d89ec70dfc
Support up to 6 axes in many commands Allow creation of additional axes in M584 Display delta paremners to 3dp instead of 2dp Removed M126/M127 error messages Delta calibration now supports bed tilt parameters On Duet WiFi, delta calibration is now done in double precision maths Added support for G4 S parameter Bed compensation or delta calibration is now aborted if the probe was triggered at the start or was not triggered by the end of the probing move Bug fix: JSON file list returned by M20 S2 is now terminated by \n Bug fix: stupidly high temperatures were returned immediately after power up in response to status requests Bug fix: when using an analog Z probe, probing movements were sometimes aborted before the full depth had been probed but the firmware thought that probing had terminated at the full depth Bug fix: generic messages were sent to PanelDue in plain text format
199 lines
8.3 KiB
C
199 lines
8.3 KiB
C
#ifndef PINS_DUETNG_H__
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#define PINS_DUETNG_H__
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#define NAME "RepRapFirmware for Duet WiFi"
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const size_t NumFirmwareUpdateModules = 4; // 3 modules, plus one for manual upload to WiFi module
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#define IAP_UPDATE_FILE "iap4e.bin"
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#define IAP_FIRMWARE_FILE "DuetWiFiFirmware.bin"
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#define WIFI_FIRMWARE_FILE "DuetWiFiServer.bin"
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#define WIFI_WEB_FILE "DuetWebControl.bin"
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// Default board type
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#ifdef PROTOTYPE_1
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#define DEFAULT_BOARD_TYPE BoardType::DuetWiFi_06
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#else
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#define DEFAULT_BOARD_TYPE BoardType::DuetWiFi_10
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#endif
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#define SUPPORT_ETHERNET 0 // set nonzero to support embedded web interface over Ethernet
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#define SUPPORT_INKJET 0 // set nonzero to support inkjet control
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#define SUPPORT_ROLAND 0 // set nonzero to support Roland mill
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// The physical capabilities of the machine
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const size_t DRIVES = 10; // The number of drives in the machine, including X, Y, and Z plus extruder drives
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#define DRIVES_(a,b,c,d,e,f,g,h,i,j) { a,b,c,d,e,f,g,h,i,j }
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const int8_t HEATERS = 8; // The number of heaters in the machine; 0 is the heated bed even if there isn't one
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#define HEATERS_(a,b,c,d,e,f,g,h) { a,b,c,d,e,f,g,h }
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const size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis
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const size_t MAX_AXES = 6; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
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const size_t MIN_AXES = 3; // The minimum and default number of axes
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const size_t DELTA_AXES = 3; // The number of axis involved in delta movement
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const size_t CART_AXES = 3; // The number of Cartesian axes
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const size_t NUM_SERIAL_CHANNELS = 2; // The number of serial IO channels (USB and one auxiliary UART)
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#define SERIAL_MAIN_DEVICE SerialUSB
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#define SERIAL_AUX_DEVICE Serial
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// The numbers of entries in each array must correspond with the values of DRIVES, AXES, or HEATERS. Set values to NoPin to flag unavailability.
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// DRIVES
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const Pin GlobalTmcEnablePin = 38; // The pin that drives ENN of all TMC2660 drivers on production boards (on pre-production boards they are grounded)
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const Pin ENABLE_PINS[DRIVES] = { 78, 41, 42, 49, 57, 87, 88, 89, 90, 31 };
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const bool ENABLE_VALUES[DRIVES] = { false, false, false, false, false, false, false, false, false, false }; // What to send to enable a drive
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const Pin STEP_PINS[DRIVES] = { 70, 71, 72, 69, 68, 66, 65, 64, 67, 91 };
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const Pin DIRECTION_PINS[DRIVES] = { 75, 76, 77, 01, 73, 92, 86, 80, 81, 32 };
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const bool DIRECTIONS[DRIVES] = { FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS }; // What each axis needs to make it go forwards - defaults
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// Endstops
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// RepRapFirmware only has a single endstop per axis.
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// Gcode defines if it is a max ("high end") or min ("low end") endstop and sets if it is active HIGH or LOW.
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const Pin END_STOP_PINS[DRIVES] = { 46, 02, 93, 74, 48, 96, 97, 98, 99, 17 };
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// Indices for motor current digipots (if any): first 4 are for digipot 1 (on duet), second 4 for digipot 2 (on expansion board)
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#ifdef PROTOTYPE_1
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const uint8_t POT_WIPES[8] = { 1, 3, 2, 0, 1, 3, 2, 0 };
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const float SENSE_RESISTOR = 0.1; // Stepper motor current sense resistor
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const float MAX_STEPPER_DIGIPOT_VOLTAGE = (3.3 * 2.5 / (2.7 + 2.5)); // Stepper motor current reference voltage
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const float STEPPER_DAC_VOLTAGE_RANGE = 2.02; // Stepper motor current reference voltage for E1 if using a DAC
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const float STEPPER_DAC_VOLTAGE_OFFSET = -0.11; // Stepper motor current offset voltage for E1 if using a DAC
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#endif
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// HEATERS
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const bool HEAT_ON = false; // false for inverted heater (e.g. Duet v0.6), true for not (e.g. Duet v0.4)
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const Pin TEMP_SENSE_PINS[HEATERS] = { 45, 47, 44, 61, 62, 63, 59, 18 }; // Thermistor pin numbers
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#ifdef PROTOTYPE_1
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const Pin HEAT_ON_PINS[HEATERS] = { 19, 20, 16, 15, 37, 40, 43, 38 }; // Heater pin numbers
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#else
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const Pin HEAT_ON_PINS[HEATERS] = { 19, 20, 16, 35, 37, 40, 43, 15 }; // Heater pin numbers (heater 7 pin TBC)
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#endif
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// Default thermistor parameters
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// Bed thermistor: now assuming 100K
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// Hot end thermistor: http://www.digikey.co.uk/product-search/en?x=20&y=11&KeyWords=480-3137-ND
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const float BED_R25 = 100000.0;
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const float BED_BETA = 3988.0;
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const float EXT_R25 = 100000.0;
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const float EXT_BETA = 4388.0;
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// Thermistor series resistor value in Ohms
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const float THERMISTOR_SERIES_RS = 4700.0;
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// Number of SPI temperature sensors to support
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#if SUPPORT_ROLAND
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// chrishamm's pin assignments
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const size_t MaxSpiTempSensors = 2;
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// Digital pins the 31855s have their select lines tied to
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const Pin SpiTempSensorCsPins[MaxSpiTempSensors] = { 56, 27 };
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#else
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const size_t MaxSpiTempSensors = 4;
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// Digital pins the 31855s have their select lines tied to
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# ifdef PROTOTYPE_1
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const Pin SpiTempSensorCsPins[MaxSpiTempSensors] = { 24, 25, 50, 51 }; // SPI1_CS0, SPI1_CS1, CS2, CS3
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# else
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const Pin SpiTempSensorCsPins[MaxSpiTempSensors] = { 28, 50, 51, 52 }; // SPI0_CS1, SPI0_CS2, CS3, CS4
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# endif
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#endif
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// Arduino Due pin number that controls the ATX power on/off
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const Pin ATX_POWER_PIN = 79; // Arduino Due pin number that controls the ATX power on/off
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// Analogue pin numbers
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const Pin Z_PROBE_PIN = 33; // AFE1_AD4/PC1 Z probe analog input
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const Pin PowerMonitorVinDetectPin = 36; // AFE1_AD7/PC4 Vin monitor
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const Pin PowerMonitor5vDetectPin = 29; // AFE1_AD1/PB3 Buck regulator input monitor
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const float PowerFailVoltageRange = 11.0 * 3.3; // we use an 11:1 voltage divider
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// Digital pin number to turn the IR LED on (high) or off (low)
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const Pin Z_PROBE_MOD_PIN = 34; // Digital pin number to turn the IR LED on (high) or off (low) on Duet v0.6 and v1.0 (PB21)
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// COOLING FANS
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const size_t NUM_FANS = 3;
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const Pin COOLING_FAN_PINS[NUM_FANS] = { 55, 58, 00 };
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const Pin COOLING_FAN_RPM_PIN = 32;
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// SD cards
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const size_t NumSdCards = 2;
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const Pin SdCardDetectPins[NumSdCards] = {53, NoPin};
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const Pin SdWriteProtectPins[NumSdCards] = {NoPin, NoPin};
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const Pin SdSpiCSPins[1] = {56};
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#if SUPPORT_INKJET
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// Inkjet control pins
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const Pin INKJET_SERIAL_OUT = xx; // Serial bitpattern into the shift register
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const Pin INKJET_SHIFT_CLOCK = xx; // Shift the register
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const Pin INKJET_STORAGE_CLOCK = xx; // Put the pattern in the output register
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const Pin INKJET_OUTPUT_ENABLE = xx; // Make the output visible
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const Pin INKJET_CLEAR = xx; // Clear the register to 0
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#endif
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#if SUPPORT_ROLAND
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// Roland mill
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const Pin ROLAND_CTS_PIN = xx; // Expansion pin 11, PA12_TXD1
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const Pin ROLAND_RTS_PIN = xx; // Expansion pin 12, PA13_RXD1
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#endif
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// Definition of which pins we allow to be controlled using M42
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//
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// The allowed pins are these ones on the DueX4 expansion connector:
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//TODO document these
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const size_t NUM_PINS_ALLOWED = 96;
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#if 1
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#define PINS_ALLOWED { 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF }; //TODO temporary!
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#else
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#define PINS_ALLOWED { \
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/* pins 00-07 */ 0b00000000, \
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/* pins 08-15 */ 0b00000000, \
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/* pins 16-23 */ 0b00000110, \
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/* pins 24-31 */ 0b10000011, \
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/* pins 32-39 */ 0b00001001, \
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/* pins 40-47 */ 0b00000000, \
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/* pins 48-55 */ 0b00011000, \
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/* pins 56-63 */ 0b00000000, \
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/* pins 64-71 */ 0b00000000, \
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/* pins 72-79 */ 0b00000000, \
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/* pins 80-87 */ 0b00000000, \
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/* pins 88-95 */ 0b00001000 \
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}
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#endif
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// SAM4E Flash locations (may be expanded in the future)
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const uint32_t IAP_FLASH_START = 0x00470000;
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const uint32_t IAP_FLASH_END = 0x0047FBFF;
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// Duet pin numbers to control the WiFi interface
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const Pin EspResetPin = 100; // Low on this in holds the WiFi module in reset (ESP_RESET)
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const Pin EspEnablePin = 101; // High to enable the WiFi module, low to power it down (ESP_CH_PD)
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const Pin EspTransferRequestPin = 95; // Input from the WiFi module indicating that it wants to transfer data (ESP GPIO0)
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const Pin SamTfrReadyPin = 94; // Output from the SAM to the WiFi module indicating we can accept a data transfer (ESP GPIO4 via 7474)
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const Pin SamCsPin = 11; // SPI NPCS pin, input from WiFi module
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// Timer allocation (no network timer on DuetNG)
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// TC0 channel 0 is used for FAN2
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// TC0 channel 1 is currently unused (may use ift for a heater or a fan)
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// TC0 channel 2 is available for us to use
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#define STEP_TC (TC0)
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#define STEP_TC_CHAN (2)
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#define STEP_TC_IRQN TC2_IRQn
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#define STEP_TC_HANDLER TC2_Handler
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#endif
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