN PIND5
#define PD5_RPORT PIND
#define PD5_WPORT PORTD
#define PD5_PWM NULL
#define PD5_DDR DDRD
#undef PD6
#define PD6_PIN PIND6
#define PD6_RPORT PIND
#define PD6_WPORT PORTD
#define PD6_PWM NULL
#define PD6_DDR DDRD
#undef PD7
#define PD7_PIN PIND7
#define PD7_RPORT PIND
#define PD7_WPORT PORTD
#define PD7_PWM NULL
#define PD7_DDR DDRD
// Port E has only 2&6 available, does reset/bootload & be the ADC positive signal
#undef PE2
#define PE2_PIN PINE2
#define PE2_RPORT PINE
#define PE2_WPORT PORTE
#define PE2_PWM NULL
#define PE2_DDR DDRE
#undef PE6
#define PE6_PIN PINE6
#define PE6_RPORT PINE
#define PE6_WPORT PORTE
#define PE6_PWM NULL
#define PE6_DDR DDRE
//port F is missing bits 2 & 3 and does ADC and can do JTAG
#undef PF0
#define PF0_PIN PINF0
#define PF0_RPORT PINF
#define PF0_WPORT PORTF
#define PF0_PWM NULL
#define PF0_DDR DDRF
#undef PF1
#define PF1_PIN PINF1
#define PF1_RPORT PINF
#define PF1_WPORT PORTF
#define PF1_PWM NULL
#define PF1_DDR DDRF
#undef PF4
#define PF4_PIN PINF4
#define PF4_RPORT PINF
#define PF4_WPORT PORTF
#define PF4_PWM NULL
#define PF4_DDR DDRF
#undef PF5
#define PF5_PIN PINF5
#define PF5_RPORT PINF
#define PF5_WPORT PORTF
#define PF5_PWM NULL
#define PF5_DDR DDRF
#undef PF6
#define PF6_PIN PINF6
#define PF6_RPORT PINF
#define PF6_WPORT PORTF
#define PF6_PWM NULL
#define PF6_DDR DDRF
#undef PF7
#define PF7_PIN PINF7
#define PF7_RPORT PINF
#define PF7_WPORT PORTF
#define PF7_PWM NULL
#define PF7_DDR DDRF

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/* Notice to developers: this file is intentionally included twice. */
/* attempt by drf@vims.edu 2012-01-09 to fit TeaCup into a $16 teensy from htpp://www.pjrc.com/teensy/ */
/** \file
\brief Teensy configuration.
*/
/*
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_ATmega32U4__)
#error Teensy has a 32U4! set your cpu type in Makefile!
#endif
/** \def F_CPU
CPU clock rate
*/
#ifndef F_CPU
#define F_CPU 16000000UL
#endif
/** \def HOST
This is the motherboard, as opposed to the extruder. See extruder/ directory for GEN3 extruder firmware
*/
#define HOST
/*
Values reflecting the gearing of your machine.
All numbers are fixed point integers, so no more than 3 digits to the right of the decimal point, please :-)
*/
/** \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/turn) / (belt mm/tooth) * 1000 mm/m
half-stepping doubles the number, quarter stepping requires * 4, etc.
valid range = 20 to 4'0960'000 (0.02 to 40960 steps/mm)
T5=5mm, T2.5=2.5mm, MXL=0.08=2.032mm XL=1/5"=5.08mm
T2.5mm belt w small, 10 (of 10-15 tooth pulley:
MXL 2.032 mm/tooth, 29
(steps/rev) / (tooth/rev) / (mm/tooth) * (mm/m)
X 200*4 / 29 / 2.032 * 1000 = 13575.89
Y 200*4 / 29 / 2.032 * 1000 = 13575.89
Z 200*2 / 1 / 1 * 1000 = 400000 # half-step for noise
Extrude through a Wades' 10:43 with a M8 hobbed bolt:
steps/revM * revM/revO / (dia * circ/rev) * mm/m
E 200*1*16 *43/10 / (8 * 3.14159) * 1000 = 547493.5
mm/m / (mm/rev ext) (rev mot/rev ext) step/revmot
E 1000 / (8 * 3.14159) * 43/10 * 200 * 16 = 547494
w/o microstepping
X,Y: 3393
Z: 200000
E: 34218
Steps/sec at max feeds:
c(9900,9900,1400,1900)/60*c(13576,13576,400000,547494)/1000 == 2240.040 2240.040 9333.333 17337.310
Resolution in mm per step:
1/c(13576,13576,400000,547494)*1000 == 0.073659399 0.073659399 0.002500000 0.001826504
*/
#define MICROSTEPPING 1
#ifdef MICROSTEPPING
#define STEPS_PER_M_X 13576
#define STEPS_PER_M_Y 13576
#define STEPS_PER_M_Z 400000
/// http://blog.arcol.hu/?p=157 may help with this one
#define STEPS_PER_M_E 547494
#else
#define STEPS_PER_M_X 3393
#define STEPS_PER_M_Y 3393
#define STEPS_PER_M_Z 200000
/// http://blog.arcol.hu/?p=157 may help with this one
#define STEPS_PER_M_E 34218
#endif
/*
Values depending on the capabilities of your stepper motors and other mechanics.
All numbers are integers, no decimals allowed.
Units are mm/min
*/
/* R code for calculating mac feed rates:
stepsPerSec <- 16e6 / 1028 /2
distsPerM <- c(13576,13576,400000,547494)
maxFeedPerMin <- stepsPerSec / distsPerM * 1000 *60
*/
// 16MHz / 1028 cyc/step = 15570 step/sec
// 1666 / 547.494 step/mmE *60 = 182 mm/min E
// 1666 /c(13576,13576,400000,547494)*1000*60
// my build at 4x X,Y, 2xZ 16xE 2012-02-26
/// used for G0 rapid moves and as a cap for all other feedrates
#define MAXIMUM_FEEDRATE_X 6881
#define MAXIMUM_FEEDRATE_Y 6881
#define MAXIMUM_FEEDRATE_Z 233
#define MAXIMUM_FEEDRATE_E 170
/// used when searching endstops and as default feedrate
#define SEARCH_FEEDRATE_X 50
#define SEARCH_FEEDRATE_Y 50
#define SEARCH_FEEDRATE_Z 50
// no SEARCH_FEEDRATE_E, as E can't be searched
/** \def SLOW_HOMING
wether to search the home point slowly
With some endstop configurations, like when probing for the surface of a PCB, you can't deal with overrunning the endstop. In such a case, uncomment this definition.
*/
// #define SLOW_HOMING
/// this is how many steps to suck back the filament by when we stop. set to zero to disable
#define E_STARTSTOP_STEPS 20
/**
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.
*/
// #define E_ABSOLUTE
/***************************************************************************\
* *
* 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! *
* *
\***************************************************************************/
/** \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
/***************************************************************************\
* *
* 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
Teensy http://www.pjrc.com/teensy ATMega64U4 carrier:
New plan:
USB
GND |-----#####-----| +5V
X0end 0 |b0 ##### F0| 21 A0 Extruder TC
Y0end 1 |b1 f1| 20 A1 Bed TC
Z0end 2 |b2 /=e6 f4| 19 A2 Stepper -ENable
Z_ENABLE 3 |b3 * * f5| 18 A3 STEP X
Bed Heat PWM 4 |b7 aref=/ f6| 17 A4 DIR X
Extruder Heat PWM 5 |d0 f7| 16 A5 STEP Y
6 |d1 b6| 15 A6 PWM DIR Y
7 |d2 V G R b5| 14 A7 PWM STEP Z
8 |d3 d c n S d b4| 13 A8 DIR Z
PWM 9 |d6 5 c d T 4 d7| 12 A9 PWM STEP E
PWM 10 |d7 * * * * * d6| 11 A10 (led) DIR E
--------------------
23 ^ \ \22 A11
\- RST
Interior E6: 22 A11
Interior Aref : Aref
End d5 : 23
End d4 : 22
*/
/* make a lot of READ|WRITE|TOGGLE(DIO15) thingies expand into operations on DIO15_PIN */
/* Also, include the apprpriate chip-wise arduino_*.h file that maps DIO15_PIN into PINA0, etc. */
#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
/*
user defined pins
adjust to suit your electronics,
or adjust your electronics to suit this
*/
/* teensy arduino assignments are 0-23 for digital, overlapping with A11-0 down from A11=D22, A0=D21...A10=D11 */
/* starting down the left side for digital, and later down the right for analog */
/* General layout: ccw from upper left: stops, heaters, E,Z,Y,X, temp sensors */
//#define PS_ON_PIN DIO0
#define STEPPER_ENABLE_PIN DIO19
//#define STEPPER_INVERT_ENABLE
#define X_STEP_PIN DIO18
#define X_DIR_PIN DIO17
#define X_MIN_PIN DIO0
//#define X_MAX_PIN xxxx
//#define X_ENABLE_PIN xxxx
//#define X_INVERT_DIR
//#define X_INVERT_MIN
//#define X_INVERT_MAX
//#define X_INVERT_ENABLE
#define Y_STEP_PIN DIO16
#define Y_DIR_PIN DIO15
#define Y_MIN_PIN DIO1
//#define Y_MAX_PIN xxxx
//#define Y_ENABLE_PIN xxxx
//#define Y_INVERT_DIR
//#define Y_INVERT_MIN
//#define Y_INVERT_MAX
//#define Y_INVERT_ENABLE
#define Z_STEP_PIN DIO14
#define Z_DIR_PIN DIO13
#define Z_MIN_PIN DIO2
//#define Z_MAX_PIN xxxx
//#define Z_ENABLE_PIN DIO17
//#define Z_INVERT_DIR
//#define Z_INVERT_MIN
//#define Z_INVERT_MAX
//#define Z_INVERT_ENABLE
#define E_STEP_PIN DIO12
#define E_DIR_PIN DIO11
//#define E_ENABLE_PIN xxxx
#define E_INVERT_DIR
//#define E_INVERT_ENABLE
//#define PS_ON_PIN xxxx
//#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 for this long before target is achieved
temperature is "achieved" for purposes of M109 and friends when actual temperature is within [hysteresis] of target for [residency] seconds
*/
#define TEMP_RESIDENCY_TIME 60
/// 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 TEMP_NONE
/***************************************************************************\
* *
* Define your temperature sensors here *
* *
* for GEN3 set temp_type to TT_INTERCOM and temp_pin to 0 *
* *
* Types are same as TEMP_ list above- TT_MAX6675, TT_THERMISTOR, TT_AD595, *
* TT_PT100, TT_INTERCOM, TT_NONE. See list in temp.c. *
* *
\***************************************************************************/
#ifndef DEFINE_TEMP_SENSOR
#define DEFINE_TEMP_SENSOR(...)
#endif
// name type pin additional
DEFINE_TEMP_SENSOR(extruder, TT_THERMISTOR, AIO0_PIN, THERMISTOR_EXTRUDER)
DEFINE_TEMP_SENSOR(bed, TT_THERMISTOR, AIO1_PIN, THERMISTOR_EXTRUDER)
// "noheater" is a special name for a sensor which doesn't have a heater.
// Use "M105 P#" to read it, where # is a zero-based index into this list.
// DEFINE_TEMP_SENSOR(noheater, TT_THERMISTOR, 1, 0)
/***************************************************************************\
* *
* 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 here *
* *
* If your heater isn't on a PWM-able pin, set heater_pwm to zero and we'll *
* use bang-bang output. Note that PID will still be used *
* *
* See Appendix 8 at the end of this file for PWMable pin mappings *
* *
* If a heater isn't attached to a temperature sensor above, it can still be *
* controlled by host but otherwise is ignored by firmware *
* *
* 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' *
* *
* A milling spindle can also be defined as a heater. Attach it to a *
* temperature sensor of TT_NONE, then you can control the spindle's rpm *
* via temperature commands. M104 S1..255 for spindle on, M104 S0 for off. *
* *
\***************************************************************************/
#ifndef DEFINE_HEATER
#define DEFINE_HEATER(...)
#endif
// name port pin pwm
DEFINE_HEATER(extruder, DIO6)
DEFINE_HEATER(bed, DIO4)
// DEFINE_HEATER(fan, PORTB, PINB4, OCR0B)
// DEFINE_HEATER(chamber, PORTD, PIND7, OCR2A)
// DEFINE_HEATER(motor, PORTD, PIND6, OCR2B)
/// 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
// #define HEATER_FAN HEATER_fan
/***************************************************************************\
* *
* 6. COMMUNICATION OPTIONS *
* *
\***************************************************************************/
/** \def REPRAP_HOST_COMPATIBILITY
RepRap Host changes it's communications protocol from time to time and intentionally avoids backwards compatibility. Set this to the date the source code of your Host was fetched from RepRap's repository, which is likely also the build date.
See the discussion on the reprap-dev mailing list from 11 Oct. 2010.
Undefine it for best human readability, set it to an old date for compatibility with hosts before August 2010
*/
// #define REPRAP_HOST_COMPATIBILITY 19750101
// #define REPRAP_HOST_COMPATIBILITY 20100806
// #define REPRAP_HOST_COMPATIBILITY 20110509
// #define REPRAP_HOST_COMPATIBILITY <date of next RepRap Host compatibility break>
/**
Baud rate for the connection to the host. Usually 115200, other common values are 19200, 38400 or 57600.
*/
#define BAUD 57600
/** \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 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 4
/**
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
/// 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 *
* *
* For the Teensy atmega32U, timer pin/mappings are as follows *
* *
* Timer 1 is used for stepping, so OC1A and OC1B aren't good PWMs *
* OCR0A - PB7 - DIO4 *
* OCR0B - PD0 - DIO5 *
* OCR3A - PC6 - DIO9 *
* OCR4A - PC7 - DIO10 *
* OCR4D - PD7 - DIO12 - AIO9 *
* *
\***************************************************************************/