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config.h
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config.h
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/*
config.h - compile time configuration
Part of LasaurGrbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011 Sungeun K. Jeon
Copyright (c) 2011 Stefan Hechenberger
LasaurGrbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
LasaurGrbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
*/
#ifndef config_h
#define config_h
#include <inttypes.h>
#include <stdbool.h>
// Version number
// (must not contain capital letters)
#define LASAURGRBL_VERSION "13.02"
// build for new driveboard hardware
#define DRIVEBOARD
#define BAUD_RATE 57600
// #define DEBUG_IGNORE_SENSORS // set for debugging
#define CONFIG_X_STEPS_PER_MM 32.80839895 //microsteps/mm
#define CONFIG_Y_STEPS_PER_MM 32.80839895 //microsteps/mm
#define CONFIG_Z_STEPS_PER_MM 32.80839895 //microsteps/mm
#define CONFIG_PULSE_MICROSECONDS 5
#define CONFIG_FEEDRATE 15000.0 // in millimeters per minute
#define CONFIG_SEEKRATE 5000.0
#define CONFIG_ACCELERATION 1800000.0 // mm/min^2, typically 1000000-8000000, divide by (60*60) to get mm/sec^2
#define CONFIG_JUNCTION_DEVIATION 0.01 // mm
#define CONFIG_X_ORIGIN_OFFSET 5.0 // mm, x-offset of table origin from physical home
#define CONFIG_Y_ORIGIN_OFFSET 5.0 // mm, y-offset of table origin from physical home
#define CONFIG_Z_ORIGIN_OFFSET 0.0 // mm, z-offset of table origin from physical home
#define CONFIG_INVERT_X_AXIS 1 // 0 is regular, 1 inverts the x direction
#define CONFIG_INVERT_Y_AXIS 1 // 0 is regular, 1 inverts the y direction
#define CONFIG_INVERT_Z_AXIS 1 // 0 is regular, 1 inverts the y direction
// beam dynamics configuration
// With these setting the laser intensity can be dynamically adapted to slowdowns
// resulting from de/acceleration phases. The stepper driver code looks at the ratio
// of actual to nominal speed and uses this to also reduce the nominal laser intensity.
// The diminution profile can also be fine-tuned (as a linear mapping is too aggressive).
// It uses this function: y=x^2*d+(1-d) where d is the diminution (0.0 to 1.0).
// 0 is no diminution and anything > 0.7 is more aggresive than linear.
#define CONFIG_BEAM_DIMINUTION 0.4
#define CONFIG_LASER_MIN_INTENSITY 40 // min intensity at which the laser fires, 0-255
#define SENSE_DDR DDRD
#define SENSE_PORT PORTD
#define SENSE_PIN PIND
#ifndef DRIVEBOARD
#define POWER_BIT 2
#endif
#define CHILLER_BIT 3
#define DOOR_BIT 2
#ifdef DRIVEBOARD
#define ASSIST_DDR DDRD
#define ASSIST_PORT PORTD
#define AIR_ASSIST_BIT 4
#define AUX1_ASSIST_BIT 7
#define AUX2_ASSIST_BIT 5
#else
#define LIMITS_OVERWRITE_DDR DDRD
#define LIMITS_OVERWRITE_PORT PORTD
#define LIMITS_OVERWRITE_BIT 7
#endif
#define LIMIT_DDR DDRC
#define LIMIT_PORT PORTC
#define LIMIT_PIN PINC
#define X1_LIMIT_BIT 0
#define X2_LIMIT_BIT 1
#define Y1_LIMIT_BIT 2
#define Y2_LIMIT_BIT 3
#ifdef DRIVEBOARD
#define Z1_LIMIT_BIT 4
#define Z2_LIMIT_BIT 5
#else
#define ASSIST_DDR DDRC
#define ASSIST_PORT PORTC
#define AIR_ASSIST_BIT 4
#define AUX1_ASSIST_BIT 5
#endif
#define STEPPING_DDR DDRB
#define STEPPING_PORT PORTB
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define X_DIRECTION_BIT 3
#define Y_DIRECTION_BIT 4
#define Z_DIRECTION_BIT 5
#ifdef DRIVEBOARD
#define SENSE_MASK ((1<<CHILLER_BIT)|(1<<DOOR_BIT))
#define LIMIT_MASK ((1<<X1_LIMIT_BIT)|(1<<X2_LIMIT_BIT)|(1<<Y1_LIMIT_BIT)|(1<<Y2_LIMIT_BIT)|(1<<Z1_LIMIT_BIT)|(1<<Z2_LIMIT_BIT))
#else
#define SENSE_MASK ((1<<POWER_BIT)|(1<<CHILLER_BIT)|(1<<DOOR_BIT))
#define LIMIT_MASK ((1<<X1_LIMIT_BIT)|(1<<X2_LIMIT_BIT)|(1<<Y1_LIMIT_BIT)|(1<<Y2_LIMIT_BIT))
#endif
#define STEPPING_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT))
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
// figure out INVERT_MASK
// careful! direction pins hardcoded here#if DRIVEBOARD
// (1<<X_DIRECTION_BIT) | (1<<Y_DIRECTION_BIT) | (1<<Y_DIRECTION_BIT)
#if CONFIG_INVERT_X_AXIS && CONFIG_INVERT_Y_AXIS && CONFIG_INVERT_Z_AXIS
#define INVERT_MASK 56U
#elif CONFIG_INVERT_X_AXIS && CONFIG_INVERT_Y_AXIS
#define INVERT_MASK 24U
#elif CONFIG_INVERT_Y_AXIS && CONFIG_INVERT_Z_AXIS
#define INVERT_MASK 48U
#elif CONFIG_INVERT_X_AXIS && CONFIG_INVERT_Z_AXIS
#define INVERT_MASK 40U
#elif CONFIG_INVERT_X_AXIS
#define INVERT_MASK 8U
#elif CONFIG_INVERT_Y_AXIS
#define INVERT_MASK 16U
#elif CONFIG_INVERT_Z_AXIS
#define INVERT_MASK 32U
#else
#define INVERT_MASK 0U
#endif
// The temporal resolution of the acceleration management subsystem. Higher number give smoother
// acceleration but may impact performance.
// NOTE: Increasing this parameter will help any resolution related issues, especially with machines
// requiring very high accelerations and/or very fast feedrates. In general, this will reduce the
// error between how the planner plans the motions and how the stepper program actually performs them.
// However, at some point, the resolution can be high enough, where the errors related to numerical
// round-off can be great enough to cause problems and/or it's too fast for the Arduino. The correct
// value for this parameter is machine dependent, so it's advised to set this only as high as needed.
// Approximate successful values can range from 30L to 100L or more.
#define ACCELERATION_TICKS_PER_SECOND 100L
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define ZERO_SPEED 0.0 // (mm/min)
// Minimum stepper rate. Sets the absolute minimum stepper rate in the stepper program and never runs
// slower than this value, except when sleeping. This parameter overrides the minimum planner speed.
// This is primarily used to guarantee that the end of a movement is always reached and not stop to
// never reach its target. This parameter should always be greater than zero.
#define MINIMUM_STEPS_PER_MINUTE 1600U // (steps/min) - Integer value only
// 1600 @ 32step_per_mm = 50mm/min
#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
#define clear_vector(a) memset(a, 0, sizeof(a))
#define clear_vector_double(a) memset(a, 0.0, sizeof(a))
#define max(a,b) (((a) > (b)) ? (a) : (b))
#define min(a,b) (((a) < (b)) ? (a) : (b))
#endif
// bit math
// see: http://www.arduino.cc/playground/Code/BitMath
// see: http://graphics.stanford.edu/~seander/bithacks.html
//
// y = (x >> n) & 1; // n=0..15. stores nth bit of x in y. y becomes 0 or 1.
//
// x &= ~(1 << n); // forces nth bit of x to be 0. all other bits left alone.
//
// x &= (1<<(n+1))-1; // leaves alone the lowest n bits of x; all higher bits set to 0.
//
// x |= (1 << n); // forces nth bit of x to be 1. all other bits left alone.
//
// x ^= (1 << n); // toggles nth bit of x. all other bits left alone.
//
// x = ~x; // toggles ALL the bits in x.