config.h

/* Notice to developers: this file is intentionally included twice. */

/*
  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

/*
  CPU clock rate
*/
#ifndef F_CPU
  #define F_CPU 16000000L
#endif

/*
  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 :-)
*/

// calculate these values appropriate for your machine
// for threaded rods, this is (steps motor per turn) / (pitch of the thread)
// for belts, this is (steps per motor turn) / (number of gear teeth) / (belt module)
// half-stepping doubles the number, quarter stepping requires * 4, etc.
#define MICROSTEPPING_X       16.0
#define MICROSTEPPING_Y       16.0
#define MICROSTEPPING_Z       16.0
#define MICROSTEPPING_E       4.0

#define STEPS_PER_MM_X        (5.023*MICROSTEPPING_X)
#define STEPS_PER_MM_Y        (5.023*MICROSTEPPING_Y)
#define STEPS_PER_MM_Z        (416.699*MICROSTEPPING_Z)

// http://blog.arcol.hu/?p=157 may help with this next one
#define STEPS_PER_MM_E        (2.759*MICROSTEPPING_E)


/*
  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 searching endstops and as default feedrate
#define SEARCH_FEEDRATE_X     50
#define SEARCH_FEEDRATE_Y     50
#define SEARCH_FEEDRATE_Z     1
#define SEARCH_FEEDRATE_E     50

// this is how many steps to suck back the filament by when we stop. set to zero to disable
#define E_STARTSTOP_STEPS     0


/*
Soft axis limits, in mm
undefine if you don't want to use them
*/

#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



/***************************************************************************\
*                                                                           *
* 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!                                            *
*                                                                           *
\***************************************************************************/


/*
  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


/*
  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

// how fast to accelerate when using ACCELERATION_RAMPING
// smaller values give quicker acceleration
// valid range = 1 to 8,000,000; 500,000 is a good starting point
#define ACCELERATION_STEEPNESS  500000


/*
  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
*/

#include  "arduino.h"

/*
  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 the ramps motherboard pinout
*/

//#define TX_ENABLE_PIN         DIO12
//#define RX_ENABLE_PIN         DIO13

#define X_STEP_PIN            DIO26
#define X_DIR_PIN             DIO28
#define X_MIN_PIN             DIO3
#define X_MAX_PIN             DIO2
#define X_ENABLE_PIN          DIO24
//#define X_INVERT_DIR
//#define X_INVERT_MIN
//#define X_INVERT_MAX
//#define X_INVERT_ENABLE

#define Y_STEP_PIN            DIO38
#define Y_DIR_PIN             DIO40
#define Y_MIN_PIN             DIO16
#define Y_MAX_PIN             DIO17
#define Y_ENABLE_PIN          DIO36
//#define Y_INVERT_DIR
//#define Y_INVERT_MIN
//#define Y_INVERT_MAX
//#define Y_INVERT_ENABLE

#define Z_STEP_PIN            DIO44
#define Z_DIR_PIN             DIO46
#define Z_MIN_PIN             DIO18
#define Z_MAX_PIN             DIO19
#define Z_ENABLE_PIN          DIO42
//#define Z_INVERT_DIR
//#define Z_INVERT_MIN
//#define Z_INVERT_MAX
//#define Z_INVERT_ENABLE

#define E_STEP_PIN            DIO32
#define E_DIR_PIN             DIO34
#define E_ENABLE_PIN          DIO30
//#define E_INVERT_DIR

//#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.
    NOTE: format is 30.2 fixed point, so value of 20 actually means +/- 5 degrees

  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_HYSTERESIS       20
#define TEMP_RESIDENCY_TIME   60

// which temperature sensors are you using? (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                                      *
*                                                                           *
* 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. See list in temp.c.                              *
*                                                                           *
\***************************************************************************/

#ifndef DEFINE_TEMP_SENSOR
  #define DEFINE_TEMP_SENSOR(...)
#endif

//                 name       type          pin
DEFINE_TEMP_SENSOR(extruder,  TT_THERMISTOR,  AIO2_PIN)
DEFINE_TEMP_SENSOR(bed,       TT_THERMISTOR,  AIO1_PIN)


/***************************************************************************\
*                                                                           *
* 5. HEATERS                                                                *
*                                                                           *
\***************************************************************************/

// 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'                   *
*                                                                           *
\***************************************************************************/

#ifndef DEFINE_HEATER
  #define DEFINE_HEATER(...)
#endif

// NOTE: these pins are for RAMPS V1.1 and newer. V1.0 is different
//               name      port   pin    pwm
DEFINE_HEATER(extruder, PORTB, PINB4, OCR2A)
DEFINE_HEATER(bed,      PORTH, PINH5, OCR4CL)
DEFINE_HEATER(fan,      PORTH, PINH6, OCR2B)
// 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                                                  *
*                                                                           *
\***************************************************************************/

/*
  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 <date of next RepRap Host compatibility break>

/*
  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                                                  *
*                                                                           *
\***************************************************************************/

/*
  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

/*
  BANG_BANG
    drops PID loop from heater control, reduces code size significantly (1300 bytes!)
    may allow DEBUG on '168
  BANG_BANG_ON
    PWM value for 'on'
  BANG_BANG_OFF
    PWM value for 'off'
*/
// #define  BANG_BANG
// #define  BANG_BANG_ON  200
// #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

/*
  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

/*
  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

/*
  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
*/
#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



/***************************************************************************\
*                                                                           *
* 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                                                      *
*                                                                           *
\***************************************************************************/