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Add support for STM32F7 MCU

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Morten 2018-01-11 22:29:08 +01:00 committed by Scott Lahteine
parent a27fa80a7e
commit a0246c5c96
32 changed files with 7633 additions and 10 deletions
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4
Marlin/Marlin.ino
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@ -50,8 +50,12 @@
#if ENABLED(HAVE_TMCDRIVER) #if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h> #include <SPI.h>
#if defined(STM32F7)
#include "src/HAL/HAL_STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h> #include <TMC26XStepper.h>
#endif #endif
#endif
#if ENABLED(HAVE_TMC2130) #if ENABLED(HAVE_TMC2130)
#include <TMC2130Stepper.h> #include <TMC2130Stepper.h>

4
Marlin/src/HAL/HAL.h
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@ -48,6 +48,10 @@
#elif defined(__STM32F1__) || defined(TARGET_STM32F1) #elif defined(__STM32F1__) || defined(TARGET_STM32F1)
#include "math_32bit.h" #include "math_32bit.h"
#include "HAL_STM32F1/HAL_Stm32f1.h" #include "HAL_STM32F1/HAL_Stm32f1.h"
#elif defined(STM32F7)
#define CPU_32_BIT
#include "math_32bit.h"
#include "HAL_STM32F7/HAL_STM32F7.h"
#else #else
#error "Unsupported Platform!" #error "Unsupported Platform!"
#endif #endif

742
Marlin/src/HAL/HAL_STM32F7/EEPROM_Emul/eeprom_emul.cpp Normal file
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@ -0,0 +1,742 @@
/**
******************************************************************************
* @file EEPROM/EEPROM_Emulation/src/eeprom.c
* @author MCD Application Team
* @version V1.2.6
* @date 04-November-2016
* @brief This file provides all the EEPROM emulation firmware functions.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright © 2016 STMicroelectronics International N.V.
* All rights reserved.</center></h2>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/** @addtogroup EEPROM_Emulation
* @{
*/
#ifdef STM32F7
/* Includes ------------------------------------------------------------------*/
#include "eeprom_emul.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Global variable used to store variable value in read sequence */
uint16_t DataVar = 0;
/* Virtual address defined by the user: 0xFFFF value is prohibited */
uint16_t VirtAddVarTab[NB_OF_VAR];
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
static HAL_StatusTypeDef EE_Format(void);
static uint16_t EE_FindValidPage(uint8_t Operation);
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data);
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data);
static uint16_t EE_VerifyPageFullyErased(uint32_t Address);
/**
* @brief Restore the pages to a known good state in case of page's status
* corruption after a power loss.
* @param None.
* @retval - Flash error code: on write Flash error
* - FLASH_COMPLETE: on success
*/
uint16_t EE_Initialise(void)
{
uint16_t PageStatus0 = 6, PageStatus1 = 6;
uint16_t VarIdx = 0;
uint16_t EepromStatus = 0, ReadStatus = 0;
int16_t x = -1;
HAL_StatusTypeDef FlashStatus;
uint32_t SectorError = 0;
FLASH_EraseInitTypeDef pEraseInit;
/* Get Page0 status */
PageStatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
/* Get Page1 status */
PageStatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
pEraseInit.TypeErase = TYPEERASE_SECTORS;
pEraseInit.Sector = PAGE0_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Check for invalid header states and repair if necessary */
switch (PageStatus0)
{
case ERASED:
if (PageStatus1 == VALID_PAGE) /* Page0 erased, Page1 valid */
{
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
}
else if (PageStatus1 == RECEIVE_DATA) /* Page0 erased, Page1 receive */
{
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
/* Mark Page1 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
else /* First EEPROM access (Page0&1 are erased) or invalid state -> format EEPROM */
{
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
break;
case RECEIVE_DATA:
if (PageStatus1 == VALID_PAGE) /* Page0 receive, Page1 valid */
{
/* Transfer data from Page1 to Page0 */
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++)
{
if (( *(__IO uint16_t*)(PAGE0_BASE_ADDRESS + 6)) == VirtAddVarTab[VarIdx])
{
x = VarIdx;
}
if (VarIdx != x)
{
/* Read the last variables' updates */
ReadStatus = EE_ReadVariable(VirtAddVarTab[VarIdx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (ReadStatus != 0x1)
{
/* Transfer the variable to the Page0 */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[VarIdx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK)
{
return EepromStatus;
}
}
}
}
/* Mark Page0 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
pEraseInit.Sector = PAGE1_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
}
else if (PageStatus1 == ERASED) /* Page0 receive, Page1 erased */
{
pEraseInit.Sector = PAGE1_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
/* Mark Page0 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
else /* Invalid state -> format eeprom */
{
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
break;
case VALID_PAGE:
if (PageStatus1 == VALID_PAGE) /* Invalid state -> format eeprom */
{
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
else if (PageStatus1 == ERASED) /* Page0 valid, Page1 erased */
{
pEraseInit.Sector = PAGE1_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
}
else /* Page0 valid, Page1 receive */
{
/* Transfer data from Page0 to Page1 */
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++)
{
if ((*(__IO uint16_t*)(PAGE1_BASE_ADDRESS + 6)) == VirtAddVarTab[VarIdx])
{
x = VarIdx;
}
if (VarIdx != x)
{
/* Read the last variables' updates */
ReadStatus = EE_ReadVariable(VirtAddVarTab[VarIdx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (ReadStatus != 0x1)
{
/* Transfer the variable to the Page1 */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[VarIdx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK)
{
return EepromStatus;
}
}
}
}
/* Mark Page1 as valid */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
pEraseInit.Sector = PAGE0_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
}
break;
default: /* Any other state -> format eeprom */
/* Erase both Page0 and Page1 and set Page0 as valid page */
FlashStatus = EE_Format();
/* If erase/program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
break;
}
return HAL_OK;
}
/**
* @brief Verify if specified page is fully erased.
* @param Address: page address
* This parameter can be one of the following values:
* @arg PAGE0_BASE_ADDRESS: Page0 base address
* @arg PAGE1_BASE_ADDRESS: Page1 base address
* @retval page fully erased status:
* - 0: if Page not erased
* - 1: if Page erased
*/
uint16_t EE_VerifyPageFullyErased(uint32_t Address)
{
uint32_t ReadStatus = 1;
uint16_t AddressValue = 0x5555;
/* Check each active page address starting from end */
while (Address <= PAGE0_END_ADDRESS)
{
/* Get the current location content to be compared with virtual address */
AddressValue = (*(__IO uint16_t*)Address);
/* Compare the read address with the virtual address */
if (AddressValue != ERASED)
{
/* In case variable value is read, reset ReadStatus flag */
ReadStatus = 0;
break;
}
/* Next address location */
Address = Address + 4;
}
/* Return ReadStatus value: (0: Page not erased, 1: Sector erased) */
return ReadStatus;
}
/**
* @brief Returns the last stored variable data, if found, which correspond to
* the passed virtual address
* @param VirtAddress: Variable virtual address
* @param Data: Global variable contains the read variable value
* @retval Success or error status:
* - 0: if variable was found
* - 1: if the variable was not found
* - NO_VALID_PAGE: if no valid page was found.
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data)
{
uint16_t ValidPage = PAGE0;
uint16_t AddressValue = 0x5555, ReadStatus = 1;
uint32_t Address = EEPROM_START_ADDRESS, PageStartAddress = EEPROM_START_ADDRESS;
/* Get active Page for read operation */
ValidPage = EE_FindValidPage(READ_FROM_VALID_PAGE);
/* Check if there is no valid page */
if (ValidPage == NO_VALID_PAGE)
{
return NO_VALID_PAGE;
}
/* Get the valid Page start Address */
PageStartAddress = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(ValidPage * PAGE_SIZE));
/* Get the valid Page end Address */
Address = (uint32_t)((EEPROM_START_ADDRESS - 2) + (uint32_t)((1 + ValidPage) * PAGE_SIZE));
/* Check each active page address starting from end */
while (Address > (PageStartAddress + 2))
{
/* Get the current location content to be compared with virtual address */
AddressValue = (*(__IO uint16_t*)Address);
/* Compare the read address with the virtual address */
if (AddressValue == VirtAddress)
{
/* Get content of Address-2 which is variable value */
*Data = (*(__IO uint16_t*)(Address - 2));
/* In case variable value is read, reset ReadStatus flag */
ReadStatus = 0;
break;
}
else
{
/* Next address location */
Address = Address - 4;
}
}
/* Return ReadStatus value: (0: variable exist, 1: variable doesn't exist) */
return ReadStatus;
}
/**
* @brief Writes/upadtes variable data in EEPROM.
* @param VirtAddress: Variable virtual address
* @param Data: 16 bit data to be written
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint16_t Status = 0;
/* Write the variable virtual address and value in the EEPROM */
Status = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
/* In case the EEPROM active page is full */
if (Status == PAGE_FULL)
{
/* Perform Page transfer */
Status = EE_PageTransfer(VirtAddress, Data);
}
/* Return last operation status */
return Status;
}
/**
* @brief Erases PAGE and PAGE1 and writes VALID_PAGE header to PAGE
* @param None
* @retval Status of the last operation (Flash write or erase) done during
* EEPROM formating
*/
static HAL_StatusTypeDef EE_Format(void)
{
HAL_StatusTypeDef FlashStatus = HAL_OK;
uint32_t SectorError = 0;
FLASH_EraseInitTypeDef pEraseInit;
pEraseInit.TypeErase = FLASH_TYPEERASE_SECTORS;
pEraseInit.Sector = PAGE0_ID;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase Page0 */
if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
{
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
/* Set Page0 as valid page: Write VALID_PAGE at Page0 base address */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
pEraseInit.Sector = PAGE1_ID;
/* Erase Page1 */
if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
{
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
}
return HAL_OK;
}
/**
* @brief Find valid Page for write or read operation
* @param Operation: operation to achieve on the valid page.
* This parameter can be one of the following values:
* @arg READ_FROM_VALID_PAGE: read operation from valid page
* @arg WRITE_IN_VALID_PAGE: write operation from valid page
* @retval Valid page number (PAGE or PAGE1) or NO_VALID_PAGE in case
* of no valid page was found
*/
static uint16_t EE_FindValidPage(uint8_t Operation)
{
uint16_t PageStatus0 = 6, PageStatus1 = 6;
/* Get Page0 actual status */
PageStatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
/* Get Page1 actual status */
PageStatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
/* Write or read operation */
switch (Operation)
{
case WRITE_IN_VALID_PAGE: /* ---- Write operation ---- */
if (PageStatus1 == VALID_PAGE)
{
/* Page0 receiving data */
if (PageStatus0 == RECEIVE_DATA)
{
return PAGE0; /* Page0 valid */
}
else
{
return PAGE1; /* Page1 valid */
}
}
else if (PageStatus0 == VALID_PAGE)
{
/* Page1 receiving data */
if (PageStatus1 == RECEIVE_DATA)
{
return PAGE1; /* Page1 valid */
}
else
{
return PAGE0; /* Page0 valid */
}
}
else
{
return NO_VALID_PAGE; /* No valid Page */
}
case READ_FROM_VALID_PAGE: /* ---- Read operation ---- */
if (PageStatus0 == VALID_PAGE)
{
return PAGE0; /* Page0 valid */
}
else if (PageStatus1 == VALID_PAGE)
{
return PAGE1; /* Page1 valid */
}
else
{
return NO_VALID_PAGE ; /* No valid Page */
}
default:
return PAGE0; /* Page0 valid */
}
}
/**
* @brief Verify if active page is full and Writes variable in EEPROM.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data)
{
HAL_StatusTypeDef FlashStatus = HAL_OK;
uint16_t ValidPage = PAGE0;
uint32_t Address = EEPROM_START_ADDRESS, PageEndAddress = EEPROM_START_ADDRESS+PAGE_SIZE;
/* Get valid Page for write operation */
ValidPage = EE_FindValidPage(WRITE_IN_VALID_PAGE);
/* Check if there is no valid page */
if (ValidPage == NO_VALID_PAGE)
{
return NO_VALID_PAGE;
}
/* Get the valid Page start Address */
Address = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(ValidPage * PAGE_SIZE));
/* Get the valid Page end Address */
PageEndAddress = (uint32_t)((EEPROM_START_ADDRESS - 1) + (uint32_t)((ValidPage + 1) * PAGE_SIZE));
/* Check each active page address starting from begining */
while (Address < PageEndAddress)
{
/* Verify if Address and Address+2 contents are 0xFFFFFFFF */
if ((*(__IO uint32_t*)Address) == 0xFFFFFFFF)
{
/* Set variable data */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, Address, Data);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
/* Set variable virtual address */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, Address + 2, VirtAddress);
/* Return program operation status */
return FlashStatus;
}
else
{
/* Next address location */
Address = Address + 4;
}
}
/* Return PAGE_FULL in case the valid page is full */
return PAGE_FULL;
}
/**
* @brief Transfers last updated variables data from the full Page to
* an empty one.
* @param VirtAddress: 16 bit virtual address of the variable
* @param Data: 16 bit data to be written as variable value
* @retval Success or error status:
* - FLASH_COMPLETE: on success
* - PAGE_FULL: if valid page is full
* - NO_VALID_PAGE: if no valid page was found
* - Flash error code: on write Flash error
*/
static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
HAL_StatusTypeDef FlashStatus = HAL_OK;
uint32_t NewPageAddress = EEPROM_START_ADDRESS;
uint16_t OldPageId=0;
uint16_t ValidPage = PAGE0, VarIdx = 0;
uint16_t EepromStatus = 0, ReadStatus = 0;
uint32_t SectorError = 0;
FLASH_EraseInitTypeDef pEraseInit;
/* Get active Page for read operation */
ValidPage = EE_FindValidPage(READ_FROM_VALID_PAGE);
if (ValidPage == PAGE1) /* Page1 valid */
{
/* New page address where variable will be moved to */
NewPageAddress = PAGE0_BASE_ADDRESS;
/* Old page ID where variable will be taken from */
OldPageId = PAGE1_ID;
}
else if (ValidPage == PAGE0) /* Page0 valid */
{
/* New page address where variable will be moved to */
NewPageAddress = PAGE1_BASE_ADDRESS;
/* Old page ID where variable will be taken from */
OldPageId = PAGE0_ID;
}
else
{
return NO_VALID_PAGE; /* No valid Page */
}
/* Set the new Page status to RECEIVE_DATA status */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, NewPageAddress, RECEIVE_DATA);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
/* Write the variable passed as parameter in the new active page */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK)
{
return EepromStatus;
}
/* Transfer process: transfer variables from old to the new active page */
for (VarIdx = 0; VarIdx < NB_OF_VAR; VarIdx++)
{
if (VirtAddVarTab[VarIdx] != VirtAddress) /* Check each variable except the one passed as parameter */
{
/* Read the other last variable updates */
ReadStatus = EE_ReadVariable(VirtAddVarTab[VarIdx], &DataVar);
/* In case variable corresponding to the virtual address was found */
if (ReadStatus != 0x1)
{
/* Transfer the variable to the new active page */
EepromStatus = EE_VerifyPageFullWriteVariable(VirtAddVarTab[VarIdx], DataVar);
/* If program operation was failed, a Flash error code is returned */
if (EepromStatus != HAL_OK)
{
return EepromStatus;
}
}
}
}
pEraseInit.TypeErase = TYPEERASE_SECTORS;
pEraseInit.Sector = OldPageId;
pEraseInit.NbSectors = 1;
pEraseInit.VoltageRange = VOLTAGE_RANGE;
/* Erase the old Page: Set old Page status to ERASED status */
FlashStatus = HAL_FLASHEx_Erase(&pEraseInit, &SectorError);
/* If erase operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
/* Set new Page status to VALID_PAGE status */
FlashStatus = HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, NewPageAddress, VALID_PAGE);
/* If program operation was failed, a Flash error code is returned */
if (FlashStatus != HAL_OK)
{
return FlashStatus;
}
/* Return last operation flash status */
return FlashStatus;
}
#endif // STM32F7
/**
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

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Marlin/src/HAL/HAL_STM32F7/EEPROM_Emul/eeprom_emul.h Normal file
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@ -0,0 +1,118 @@
/**
******************************************************************************
* @file EEPROM/EEPROM_Emulation/inc/eeprom.h
* @author MCD Application Team
* @version V1.2.6
* @date 04-November-2016
* @brief This file contains all the functions prototypes for the EEPROM
* emulation firmware library.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright © 2016 STMicroelectronics International N.V.
* All rights reserved.</center></h2>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __EEEPROM_EMUL_H
#define __EEEPROM_EMUL_H
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../../../inc/MarlinConfig.h"
#include "../../HAL.h"
/* Exported constants --------------------------------------------------------*/
/* EEPROM emulation firmware error codes */
#define EE_OK (uint32_t)HAL_OK
#define EE_ERROR (uint32_t)HAL_ERROR
#define EE_BUSY (uint32_t)HAL_BUSY
#define EE_TIMEOUT (uint32_t)HAL_TIMEOUT
/* Define the size of the sectors to be used */
#define PAGE_SIZE (uint32_t)0x4000 /* Page size = 16KByte */
/* Device voltage range supposed to be [2.7V to 3.6V], the operation will
be done by word */
#define VOLTAGE_RANGE (uint8_t)VOLTAGE_RANGE_3
/* EEPROM start address in Flash */
#define EEPROM_START_ADDRESS ((uint32_t)0x08100000) /* EEPROM emulation start address:
from sector2 : after 16KByte of used
Flash memory */
/* Pages 0 and 1 base and end addresses */
#define PAGE0_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x0000))
#define PAGE0_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + (PAGE_SIZE - 1)))
#define PAGE0_ID FLASH_SECTOR_1
#define PAGE1_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x4000))
#define PAGE1_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + (2 * PAGE_SIZE - 1)))
#define PAGE1_ID FLASH_SECTOR_2
/* Used Flash pages for EEPROM emulation */
#define PAGE0 ((uint16_t)0x0000)
#define PAGE1 ((uint16_t)0x0001) /* Page nb between PAGE0_BASE_ADDRESS & PAGE1_BASE_ADDRESS*/
/* No valid page define */
#define NO_VALID_PAGE ((uint16_t)0x00AB)
/* Page status definitions */
#define ERASED ((uint16_t)0xFFFF) /* Page is empty */
#define RECEIVE_DATA ((uint16_t)0xEEEE) /* Page is marked to receive data */
#define VALID_PAGE ((uint16_t)0x0000) /* Page containing valid data */
/* Valid pages in read and write defines */
#define READ_FROM_VALID_PAGE ((uint8_t)0x00)
#define WRITE_IN_VALID_PAGE ((uint8_t)0x01)
/* Page full define */
#define PAGE_FULL ((uint8_t)0x80)
/* Variables' number */
#define NB_OF_VAR ((uint16_t)4096)
/* Exported types ------------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
uint16_t EE_Initialise(void);
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data);
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
#endif /* __EEEPROM_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef STM32F7
/**
* Description: functions for I2C connected external EEPROM.
* Not platform dependent.
*/
#include "../../inc/MarlinConfig.h"
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../HAL.h"
#include "EEPROM_Emul/eeprom_emul.h"
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
static bool eeprom_initialised = false;
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
// FLASH_FLAG_PGSERR (Programming Sequence Error) was renamed to
// FLASH_FLAG_ERSERR (Erasing Sequence Error) in STM32F7
#define FLASH_FLAG_PGSERR FLASH_FLAG_ERSERR
// --------------------------------------------------------------------------
// EEPROM
// --------------------------------------------------------------------------
void eeprom_init() {
if(!eeprom_initialised) {
HAL_FLASH_Unlock();
__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR |FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
/* EEPROM Init */
if(EE_Initialise() != EE_OK)
{
while(1) {
HAL_Delay(1);
}
}
HAL_FLASH_Lock();
eeprom_initialised = true;
}
}
void eeprom_write_byte(unsigned char *pos, unsigned char value) {
uint16_t eeprom_address = (unsigned) pos;
eeprom_init();
HAL_FLASH_Unlock();
__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR |FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
if(EE_WriteVariable(eeprom_address, (uint16_t) value) != EE_OK) {
while(1) {
HAL_Delay(1);
}
}
HAL_FLASH_Lock();
}
unsigned char eeprom_read_byte(unsigned char *pos) {
uint16_t data = 0xFF;
uint16_t eeprom_address = (unsigned) pos;
eeprom_init();
if(EE_ReadVariable(eeprom_address, &data) != EE_OK) {
return (char) data;
}
return (char)data;
}
void eeprom_read_block (void *__dst, const void *__src, size_t __n) {
uint16_t data = 0xFF;
uint16_t eeprom_address = (unsigned) __src;
eeprom_init();
for(uint8_t c = 0; c < __n; c++) {
EE_ReadVariable(eeprom_address+c, &data);
*((uint8_t*)__dst + c) = data;
}
}
void eeprom_update_block (const void *__src, void *__dst, size_t __n) {
}
#endif // STM32F7

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/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
* Copyright (c) 2017 Victor Perez
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef STM32F7
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../HAL.h"
//#include <Wire.h>
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
uint16_t HAL_adc_result;
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
/* VGPV Done with defines
// disable interrupts
void cli(void) { noInterrupts(); }
// enable interrupts
void sei(void) { interrupts(); }
*/
void HAL_clear_reset_source(void) { __HAL_RCC_CLEAR_RESET_FLAGS(); }
uint8_t HAL_get_reset_source (void) {
if(__HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST) != RESET)
return RST_WATCHDOG;
if(__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST) != RESET)
return RST_SOFTWARE;
if(__HAL_RCC_GET_FLAG(RCC_FLAG_PINRST) != RESET)
return RST_EXTERNAL;
if(__HAL_RCC_GET_FLAG(RCC_FLAG_PORRST) != RESET)
return RST_POWER_ON;
return 0;
}
void _delay_ms(const int delay_ms) { delay(delay_ms); }
extern "C" {
extern unsigned int _ebss; // end of bss section
}
// return free memory between end of heap (or end bss) and whatever is current
/*
#include "wirish/syscalls.c"
//extern caddr_t _sbrk(int incr);
#ifndef CONFIG_HEAP_END
extern char _lm_heap_end;
#define CONFIG_HEAP_END ((caddr_t)&_lm_heap_end)
#endif
extern "C" {
static int freeMemory() {
char top = 't';
return &top - reinterpret_cast<char*>(sbrk(0));
}
int freeMemory() {
int free_memory;
int heap_end = (int)_sbrk(0);
free_memory = ((int)&free_memory) - ((int)heap_end);
return free_memory;
}
}
*/
// --------------------------------------------------------------------------
// ADC
// --------------------------------------------------------------------------
void HAL_adc_start_conversion(const uint8_t adc_pin) {
HAL_adc_result = analogRead(adc_pin);
}
uint16_t HAL_adc_get_result(void) {
return HAL_adc_result;
}
#endif // STM32F7

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/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
* Copyright (c) 2017 Victor Perez
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef _HAL_STM32F7_H
#define _HAL_STM32F7_H
#undef DEBUG_NONE
#ifndef vsnprintf_P
#define vsnprintf_P vsnprintf
#endif
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include <stdint.h>
#include "Arduino.h"
#include "fastio_STM32F7.h"
#include "watchdog_STM32F7.h"
#include "HAL_timers_STM32F7.h"
// --------------------------------------------------------------------------
// Defines
// --------------------------------------------------------------------------
//Serial override
//extern HalSerial usb_serial;
#if !WITHIN(SERIAL_PORT, -1, 6)
#error "SERIAL_PORT must be from -1 to 6"
#endif
#if SERIAL_PORT == -1
#define MYSERIAL0 SerialUSB
#elif SERIAL_PORT == 1
#define MYSERIAL0 SerialUART1
#elif SERIAL_PORT == 2
#define MYSERIAL0 SerialUART2
#elif SERIAL_PORT == 3
#define MYSERIAL0 SerialUART3
#elif SERIAL_PORT == 4
#define MYSERIAL0 SerialUART4
#elif SERIAL_PORT == 5
#define MYSERIAL0 SerialUART5
#elif SERIAL_PORT == 6
#define MYSERIAL0 SerialUART6
#endif
#ifdef SERIAL_PORT_2
#if !WITHIN(SERIAL_PORT_2, -1, 6)
#error "SERIAL_PORT_2 must be from -1 to 6"
#elif SERIAL_PORT_2 == SERIAL_PORT
#error "SERIAL_PORT_2 must be different than SERIAL_PORT"
#endif
#define NUM_SERIAL 2
#if SERIAL_PORT_2 == -1
#define MYSERIAL1 SerialUSB
#elif SERIAL_PORT_2 == 1
#define MYSERIAL1 SerialUART1
#elif SERIAL_PORT_2 == 2
#define MYSERIAL1 SerialUART2
#elif SERIAL_PORT_2 == 3
#define MYSERIAL1 SerialUART3
#elif SERIAL_PORT_2 == 4
#define MYSERIAL1 SerialUART4
#elif SERIAL_PORT_2 == 5
#define MYSERIAL1 SerialUART5
#elif SERIAL_PORT_2 == 6
#define MYSERIAL1 SerialUART6
#endif
#else
#define NUM_SERIAL 1
#endif
#define _BV(bit) (1 << (bit))
/**
* TODO: review this to return 1 for pins that are not analog input
*/
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) (p)
#endif
#define CRITICAL_SECTION_START noInterrupts();
#define CRITICAL_SECTION_END interrupts();
// On AVR this is in math.h?
#define square(x) ((x)*(x))
#ifndef strncpy_P
#define strncpy_P(dest, src, num) strncpy((dest), (src), (num))
#endif
// Fix bug in pgm_read_ptr
#undef pgm_read_ptr
#define pgm_read_ptr(addr) (*(addr))
#define RST_POWER_ON 1
#define RST_EXTERNAL 2
#define RST_BROWN_OUT 4
#define RST_WATCHDOG 8
#define RST_JTAG 16
#define RST_SOFTWARE 32
#define RST_BACKUP 64
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
typedef int8_t pin_t;
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
/** result of last ADC conversion */
extern uint16_t HAL_adc_result;
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
// Disable interrupts
#define cli() do { DISABLE_TEMPERATURE_INTERRUPT(); DISABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// Enable interrupts
#define sei() do { ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// Memory related
#define __bss_end __bss_end__
/** clear reset reason */
void HAL_clear_reset_source (void);
/** reset reason */
uint8_t HAL_get_reset_source (void);
void _delay_ms(const int delay);
/*
extern "C" {
int freeMemory(void);
}
*/
extern "C" char* _sbrk(int incr);
/*
static int freeMemory() {
volatile int top;
top = (int)((char*)&top - reinterpret_cast<char*>(_sbrk(0)));
return top;
}
*/
static int freeMemory() {
volatile char top;
return &top - reinterpret_cast<char*>(_sbrk(0));
}
// SPI: Extended functions which take a channel number (hardware SPI only)
/** Write single byte to specified SPI channel */
void spiSend(uint32_t chan, byte b);
/** Write buffer to specified SPI channel */
void spiSend(uint32_t chan, const uint8_t* buf, size_t n);
/** Read single byte from specified SPI channel */
uint8_t spiRec(uint32_t chan);
// EEPROM
/**
* TODO: Write all this eeprom stuff. Can emulate eeprom in flash as last resort.
* Wire library should work for i2c eeproms.
*/
void eeprom_write_byte(unsigned char *pos, unsigned char value);
unsigned char eeprom_read_byte(unsigned char *pos);
void eeprom_read_block (void *__dst, const void *__src, size_t __n);
void eeprom_update_block (const void *__src, void *__dst, size_t __n);
// ADC
#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT)
inline void HAL_adc_init(void) {}
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC HAL_adc_result
void HAL_adc_start_conversion(const uint8_t adc_pin);
uint16_t HAL_adc_get_result(void);
/* Todo: Confirm none of this is needed.
uint16_t HAL_getAdcReading(uint8_t chan);
void HAL_startAdcConversion(uint8_t chan);
uint8_t HAL_pinToAdcChannel(int pin);
uint16_t HAL_getAdcFreerun(uint8_t chan, bool wait_for_conversion = false);
//uint16_t HAL_getAdcSuperSample(uint8_t chan);
void HAL_enable_AdcFreerun(void);
//void HAL_disable_AdcFreerun(uint8_t chan);
*/
#define GET_PIN_MAP_PIN(index) index
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
#endif // _HAL_STM32F7_H

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef STM32F7
#include "../../../src/inc/MarlinConfig.h"
#if HAS_SERVOS
#include "HAL_Servo_STM32F7.h"
int8_t libServo::attach(const int pin) {
if (this->servoIndex >= MAX_SERVOS) return -1;
return Servo::attach(pin);
}
int8_t libServo::attach(const int pin, const int min, const int max) {
return Servo::attach(pin, min, max);
}
void libServo::move(const int value) {
if (this->attach(0) >= 0) {
this->write(value);
delay(SERVO_DELAY);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
#endif
}
}
#endif // HAS_SERVOS
#endif // STM32F7

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef HAL_SERVO_STM32F7_H
#define HAL_SERVO_STM32F7_H
#include <../../libraries/Servo/src/Servo.h>
// Inherit and expand on the official library
class libServo : public Servo {
public:
int8_t attach(const int pin);
int8_t attach(const int pin, const int min, const int max);
void move(const int value);
private:
uint16_t min_ticks;
uint16_t max_ticks;
uint8_t servoIndex; // index into the channel data for this servo
};
#endif // HAL_SERVO_STM32F7_H

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Software SPI functions originally from Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman
*/
/**
* Adapted to the STM32F7 HAL
*/
#ifdef STM32F7
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../HAL.h"
//#include "../SPI.h"
#include "SPI.h"
//#include <SPI.h>
#include "pins_arduino.h"
#include "spi_pins.h"
#include "../../core/macros.h"
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
static SPISettings spiConfig;
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
#if ENABLED(SOFTWARE_SPI)
// --------------------------------------------------------------------------
// Software SPI
// --------------------------------------------------------------------------
#error "Software SPI not supported for STM32F7. Use hardware SPI."
#else
// --------------------------------------------------------------------------
// Hardware SPI
// --------------------------------------------------------------------------
/**
* VGPV SPI speed start and F_CPU/2, by default 72/2 = 36Mhz
*/
/**
* @brief Begin SPI port setup
*
* @return Nothing
*
* @details Only configures SS pin since libmaple creates and initialize the SPI object
*/
void spiBegin(void) {
#if !PIN_EXISTS(SS)
#error SS_PIN not defined!
#endif
SET_OUTPUT(SS_PIN);
WRITE(SS_PIN, HIGH);
}
/** Configure SPI for specified SPI speed */
void spiInit(uint8_t spiRate) {
// Use datarates Marlin uses
uint32_t clock;
switch (spiRate) {
case SPI_FULL_SPEED: clock = 20000000; break; //13.9mhz=20000000 6.75mhz=10000000 3.38mhz=5000000 .833mhz=1000000
case SPI_HALF_SPEED: clock = 5000000; break;
case SPI_QUARTER_SPEED: clock = 2500000; break;
case SPI_EIGHTH_SPEED: clock = 1250000; break;
case SPI_SPEED_5: clock = 625000; break;
case SPI_SPEED_6: clock = 300000; break;
default:
clock = 4000000; // Default from the SPI libarary
}
spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
SPI.begin();
}
/**
* @brief Receives a single byte from the SPI port.
*
* @return Byte received
*
* @details
*/
uint8_t spiRec(void) {
SPI.beginTransaction(spiConfig);
uint8_t returnByte = SPI.transfer(0xFF);
SPI.endTransaction();
return returnByte;
}
/**
* @brief Receives a number of bytes from the SPI port to a buffer
*
* @param buf Pointer to starting address of buffer to write to.
* @param nbyte Number of bytes to receive.
* @return Nothing
*
* @details Uses DMA
*/
void spiRead(uint8_t* buf, uint16_t nbyte) {
SPI.beginTransaction(spiConfig);
SPI.dmaTransfer(0, const_cast<uint8_t*>(buf), nbyte);
SPI.endTransaction();
}
/**
* @brief Sends a single byte on SPI port
*
* @param b Byte to send
*
* @details
*/
void spiSend(uint8_t b) {
SPI.beginTransaction(spiConfig);
SPI.transfer(b);
SPI.endTransaction();
}
/**
* @brief Write token and then write from 512 byte buffer to SPI (for SD card)
*
* @param buf Pointer with buffer start address
* @return Nothing
*
* @details Use DMA
*/
void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPI.beginTransaction(spiConfig);
SPI.transfer(token);
SPI.dmaSend(const_cast<uint8_t*>(buf), 512);
SPI.endTransaction();
}
#endif // SOFTWARE_SPI
#endif // STM32F7

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/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef STM32F7
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include "../HAL.h"
#include "HAL_timers_STM32F7.h"
// --------------------------------------------------------------------------
// Externals
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Local defines
// --------------------------------------------------------------------------
#define NUM_HARDWARE_TIMERS 2
//#define PRESCALER 1
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private Variables
// --------------------------------------------------------------------------
tTimerConfig timerConfig[NUM_HARDWARE_TIMERS];
// --------------------------------------------------------------------------
// Function prototypes
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Private functions
// --------------------------------------------------------------------------
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
bool timers_initialised[NUM_HARDWARE_TIMERS] = {false};
void HAL_timer_start(uint8_t timer_num, uint32_t frequency) {
if(!timers_initialised[timer_num]) {
switch (timer_num) {
case STEP_TIMER_NUM:
//STEPPER TIMER TIM5 //use a 32bit timer
__HAL_RCC_TIM5_CLK_ENABLE();
timerConfig[0].timerdef.Instance = TIM5;
timerConfig[0].timerdef.Init.Prescaler = (STEPPER_TIMER_PRESCALE);
timerConfig[0].timerdef.Init.CounterMode = TIM_COUNTERMODE_UP;
timerConfig[0].timerdef.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
timerConfig[0].IRQ_Id = TIM5_IRQn;
timerConfig[0].callback = (uint32_t)TC5_Handler;
HAL_NVIC_SetPriority(timerConfig[0].IRQ_Id, 1, 0);
pinMode(STEPPER_ENABLE_PIN,OUTPUT);
digitalWrite(STEPPER_ENABLE_PIN,LOW);
break;
case TEMP_TIMER_NUM:
//TEMP TIMER TIM7 // any available 16bit Timer (1 already used for PWM)
__HAL_RCC_TIM7_CLK_ENABLE();
timerConfig[1].timerdef.Instance = TIM7;
timerConfig[1].timerdef.Init.Prescaler = (TEMP_TIMER_PRESCALE);
timerConfig[1].timerdef.Init.CounterMode = TIM_COUNTERMODE_UP;
timerConfig[1].timerdef.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
timerConfig[1].IRQ_Id = TIM7_IRQn;
timerConfig[1].callback = (uint32_t)TC7_Handler;
HAL_NVIC_SetPriority(timerConfig[1].IRQ_Id, 2, 0);
break;
}
timers_initialised[timer_num] = true;
}
timerConfig[timer_num].timerdef.Init.Period = ((HAL_TIMER_RATE / timerConfig[timer_num].timerdef.Init.Prescaler) / (frequency)) - 1;
if(HAL_TIM_Base_Init(&timerConfig[timer_num].timerdef) == HAL_OK ){
HAL_TIM_Base_Start_IT(&timerConfig[timer_num].timerdef);
}
}
//forward the interrupt
extern "C" void TIM5_IRQHandler()
{
((void(*)(void))timerConfig[0].callback)();
}
extern "C" void TIM7_IRQHandler()
{
((void(*)(void))timerConfig[1].callback)();
}
void HAL_timer_set_count (uint8_t timer_num, uint32_t count) {
__HAL_TIM_SetAutoreload(&timerConfig[timer_num].timerdef, count);
}
void HAL_timer_set_current_count (uint8_t timer_num, uint32_t count) {
__HAL_TIM_SetAutoreload(&timerConfig[timer_num].timerdef, count);
}
void HAL_timer_enable_interrupt (uint8_t timer_num) {
HAL_NVIC_EnableIRQ(timerConfig[timer_num].IRQ_Id);
}
void HAL_timer_disable_interrupt (uint8_t timer_num) {
HAL_NVIC_DisableIRQ(timerConfig[timer_num].IRQ_Id);
}
hal_timer_t HAL_timer_get_count (uint8_t timer_num) {
return __HAL_TIM_GetAutoreload(&timerConfig[timer_num].timerdef);
}
uint32_t HAL_timer_get_current_count(uint8_t timer_num) {
return __HAL_TIM_GetCounter(&timerConfig[timer_num].timerdef);
}
void HAL_timer_isr_prologue (uint8_t timer_num) {
if (__HAL_TIM_GET_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE) == SET) {
__HAL_TIM_CLEAR_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE);
}
}
#endif

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/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2017 Victor Perez
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef _HAL_TIMERS_STM32F7_H
#define _HAL_TIMERS_STM32F7_H
// --------------------------------------------------------------------------
// Includes
// --------------------------------------------------------------------------
#include <stdint.h>
// --------------------------------------------------------------------------
// Defines
// --------------------------------------------------------------------------
#define FORCE_INLINE __attribute__((always_inline)) inline
#define hal_timer_t uint32_t //hal_timer_t uint32_t //TODO: One is 16-bit, one 32-bit - does this need to be checked?
#define HAL_TIMER_TYPE_MAX 0xFFFF
#define STEP_TIMER_NUM 0 // index of timer to use for stepper
#define TEMP_TIMER_NUM 1 // index of timer to use for temperature
#define HAL_TIMER_RATE (HAL_RCC_GetSysClockFreq()/2) // frequency of timer peripherals
#define STEPPER_TIMER_PRESCALE 54 // was 40,prescaler for setting stepper timer, 2Mhz
#define HAL_STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE)
#define HAL_TICKS_PER_US ((HAL_STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per us
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt (STEP_TIMER_NUM)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt (STEP_TIMER_NUM)
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt (TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt (TEMP_TIMER_NUM)
#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
// TODO change this
extern void TC5_Handler();
extern void TC7_Handler();
#define HAL_STEP_TIMER_ISR void TC5_Handler()
#define HAL_TEMP_TIMER_ISR void TC7_Handler()
// --------------------------------------------------------------------------
// Types
// --------------------------------------------------------------------------
typedef struct {
TIM_HandleTypeDef timerdef;
IRQn_Type IRQ_Id;
uint32_t callback;
} tTimerConfig;
// --------------------------------------------------------------------------
// Public Variables
// --------------------------------------------------------------------------
//extern const tTimerConfig timerConfig[];
// --------------------------------------------------------------------------
// Public functions
// --------------------------------------------------------------------------
void HAL_timer_start (uint8_t timer_num, uint32_t frequency);
void HAL_timer_enable_interrupt(uint8_t timer_num);
void HAL_timer_disable_interrupt(uint8_t timer_num);
void HAL_timer_set_count (uint8_t timer_num, uint32_t count);
hal_timer_t HAL_timer_get_count (uint8_t timer_num);
uint32_t HAL_timer_get_current_count(uint8_t timer_num);
void HAL_timer_set_current_count (uint8_t timer_num, uint32_t count); //New
/*FORCE_INLINE static void HAL_timer_set_current_count(const uint8_t timer_num, const hal_timer_t count) {
// To do ??
}*/
void HAL_timer_isr_prologue (uint8_t timer_num);
#endif // _HAL_TIMERS_STM32F7_H

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# This HAL is for the STM32F765 board "The Borg" used with STM32Generic Arduino core by danieleff.
# Original core is located at:
https://github.com/danieleff/STM32GENERIC
but i have not committed the changes needed for the Borg there yet, so please use:
https://github.com/Spawn32/STM32GENERIC
Unzip it into [Arduino]/hardware folder
Download the latest GNU ARM Embedded Toolchain:
https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads
(The one in Arduino dosen't support STM32F7).
Change compiler.path in platform.txt to point to that you downloaded.
# This HAL is in development.
# Currently only tested on "The Borg".
You will also need the latest Arduino 1.9.0-beta or newer.
This HAL is a modified version of Chris Barr's Picoprint STM32F4 HAL, so shouldn't be to hard to get it to work on a F4.

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Test Re-ARM specific configuration values for errors at compile-time.
*/
#if ENABLED(SPINDLE_LASER_ENABLE)
#if !PIN_EXISTS(SPINDLE_LASER_ENABLE)
#error "SPINDLE_LASER_ENABLE requires SPINDLE_LASER_ENABLE_PIN."
#elif SPINDLE_DIR_CHANGE && !PIN_EXISTS(SPINDLE_DIR)
#error "SPINDLE_DIR_PIN not defined."
#elif ENABLED(SPINDLE_LASER_PWM) && PIN_EXISTS(SPINDLE_LASER_PWM)
#if !PWM_PIN(SPINDLE_LASER_PWM_PIN)
#error "SPINDLE_LASER_PWM_PIN not assigned to a PWM pin."
#elif !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11)
#error "SPINDLE_LASER_PWM_PIN must use SERVO0, SERVO1 or SERVO3 connector"
#elif SPINDLE_LASER_POWERUP_DELAY < 1
#error "SPINDLE_LASER_POWERUP_DELAY must be greater than 0."
#elif SPINDLE_LASER_POWERDOWN_DELAY < 1
#error "SPINDLE_LASER_POWERDOWN_DELAY must be greater than 0."
#elif !defined(SPINDLE_LASER_PWM_INVERT)
#error "SPINDLE_LASER_PWM_INVERT missing."
#elif !defined(SPEED_POWER_SLOPE) || !defined(SPEED_POWER_INTERCEPT) || !defined(SPEED_POWER_MIN) || !defined(SPEED_POWER_MAX)
#error "SPINDLE_LASER_PWM equation constant(s) missing."
#elif PIN_EXISTS(CASE_LIGHT) && SPINDLE_LASER_PWM_PIN == CASE_LIGHT_PIN
#error "SPINDLE_LASER_PWM_PIN is used by CASE_LIGHT_PIN."
#elif PIN_EXISTS(E0_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E0_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E0_AUTO_FAN_PIN."
#elif PIN_EXISTS(E1_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E1_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E1_AUTO_FAN_PIN."
#elif PIN_EXISTS(E2_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E2_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E2_AUTO_FAN_PIN."
#elif PIN_EXISTS(E3_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E3_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E3_AUTO_FAN_PIN."
#elif PIN_EXISTS(E4_AUTO_FAN) && SPINDLE_LASER_PWM_PIN == E4_AUTO_FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by E4_AUTO_FAN_PIN."
#elif PIN_EXISTS(FAN) && SPINDLE_LASER_PWM_PIN == FAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used FAN_PIN."
#elif PIN_EXISTS(FAN1) && SPINDLE_LASER_PWM_PIN == FAN1_PIN
#error "SPINDLE_LASER_PWM_PIN is used FAN1_PIN."
#elif PIN_EXISTS(FAN2) && SPINDLE_LASER_PWM_PIN == FAN2_PIN
#error "SPINDLE_LASER_PWM_PIN is used FAN2_PIN."
#elif PIN_EXISTS(CONTROLLERFAN) && SPINDLE_LASER_PWM_PIN == CONTROLLERFAN_PIN
#error "SPINDLE_LASER_PWM_PIN is used by CONTROLLERFAN_PIN."
#endif
#endif
#endif // SPINDLE_LASER_ENABLE

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/*
TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino
based on the stepper library by Tom Igoe, et. al.
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
//#include "Arduino.h"
#ifdef STM32F7
#include <stdbool.h>
#include <SPI.h>
#include "TMC2660.h"
#include "../../HAL/HAL_STM32F7/HAL_STM32F7.h"
#include "../../core/serial.h"
#include "../../inc/MarlinConfig.h"
#include "../../Marlin.h"
#include "../../module/stepper_indirection.h"
#include "../../module/printcounter.h"
#include "../../libs/duration_t.h"
#include "../../libs/hex_print_routines.h"
//some default values used in initialization
#define DEFAULT_MICROSTEPPING_VALUE 32
//TMC26X register definitions
#define DRIVER_CONTROL_REGISTER 0x0ul
#define CHOPPER_CONFIG_REGISTER 0x80000ul
#define COOL_STEP_REGISTER 0xA0000ul
#define STALL_GUARD2_LOAD_MEASURE_REGISTER 0xC0000ul
#define DRIVER_CONFIG_REGISTER 0xE0000ul
#define REGISTER_BIT_PATTERN 0xFFFFFul
//definitions for the driver control register
#define MICROSTEPPING_PATTERN 0xFul
#define STEP_INTERPOLATION 0x200ul
#define DOUBLE_EDGE_STEP 0x100ul
#define VSENSE 0x40ul
#define READ_MICROSTEP_POSTION 0x0ul
#define READ_STALL_GUARD_READING 0x10ul
#define READ_STALL_GUARD_AND_COOL_STEP 0x20ul
#define READ_SELECTION_PATTERN 0x30ul
//definitions for the chopper config register
#define CHOPPER_MODE_STANDARD 0x0ul
#define CHOPPER_MODE_T_OFF_FAST_DECAY 0x4000ul
#define T_OFF_PATTERN 0xful
#define RANDOM_TOFF_TIME 0x2000ul
#define BLANK_TIMING_PATTERN 0x18000ul
#define BLANK_TIMING_SHIFT 15
#define HYSTERESIS_DECREMENT_PATTERN 0x1800ul
#define HYSTERESIS_DECREMENT_SHIFT 11
#define HYSTERESIS_LOW_VALUE_PATTERN 0x780ul
#define HYSTERESIS_LOW_SHIFT 7
#define HYSTERESIS_START_VALUE_PATTERN 0x78ul
#define HYSTERESIS_START_VALUE_SHIFT 4
#define T_OFF_TIMING_PATERN 0xFul
//definitions for cool step register
#define MINIMUM_CURRENT_FOURTH 0x8000ul
#define CURRENT_DOWN_STEP_SPEED_PATTERN 0x6000ul
#define SE_MAX_PATTERN 0xF00ul
#define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul
#define SE_MIN_PATTERN 0xful
//definitions for stall guard2 current register
#define STALL_GUARD_FILTER_ENABLED 0x10000ul
#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul
#define CURRENT_SCALING_PATTERN 0x1Ful
#define STALL_GUARD_CONFIG_PATTERN 0x17F00ul
#define STALL_GUARD_VALUE_PATTERN 0x7F00ul
//definitions for the input from the TCM260
#define STATUS_STALL_GUARD_STATUS 0x1ul
#define STATUS_OVER_TEMPERATURE_SHUTDOWN 0x2ul
#define STATUS_OVER_TEMPERATURE_WARNING 0x4ul
#define STATUS_SHORT_TO_GROUND_A 0x8ul
#define STATUS_SHORT_TO_GROUND_B 0x10ul
#define STATUS_OPEN_LOAD_A 0x20ul
#define STATUS_OPEN_LOAD_B 0x40ul
#define STATUS_STAND_STILL 0x80ul
#define READOUT_VALUE_PATTERN 0xFFC00ul
#define CPU_32_BIT
//default values
#define INITIAL_MICROSTEPPING 0x3ul //32th microstepping
SPIClass SPI_6(SPI6, SPI6_MOSI_PIN, SPI6_MISO_PIN, SPI6_SCK_PIN);
#define STEPPER_SPI SPI_6
//debuging output
//#define TMC_DEBUG1
unsigned char current_scaling = 0;
/*
* Constructor
* number_of_steps - the steps per rotation
* cs_pin - the SPI client select pin
* dir_pin - the pin where the direction pin is connected
* step_pin - the pin where the step pin is connected
*/
TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor)
{
//we are not started yet
started=false;
//by default cool step is not enabled
cool_step_enabled=false;
//save the pins for later use
this->cs_pin=cs_pin;
this->dir_pin=dir_pin;
this->step_pin = step_pin;
//store the current sense resistor value for later use
this->resistor = resistor;
//initizalize our status values
this->steps_left = 0;
this->direction = 0;
//initialize register values
driver_control_register_value=DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING;
chopper_config_register=CHOPPER_CONFIG_REGISTER;
//setting the default register values
driver_control_register_value=DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING;
microsteps = (1 << INITIAL_MICROSTEPPING);
chopper_config_register=CHOPPER_CONFIG_REGISTER;
cool_step_register_value=COOL_STEP_REGISTER;
stall_guard2_current_register_value=STALL_GUARD2_LOAD_MEASURE_REGISTER;
driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
//set the current
setCurrent(current);
//set to a conservative start value
setConstantOffTimeChopper(7, 54, 13,12,1);
//set a nice microstepping value
setMicrosteps(DEFAULT_MICROSTEPPING_VALUE);
//save the number of steps
this->number_of_steps = number_of_steps;
}
/*
* start & configure the stepper driver
* just must be called.
*/
void TMC26XStepper::start() {
#ifdef TMC_DEBUG1
SERIAL_ECHOPGM("\n TMC26X stepper library \n");
SERIAL_ECHOPAIR("\n CS pin: ",cs_pin);
SERIAL_ECHOPAIR("\n DIR pin: ",dir_pin);
SERIAL_ECHOPAIR("\n STEP pin: ", step_pin);
SERIAL_PRINTF("\n current scaling: %d", current_scaling);
SERIAL_PRINTF("\n Resistor: %d", resistor);
//SERIAL_PRINTF("\n current: %d", current);
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif
//set the pins as output & its initial value
pinMode(step_pin, OUTPUT);
pinMode(dir_pin, OUTPUT);
pinMode(cs_pin, OUTPUT);
//pinMode(STEPPER_ENABLE_PIN, OUTPUT);
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
digitalWrite(cs_pin, HIGH);
STEPPER_SPI.begin();
STEPPER_SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
//set the initial values
send262(driver_control_register_value);
send262(chopper_config_register);
send262(cool_step_register_value);
send262(stall_guard2_current_register_value);
send262(driver_configuration_register_value);
//save that we are in running mode
started=true;
}
/*
Mark the driver as unstarted to be able to start it again
*/
void TMC26XStepper::un_start() {
started=false;
}
/*
Sets the speed in revs per minute
*/
void TMC26XStepper::setSpeed(unsigned int whatSpeed)
{
this->speed = whatSpeed;
this->step_delay = (60UL * 1000UL * 1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps);
#ifdef TMC_DEBUG0 //crashes
//SERIAL_PRINTF("Step delay in micros: ");
SERIAL_ECHOPAIR("\nStep delay in micros: ",this->step_delay);
#endif
//update the next step time
this->next_step_time = this->last_step_time+this->step_delay;
}
unsigned int TMC26XStepper::getSpeed(void) {
return this->speed;
}
/*
Moves the motor steps_to_move steps. If the number is negative,
the motor moves in the reverse direction.
*/
char TMC26XStepper::step(int steps_to_move)
{
if (this->steps_left==0) {
this->steps_left = abs(steps_to_move); // how many steps to take
// determine direction based on whether steps_to_mode is + or -:
if (steps_to_move > 0) {
this->direction = 1;
} else if (steps_to_move < 0) {
this->direction = 0;
}
return 0;
} else {
return -1;
}
}
char TMC26XStepper::move(void) {
// decrement the number of steps, moving one step each time:
if(this->steps_left>0) {
unsigned long time = micros();
// move only if the appropriate delay has passed:
// rem if (time >= this->next_step_time) {
if(abs(time - this->last_step_time) > this->step_delay) {
// increment or decrement the step number,
// depending on direction:
if (this->direction == 1) {
digitalWrite(step_pin, HIGH);
} else {
digitalWrite(dir_pin, HIGH);
digitalWrite(step_pin, HIGH);
}
// get the timeStamp of when you stepped:
this->last_step_time = time;
this->next_step_time = time+this->step_delay;
// decrement the steps left:
steps_left--;
//disable the step & dir pins
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
}
return -1;
}
return 0;
}
char TMC26XStepper::isMoving(void) {
return (this->steps_left>0);
}
unsigned int TMC26XStepper::getStepsLeft(void) {
return this->steps_left;
}
char TMC26XStepper::stop(void) {
//note to self if the motor is currently moving
char state = isMoving();
//stop the motor
this->steps_left = 0;
this->direction = 0;
//return if it was moving
return state;
}
void TMC26XStepper::setCurrent(unsigned int current) {
unsigned char current_scaling = 0;
//calculate the current scaling from the max current setting (in mA)
double mASetting = (double)current;
double resistor_value = (double) this->resistor;
// remove vesense flag
this->driver_configuration_register_value &= ~(VSENSE);
//this is derrived from I=(cs+1)/32*(Vsense/Rsense)
//leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V and I = 1000*current)
//with Rsense=0,15
//for vsense = 0,310V (VSENSE not set)
//or vsense = 0,165V (VSENSE set)
current_scaling = (byte)((resistor_value*mASetting*32.0/(0.31*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5
//check if the current scalingis too low
if (current_scaling<16) {
//set the csense bit to get a use half the sense voltage (to support lower motor currents)
this->driver_configuration_register_value |= VSENSE;
//and recalculate the current setting
current_scaling = (byte)((resistor_value*mASetting*32.0/(0.165*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5
#ifdef TMC_DEBUG0 //crashes
//SERIAL_PRINTF("CS (Vsense=1): ");
SERIAL_ECHOPAIR("\nCS (Vsense=1): ",current_scaling);
} else {
//SERIAL_PRINTF("CS: ");
SERIAL_ECHOPAIR("\nCS: ", current_scaling);
#endif
}
//do some sanity checks
if (current_scaling>31) {
current_scaling=31;
}
//delete the old value
stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
//set the new current scaling
stall_guard2_current_register_value |= current_scaling;
//if started we directly send it to the motor
if (started) {
send262(driver_configuration_register_value);
send262(stall_guard2_current_register_value);
}
}
unsigned int TMC26XStepper::getCurrent(void) {
//we calculate the current according to the datasheet to be on the safe side
//this is not the fastest but the most accurate and illustrative way
double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN);
double resistor_value = (double)this->resistor;
double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31;
result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
return (unsigned int)result;
}
void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) {
if (stall_guard_threshold<-64) {
stall_guard_threshold = -64;
//We just have 5 bits
} else if (stall_guard_threshold > 63) {
stall_guard_threshold = 63;
}
//add trim down to 7 bits
stall_guard_threshold &=0x7f;
//delete old stall guard settings
stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
if (stall_guard_filter_enabled) {
stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
}
//Set the new stall guard threshold
stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
//if started we directly send it to the motor
if (started) {
send262(stall_guard2_current_register_value);
}
}
char TMC26XStepper::getStallGuardThreshold(void) {
unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
//shift it down to bit 0
stall_guard_threshold >>=8;
//convert the value to an int to correctly handle the negative numbers
char result = stall_guard_threshold;
//check if it is negative and fill it up with leading 1 for proper negative number representation
//rem if (result & _BV(6)) {
if (result & (1 << (6))) {
result |= 0xC0;
}
return result;
}
char TMC26XStepper::getStallGuardFilter(void) {
if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED) {
return -1;
} else {
return 0;
}
}
/*
* Set the number of microsteps per step.
* 0,2,4,8,16,32,64,128,256 is supported
* any value in between will be mapped to the next smaller value
* 0 and 1 set the motor in full step mode
*/
void TMC26XStepper::setMicrosteps(int number_of_steps) {
long setting_pattern;
//poor mans log
if (number_of_steps>=256) {
setting_pattern=0;
microsteps=256;
} else if (number_of_steps>=128) {
setting_pattern=1;
microsteps=128;
} else if (number_of_steps>=64) {
setting_pattern=2;
microsteps=64;
} else if (number_of_steps>=32) {
setting_pattern=3;
microsteps=32;
} else if (number_of_steps>=16) {
setting_pattern=4;
microsteps=16;
} else if (number_of_steps>=8) {
setting_pattern=5;
microsteps=8;
} else if (number_of_steps>=4) {
setting_pattern=6;
microsteps=4;
} else if (number_of_steps>=2) {
setting_pattern=7;
microsteps=2;
//1 and 0 lead to full step
} else if (number_of_steps<=1) {
setting_pattern=8;
microsteps=1;
}
#ifdef TMC_DEBUG0 //crashes
//SERIAL_PRINTF("Microstepping: ");
SERIAL_ECHOPAIR("\n Microstepping: ", microsteps);
#endif
//delete the old value
this->driver_control_register_value &=0xFFFF0ul;
//set the new value
this->driver_control_register_value |=setting_pattern;
//if started we directly send it to the motor
if (started) {
send262(driver_control_register_value);
}
//recalculate the stepping delay by simply setting the speed again
this->setSpeed(this->speed);
}
/*
* returns the effective number of microsteps at the moment
*/
int TMC26XStepper::getMicrosteps(void) {
return microsteps;
}
/*
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
*
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
* duration of the ringing on the sense resistor. For
* 0: min. setting 3: max. setting
*
* fast_decay_time_setting: Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle.
* 0: slow decay only
* 1...15: duration of fast decay phase
*
* sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset.
* A positive offset corrects for zero crossing error.
* -3..-1: negative offset 0: no offset 1...12: positive offset
*
* use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle.
* If current comparator is enabled, it terminates the fast decay cycle in case the current
* reaches a higher negative value than the actual positive value.
* 1: enable comparator termination of fast decay cycle
* 0: end by time only
*/
void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator) {
//perform some sanity checks
if (constant_off_time<2) {
constant_off_time=2;
} else if (constant_off_time>15) {
constant_off_time=15;
}
//save the constant off time
this->constant_off_time = constant_off_time;
char blank_value;
//calculate the value acc to the clock cycles
if (blank_time>=54) {
blank_value=3;
} else if (blank_time>=36) {
blank_value=2;
} else if (blank_time>=24) {
blank_value=1;
} else {
blank_value=0;
}
if (fast_decay_time_setting<0) {
fast_decay_time_setting=0;
} else if (fast_decay_time_setting>15) {
fast_decay_time_setting=15;
}
if (sine_wave_offset < -3) {
sine_wave_offset = -3;
} else if (sine_wave_offset>12) {
sine_wave_offset = 12;
}
//shift the sine_wave_offset
sine_wave_offset +=3;
//calculate the register setting
//first of all delete all the values for this
chopper_config_register &= ~((1<<12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
//set the constant off pattern
chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY;
//set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//setting the constant off time
chopper_config_register |= constant_off_time;
//set the fast decay time
//set msb
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8))<<HYSTERESIS_DECREMENT_SHIFT);
//other bits
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7))<<HYSTERESIS_START_VALUE_SHIFT);
//set the sine wave offset
chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
//using the current comparator?
if (!use_current_comparator) {
chopper_config_register |= (1<<12);
}
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
/*
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
*
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
* duration of the ringing on the sense resistor. For
* 0: min. setting 3: max. setting
*
* hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND.
* 1...8
*
* hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC.
* The sum HSTRT+HEND must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.
* -3..-1: negative HEND 0: zero HEND 1...12: positive HEND
*
* hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
* 0: fast decrement 3: very slow decrement
*/
void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement) {
//perform some sanity checks
if (constant_off_time<2) {
constant_off_time=2;
} else if (constant_off_time>15) {
constant_off_time=15;
}
//save the constant off time
this->constant_off_time = constant_off_time;
char blank_value;
//calculate the value acc to the clock cycles
if (blank_time>=54) {
blank_value=3;
} else if (blank_time>=36) {
blank_value=2;
} else if (blank_time>=24) {
blank_value=1;
} else {
blank_value=0;
}
if (hysteresis_start<1) {
hysteresis_start=1;
} else if (hysteresis_start>8) {
hysteresis_start=8;
}
hysteresis_start--;
if (hysteresis_end < -3) {
hysteresis_end = -3;
} else if (hysteresis_end>12) {
hysteresis_end = 12;
}
//shift the hysteresis_end
hysteresis_end +=3;
if (hysteresis_decrement<0) {
hysteresis_decrement=0;
} else if (hysteresis_decrement>3) {
hysteresis_decrement=3;
}
//first of all delete all the values for this
chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
//set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//setting the constant off time
chopper_config_register |= constant_off_time;
//set the hysteresis_start
chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
//set the hysteresis end
chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
//set the hystereis decrement
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
/*
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized.
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position.
* With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a
* few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc.
* Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.
* Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages
* (please refer to sense resistor layout hint in chapter 8.1).
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided.
* It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum,
* reducing electromagnetic emission on single frequencies.
*/
void TMC26XStepper::setRandomOffTime(char value) {
if (value) {
chopper_config_register |= RANDOM_TOFF_TIME;
} else {
chopper_config_register &= ~(RANDOM_TOFF_TIME);
}
//if started we directly send it to the motor
if (started) {
//rem send262(driver_control_register_value);
send262(chopper_config_register);
}
}
void TMC26XStepper::setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
unsigned char current_increment_step_size, unsigned char lower_current_limit) {
//sanitize the input values
if (lower_SG_threshold>480) {
lower_SG_threshold = 480;
}
//divide by 32
lower_SG_threshold >>=5;
if (SG_hysteresis>480) {
SG_hysteresis=480;
}
//divide by 32
SG_hysteresis >>=5;
if (current_decrement_step_size>3) {
current_decrement_step_size=3;
}
if (current_increment_step_size>3) {
current_increment_step_size=3;
}
if (lower_current_limit>1) {
lower_current_limit=1;
}
//store the lower level in order to enable/disable the cool step
this->cool_step_lower_threshold=lower_SG_threshold;
//if cool step is not enabled we delete the lower value to keep it disabled
if (!this->cool_step_enabled) {
lower_SG_threshold=0;
}
//the good news is that we can start with a complete new cool step register value
//and simply set the values in the register
cool_step_register_value = ((unsigned long)lower_SG_threshold) | (((unsigned long)SG_hysteresis)<<8) | (((unsigned long)current_decrement_step_size)<<5)
| (((unsigned long)current_increment_step_size)<<13) | (((unsigned long)lower_current_limit)<<15)
//and of course we have to include the signature of the register
| COOL_STEP_REGISTER;
//SERIAL_PRINTFln(cool_step_register_value,HEX);
if (started) {
send262(cool_step_register_value);
}
}
void TMC26XStepper::setCoolStepEnabled(boolean enabled) {
//simply delete the lower limit to disable the cool step
cool_step_register_value &= ~SE_MIN_PATTERN;
//and set it to the proper value if cool step is to be enabled
if (enabled) {
cool_step_register_value |=this->cool_step_lower_threshold;
}
//and save the enabled status
this->cool_step_enabled = enabled;
//save the register value
if (started) {
send262(cool_step_register_value);
}
}
boolean TMC26XStepper::isCoolStepEnabled(void) {
return this->cool_step_enabled;
}
unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() {
//we return our internally stored value - in order to provide the correct setting even if cool step is not enabled
return this->cool_step_lower_threshold<<5;
}
unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() {
return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN)>>8)<<5;
}
unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() {
return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN)>>13);
}
unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() {
return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN)>>5);
}
unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() {
return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH)>>15);
}
void TMC26XStepper::setEnabled(boolean enabled) {
//delete the t_off in the chopper config to get sure
chopper_config_register &= ~(T_OFF_PATTERN);
if (enabled) {
//and set the t_off time
chopper_config_register |= this->constant_off_time;
}
//if not enabled we don't have to do anything since we already delete t_off from the register
if (started) {
send262(chopper_config_register);
}
}
boolean TMC26XStepper::isEnabled() {
if (chopper_config_register & T_OFF_PATTERN) {
return true;
} else {
return false;
}
}
/*
* reads a value from the TMC26X status register. The value is not obtained directly but can then
* be read by the various status routines.
*
*/
void TMC26XStepper::readStatus(char read_value) {
unsigned long old_driver_configuration_register_value = driver_configuration_register_value;
//reset the readout configuration
driver_configuration_register_value &= ~(READ_SELECTION_PATTERN);
//this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options
if (read_value == TMC26X_READOUT_STALLGUARD) {
driver_configuration_register_value |= READ_STALL_GUARD_READING;
} else if (read_value == TMC26X_READOUT_CURRENT) {
driver_configuration_register_value |= READ_STALL_GUARD_AND_COOL_STEP;
}
//all other cases are ignored to prevent funny values
//check if the readout is configured for the value we are interested in
if (driver_configuration_register_value!=old_driver_configuration_register_value) {
//because then we need to write the value twice - one time for configuring, second time to get the value, see below
send262(driver_configuration_register_value);
}
//write the configuration to get the last status
send262(driver_configuration_register_value);
}
int TMC26XStepper::getMotorPosition(void) {
//we read it out even if we are not started yet - perhaps it is useful information for somebody
readStatus(TMC26X_READOUT_POSITION);
return getReadoutValue();
}
//reads the stall guard setting from last status
//returns -1 if stallguard information is not present
int TMC26XStepper::getCurrentStallGuardReading(void) {
//if we don't yet started there cannot be a stall guard value
if (!started) {
return -1;
}
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_STALLGUARD);
return getReadoutValue();
}
unsigned char TMC26XStepper::getCurrentCSReading(void) {
//if we don't yet started there cannot be a stall guard value
if (!started) {
return 0;
}
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_CURRENT);
return (getReadoutValue() & 0x1f);
}
unsigned int TMC26XStepper::getCurrentCurrent(void) {
double result = (double)getCurrentCSReading();
double resistor_value = (double)this->resistor;
double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31;
result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
return (unsigned int)result;
}
/*
return true if the stallguard threshold has been reached
*/
boolean TMC26XStepper::isStallGuardOverThreshold(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
}
/*
returns if there is any over temperature condition:
OVER_TEMPERATURE_PREWARING if pre warning level has been reached
OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down
Any of those levels are not too good.
*/
char TMC26XStepper::getOverTemperature(void) {
if (!this->started) {
return 0;
}
if (driver_status_result & STATUS_OVER_TEMPERATURE_SHUTDOWN) {
return TMC26X_OVERTEMPERATURE_SHUTDOWN;
}
if (driver_status_result & STATUS_OVER_TEMPERATURE_WARNING) {
return TMC26X_OVERTEMPERATURE_PREWARING;
}
return 0;
}
//is motor channel A shorted to ground
boolean TMC26XStepper::isShortToGroundA(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_SHORT_TO_GROUND_A);
}
//is motor channel B shorted to ground
boolean TMC26XStepper::isShortToGroundB(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_SHORT_TO_GROUND_B);
}
//is motor channel A connected
boolean TMC26XStepper::isOpenLoadA(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_OPEN_LOAD_A);
}
//is motor channel B connected
boolean TMC26XStepper::isOpenLoadB(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_OPEN_LOAD_B);
}
//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
boolean TMC26XStepper::isStandStill(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_STAND_STILL);
}
//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
boolean TMC26XStepper::isStallGuardReached(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
}
//reads the stall guard setting from last status
//returns -1 if stallguard inforamtion is not present
int TMC26XStepper::getReadoutValue(void) {
return (int)(driver_status_result >> 10);
}
int TMC26XStepper::getResistor() {
return this->resistor;
}
boolean TMC26XStepper::isCurrentScalingHalfed() {
if (this->driver_configuration_register_value & VSENSE) {
return true;
} else {
return false;
}
}
/*
version() returns the version of the library:
*/
int TMC26XStepper::version(void)
{
return 1;
}
void TMC26XStepper::debugLastStatus() {
#ifdef TMC_DEBUG1
if (this->started) {
if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING) {
SERIAL_ECHOLNPGM("\n WARNING: Overtemperature Prewarning!");
} else if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN) {
SERIAL_ECHOLNPGM("\n ERROR: Overtemperature Shutdown!");
}
if (this->isShortToGroundA()) {
SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel A!");
}
if (this->isShortToGroundB()) {
SERIAL_ECHOLNPGM("\n ERROR: SHORT to ground on channel B!");
}
if (this->isOpenLoadA()) {
SERIAL_ECHOLNPGM("\n ERROR: Channel A seems to be unconnected!");
}
if (this->isOpenLoadB()) {
SERIAL_ECHOLNPGM("\n ERROR: Channel B seems to be unconnected!");
}
if (this->isStallGuardReached()) {
SERIAL_ECHOLNPGM("\n INFO: Stall Guard level reached!");
}
if (this->isStandStill()) {
SERIAL_ECHOLNPGM("\n INFO: Motor is standing still.");
}
unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
int value = getReadoutValue();
if (readout_config == READ_MICROSTEP_POSTION) {
//SERIAL_PRINTF("Microstep postion phase A: ");
SERIAL_ECHOPAIR("\n Microstep postion phase A: ", value);
} else if (readout_config == READ_STALL_GUARD_READING) {
//SERIAL_PRINTF("Stall Guard value:");
SERIAL_ECHOPAIR("\n Stall Guard value:", value);
} else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) {
int stallGuard = value & 0xf;
int current = value & 0x1F0;
//SERIAL_PRINTF("Approx Stall Guard: ");
SERIAL_ECHOPAIR("\n Approx Stall Guard: ", stallGuard);
//SERIAL_PRINTF("Current level");
SERIAL_ECHOPAIR("\n Current level", current);
}
}
#endif
}
/*
* send register settings to the stepper driver via SPI
* returns the current status
*/
inline void TMC26XStepper::send262(unsigned long datagram) {
unsigned long i_datagram;
//preserver the previous spi mode
//unsigned char oldMode = SPCR & SPI_MODE_MASK;
//if the mode is not correct set it to mode 3
//if (oldMode != SPI_MODE3) {
// SPI.setDataMode(SPI_MODE3);
//}
//select the TMC driver
digitalWrite(cs_pin,LOW);
//ensure that only valid bist are set (0-19)
//datagram &=REGISTER_BIT_PATTERN;
#ifdef TMC_DEBUG1
//SERIAL_PRINTF("Sending ");
//SERIAL_PRINTF("Sending ", datagram,HEX);
//SERIAL_ECHOPAIR("\n\nSending \n", print_hex_long(datagram));
SERIAL_PRINTF("\n\nSending %x", datagram);
#endif
//write/read the values
i_datagram = STEPPER_SPI.transfer((datagram >> 16) & 0xff);
i_datagram <<= 8;
i_datagram |= STEPPER_SPI.transfer((datagram >> 8) & 0xff);
i_datagram <<= 8;
i_datagram |= STEPPER_SPI.transfer((datagram) & 0xff);
i_datagram >>= 4;
#ifdef TMC_DEBUG1
//SERIAL_PRINTF("Received ");
//SERIAL_PRINTF("Received ", i_datagram,HEX);
//SERIAL_ECHOPAIR("\n\nReceived \n", i_datagram);
SERIAL_PRINTF("\n\nReceived %x", i_datagram);
debugLastStatus();
#endif
//deselect the TMC chip
digitalWrite(cs_pin,HIGH);
//restore the previous SPI mode if neccessary
//if the mode is not correct set it to mode 3
//if (oldMode != SPI_MODE3) {
// SPI.setDataMode(oldMode);
//}
//store the datagram as status result
driver_status_result = i_datagram;
}
#endif // STM32F7

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Marlin/src/HAL/HAL_STM32F7/TMC2660.h Normal file
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/*
TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino
based on the stepper library by Tom Igoe, et. al.
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "../../inc/MarlinConfig.h"
// ensure this library description is only included once
#ifndef TMC26XStepper_h
#define TMC26XStepper_h
//! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature situation in the TMC chip
/*!
* This warning indicates that the TCM chip is too warm.
* It is still working but some parameters may be inferior.
* You should do something against it.
*/
#define TMC26X_OVERTEMPERATURE_PREWARING 1
//! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature shutdown in the TMC chip
/*!
* This warning indicates that the TCM chip is too warm to operate and has shut down to prevent damage.
* It will stop working until it cools down again.
* If you encouter this situation you must do something against it. Like reducing the current or improving the PCB layout
* and/or heat management.
*/
#define TMC26X_OVERTEMPERATURE_SHUTDOWN 2
//which values can be read out
/*!
* Selects to readout the microstep position from the motor.
*\sa readStatus()
*/
#define TMC26X_READOUT_POSITION 0
/*!
* Selects to read out the StallGuard value of the motor.
*\sa readStatus()
*/
#define TMC26X_READOUT_STALLGUARD 1
/*!
* Selects to read out the current current setting (acc. to CoolStep) and the upper bits of the StallGuard value from the motor.
*\sa readStatus(), setCurrent()
*/
#define TMC26X_READOUT_CURRENT 3
/*!
* Define to set the minimum current for CoolStep operation to 1/2 of the selected CS minium.
*\sa setCoolStepConfiguration()
*/
#define COOL_STEP_HALF_CS_LIMIT 0
/*!
* Define to set the minimum current for CoolStep operation to 1/4 of the selected CS minium.
*\sa setCoolStepConfiguration()
*/
#define COOL_STEP_QUARTDER_CS_LIMIT 1
/*!
* \class TMC26XStepper
* \brief Class representing a TMC26X stepper driver
*
* In order to use one fo those drivers in your Arduino code you have to create an object of that class:
* \code
* TMC26XStepper stepper = TMC26XStepper(200,1,2,3,500);
* \endcode
* see TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int rms_current)
*
* Keep in mind that you need to start the driver with start() in order to get the TMC26X configured.
*
* The most important function is the move(). It checks if the motor has to do a step or not.
* It is important that you call move() as often as possible in your Arduino loop() routine. I suggest
* to use a very fast loop routine and always call it at the beginning or the end.
*
* In order to move you have to provide a movement speed with setSpeed(). The speed is a positive value setting
* the rotations per minute.
*
* To really move the motor you have to call step() to tell the driver to move the motor the given number
* of steps in the given direction. Positive values move the motor in one direction, negative values in the other direction.
*
* You can check with isMoving() if the mototr is still moving or stop it apruptely with stop().
*/
class TMC26XStepper {
public:
/*!
* \brief creates a new represenatation of a stepper motor connected to a TMC26X stepper driver
*
* This is the main constructor. If in doubt use this. You must provide all parameters as described below.
*
* \param number_of_steps the number of steps the motor has per rotation.
* \param cs_pin The Arduino pin you have connected the Cient Select Pin (!CS) of the TMC26X for SPI
* \param dir_pin the number of the Arduino pin the Direction input of the TMC26X is connected
* \param step_pin the number of the Arduino pin the step pin of the TMC26X driver is connected.
* \param rms_current the maximum current to privide to the motor in mA (!). A value of 200 would send up to 200mA to the motor
* \param resistor the current sense resistor in milli Ohm, defaults to ,15 Ohm ( or 150 milli Ohm) as in the TMC260 Arduino Shield
*
* Keep in mind that you must also call TMC26XStepper.start() in order to configure the stepper driver for use.
*
* By default the Constant Off Time chopper is used, see TCM262Stepper.setConstantOffTimeChopper() for details.
* This should work on most motors (YMMV). You may want to configure and use the Spread Cycle Chopper, see setSpreadCycleChopper().
*
* By default a microstepping of 1/32th is used to provide a smooth motor run, while still giving a good progression per step.
* You can select a different stepping with setMicrosteps() to aa different value.
* \sa start(), setMicrosteps()
*/
TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=100); //resistor=150
/*!
* \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
*
* This routine configures the TMC26X stepper driver for the given values via SPI.
* Most member functions are non functional if the driver has not been started.
* Therefore it is best to call this in your Arduino setup() function.
*/
void start();
/*!
* \brief resets the stepper in unconfigured mode.
*
* This routine enables you to call start again. It does not change anything
* in the internal stepper configuration or the desired configuration.
* It just marks the stepper as not yet startet. You do not have to reconfigure
* the stepper to start it again, but it is not reset to any factory settings
* this has to be configured back by yourself.
* (Hint: Normally you do not need this function)
*/
void un_start();
/*!
* \brief Sets the rotation speed in revolutions per minute.
* \param whatSpeed the desired speed in rotations per minute.
*/
void setSpeed(unsigned int whatSpeed);
/*!
* \brief reads out the currently selected speed in revolutions per minute.
* \sa setSpeed()
*/
unsigned int getSpeed(void);
/*!
* \brief Set the number of microsteps in 2^i values (rounded) up to 256
*
* This method set's the number of microsteps per step in 2^i interval.
* This means you can select 1, 2, 4, 16, 32, 64, 128 or 256 as valid microsteps.
* If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2).
* You can always check the current microstepping with getMicrosteps().
*/
void setMicrosteps(int number_of_steps);
/*!
* \brief returns the effective current number of microsteps selected.
*
* This function always returns the effective number of microsteps.
* This can be a bit different than the micro steps set in setMicrosteps() since it is rounded to 2^i.
*
* \sa setMicrosteps()
*/
int getMicrosteps(void);
/*!
* \brief Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction.
*
* \param number_of_steps The number of steps to move the motor.
* \return 0 if the motor was not moving and moves now. -1 if the motor is moving and the new steps could not be set.
*
* If the previous movement is not finished yet the function will return -1 and not change the steps to move the motor.
* If the motor does not move it return 0
*
* The direction of the movement is indicated by the sign of the steps parameter. It is not determinable if positive values are right
* or left This depends on the internal construction of the motor and how you connected it to the stepper driver.
*
* You can always verify with isMoving() or even use stop() to stop the motor before giving it new step directions.
* \sa isMoving(), getStepsLeft(), stop()
*/
char step(int number_of_steps);
/*!
* \brief Central movement method, must be called as often as possible in the lopp function and is very fast.
*
* This routine checks if the motor still has to move, if the waiting delay has passed to send a new step command to the motor
* and manages the number of steps yet to move to fulfill the current move command.
*
* This function is implemented to be as fast as possible to call it as often as possible in your loop routine.
* The more regurlarly you call this function the better. In both senses of 'regularly': Calling it as often as
* possible is not a bad idea and if you even manage that the intervals you call this function are not too irregular helps too.
*
* You can call this routine even if you know that the motor is not miving. It introduces just a very small penalty in your code.
* You must not call isMoving() to determine if you need to call this function, since taht is done internally already and only
* slows down you code.
*
* How often you call this function directly influences your top miving speed for the motor. It may be a good idea to call this
* from an timer overflow interrupt to ensure proper calling.
* \sa step()
*/
char move(void);
/*!
* \brief checks if the motor still has to move to fulfill the last movement command.
* \return 0 if the motor stops, -1 if the motor is moving.
*
* This method can be used to determine if the motor is ready for new movements.
*\sa step(), move()
*/
char isMoving(void);
/*!
* \brief Get the number of steps left in the current movement.
* \return The number of steps left in the movement. This number is always positive.
*/
unsigned int getStepsLeft(void);
/*!
* \brief Stops the motor regardless if it moves or not.
* \return -1 if the motor was moving and is really stoped or 0 if it was not moving at all.
*
* This method directly and apruptely stops the motor and may be used as an emergency stop.
*/
char stop(void);
/*!
* \brief Sets and configure the classical Constant Off Timer Chopper
* \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks)
* \param blank_time Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting
* \param fast_decay_time_setting Fast decay time setting. Controls the portion of fast decay for each chopper cycle. 0: slow decay only, 1…15: duration of fast decay phase
* \param sine_wave_offset Sine wave offset. Controls the sine wave offset. A positive offset corrects for zero crossing error. -3…-1: negative offset, 0: no offset,1…12: positive offset
* \param use_curreent_comparator Selects usage of the current comparator for termination of the fast decay cycle. If current comparator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. (0 disable, -1 enable).
*
* The classic constant off time chopper uses a fixed portion of fast decay following each on phase.
* While the duration of the on time is determined by the chopper comparator, the fast decay time needs
* to be set by the user in a way, that the current decay is enough for the driver to be able to follow
* the falling slope of the sine wave, and on the other hand it should not be too long, in order to minimize
* motor current ripple and power dissipation. This best can be tuned using an oscilloscope or
* trying out motor smoothness at different velocities. A good starting value is a fast decay time setting
* similar to the slow decay time setting.
* After tuning of the fast decay time, the offset should be determined, in order to have a smooth zero transition.
* This is necessary, because the fast decay phase leads to the absolute value of the motor current being lower
* than the target current (see figure 17). If the zero offset is too low, the motor stands still for a short
* moment during current zero crossing, if it is set too high, it makes a larger microstep.
* Typically, a positive offset setting is required for optimum operation.
*
* \sa setSpreadCycleChoper() for other alternatives.
* \sa setRandomOffTime() for spreading the noise over a wider spectrum
*/
void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
/*!
* \brief Sets and configures with spread cycle chopper.
* \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks)
* \param blank_time Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting
* \param hysteresis_start Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value. 1 … 8
* \param hysteresis_end Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by hysteresis_decrement. The sum hysteresis_start + hysteresis_end must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.
* \param hysteresis_decrement Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. 0 (fast decrement) … 3 (slow decrement).
*
* The spreadCycle chopper scheme (pat.fil.) is a precise and simple to use chopper principle, which automatically determines
* the optimum fast decay portion for the motor. Anyhow, a number of settings can be made in order to optimally fit the driver
* to the motor.
* Each chopper cycle is comprised of an on-phase, a slow decay phase, a fast decay phase and a second slow decay phase.
* The slow decay phases limit the maximum chopper frequency and are important for low motor and driver power dissipation.
* The hysteresis start setting limits the chopper frequency by forcing the driver to introduce a minimum amount of
* current ripple into the motor coils. The motor inductivity determines the ability to follow a changing motor current.
* The duration of the on- and fast decay phase needs to cover at least the blank time, because the current comparator is
* disabled during this time.
*
* \sa setRandomOffTime() for spreading the noise over a wider spectrum
*/
void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement);
/*!
* \brief Use random off time for noise reduction (0 for off, -1 for on).
* \param value 0 for off, -1 for on
*
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized.
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity,
* thus it depends on the microstep position. With some motors a slightly audible beat can occur between the chopper
* frequencies, especially when they are near to each other. This typically occurs at a few microstep positions within
* each quarter wave.
* This effect normally is not audible when compared to mechanical noise generated by ball bearings,
* etc. Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided.
* It modulates the slow decay time setting when switched on. The random off time feature further spreads the chopper spectrum,
* reducing electromagnetic emission on single frequencies.
*/
void setRandomOffTime(char value);
/*!
* \brief set the maximum motor current in mA (1000 is 1 Amp)
* Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller
* by employing CoolStep.
* \param current the maximum motor current in mA
* \sa getCurrent(), getCurrentCurrent()
*/
void setCurrent(unsigned int current);
/*!
* \brief readout the motor maximum current in mA (1000 is an Amp)
* This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()
*\return the maximum motor current in milli amps
* \sa getCurrentCurrent()
*/
unsigned int getCurrent(void);
/*!
* \brief set the StallGuard threshold in order to get sensible StallGuard readings.
* \param stall_guard_threshold -64 … 63 the StallGuard threshold
* \param stall_guard_filter_enabled 0 if the filter is disabled, -1 if it is enabled
*
* The StallGuard threshold is used to optimize the StallGuard reading to sensible values. It should be at 0 at
* the maximum allowable load on the otor (but not before). = is a good starting point (and the default)
* If you get Stall Gaurd readings of 0 without any load or with too little laod increase the value.
* If you get readings of 1023 even with load decrease the setting.
*
* If you switch on the filter the StallGuard reading is only updated each 4th full step to reduce the noise in the
* reading.
*
* \sa getCurrentStallGuardReading() to read out the current value.
*/
void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
/*!
* \brief reads out the StallGuard threshold
* \return a number between -64 and 63.
*/
char getStallGuardThreshold(void);
/*!
* \brief returns the current setting of the StallGuard filter
* \return 0 if not set, -1 if set
*/
char getStallGuardFilter(void);
/*!
* \brief This method configures the CoolStep smart energy operation. You must have a proper StallGuard configuration for the motor situation (current, voltage, speed) in rder to use this feature.
* \param lower_SG_threshold Sets the lower threshold for stallGuard2TM reading. Below this value, the motor current becomes increased. Allowed values are 0...480
* \param SG_hysteresis Sets the distance between the lower and the upper threshold for stallGuard2TM reading. Above the upper threshold (which is lower_SG_threshold+SG_hysteresis+1) the motor current becomes decreased. Allowed values are 0...480
* \param current_decrement_step_size Sets the current decrement steps. If the StallGuard value is above the threshold the current gets decremented by this step size. 0...32
* \param current_increment_step_size Sets the current increment step. The current becomes incremented for each measured stallGuard2TM value below the lower threshold. 0...8
* \param lower_current_limit Sets the lower motor current limit for coolStepTM operation by scaling the CS value. Values can be COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
* The CoolStep smart energy operation automatically adjust the current sent into the motor according to the current load,
* read out by the StallGuard in order to provide the optimum torque with the minimal current consumption.
* You configure the CoolStep current regulator by defining upper and lower bounds of StallGuard readouts. If the readout is above the
* limit the current gets increased, below the limit the current gets decreased.
* You can specify the upper an lower threshold of the StallGuard readout in order to adjust the current. You can also set the number of
* StallGuard readings neccessary above or below the limit to get a more stable current adjustement.
* The current adjustement itself is configured by the number of steps the current gests in- or decreased and the absolut minimum current
* (1/2 or 1/4th otf the configured current).
* \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
*/
void setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
unsigned char current_increment_step_size, unsigned char lower_current_limit);
/*!
* \brief enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it.
* \param enabled true if CoolStep should be enabled, false if not.
* \sa setCoolStepConfiguration()
*/
void setCoolStepEnabled(boolean enabled);
/*!
* \brief check if the CoolStep feature is enabled
* \sa setCoolStepEnabled()
*/
boolean isCoolStepEnabled();
/*!
* \brief returns the lower StallGuard threshold for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned int getCoolStepLowerSgThreshold();
/*!
* \brief returns the upper StallGuard threshold for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned int getCoolStepUpperSgThreshold();
/*!
* \brief returns the number of StallGuard readings befor CoolStep adjusts the motor current.
* \sa setCoolStepConfiguration()
*/
unsigned char getCoolStepNumberOfSGReadings();
/*!
* \brief returns the increment steps for the current for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned char getCoolStepCurrentIncrementSize();
/*!
* \brief returns the absolut minium current for the CoolStep operation
* \sa setCoolStepConfiguration()
* \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
*/
unsigned char getCoolStepLowerCurrentLimit();
/*!
* \brief Get the current microstep position for phase A
* \return The current microstep position for phase A 0…255
*
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
*/
int getMotorPosition(void);
/*!
* \brief Reads the current StallGuard value.
* \return The current StallGuard value, lesser values indicate higher load, 0 means stall detected.
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
int getCurrentStallGuardReading(void);
/*!
* \brief Reads the current current setting value as fraction of the maximum current
* Returns values between 0 and 31, representing 1/32 to 32/32 (=1)
* \sa setCoolStepConfiguration()
*/
unsigned char getCurrentCSReading(void);
/*!
*\brief a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.
*\return false if 0.13V is the reference voltage, true if 0.165V is used.
*/
boolean isCurrentScalingHalfed();
/*!
* \brief Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000).
* This method calculates the currently used current setting (either by setting or by CoolStep) and reconstructs
* the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it
* may not be the fastest.
* \sa getCurrentCSReading(), getResistor(), isCurrentScalingHalfed(), getCurrent()
*/
unsigned int getCurrentCurrent(void);
/*!
* \brief checks if there is a StallGuard warning in the last status
* \return 0 if there was no warning, -1 if there was some warning.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
boolean isStallGuardOverThreshold(void);
/*!
* \brief Return over temperature status of the last status readout
* return 0 is everything is OK, TMC26X_OVERTEMPERATURE_PREWARING if status is reached, TMC26X_OVERTEMPERATURE_SHUTDOWN is the chip is shutdown, -1 if the status is unknown.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
char getOverTemperature(void);
/*!
* \brief Is motor channel A shorted to ground detected in the last status readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isShortToGroundA(void);
/*!
* \brief Is motor channel B shorted to ground detected in the last status readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isShortToGroundB(void);
/*!
* \brief iIs motor channel A connected according to the last statu readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isOpenLoadA(void);
/*!
* \brief iIs motor channel A connected according to the last statu readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isOpenLoadB(void);
/*!
* \brief Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isStandStill(void);
/*!
* \brief checks if there is a StallGuard warning in the last status
* \return 0 if there was no warning, -1 if there was some warning.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*
* \sa isStallGuardOverThreshold()
* TODO why?
*
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
boolean isStallGuardReached(void);
/*!
*\brief enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.
*\param enabled a boolean value true if the motor should be enabled, false otherwise.
*/
void setEnabled(boolean enabled);
/*!
*\brief checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely
*\return true if the bridges and by that the motor driver are enabled, false if not.
*\sa setEnabled()
*/
boolean isEnabled();
/*!
* \brief Manually read out the status register
* This function sends a byte to the motor driver in order to get the current readout. The parameter read_value
* seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method
* automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method
* may take time to send and read one or two bits - depending on the previous readout.
* \param read_value selects which value to read out (0..3). You can use the defines TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, or TMC_262_READOUT_CURRENT
* \sa TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, TMC_262_READOUT_CURRENT
*/
void readStatus(char read_value);
/*!
* \brief Returns the current sense resistor value in milliohm.
* The default value of ,15 Ohm will return 150.
*/
int getResistor();
/*!
* \brief Prints out all the information that can be found in the last status read out - it does not force a status readout.
* The result is printed via Serial
*/
void debugLastStatus(void);
/*!
* \brief library version
* \return the version number as int.
*/
int version(void);
private:
unsigned int steps_left; //the steps the motor has to do to complete the movement
int direction; // Direction of rotation
unsigned long step_delay; // delay between steps, in ms, based on speed
int number_of_steps; // total number of steps this motor can take
unsigned int speed; // we need to store the current speed in order to change the speed after changing microstepping
unsigned int resistor; //current sense resitor value in milliohm
unsigned long last_step_time; // time stamp in ms of when the last step was taken
unsigned long next_step_time; // time stamp in ms of when the last step was taken
//driver control register copies to easily set & modify the registers
unsigned long driver_control_register_value;
unsigned long chopper_config_register;
unsigned long cool_step_register_value;
unsigned long stall_guard2_current_register_value;
unsigned long driver_configuration_register_value;
//the driver status result
unsigned long driver_status_result;
//helper routione to get the top 10 bit of the readout
inline int getReadoutValue();
//the pins for the stepper driver
unsigned char cs_pin;
unsigned char step_pin;
unsigned char dir_pin;
//status values
boolean started; //if the stepper has been started yet
int microsteps; //the current number of micro steps
char constant_off_time; //we need to remember this value in order to enable and disable the motor
unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
boolean cool_step_enabled; //we need to remember this to configure the coolstep if it si enabled
//SPI sender
inline void send262(unsigned long datagram);
};
#endif

68
Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h Normal file
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@ -0,0 +1,68 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef _ENDSTOP_INTERRUPTS_H_
#define _ENDSTOP_INTERRUPTS_H_
void setup_endstop_interrupts(void) {
#if HAS_X_MAX
pinMode(X_MAX_PIN, INPUT);
attachInterrupt(X_MAX_PIN, endstop_ISR, CHANGE); // assign it
#endif
#if HAS_X_MIN
pinMode(X_MIN_PIN, INPUT);
attachInterrupt(X_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Y_MAX
pinMode(Y_MAX_PIN, INPUT);
attachInterrupt(Y_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Y_MIN
pinMode(Y_MIN_PIN, INPUT);
attachInterrupt(Y_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MAX
pinMode(Z_MAX_PIN, INPUT);
attachInterrupt(Z_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN
pinMode(Z_MIN_PIN, INPUT);
attachInterrupt(Z_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MAX
pinMode(Z2_MAX_PIN, INPUT);
attachInterrupt(Z2_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MIN
pinMode(Z2_MIN_PIN, INPUT);
attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
pinMode(Z_MIN_PROBE_PIN, INPUT);
attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
#endif
}
#endif //_ENDSTOP_INTERRUPTS_H_

54
Marlin/src/HAL/HAL_STM32F7/fastio_STM32F7.h Normal file
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@ -0,0 +1,54 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
* Copyright (C) 2017 Victor Perez
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Fast I/O interfaces for STM32F7
* These use GPIO functions instead of Direct Port Manipulation, as on AVR.
*/
#ifndef _FASTIO_STM32F7_H
#define _FASTIO_STM32F7_H
#define _BV(bit) (1 << (bit))
#define READ(IO) digitalRead(IO)
#define WRITE(IO, v) digitalWrite(IO,v)
#define TOGGLE(IO) do{ _SET_OUTPUT(IO); digitalWrite(IO,!digitalRead(IO)); }while(0)
#define WRITE_VAR(IO, v) digitalWrite(IO,v)
#define _GET_MODE(IO)
#define _SET_MODE(IO,M) pinMode(IO, M)
#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT) /*!< Output Push Pull Mode & GPIO_NOPULL */
#define SET_INPUT(IO) _SET_MODE(IO, INPUT) /*!< Input Floating Mode */
#define SET_INPUT_PULLUP(IO) _SET_MODE(IO, INPUT_PULLUP) /*!< Input with Pull-up activation */
#define SET_INPUT_PULLDOW(IO) _SET_MODE(IO, INPUT_PULLDOWN) /*!< Input with Pull-down activation */
#define SET_OUTPUT(IO) do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
#define GET_INPUT(IO)
#define GET_OUTPUT(IO)
#define GET_TIMER(IO)
#define OUT_WRITE(IO, v) { _SET_OUTPUT(IO); WRITE(IO, v); }
#endif /* _FASTIO_STM32F7_H */

82
Marlin/src/HAL/HAL_STM32F7/persistent_store_impl.cpp Normal file
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@ -0,0 +1,82 @@
/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
* Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
* Copyright (c) 2016 Victor Perez victor_pv@hotmail.com
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef STM32F7
#include "../persistent_store_api.h"
#include "../../inc/MarlinConfig.h"
#if ENABLED(EEPROM_SETTINGS)
namespace HAL {
namespace PersistentStore {
bool access_start() {
return true;
}
bool access_finish(){
return true;
}
bool write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc) {
while (size--) {
uint8_t * const p = (uint8_t * const)pos;
uint8_t v = *value;
// EEPROM has only ~100,000 write cycles,
// so only write bytes that have changed!
if (v != eeprom_read_byte(p)) {
eeprom_write_byte(p, v);
if (eeprom_read_byte(p) != v) {
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_EEPROM_WRITE);
return true;
}
}
crc16(crc, &v, 1);
pos++;
value++;
};
return false;
}
bool read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc) {
do {
uint8_t c = eeprom_read_byte((unsigned char*)pos);
*value = c;
crc16(crc, &c, 1);
pos++;
value++;
} while (--size);
return false;
}
}
}
#endif // EEPROM_SETTINGS
#endif // STM32F7

33
Marlin/src/HAL/HAL_STM32F7/spi_pins.h Normal file
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@ -0,0 +1,33 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef SPI_PINS_H_
#define SPI_PINS_H_
/**
* Define SPI Pins: SCK, MISO, MOSI, SS
*
*/
#define SCK_PIN _STM32_PIN(PORTA, 5)
#define MISO_PIN _STM32_PIN(PORTA, 6)
#define MOSI_PIN _STM32_PIN(PORTA, 7)
#define SS_PIN _STM32_PIN(PORTA, 8)
#endif // SPI_PINS_H_

55
Marlin/src/HAL/HAL_STM32F7/watchdog_STM32F7.cpp Normal file
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@ -0,0 +1,55 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifdef STM32F7
#include "../../inc/MarlinConfig.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog_STM32F7.h"
IWDG_HandleTypeDef hiwdg;
void watchdog_init() {
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_32; //32kHz LSI clock and 32x prescalar = 1024Hz IWDG clock
hiwdg.Init.Reload = 4095; //4095 counts = 4 seconds at 1024Hz
if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
{
//Error_Handler();
}
}
void watchdog_reset() {
/* Refresh IWDG: reload counter */
if (HAL_IWDG_Refresh(&hiwdg) != HAL_OK)
{
/* Refresh Error */
//Error_Handler();
}
}
#endif // USE_WATCHDOG
#endif // STM32F7

33
Marlin/src/HAL/HAL_STM32F7/watchdog_STM32F7.h Normal file
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@ -0,0 +1,33 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef WATCHDOG_STM32F7_H
#define WATCHDOG_STM32F7_H
#include "../../../src/inc/MarlinConfig.h"
extern IWDG_HandleTypeDef hiwdg;
void watchdog_init();
void watchdog_reset();
#endif // WATCHDOG_STM32F1_H

8
Marlin/src/HAL/HAL_SanityCheck.h
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@ -24,14 +24,22 @@
#ifdef __AVR__ #ifdef __AVR__
#include "HAL_AVR/SanityCheck_AVR_8_bit.h" #include "HAL_AVR/SanityCheck_AVR_8_bit.h"
#elif defined(ARDUINO_ARCH_SAM) #elif defined(ARDUINO_ARCH_SAM)
#include "HAL_DUE/SanityCheck_Due.h" #include "HAL_DUE/SanityCheck_Due.h"
#elif IS_32BIT_TEENSY #elif IS_32BIT_TEENSY
#include "HAL_TEENSY35_36/SanityCheck_Teensy_35_36.h" #include "HAL_TEENSY35_36/SanityCheck_Teensy_35_36.h"
#elif defined(TARGET_LPC1768) #elif defined(TARGET_LPC1768)
#include "HAL_LPC1768/SanityCheck_Re_ARM.h" #include "HAL_LPC1768/SanityCheck_Re_ARM.h"
#elif defined(__STM32F1__) #elif defined(__STM32F1__)
#include "HAL_STM32F1/SanityCheck_Stm32f1.h" #include "HAL_STM32F1/SanityCheck_Stm32f1.h"
#elif defined(STM32F7)
#include "HAL_STM32F7/SanityCheck_STM32F7.h"
#else #else
#error Unsupported Platform! #error Unsupported Platform!
#endif #endif

4
Marlin/src/HAL/HAL_endstop_interrupts.h
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@ -46,6 +46,10 @@ void endstop_ISR(void) { endstop_ISR_worker(); }
#include "HAL_TEENSY35_36/endstop_interrupts.h" #include "HAL_TEENSY35_36/endstop_interrupts.h"
#elif defined(STM32F7)
#include "HAL_STM32F7/endstop_interrupts.h"
#else #else
#error Unsupported Platform! #error Unsupported Platform!

5
Marlin/src/HAL/HAL_spi_pins.h
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@ -34,8 +34,13 @@
#elif defined(TARGET_LPC1768) #elif defined(TARGET_LPC1768)
#include "HAL_LPC1768/spi_pins.h" #include "HAL_LPC1768/spi_pins.h"
#elif defined(__STM32F1__) #elif defined(__STM32F1__)
#include "HAL_STM32F1/spi_pins.h" #include "HAL_STM32F1/spi_pins.h"
#elif defined(STM32F7)
#include "HAL_STM32F7/spi_pins.h"
#else #else
#error "Unsupported Platform!" #error "Unsupported Platform!"
#endif #endif

1793
Marlin/src/config/examples/TheBorg/Configuration.h Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Configuration.h
*
* Basic settings such as:
*
* - Type of electronics
* - Type of temperature sensor
* - Printer geometry
* - Endstop configuration
* - LCD controller
* - Extra features
*
* Advanced settings can be found in Configuration_adv.h
*
*/
#ifndef CONFIGURATION_H
#define CONFIGURATION_H
#define CONFIGURATION_H_VERSION 020000
//===========================================================================
//============================= Getting Started =============================
//===========================================================================
/**
* Here are some standard links for getting your machine calibrated:
*
* http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
* http://www.thingiverse.com/thing:5573
* https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
* http://www.thingiverse.com/thing:298812
*/
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
// For a Delta printer start with one of the configuration files in the
// config/examples/delta directory and customize for your machine.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
// For a SCARA printer start with the configuration files in
// config/examples/SCARA and customize for your machine.
//
// @section info
// User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
// build by the user have been successfully uploaded into firmware.
#define STRING_CONFIG_H_AUTHOR "(Spawn32, The_Borg)" // Who made the changes.
#define SHOW_BOOTSCREEN
#define STRING_SPLASH_LINE1 SHORT_BUILD_VERSION // will be shown during bootup in line 1
#define STRING_SPLASH_LINE2 WEBSITE_URL // will be shown during bootup in line 2
//
// *** VENDORS PLEASE READ *****************************************************
//
// Marlin now allow you to have a vendor boot image to be displayed on machine
// start. When SHOW_CUSTOM_BOOTSCREEN is defined Marlin will first show your
// custom boot image and then the default Marlin boot image is shown.
//
// We suggest for you to take advantage of this new feature and keep the Marlin
// boot image unmodified. For an example have a look at the bq Hephestos 2
// example configuration folder.
//
//#define SHOW_CUSTOM_BOOTSCREEN
// @section machine
/**
* Select the serial port on the board to use for communication with the host.
* This allows the connection of wireless adapters (for instance) to non-default port pins.
* Note: The first serial port (-1 or 0) will always be used by the Arduino bootloader.
*
* :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
*/
#define SERIAL_PORT -1
/**
* Select a secondary serial port on the board to use for communication with the host.
* This allows the connection of wireless adapters (for instance) to non-default port pins.
* Serial port -1 is the USB emulated serial port, if avaialble.
*
* :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
*/
#define SERIAL_PORT_2 5
/**
* This setting determines the communication speed of the printer.
*
* 250000 works in most cases, but you might try a lower speed if
* you commonly experience drop-outs during host printing.
* You may try up to 1000000 to speed up SD file transfer.
*
* :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000]
*/
#define BAUDRATE 115200
// Enable the Bluetooth serial interface on AT90USB devices
//#define BLUETOOTH
// The following define selects which electronics board you have.
// Please choose the name from boards.h that matches your setup
#ifndef MOTHERBOARD
#define MOTHERBOARD BOARD_THE_BORG
#endif
// Optional custom name for your RepStrap or other custom machine
// Displayed in the LCD "Ready" message
//#define CUSTOM_MACHINE_NAME "3D Printer"
// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
//#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
// @section extruder
// This defines the number of extruders
// :[1, 2, 3, 4, 5]
#define EXTRUDERS 1
// Generally expected filament diameter (1.75, 2.85, 3.0, ...). Used for Volumetric, Filament Width Sensor, etc.
#define DEFAULT_NOMINAL_FILAMENT_DIA 1.75
// For Cyclops or any "multi-extruder" that shares a single nozzle.
//#define SINGLENOZZLE
/**
* Průša MK2 Single Nozzle Multi-Material Multiplexer, and variants.
*
* This device allows one stepper driver on a control board to drive
* two to eight stepper motors, one at a time, in a manner suitable
* for extruders.
*
* This option only allows the multiplexer to switch on tool-change.
* Additional options to configure custom E moves are pending.
*/
//#define MK2_MULTIPLEXER
#if ENABLED(MK2_MULTIPLEXER)
// Override the default DIO selector pins here, if needed.
// Some pins files may provide defaults for these pins.
//#define E_MUX0_PIN 40 // Always Required
//#define E_MUX1_PIN 42 // Needed for 3 to 8 steppers
//#define E_MUX2_PIN 44 // Needed for 5 to 8 steppers
#endif
// A dual extruder that uses a single stepper motor
//#define SWITCHING_EXTRUDER
#if ENABLED(SWITCHING_EXTRUDER)
#define SWITCHING_EXTRUDER_SERVO_NR 0
#define SWITCHING_EXTRUDER_SERVO_ANGLES { 0, 90 } // Angles for E0, E1[, E2, E3]
#if EXTRUDERS > 3
#define SWITCHING_EXTRUDER_E23_SERVO_NR 1
#endif
#endif
// A dual-nozzle that uses a servomotor to raise/lower one of the nozzles
//#define SWITCHING_NOZZLE
#if ENABLED(SWITCHING_NOZZLE)
#define SWITCHING_NOZZLE_SERVO_NR 0
#define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 } // Angles for E0, E1
//#define HOTEND_OFFSET_Z { 0.0, 0.0 }
#endif
/**
* Two separate X-carriages with extruders that connect to a moving part
* via a magnetic docking mechanism. Requires SOL1_PIN and SOL2_PIN.
*/
//#define PARKING_EXTRUDER
#if ENABLED(PARKING_EXTRUDER)
#define PARKING_EXTRUDER_SOLENOIDS_INVERT // If enabled, the solenoid is NOT magnetized with applied voltage
#define PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE LOW // LOW or HIGH pin signal energizes the coil
#define PARKING_EXTRUDER_SOLENOIDS_DELAY 250 // Delay (ms) for magnetic field. No delay if 0 or not defined.
#define PARKING_EXTRUDER_PARKING_X { -78, 184 } // X positions for parking the extruders
#define PARKING_EXTRUDER_GRAB_DISTANCE 1 // mm to move beyond the parking point to grab the extruder
#define PARKING_EXTRUDER_SECURITY_RAISE 5 // Z-raise before parking
#define HOTEND_OFFSET_Z { 0.0, 1.3 } // Z-offsets of the two hotends. The first must be 0.
#endif
/**
* "Mixing Extruder"
* - Adds a new code, M165, to set the current mix factors.
* - Extends the stepping routines to move multiple steppers in proportion to the mix.
* - Optional support for Repetier Firmware M163, M164, and virtual extruder.
* - This implementation supports only a single extruder.
* - Enable DIRECT_MIXING_IN_G1 for Pia Taubert's reference implementation
*/
//#define MIXING_EXTRUDER
#if ENABLED(MIXING_EXTRUDER)
#define MIXING_STEPPERS 2 // Number of steppers in your mixing extruder
#define MIXING_VIRTUAL_TOOLS 16 // Use the Virtual Tool method with M163 and M164
//#define DIRECT_MIXING_IN_G1 // Allow ABCDHI mix factors in G1 movement commands
#endif
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
// For the other hotends it is their distance from the extruder 0 hotend.
//#define HOTEND_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
//#define HOTEND_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
// @section machine
/**
* Select your power supply here. Use 0 if you haven't connected the PS_ON_PIN
*
* 0 = No Power Switch
* 1 = ATX
* 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
*
* :{ 0:'No power switch', 1:'ATX', 2:'X-Box 360' }
*/
#define POWER_SUPPLY 0
#if POWER_SUPPLY > 0
// Enable this option to leave the PSU off at startup.
// Power to steppers and heaters will need to be turned on with M80.
//#define PS_DEFAULT_OFF
#endif
// @section temperature
//===========================================================================
//============================= Thermal Settings ============================
//===========================================================================
/**
* --NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
*
* Temperature sensors available:
*
* -3 : thermocouple with MAX31855 (only for sensor 0)
* -2 : thermocouple with MAX6675 (only for sensor 0)
* -1 : thermocouple with AD595
* 0 : not used
* 1 : 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
* 2 : 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
* 3 : Mendel-parts thermistor (4.7k pullup)
* 4 : 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
* 5 : 100K thermistor - ATC Semitec 104GT-2/104NT-4-R025H42G (Used in ParCan & J-Head) (4.7k pullup)
* 6 : 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
* 7 : 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
* 71 : 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
* 8 : 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
* 9 : 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
* 10 : 100k RS thermistor 198-961 (4.7k pullup)
* 11 : 100k beta 3950 1% thermistor (4.7k pullup)
* 12 : 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
* 13 : 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
* 20 : the PT100 circuit found in the Ultimainboard V2.x
* 60 : 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
* 66 : 4.7M High Temperature thermistor from Dyze Design
* 70 : the 100K thermistor found in the bq Hephestos 2
* 75 : 100k Generic Silicon Heat Pad with NTC 100K MGB18-104F39050L32 thermistor
*
* 1k ohm pullup tables - This is atypical, and requires changing out the 4.7k pullup for 1k.
* (but gives greater accuracy and more stable PID)
* 51 : 100k thermistor - EPCOS (1k pullup)
* 52 : 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
* 55 : 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
*
* 1047 : Pt1000 with 4k7 pullup
* 1010 : Pt1000 with 1k pullup (non standard)
* 147 : Pt100 with 4k7 pullup
* 110 : Pt100 with 1k pullup (non standard)
*
* Use these for Testing or Development purposes. NEVER for production machine.
* 998 : Dummy Table that ALWAYS reads 25°C or the temperature defined below.
* 999 : Dummy Table that ALWAYS reads 100°C or the temperature defined below.
*
* :{ '0': "Not used", '1':"100k / 4.7k - EPCOS", '2':"200k / 4.7k - ATC Semitec 204GT-2", '3':"Mendel-parts / 4.7k", '4':"10k !! do not use for a hotend. Bad resolution at high temp. !!", '5':"100K / 4.7k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", '6':"100k / 4.7k EPCOS - Not as accurate as Table 1", '7':"100k / 4.7k Honeywell 135-104LAG-J01", '8':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT", '9':"100k / 4.7k GE Sensing AL03006-58.2K-97-G1", '10':"100k / 4.7k RS 198-961", '11':"100k / 4.7k beta 3950 1%", '12':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT (calibrated for Makibox hot bed)", '13':"100k Hisens 3950 1% up to 300°C for hotend 'Simple ONE ' & hotend 'All In ONE'", '20':"PT100 (Ultimainboard V2.x)", '51':"100k / 1k - EPCOS", '52':"200k / 1k - ATC Semitec 204GT-2", '55':"100k / 1k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", '60':"100k Maker's Tool Works Kapton Bed Thermistor beta=3950", '66':"Dyze Design 4.7M High Temperature thermistor", '70':"the 100K thermistor found in the bq Hephestos 2", '71':"100k / 4.7k Honeywell 135-104LAF-J01", '147':"Pt100 / 4.7k", '1047':"Pt1000 / 4.7k", '110':"Pt100 / 1k (non-standard)", '1010':"Pt1000 / 1k (non standard)", '-3':"Thermocouple + MAX31855 (only for sensor 0)", '-2':"Thermocouple + MAX6675 (only for sensor 0)", '-1':"Thermocouple + AD595",'998':"Dummy 1", '999':"Dummy 2" }
*/
#define TEMP_SENSOR_0 5
#define TEMP_SENSOR_1 0
#define TEMP_SENSOR_2 0
#define TEMP_SENSOR_3 0
#define TEMP_SENSOR_4 0
#define TEMP_SENSOR_BED 5
// Dummy thermistor constant temperature readings, for use with 998 and 999
#define DUMMY_THERMISTOR_998_VALUE 25
#define DUMMY_THERMISTOR_999_VALUE 100
// Use temp sensor 1 as a redundant sensor with sensor 0. If the readings
// from the two sensors differ too much the print will be aborted.
//#define TEMP_SENSOR_1_AS_REDUNDANT
#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
// Extruder temperature must be close to target for this long before M109 returns success
#define TEMP_RESIDENCY_TIME 10 // (seconds)
#define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one
#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early.
// Bed temperature must be close to target for this long before M190 returns success
#define TEMP_BED_RESIDENCY_TIME 10 // (seconds)
#define TEMP_BED_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one
#define TEMP_BED_WINDOW 1 // (degC) Window around target to start the residency timer x degC early.
// The minimal temperature defines the temperature below which the heater will not be enabled It is used
// to check that the wiring to the thermistor is not broken.
// Otherwise this would lead to the heater being powered on all the time.
#define HEATER_0_MINTEMP 5
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define HEATER_3_MINTEMP 5
#define HEATER_4_MINTEMP 5
#define BED_MINTEMP 5
// When temperature exceeds max temp, your heater will be switched off.
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
// You should use MINTEMP for thermistor short/failure protection.
#define HEATER_0_MAXTEMP 275
#define HEATER_1_MAXTEMP 275
#define HEATER_2_MAXTEMP 275
#define HEATER_3_MAXTEMP 275
#define HEATER_4_MAXTEMP 275
#define BED_MAXTEMP 150
//===========================================================================
//============================= PID Settings ================================
//===========================================================================
// PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning
// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
#define BANG_MAX 255 // Limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX BANG_MAX // Limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#define PID_K1 0.95 // Smoothing factor within any PID loop
#if ENABLED(PIDTEMP)
//#define PID_AUTOTUNE_MENU // Add PID Autotune to the LCD "Temperature" menu to run M303 and apply the result.
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
//#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders)
// Set/get with gcode: M301 E[extruder number, 0-2]
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
// Ultimaker
#define DEFAULT_Kp 18.21
#define DEFAULT_Ki 1.42
#define DEFAULT_Kd 58.34
// MakerGear
//#define DEFAULT_Kp 7.0
//#define DEFAULT_Ki 0.1
//#define DEFAULT_Kd 12
// Mendel Parts V9 on 12V
//#define DEFAULT_Kp 63.0
//#define DEFAULT_Ki 2.25
//#define DEFAULT_Kd 440
#endif // PIDTEMP
//===========================================================================
//============================= PID > Bed Temperature Control ===============
//===========================================================================
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//
// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
// If your PID_dT is the default, and correct for your hardware/configuration, that means 7.689Hz,
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
// If your configuration is significantly different than this and you don't understand the issues involved, you probably
// shouldn't use bed PID until someone else verifies your hardware works.
// If this is enabled, find your own PID constants below.
//#define PIDTEMPBED
//#define BED_LIMIT_SWITCHING
// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
#if ENABLED(PIDTEMPBED)
//#define PID_BED_DEBUG // Sends debug data to the serial port.
//120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
#define DEFAULT_bedKp 554.16
#define DEFAULT_bedKi 64.07
#define DEFAULT_bedKd 1198.25
//120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from pidautotune
//#define DEFAULT_bedKp 97.1
//#define DEFAULT_bedKi 1.41
//#define DEFAULT_bedKd 1675.16
// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
#endif // PIDTEMPBED
// @section extruder
// This option prevents extrusion if the temperature is below EXTRUDE_MINTEMP.
// It also enables the M302 command to set the minimum extrusion temperature
// or to allow moving the extruder regardless of the hotend temperature.
// *** IT IS HIGHLY RECOMMENDED TO LEAVE THIS OPTION ENABLED! ***
#define PREVENT_COLD_EXTRUSION
#define EXTRUDE_MINTEMP 170
// This option prevents a single extrusion longer than EXTRUDE_MAXLENGTH.
// Note that for Bowden Extruders a too-small value here may prevent loading.
#define PREVENT_LENGTHY_EXTRUDE
#define EXTRUDE_MAXLENGTH 200
//===========================================================================
//======================== Thermal Runaway Protection =======================
//===========================================================================
/**
* Thermal Protection provides additional protection to your printer from damage
* and fire. Marlin always includes safe min and max temperature ranges which
* protect against a broken or disconnected thermistor wire.
*
* The issue: If a thermistor falls out, it will report the much lower
* temperature of the air in the room, and the the firmware will keep
* the heater on.
*
* If you get "Thermal Runaway" or "Heating failed" errors the
* details can be tuned in Configuration_adv.h
*/
#define THERMAL_PROTECTION_HOTENDS // Enable thermal protection for all extruders
#define THERMAL_PROTECTION_BED // Enable thermal protection for the heated bed
//===========================================================================
//============================= Mechanical Settings =========================
//===========================================================================
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
//===========================================================================
//============================== Endstop Settings ===========================
//===========================================================================
// @section homing
// Specify here all the endstop connectors that are connected to any endstop or probe.
// Almost all printers will be using one per axis. Probes will use one or more of the
// extra connectors. Leave undefined any used for non-endstop and non-probe purposes.
#define USE_XMIN_PLUG
#define USE_YMIN_PLUG
#define USE_ZMIN_PLUG
//#define USE_XMAX_PLUG
//#define USE_YMAX_PLUG
//#define USE_ZMAX_PLUG
// coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
#if DISABLED(ENDSTOPPULLUPS)
// fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
//#define ENDSTOPPULLUP_XMAX
//#define ENDSTOPPULLUP_YMAX
//#define ENDSTOPPULLUP_ZMAX
//#define ENDSTOPPULLUP_XMIN
//#define ENDSTOPPULLUP_YMIN
//#define ENDSTOPPULLUP_ZMIN
//#define ENDSTOPPULLUP_ZMIN_PROBE
#endif
// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
#define X_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Y_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define X_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Y_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the probe.
// Enable this feature if all enabled endstop pins are interrupt-capable.
// This will remove the need to poll the interrupt pins, saving many CPU cycles.
//#define ENDSTOP_INTERRUPTS_FEATURE
//=============================================================================
//============================== Movement Settings ============================
//=============================================================================
// @section motion
/**
* Default Settings
*
* These settings can be reset by M502
*
* Note that if EEPROM is enabled, saved values will override these.
*/
/**
* With this option each E stepper can have its own factors for the
* following movement settings. If fewer factors are given than the
* total number of extruders, the last value applies to the rest.
*/
//#define DISTINCT_E_FACTORS
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 200, 200, 800, 280 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 5, 25 }
/**
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
* X, Y, Z, E0 [, E1[, E2[, E3[, E4]]]]
*/
#define DEFAULT_MAX_ACCELERATION { 9000, 9000, 100, 10000 }
/**
* Default Acceleration (change/s) change = mm/s
* Override with M204
*
* M204 P Acceleration
* M204 R Retract Acceleration
* M204 T Travel Acceleration
*/
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration for retracts
#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration for travel (non printing) moves
/**
* Default Jerk (mm/s)
* Override with M205 X Y Z E
*
* "Jerk" specifies the minimum speed change that requires acceleration.
* When changing speed and direction, if the difference is less than the
* value set here, it may happen instantaneously.
*/
#define DEFAULT_XJERK 10.0
#define DEFAULT_YJERK 10.0
#define DEFAULT_ZJERK 0.3
#define DEFAULT_EJERK 5.0
//===========================================================================
//============================= Z Probe Options =============================
//===========================================================================
// @section probes
//
// See http://marlinfw.org/docs/configuration/probes.html
//
/**
* Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
*
* Enable this option for a probe connected to the Z Min endstop pin.
*/
#define Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
/**
* Z_MIN_PROBE_ENDSTOP
*
* Enable this option for a probe connected to any pin except Z-Min.
* (By default Marlin assumes the Z-Max endstop pin.)
* To use a custom Z Probe pin, set Z_MIN_PROBE_PIN below.
*
* - The simplest option is to use a free endstop connector.
* - Use 5V for powered (usually inductive) sensors.
*
* - RAMPS 1.3/1.4 boards may use the 5V, GND, and Aux4->D32 pin:
* - For simple switches connect...
* - normally-closed switches to GND and D32.
* - normally-open switches to 5V and D32.
*
* WARNING: Setting the wrong pin may have unexpected and potentially
* disastrous consequences. Use with caution and do your homework.
*
*/
//#define Z_MIN_PROBE_ENDSTOP
/**
* Probe Type
*
* Allen Key Probes, Servo Probes, Z-Sled Probes, FIX_MOUNTED_PROBE, etc.
* Activate one of these to use Auto Bed Leveling below.
*/
/**
* The "Manual Probe" provides a means to do "Auto" Bed Leveling without a probe.
* Use G29 repeatedly, adjusting the Z height at each point with movement commands
* or (with LCD_BED_LEVELING) the LCD controller.
*/
//#define PROBE_MANUALLY
/**
* A Fix-Mounted Probe either doesn't deploy or needs manual deployment.
* (e.g., an inductive probe or a nozzle-based probe-switch.)
*/
#define FIX_MOUNTED_PROBE
/**
* Z Servo Probe, such as an endstop switch on a rotating arm.
*/
//#define Z_ENDSTOP_SERVO_NR 0 // Defaults to SERVO 0 connector.
//#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
/**
* The BLTouch probe uses a Hall effect sensor and emulates a servo.
*/
//#define BLTOUCH
#if ENABLED(BLTOUCH)
//#define BLTOUCH_DELAY 375 // (ms) Enable and increase if needed
#endif
/**
* Enable one or more of the following if probing seems unreliable.
* Heaters and/or fans can be disabled during probing to minimize electrical
* noise. A delay can also be added to allow noise and vibration to settle.
* These options are most useful for the BLTouch probe, but may also improve
* readings with inductive probes and piezo sensors.
*/
//#define PROBING_HEATERS_OFF // Turn heaters off when probing
//#define PROBING_FANS_OFF // Turn fans off when probing
//#define DELAY_BEFORE_PROBING 200 // (ms) To prevent vibrations from triggering piezo sensors
// A probe that is deployed and stowed with a solenoid pin (SOL1_PIN)
//#define SOLENOID_PROBE
// A sled-mounted probe like those designed by Charles Bell.
//#define Z_PROBE_SLED
//#define SLED_DOCKING_OFFSET 5 // The extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
//
// For Z_PROBE_ALLEN_KEY see the Delta example configurations.
//
/**
* Z Probe to nozzle (X,Y) offset, relative to (0, 0).
* X and Y offsets must be integers.
*
* In the following example the X and Y offsets are both positive:
* #define X_PROBE_OFFSET_FROM_EXTRUDER 10
* #define Y_PROBE_OFFSET_FROM_EXTRUDER 10
*
* +-- BACK ---+
* | |
* L | (+) P | R <-- probe (20,20)
* E | | I
* F | (-) N (+) | G <-- nozzle (10,10)
* T | | H
* | (-) | T
* | |
* O-- FRONT --+
* (0,0)
*/
#define X_PROBE_OFFSET_FROM_EXTRUDER 32 // X offset: -left +right [of the nozzle]
#define Y_PROBE_OFFSET_FROM_EXTRUDER 5 // Y offset: -front +behind [the nozzle]
#define Z_PROBE_OFFSET_FROM_EXTRUDER -1.3 // Z offset: -below +above [the nozzle]
// X and Y axis travel speed (mm/m) between probes
#define XY_PROBE_SPEED 8000
// Speed for the first approach when double-probing (MULTIPLE_PROBING == 2)
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
// Speed for the "accurate" probe of each point
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)
// The number of probes to perform at each point.
// Set to 2 for a fast/slow probe, using the second probe result.
// Set to 3 or more for slow probes, averaging the results.
#define MULTIPLE_PROBING 2
/**
* Z probes require clearance when deploying, stowing, and moving between
* probe points to avoid hitting the bed and other hardware.
* Servo-mounted probes require extra space for the arm to rotate.
* Inductive probes need space to keep from triggering early.
*
* Use these settings to specify the distance (mm) to raise the probe (or
* lower the bed). The values set here apply over and above any (negative)
* probe Z Offset set with Z_PROBE_OFFSET_FROM_EXTRUDER, M851, or the LCD.
* Only integer values >= 1 are valid here.
*
* Example: `M851 Z-5` with a CLEARANCE of 4 => 9mm from bed to nozzle.
* But: `M851 Z+1` with a CLEARANCE of 2 => 2mm from bed to nozzle.
*/
#define Z_CLEARANCE_DEPLOY_PROBE 5 // Z Clearance for Deploy/Stow
#define Z_CLEARANCE_BETWEEN_PROBES 5 // Z Clearance between probe points
// For M851 give a range for adjusting the Z probe offset
#define Z_PROBE_OFFSET_RANGE_MIN -20
#define Z_PROBE_OFFSET_RANGE_MAX 20
// Enable the M48 repeatability test to test probe accuracy
//#define Z_MIN_PROBE_REPEATABILITY_TEST
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
// :{ 0:'Low', 1:'High' }
#define X_ENABLE_ON 1
#define Y_ENABLE_ON 1
#define Z_ENABLE_ON 1
#define E_ENABLE_ON 1 // For all extruders
// Disables axis stepper immediately when it's not being used.
// WARNING: When motors turn off there is a chance of losing position accuracy!
#define DISABLE_X false
#define DISABLE_Y false
#define DISABLE_Z false
// Warn on display about possibly reduced accuracy
//#define DISABLE_REDUCED_ACCURACY_WARNING
// @section extruder
#define DISABLE_E false // For all extruders
#define DISABLE_INACTIVE_EXTRUDER true // Keep only the active extruder enabled.
// @section machine
// Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
#define INVERT_X_DIR true
#define INVERT_Y_DIR true
#define INVERT_Z_DIR true
// Enable this option for Toshiba stepper drivers
//#define CONFIG_STEPPERS_TOSHIBA
// @section extruder
// For direct drive extruder v9 set to true, for geared extruder set to false.
#define INVERT_E0_DIR false
#define INVERT_E1_DIR false
#define INVERT_E2_DIR false
#define INVERT_E3_DIR false
#define INVERT_E4_DIR false
// @section homing
//#define NO_MOTION_BEFORE_HOMING // Inhibit movement until all axes have been homed
//#define Z_HOMING_HEIGHT 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
// Be sure you have this distance over your Z_MAX_POS in case.
// Direction of endstops when homing; 1=MAX, -1=MIN
// :[-1,1]
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1
// @section machine
// The size of the print bed
#define X_BED_SIZE 213
#define Y_BED_SIZE 220
// Travel limits (mm) after homing, corresponding to endstop positions.
#define X_MIN_POS 0
#define Y_MIN_POS 0
#define Z_MIN_POS 0
#define X_MAX_POS X_BED_SIZE
#define Y_MAX_POS Y_BED_SIZE
#define Z_MAX_POS 200
/**
* Software Endstops
*
* - Prevent moves outside the set machine bounds.
* - Individual axes can be disabled, if desired.
* - X and Y only apply to Cartesian robots.
* - Use 'M211' to set software endstops on/off or report current state
*/
// Min software endstops constrain movement within minimum coordinate bounds
#define MIN_SOFTWARE_ENDSTOPS
#if ENABLED(MIN_SOFTWARE_ENDSTOPS)
#define MIN_SOFTWARE_ENDSTOP_X
#define MIN_SOFTWARE_ENDSTOP_Y
#define MIN_SOFTWARE_ENDSTOP_Z
#endif
// Max software endstops constrain movement within maximum coordinate bounds
#define MAX_SOFTWARE_ENDSTOPS
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
#define MAX_SOFTWARE_ENDSTOP_X
#define MAX_SOFTWARE_ENDSTOP_Y
#define MAX_SOFTWARE_ENDSTOP_Z
#endif
/**
* Filament Runout Sensor
* A mechanical or opto endstop is used to check for the presence of filament.
*
* RAMPS-based boards use SERVO3_PIN.
* For other boards you may need to define FIL_RUNOUT_PIN.
* By default the firmware assumes HIGH = has filament, LOW = ran out
*/
//#define FILAMENT_RUNOUT_SENSOR
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
#define FIL_RUNOUT_INVERTING false // set to true to invert the logic of the sensor.
#define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.
#define FILAMENT_RUNOUT_SCRIPT "M600"
#endif
//===========================================================================
//=============================== Bed Leveling ==============================
//===========================================================================
// @section calibrate
/**
* Choose one of the options below to enable G29 Bed Leveling. The parameters
* and behavior of G29 will change depending on your selection.
*
* If using a Probe for Z Homing, enable Z_SAFE_HOMING also!
*
* - AUTO_BED_LEVELING_3POINT
* Probe 3 arbitrary points on the bed (that aren't collinear)
* You specify the XY coordinates of all 3 points.
* The result is a single tilted plane. Best for a flat bed.
*
* - AUTO_BED_LEVELING_LINEAR
* Probe several points in a grid.
* You specify the rectangle and the density of sample points.
* The result is a single tilted plane. Best for a flat bed.
*
* - AUTO_BED_LEVELING_BILINEAR
* Probe several points in a grid.
* You specify the rectangle and the density of sample points.
* The result is a mesh, best for large or uneven beds.
*
* - AUTO_BED_LEVELING_UBL (Unified Bed Leveling)
* A comprehensive bed leveling system combining the features and benefits
* of other systems. UBL also includes integrated Mesh Generation, Mesh
* Validation and Mesh Editing systems.
*
* - MESH_BED_LEVELING
* Probe a grid manually
* The result is a mesh, suitable for large or uneven beds. (See BILINEAR.)
* For machines without a probe, Mesh Bed Leveling provides a method to perform
* leveling in steps so you can manually adjust the Z height at each grid-point.
* With an LCD controller the process is guided step-by-step.
*/
//#define AUTO_BED_LEVELING_3POINT
//#define AUTO_BED_LEVELING_LINEAR
//#define AUTO_BED_LEVELING_BILINEAR
//#define AUTO_BED_LEVELING_UBL
//#define MESH_BED_LEVELING
/**
* Enable detailed logging of G28, G29, M48, etc.
* Turn on with the command 'M111 S32'.
* NOTE: Requires a lot of PROGMEM!
*/
//#define DEBUG_LEVELING_FEATURE
#if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL)
// Gradually reduce leveling correction until a set height is reached,
// at which point movement will be level to the machine's XY plane.
// The height can be set with M420 Z<height>
#define ENABLE_LEVELING_FADE_HEIGHT
// For Cartesian machines, instead of dividing moves on mesh boundaries,
// split up moves into short segments like a Delta. This follows the
// contours of the bed more closely than edge-to-edge straight moves.
#define SEGMENT_LEVELED_MOVES
#define LEVELED_SEGMENT_LENGTH 5.0 // (mm) Length of all segments (except the last one)
/**
* Enable the G26 Mesh Validation Pattern tool.
*/
//#define G26_MESH_VALIDATION
#if ENABLED(G26_MESH_VALIDATION)
#define MESH_TEST_NOZZLE_SIZE 0.4 // (mm) Diameter of primary nozzle.
#define MESH_TEST_LAYER_HEIGHT 0.2 // (mm) Default layer height for the G26 Mesh Validation Tool.
#define MESH_TEST_HOTEND_TEMP 205.0 // (°C) Default nozzle temperature for the G26 Mesh Validation Tool.
#define MESH_TEST_BED_TEMP 60.0 // (°C) Default bed temperature for the G26 Mesh Validation Tool.
#endif
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Set the number of grid points per dimension.
#define GRID_MAX_POINTS_X 3
#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
// Set the boundaries for probing (where the probe can reach).
#define LEFT_PROBE_BED_POSITION 32
#define RIGHT_PROBE_BED_POSITION 210
#define FRONT_PROBE_BED_POSITION 10
#define BACK_PROBE_BED_POSITION 210
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Beyond the probed grid, continue the implied tilt?
// Default is to maintain the height of the nearest edge.
//#define EXTRAPOLATE_BEYOND_GRID
//
// Experimental Subdivision of the grid by Catmull-Rom method.
// Synthesizes intermediate points to produce a more detailed mesh.
//
//#define ABL_BILINEAR_SUBDIVISION
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
// Number of subdivisions between probe points
#define BILINEAR_SUBDIVISIONS 3
#endif
#endif
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.
// A simple cross-product is used to estimate the plane of the bed.
#define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15
#define ABL_PROBE_PT_2_Y 20
#define ABL_PROBE_PT_3_X 170
#define ABL_PROBE_PT_3_Y 20
#elif ENABLED(AUTO_BED_LEVELING_UBL)
//===========================================================================
//========================= Unified Bed Leveling ============================
//===========================================================================
//#define MESH_EDIT_GFX_OVERLAY // Display a graphics overlay while editing the mesh
#define MESH_INSET 1 // Mesh inset margin on print area
#define GRID_MAX_POINTS_X 10 // Don't use more than 15 points per axis, implementation limited.
#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
#define UBL_PROBE_PT_1_X 39 // Probing points for 3-Point leveling of the mesh
#define UBL_PROBE_PT_1_Y 180
#define UBL_PROBE_PT_2_X 39
#define UBL_PROBE_PT_2_Y 20
#define UBL_PROBE_PT_3_X 180
#define UBL_PROBE_PT_3_Y 20
#define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle
#define UBL_SAVE_ACTIVE_ON_M500 // Save the currently active mesh in the current slot on M500
#elif ENABLED(MESH_BED_LEVELING)
//===========================================================================
//=================================== Mesh ==================================
//===========================================================================
#define MESH_INSET 10 // Mesh inset margin on print area
#define GRID_MAX_POINTS_X 3 // Don't use more than 7 points per axis, implementation limited.
#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
//#define MESH_G28_REST_ORIGIN // After homing all axes ('G28' or 'G28 XYZ') rest Z at Z_MIN_POS
#endif // BED_LEVELING
/**
* Use the LCD controller for bed leveling
* Requires MESH_BED_LEVELING or PROBE_MANUALLY
*/
//#define LCD_BED_LEVELING
#if ENABLED(LCD_BED_LEVELING)
#define MBL_Z_STEP 0.025 // Step size while manually probing Z axis.
#define LCD_PROBE_Z_RANGE 4 // Z Range centered on Z_MIN_POS for LCD Z adjustment
#endif
// Add a menu item to move between bed corners for manual bed adjustment
//#define LEVEL_BED_CORNERS
/**
* Commands to execute at the end of G29 probing.
* Useful to retract or move the Z probe out of the way.
*/
//#define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10"
// @section homing
// The center of the bed is at (X=0, Y=0)
//#define BED_CENTER_AT_0_0
// Manually set the home position. Leave these undefined for automatic settings.
// For DELTA this is the top-center of the Cartesian print volume.
//#define MANUAL_X_HOME_POS 0
//#define MANUAL_Y_HOME_POS 0
//#define MANUAL_Z_HOME_POS 0
// Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
//
// With this feature enabled:
//
// - Allow Z homing only after X and Y homing AND stepper drivers still enabled.
// - If stepper drivers time out, it will need X and Y homing again before Z homing.
// - Move the Z probe (or nozzle) to a defined XY point before Z Homing when homing all axes (G28).
// - Prevent Z homing when the Z probe is outside bed area.
//
//#define Z_SAFE_HOMING
#if ENABLED(Z_SAFE_HOMING)
#define Z_SAFE_HOMING_X_POINT ((X_BED_SIZE) / 2) // X point for Z homing when homing all axes (G28).
#define Z_SAFE_HOMING_Y_POINT ((Y_BED_SIZE) / 2) // Y point for Z homing when homing all axes (G28).
#endif
// Homing speeds (mm/m)
#define HOMING_FEEDRATE_XY (50*60)
#define HOMING_FEEDRATE_Z (4*60)
// @section calibrate
/**
* Bed Skew Compensation
*
* This feature corrects for misalignment in the XYZ axes.
*
* Take the following steps to get the bed skew in the XY plane:
* 1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
* 2. For XY_DIAG_AC measure the diagonal A to C
* 3. For XY_DIAG_BD measure the diagonal B to D
* 4. For XY_SIDE_AD measure the edge A to D
*
* Marlin automatically computes skew factors from these measurements.
* Skew factors may also be computed and set manually:
*
* - Compute AB : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
* - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
*
* If desired, follow the same procedure for XZ and YZ.
* Use these diagrams for reference:
*
* Y Z Z
* ^ B-------C ^ B-------C ^ B-------C
* | / / | / / | / /
* | / / | / / | / /
* | A-------D | A-------D | A-------D
* +-------------->X +-------------->X +-------------->Y
* XY_SKEW_FACTOR XZ_SKEW_FACTOR YZ_SKEW_FACTOR
*/
//#define SKEW_CORRECTION
#if ENABLED(SKEW_CORRECTION)
// Input all length measurements here:
#define XY_DIAG_AC 282.8427124746
#define XY_DIAG_BD 282.8427124746
#define XY_SIDE_AD 200
// Or, set the default skew factors directly here
// to override the above measurements:
#define XY_SKEW_FACTOR 0.0
//#define SKEW_CORRECTION_FOR_Z
#if ENABLED(SKEW_CORRECTION_FOR_Z)
#define XZ_DIAG_AC 282.8427124746
#define XZ_DIAG_BD 282.8427124746
#define YZ_DIAG_AC 282.8427124746
#define YZ_DIAG_BD 282.8427124746
#define YZ_SIDE_AD 200
#define XZ_SKEW_FACTOR 0.0
#define YZ_SKEW_FACTOR 0.0
#endif
// Enable this option for M852 to set skew at runtime
//#define SKEW_CORRECTION_GCODE
#endif
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// @section extras
//
// EEPROM
//
// The microcontroller can store settings in the EEPROM, e.g. max velocity...
// M500 - stores parameters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
//
//#define EEPROM_SETTINGS // Enable for M500 and M501 commands
//#define DISABLE_M503 // Saves ~2700 bytes of PROGMEM. Disable for release!
#define EEPROM_CHITCHAT // Give feedback on EEPROM commands. Disable to save PROGMEM.
//
// Host Keepalive
//
// When enabled Marlin will send a busy status message to the host
// every couple of seconds when it can't accept commands.
//
#define HOST_KEEPALIVE_FEATURE // Disable this if your host doesn't like keepalive messages
#define DEFAULT_KEEPALIVE_INTERVAL 2 // Number of seconds between "busy" messages. Set with M113.
#define BUSY_WHILE_HEATING // Some hosts require "busy" messages even during heating
//
// M100 Free Memory Watcher
//
//#define M100_FREE_MEMORY_WATCHER // Add M100 (Free Memory Watcher) to debug memory usage
//
// G20/G21 Inch mode support
//
//#define INCH_MODE_SUPPORT
//
// M149 Set temperature units support
//
//#define TEMPERATURE_UNITS_SUPPORT
// @section temperature
// Preheat Constants
#define PREHEAT_1_TEMP_HOTEND 180
#define PREHEAT_1_TEMP_BED 70
#define PREHEAT_1_FAN_SPEED 0 // Value from 0 to 255
#define PREHEAT_2_TEMP_HOTEND 240
#define PREHEAT_2_TEMP_BED 110
#define PREHEAT_2_FAN_SPEED 0 // Value from 0 to 255
/**
* Nozzle Park
*
* Park the nozzle at the given XYZ position on idle or G27.
*
* The "P" parameter controls the action applied to the Z axis:
*
* P0 (Default) If Z is below park Z raise the nozzle.
* P1 Raise the nozzle always to Z-park height.
* P2 Raise the nozzle by Z-park amount, limited to Z_MAX_POS.
*/
//#define NOZZLE_PARK_FEATURE
#if ENABLED(NOZZLE_PARK_FEATURE)
// Specify a park position as { X, Y, Z }
#define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MAX_POS - 10), 20 }
#define NOZZLE_PARK_XY_FEEDRATE 100 // X and Y axes feedrate in mm/s (also used for delta printers Z axis)
#define NOZZLE_PARK_Z_FEEDRATE 5 // Z axis feedrate in mm/s (not used for delta printers)
#endif
/**
* Clean Nozzle Feature -- EXPERIMENTAL
*
* Adds the G12 command to perform a nozzle cleaning process.
*
* Parameters:
* P Pattern
* S Strokes / Repetitions
* T Triangles (P1 only)
*
* Patterns:
* P0 Straight line (default). This process requires a sponge type material
* at a fixed bed location. "S" specifies strokes (i.e. back-forth motions)
* between the start / end points.
*
* P1 Zig-zag pattern between (X0, Y0) and (X1, Y1), "T" specifies the
* number of zig-zag triangles to do. "S" defines the number of strokes.
* Zig-zags are done in whichever is the narrower dimension.
* For example, "G12 P1 S1 T3" will execute:
*
* --
* | (X0, Y1) | /\ /\ /\ | (X1, Y1)
* | | / \ / \ / \ |
* A | | / \ / \ / \ |
* | | / \ / \ / \ |
* | (X0, Y0) | / \/ \/ \ | (X1, Y0)
* -- +--------------------------------+
* |________|_________|_________|
* T1 T2 T3
*
* P2 Circular pattern with middle at NOZZLE_CLEAN_CIRCLE_MIDDLE.
* "R" specifies the radius. "S" specifies the stroke count.
* Before starting, the nozzle moves to NOZZLE_CLEAN_START_POINT.
*
* Caveats: The ending Z should be the same as starting Z.
* Attention: EXPERIMENTAL. G-code arguments may change.
*
*/
//#define NOZZLE_CLEAN_FEATURE
#if ENABLED(NOZZLE_CLEAN_FEATURE)
// Default number of pattern repetitions
#define NOZZLE_CLEAN_STROKES 12
// Default number of triangles
#define NOZZLE_CLEAN_TRIANGLES 3
// Specify positions as { X, Y, Z }
#define NOZZLE_CLEAN_START_POINT { 30, 30, (Z_MIN_POS + 1)}
#define NOZZLE_CLEAN_END_POINT {100, 60, (Z_MIN_POS + 1)}
// Circular pattern radius
#define NOZZLE_CLEAN_CIRCLE_RADIUS 6.5
// Circular pattern circle fragments number
#define NOZZLE_CLEAN_CIRCLE_FN 10
// Middle point of circle
#define NOZZLE_CLEAN_CIRCLE_MIDDLE NOZZLE_CLEAN_START_POINT
// Moves the nozzle to the initial position
#define NOZZLE_CLEAN_GOBACK
#endif
/**
* Print Job Timer
*
* Automatically start and stop the print job timer on M104/M109/M190.
*
* M104 (hotend, no wait) - high temp = none, low temp = stop timer
* M109 (hotend, wait) - high temp = start timer, low temp = stop timer
* M190 (bed, wait) - high temp = start timer, low temp = none
*
* The timer can also be controlled with the following commands:
*
* M75 - Start the print job timer
* M76 - Pause the print job timer
* M77 - Stop the print job timer
*/
#define PRINTJOB_TIMER_AUTOSTART
/**
* Print Counter
*
* Track statistical data such as:
*
* - Total print jobs
* - Total successful print jobs
* - Total failed print jobs
* - Total time printing
*
* View the current statistics with M78.
*/
//#define PRINTCOUNTER
//=============================================================================
//============================= LCD and SD support ============================
//=============================================================================
// @section lcd
/**
* LCD LANGUAGE
*
* Select the language to display on the LCD. These languages are available:
*
* en, an, bg, ca, cn, cz, cz_utf8, de, el, el-gr, es, eu, fi, fr, fr_utf8, gl,
* hr, it, kana, kana_utf8, nl, pl, pt, pt_utf8, pt-br, pt-br_utf8, ru, sk_utf8,
* tr, uk, zh_CN, zh_TW, test
*
* :{ 'en':'English', 'an':'Aragonese', 'bg':'Bulgarian', 'ca':'Catalan', 'cn':'Chinese', 'cz':'Czech', 'cz_utf8':'Czech (UTF8)', 'de':'German', 'el':'Greek', 'el-gr':'Greek (Greece)', 'es':'Spanish', 'eu':'Basque-Euskera', 'fi':'Finnish', 'fr':'French', 'fr_utf8':'French (UTF8)', 'gl':'Galician', 'hr':'Croatian', 'it':'Italian', 'kana':'Japanese', 'kana_utf8':'Japanese (UTF8)', 'nl':'Dutch', 'pl':'Polish', 'pt':'Portuguese', 'pt-br':'Portuguese (Brazilian)', 'pt-br_utf8':'Portuguese (Brazilian UTF8)', 'pt_utf8':'Portuguese (UTF8)', 'ru':'Russian', 'sk_utf8':'Slovak (UTF8)', 'tr':'Turkish', 'uk':'Ukrainian', 'zh_CN':'Chinese (Simplified)', 'zh_TW':'Chinese (Taiwan)', test':'TEST' }
*/
#define LCD_LANGUAGE en
/**
* LCD Character Set
*
* Note: This option is NOT applicable to Graphical Displays.
*
* All character-based LCDs provide ASCII plus one of these
* language extensions:
*
* - JAPANESE ... the most common
* - WESTERN ... with more accented characters
* - CYRILLIC ... for the Russian language
*
* To determine the language extension installed on your controller:
*
* - Compile and upload with LCD_LANGUAGE set to 'test'
* - Click the controller to view the LCD menu
* - The LCD will display Japanese, Western, or Cyrillic text
*
* See http://marlinfw.org/docs/development/lcd_language.html
*
* :['JAPANESE', 'WESTERN', 'CYRILLIC']
*/
#define DISPLAY_CHARSET_HD44780 JAPANESE
/**
* LCD TYPE
*
* Enable ULTRA_LCD for a 16x2, 16x4, 20x2, or 20x4 character-based LCD.
* Enable DOGLCD for a 128x64 (ST7565R) Full Graphical Display.
* (These options will be enabled automatically for most displays.)
*
* IMPORTANT: The U8glib library is required for Full Graphic Display!
* https://github.com/olikraus/U8glib_Arduino
*/
//#define ULTRA_LCD // Character based
//#define DOGLCD // Full graphics display
/**
* SD CARD
*
* SD Card support is disabled by default. If your controller has an SD slot,
* you must uncomment the following option or it won't work.
*
*/
//#define SDSUPPORT
/**
* SD CARD: SPI SPEED
*
* Enable one of the following items for a slower SPI transfer speed.
* This may be required to resolve "volume init" errors.
*/
//#define SPI_SPEED SPI_HALF_SPEED
//#define SPI_SPEED SPI_QUARTER_SPEED
//#define SPI_SPEED SPI_EIGHTH_SPEED
/**
* SD CARD: ENABLE CRC
*
* Use CRC checks and retries on the SD communication.
*/
//#define SD_CHECK_AND_RETRY
//
// ENCODER SETTINGS
//
// This option overrides the default number of encoder pulses needed to
// produce one step. Should be increased for high-resolution encoders.
//
//#define ENCODER_PULSES_PER_STEP 1
//
// Use this option to override the number of step signals required to
// move between next/prev menu items.
//
//#define ENCODER_STEPS_PER_MENU_ITEM 5
/**
* Encoder Direction Options
*
* Test your encoder's behavior first with both options disabled.
*
* Reversed Value Edit and Menu Nav? Enable REVERSE_ENCODER_DIRECTION.
* Reversed Menu Navigation only? Enable REVERSE_MENU_DIRECTION.
* Reversed Value Editing only? Enable BOTH options.
*/
//
// This option reverses the encoder direction everywhere.
//
// Set this option if CLOCKWISE causes values to DECREASE
//
//#define REVERSE_ENCODER_DIRECTION
//
// This option reverses the encoder direction for navigating LCD menus.
//
// If CLOCKWISE normally moves DOWN this makes it go UP.
// If CLOCKWISE normally moves UP this makes it go DOWN.
//
//#define REVERSE_MENU_DIRECTION
//
// Individual Axis Homing
//
// Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu.
//
//#define INDIVIDUAL_AXIS_HOMING_MENU
//
// SPEAKER/BUZZER
//
// If you have a speaker that can produce tones, enable it here.
// By default Marlin assumes you have a buzzer with a fixed frequency.
//
//#define SPEAKER
//
// The duration and frequency for the UI feedback sound.
// Set these to 0 to disable audio feedback in the LCD menus.
//
// Note: Test audio output with the G-Code:
// M300 S<frequency Hz> P<duration ms>
//
//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 2
//#define LCD_FEEDBACK_FREQUENCY_HZ 5000
//
// CONTROLLER TYPE: Standard
//
// Marlin supports a wide variety of controllers.
// Enable one of the following options to specify your controller.
//
//
// Original RADDS LCD Display+Encoder+SDCardReader
// http://doku.radds.org/dokumentation/lcd-display/
//
//#define RADDS_DISPLAY
//
// ULTIMAKER Controller.
//
//#define ULTIMAKERCONTROLLER
//
// ULTIPANEL as seen on Thingiverse.
//
//#define ULTIPANEL
//
// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
// http://reprap.org/wiki/PanelOne
//
//#define PANEL_ONE
//
// MaKr3d Makr-Panel with graphic controller and SD support.
// http://reprap.org/wiki/MaKr3d_MaKrPanel
//
//#define MAKRPANEL
//
// ReprapWorld Graphical LCD
// https://reprapworld.com/?products_details&products_id/1218
//
//#define REPRAPWORLD_GRAPHICAL_LCD
//
// Activate one of these if you have a Panucatt Devices
// Viki 2.0 or mini Viki with Graphic LCD
// http://panucatt.com
//
//#define VIKI2
//#define miniVIKI
//
// Adafruit ST7565 Full Graphic Controller.
// https://github.com/eboston/Adafruit-ST7565-Full-Graphic-Controller/
//
//#define ELB_FULL_GRAPHIC_CONTROLLER
//
// RepRapDiscount Smart Controller.
// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
//
// Note: Usually sold with a white PCB.
//
//#define REPRAP_DISCOUNT_SMART_CONTROLLER
//
// GADGETS3D G3D LCD/SD Controller
// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
//
// Note: Usually sold with a blue PCB.
//
//#define G3D_PANEL
//
// RepRapDiscount FULL GRAPHIC Smart Controller
// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
//
//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
//
// MakerLab Mini Panel with graphic
// controller and SD support - http://reprap.org/wiki/Mini_panel
//
//#define MINIPANEL
//
// RepRapWorld REPRAPWORLD_KEYPAD v1.1
// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
//
// REPRAPWORLD_KEYPAD_MOVE_STEP sets how much should the robot move when a key
// is pressed, a value of 10.0 means 10mm per click.
//
//#define REPRAPWORLD_KEYPAD
//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
//
// RigidBot Panel V1.0
// http://www.inventapart.com/
//
//#define RIGIDBOT_PANEL
//
// BQ LCD Smart Controller shipped by
// default with the BQ Hephestos 2 and Witbox 2.
//
//#define BQ_LCD_SMART_CONTROLLER
//
// Cartesio UI
// http://mauk.cc/webshop/cartesio-shop/electronics/user-interface
//
//#define CARTESIO_UI
//
// ANET and Tronxy Controller supported displays.
//
//#define ZONESTAR_LCD // Requires ADC_KEYPAD_PIN to be assigned to an analog pin.
// This LCD is known to be susceptible to electrical interference
// which scrambles the display. Pressing any button clears it up.
// This is a LCD2004 display with 5 analog buttons.
//#define ANET_FULL_GRAPHICS_LCD // Anet 128x64 full graphics lcd with rotary encoder as used on Anet A6
// A clone of the RepRapDiscount full graphics display but with
// different pins/wiring (see pins_ANET_10.h).
//
// LCD for Melzi Card with Graphical LCD
//
//#define LCD_FOR_MELZI
//
// CONTROLLER TYPE: I2C
//
// Note: These controllers require the installation of Arduino's LiquidCrystal_I2C
// library. For more info: https://github.com/kiyoshigawa/LiquidCrystal_I2C
//
//
// Elefu RA Board Control Panel
// http://www.elefu.com/index.php?route=product/product&product_id=53
//
//#define RA_CONTROL_PANEL
//
// Sainsmart YW Robot (LCM1602) LCD Display
//
// Note: This controller requires F.Malpartida's LiquidCrystal_I2C library
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home
//
//#define LCD_I2C_SAINSMART_YWROBOT
//
// Generic LCM1602 LCD adapter
//
//#define LCM1602
//
// PANELOLU2 LCD with status LEDs,
// separate encoder and click inputs.
//
// Note: This controller requires Arduino's LiquidTWI2 library v1.2.3 or later.
// For more info: https://github.com/lincomatic/LiquidTWI2
//
// Note: The PANELOLU2 encoder click input can either be directly connected to
// a pin (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
//
//#define LCD_I2C_PANELOLU2
//
// Panucatt VIKI LCD with status LEDs,
// integrated click & L/R/U/D buttons, separate encoder inputs.
//
//#define LCD_I2C_VIKI
//
// SSD1306 OLED full graphics generic display
//
//#define U8GLIB_SSD1306
//
// SAV OLEd LCD module support using either SSD1306 or SH1106 based LCD modules
//
//#define SAV_3DGLCD
#if ENABLED(SAV_3DGLCD)
//#define U8GLIB_SSD1306
#define U8GLIB_SH1106
#endif
//
// CONTROLLER TYPE: Shift register panels
//
// 2 wire Non-latching LCD SR from https://goo.gl/aJJ4sH
// LCD configuration: http://reprap.org/wiki/SAV_3D_LCD
//
//#define SAV_3DLCD
//
// TinyBoy2 128x64 OLED / Encoder Panel
//
//#define OLED_PANEL_TINYBOY2
//
// Makeboard 3D Printer Parts 3D Printer Mini Display 1602 Mini Controller
// https://www.aliexpress.com/item/Micromake-Makeboard-3D-Printer-Parts-3D-Printer-Mini-Display-1602-Mini-Controller-Compatible-with-Ramps-1/32765887917.html
//
//#define MAKEBOARD_MINI_2_LINE_DISPLAY_1602
//
// MKS MINI12864 with graphic controller and SD support
// http://reprap.org/wiki/MKS_MINI_12864
//
//#define MKS_MINI_12864
//
// Factory display for Creality CR-10
// https://www.aliexpress.com/item/Universal-LCD-12864-3D-Printer-Display-Screen-With-Encoder-For-CR-10-CR-7-Model/32833148327.html
//
// This is RAMPS-compatible using a single 10-pin connector.
// (For CR-10 owners who want to replace the Melzi Creality board but retain the display)
//
//#define CR10_STOCKDISPLAY
//
// MKS OLED 1.3" 128 × 64 FULL GRAPHICS CONTROLLER
// http://reprap.org/wiki/MKS_12864OLED
//
// Tiny, but very sharp OLED display
//
//#define MKS_12864OLED // Uses the SH1106 controller (default)
//#define MKS_12864OLED_SSD1306 // Uses the SSD1306 controller
//
// AZSMZ 12864 LCD with SD
// https://www.aliexpress.com/store/product/3D-printer-smart-controller-SMART-RAMPS-OR-RAMPS-1-4-LCD-12864-LCD-control-panel-green/2179173_32213636460.html
//
//#define AZSMZ_12864
// Silvergate GLCD controller
// http://github.com/android444/Silvergate
//
//#define SILVER_GATE_GLCD_CONTROLLER
//=============================================================================
//=============================== Extra Features ==============================
//=============================================================================
// @section extras
// Increase the FAN PWM frequency. Removes the PWM noise but increases heating in the FET/Arduino
//#define FAST_PWM_FAN
// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
// which is not as annoying as with the hardware PWM. On the other hand, if this frequency
// is too low, you should also increment SOFT_PWM_SCALE.
//#define FAN_SOFT_PWM
// Incrementing this by 1 will double the software PWM frequency,
// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
// However, control resolution will be halved for each increment;
// at zero value, there are 128 effective control positions.
#define SOFT_PWM_SCALE 0
// If SOFT_PWM_SCALE is set to a value higher than 0, dithering can
// be used to mitigate the associated resolution loss. If enabled,
// some of the PWM cycles are stretched so on average the desired
// duty cycle is attained.
//#define SOFT_PWM_DITHER
// Temperature status LEDs that display the hotend and bed temperature.
// If all hotends, bed temperature, and target temperature are under 54C
// then the BLUE led is on. Otherwise the RED led is on. (1C hysteresis)
//#define TEMP_STAT_LEDS
// M240 Triggers a camera by emulating a Canon RC-1 Remote
// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
//#define PHOTOGRAPH_PIN 23
// SkeinForge sends the wrong arc g-codes when using Arc Point as fillet procedure
//#define SF_ARC_FIX
// Support for the BariCUDA Paste Extruder
//#define BARICUDA
// Support for BlinkM/CyzRgb
//#define BLINKM
// Support for PCA9632 PWM LED driver
//#define PCA9632
/**
* RGB LED / LED Strip Control
*
* Enable support for an RGB LED connected to 5V digital pins, or
* an RGB Strip connected to MOSFETs controlled by digital pins.
*
* Adds the M150 command to set the LED (or LED strip) color.
* If pins are PWM capable (e.g., 4, 5, 6, 11) then a range of
* luminance values can be set from 0 to 255.
* For Neopixel LED an overall brightness parameter is also available.
*
* *** CAUTION ***
* LED Strips require a MOFSET Chip between PWM lines and LEDs,
* as the Arduino cannot handle the current the LEDs will require.
* Failure to follow this precaution can destroy your Arduino!
* NOTE: A separate 5V power supply is required! The Neopixel LED needs
* more current than the Arduino 5V linear regulator can produce.
* *** CAUTION ***
*
* LED Type. Enable only one of the following two options.
*
*/
//#define RGB_LED
//#define RGBW_LED
#if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
#define RGB_LED_R_PIN 34
#define RGB_LED_G_PIN 43
#define RGB_LED_B_PIN 35
#define RGB_LED_W_PIN -1
#endif
// Support for Adafruit Neopixel LED driver
//#define NEOPIXEL_LED
#if ENABLED(NEOPIXEL_LED)
#define NEOPIXEL_TYPE NEO_GRB // NEO_GRBW / NEO_GRB - four/three channel driver type (defined in Adafruit_NeoPixel.h)
#define NEOPIXEL_PIN 4 // LED driving pin on motherboard 4 => D4 (EXP2-5 on Printrboard) / 30 => PC7 (EXP3-13 on Rumba)
#define NEOPIXEL_PIXELS 30 // Number of LEDs in the strip
#define NEOPIXEL_IS_SEQUENTIAL // Sequential display for temperature change - LED by LED. Disable to change all LEDs at once.
#define NEOPIXEL_BRIGHTNESS 255 // Initial brightness 0-255
//#define NEOPIXEL_STARTUP_TEST // Cycle through colors at startup
#endif
/**
* Printer Event LEDs
*
* During printing, the LEDs will reflect the printer status:
*
* - Gradually change from blue to violet as the heated bed gets to target temp
* - Gradually change from violet to red as the hotend gets to temperature
* - Change to white to illuminate work surface
* - Change to green once print has finished
* - Turn off after the print has finished and the user has pushed a button
*/
#if ENABLED(BLINKM) || ENABLED(RGB_LED) || ENABLED(RGBW_LED) || ENABLED(PCA9632) || ENABLED(NEOPIXEL_LED)
#define PRINTER_EVENT_LEDS
#endif
/**
* R/C SERVO support
* Sponsored by TrinityLabs, Reworked by codexmas
*/
/**
* Number of servos
*
* For some servo-related options NUM_SERVOS will be set automatically.
* Set this manually if there are extra servos needing manual control.
* Leave undefined or set to 0 to entirely disable the servo subsystem.
*/
//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
// Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
// 300ms is a good value but you can try less delay.
// If the servo can't reach the requested position, increase it.
#define SERVO_DELAY { 300 }
// Servo deactivation
//
// With this option servos are powered only during movement, then turned off to prevent jitter.
//#define DEACTIVATE_SERVOS_AFTER_MOVE
#endif // CONFIGURATION_H

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Configuration_adv.h
*
* Advanced settings.
* Only change these if you know exactly what you're doing.
* Some of these settings can damage your printer if improperly set!
*
* Basic settings can be found in Configuration.h
*
*/
#ifndef CONFIGURATION_ADV_H
#define CONFIGURATION_ADV_H
#define CONFIGURATION_ADV_H_VERSION 020000
// @section temperature
//===========================================================================
//=============================Thermal Settings ============================
//===========================================================================
#if DISABLED(PIDTEMPBED)
#define BED_CHECK_INTERVAL 5000 // ms between checks in bang-bang control
#if ENABLED(BED_LIMIT_SWITCHING)
#define BED_HYSTERESIS 2 // Only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
#endif
#endif
/**
* Thermal Protection provides additional protection to your printer from damage
* and fire. Marlin always includes safe min and max temperature ranges which
* protect against a broken or disconnected thermistor wire.
*
* The issue: If a thermistor falls out, it will report the much lower
* temperature of the air in the room, and the the firmware will keep
* the heater on.
*
* The solution: Once the temperature reaches the target, start observing.
* If the temperature stays too far below the target (hysteresis) for too
* long (period), the firmware will halt the machine as a safety precaution.
*
* If you get false positives for "Thermal Runaway", increase
* THERMAL_PROTECTION_HYSTERESIS and/or THERMAL_PROTECTION_PERIOD
*/
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
#define THERMAL_PROTECTION_PERIOD 50 // Seconds
#define THERMAL_PROTECTION_HYSTERESIS 6 // Degrees Celsius
/**
* Whenever an M104, M109, or M303 increases the target temperature, the
* firmware will wait for the WATCH_TEMP_PERIOD to expire. If the temperature
* hasn't increased by WATCH_TEMP_INCREASE degrees, the machine is halted and
* requires a hard reset. This test restarts with any M104/M109/M303, but only
* if the current temperature is far enough below the target for a reliable
* test.
*
* If you get false positives for "Heating failed", increase WATCH_TEMP_PERIOD
* and/or decrease WATCH_TEMP_INCREASE. WATCH_TEMP_INCREASE should not be set
* below 2.
*/
#define WATCH_TEMP_PERIOD 40 // Seconds
#define WATCH_TEMP_INCREASE 2 // Degrees Celsius
#endif
/**
* Thermal Protection parameters for the bed are just as above for hotends.
*/
#if ENABLED(THERMAL_PROTECTION_BED)
#define THERMAL_PROTECTION_BED_PERIOD 20 // Seconds
#define THERMAL_PROTECTION_BED_HYSTERESIS 2 // Degrees Celsius
/**
* As described above, except for the bed (M140/M190/M303).
*/
#define WATCH_BED_TEMP_PERIOD 100 // Seconds
#define WATCH_BED_TEMP_INCREASE 2 // Degrees Celsius
#endif
#if ENABLED(PIDTEMP)
// this adds an experimental additional term to the heating power, proportional to the extrusion speed.
// if Kc is chosen well, the additional required power due to increased melting should be compensated.
//#define PID_EXTRUSION_SCALING
#if ENABLED(PID_EXTRUSION_SCALING)
#define DEFAULT_Kc (100) //heating power=Kc*(e_speed)
#define LPQ_MAX_LEN 50
#endif
#endif
/**
* Automatic Temperature:
* The hotend target temperature is calculated by all the buffered lines of gcode.
* The maximum buffered steps/sec of the extruder motor is called "se".
* Start autotemp mode with M109 S<mintemp> B<maxtemp> F<factor>
* The target temperature is set to mintemp+factor*se[steps/sec] and is limited by
* mintemp and maxtemp. Turn this off by executing M109 without F*
* Also, if the temperature is set to a value below mintemp, it will not be changed by autotemp.
* On an Ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
*/
#define AUTOTEMP
#if ENABLED(AUTOTEMP)
#define AUTOTEMP_OLDWEIGHT 0.98
#endif
// Show extra position information in M114
//#define M114_DETAIL
// Show Temperature ADC value
// Enable for M105 to include ADC values read from temperature sensors.
//#define SHOW_TEMP_ADC_VALUES
/**
* High Temperature Thermistor Support
*
* Thermistors able to support high temperature tend to have a hard time getting
* good readings at room and lower temperatures. This means HEATER_X_RAW_LO_TEMP
* will probably be caught when the heating element first turns on during the
* preheating process, which will trigger a min_temp_error as a safety measure
* and force stop everything.
* To circumvent this limitation, we allow for a preheat time (during which,
* min_temp_error won't be triggered) and add a min_temp buffer to handle
* aberrant readings.
*
* If you want to enable this feature for your hotend thermistor(s)
* uncomment and set values > 0 in the constants below
*/
// The number of consecutive low temperature errors that can occur
// before a min_temp_error is triggered. (Shouldn't be more than 10.)
//#define MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED 0
// The number of milliseconds a hotend will preheat before starting to check
// the temperature. This value should NOT be set to the time it takes the
// hot end to reach the target temperature, but the time it takes to reach
// the minimum temperature your thermistor can read. The lower the better/safer.
// This shouldn't need to be more than 30 seconds (30000)
//#define MILLISECONDS_PREHEAT_TIME 0
// @section extruder
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature
//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
#define TEMP_SENSOR_AD595_OFFSET 0.0
#define TEMP_SENSOR_AD595_GAIN 1.0
/**
* Controller Fan
* To cool down the stepper drivers and MOSFETs.
*
* The fan will turn on automatically whenever any stepper is enabled
* and turn off after a set period after all steppers are turned off.
*/
//#define USE_CONTROLLER_FAN
#if ENABLED(USE_CONTROLLER_FAN)
//#define CONTROLLER_FAN_PIN FAN1_PIN // Set a custom pin for the controller fan
#define CONTROLLERFAN_SECS 60 // Duration in seconds for the fan to run after all motors are disabled
#define CONTROLLERFAN_SPEED 255 // 255 == full speed
#endif
// When first starting the main fan, run it at full speed for the
// given number of milliseconds. This gets the fan spinning reliably
// before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
//#define FAN_KICKSTART_TIME 100
// This defines the minimal speed for the main fan, run in PWM mode
// to enable uncomment and set minimal PWM speed for reliable running (1-255)
// if fan speed is [1 - (FAN_MIN_PWM-1)] it is set to FAN_MIN_PWM
//#define FAN_MIN_PWM 50
// @section extruder
/**
* Extruder cooling fans
*
* Extruder auto fans automatically turn on when their extruders'
* temperatures go above EXTRUDER_AUTO_FAN_TEMPERATURE.
*
* Your board's pins file specifies the recommended pins. Override those here
* or set to -1 to disable completely.
*
* Multiple extruders can be assigned to the same pin in which case
* the fan will turn on when any selected extruder is above the threshold.
*/
#define E0_AUTO_FAN_PIN -1
#define E1_AUTO_FAN_PIN -1
#define E2_AUTO_FAN_PIN -1
#define E3_AUTO_FAN_PIN -1
#define E4_AUTO_FAN_PIN -1
#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
#define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed
/**
* Part-Cooling Fan Multiplexer
*
* This feature allows you to digitally multiplex the fan output.
* The multiplexer is automatically switched at tool-change.
* Set FANMUX[012]_PINs below for up to 2, 4, or 8 multiplexed fans.
*/
#define FANMUX0_PIN -1
#define FANMUX1_PIN -1
#define FANMUX2_PIN -1
/**
* M355 Case Light on-off / brightness
*/
//#define CASE_LIGHT_ENABLE
#if ENABLED(CASE_LIGHT_ENABLE)
//#define CASE_LIGHT_PIN 4 // Override the default pin if needed
#define INVERT_CASE_LIGHT false // Set true if Case Light is ON when pin is LOW
#define CASE_LIGHT_DEFAULT_ON true // Set default power-up state on
#define CASE_LIGHT_DEFAULT_BRIGHTNESS 105 // Set default power-up brightness (0-255, requires PWM pin)
//#define MENU_ITEM_CASE_LIGHT // Add a Case Light option to the LCD main menu
#endif
//===========================================================================
//============================ Mechanical Settings ==========================
//===========================================================================
// @section homing
// If you want endstops to stay on (by default) even when not homing
// enable this option. Override at any time with M120, M121.
//#define ENDSTOPS_ALWAYS_ON_DEFAULT
// @section extras
//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
/**
* Dual Steppers / Dual Endstops
*
* This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
*
* For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
* spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
* set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
* that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
*
* Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
* this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
* in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
*/
//#define X_DUAL_STEPPER_DRIVERS
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#define INVERT_X2_VS_X_DIR true // Set 'true' if X motors should rotate in opposite directions
//#define X_DUAL_ENDSTOPS
#if ENABLED(X_DUAL_ENDSTOPS)
#define X2_USE_ENDSTOP _XMAX_
#define X_DUAL_ENDSTOPS_ADJUSTMENT 0
#endif
#endif
//#define Y_DUAL_STEPPER_DRIVERS
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
#define INVERT_Y2_VS_Y_DIR true // Set 'true' if Y motors should rotate in opposite directions
//#define Y_DUAL_ENDSTOPS
#if ENABLED(Y_DUAL_ENDSTOPS)
#define Y2_USE_ENDSTOP _YMAX_
#define Y_DUAL_ENDSTOPS_ADJUSTMENT 0
#endif
#endif
#define Z_DUAL_STEPPER_DRIVERS
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
//#define Z_DUAL_ENDSTOPS
#if ENABLED(Z_DUAL_ENDSTOPS)
#define Z2_USE_ENDSTOP _XMAX_
#define Z_DUAL_ENDSTOPS_ADJUSTMENT 0
#endif
#endif
// Enable this for dual x-carriage printers.
// A dual x-carriage design has the advantage that the inactive extruder can be parked which
// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
// allowing faster printing speeds. Connect your X2 stepper to the first unused E plug.
//#define DUAL_X_CARRIAGE
#if ENABLED(DUAL_X_CARRIAGE)
// Configuration for second X-carriage
// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
// the second x-carriage always homes to the maximum endstop.
#define X2_MIN_POS 80 // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
#define X2_MAX_POS 353 // set maximum to the distance between toolheads when both heads are homed
#define X2_HOME_DIR 1 // the second X-carriage always homes to the maximum endstop position
#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position
// However: In this mode the HOTEND_OFFSET_X value for the second extruder provides a software
// override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
// without modifying the firmware (through the "M218 T1 X???" command).
// Remember: you should set the second extruder x-offset to 0 in your slicer.
// There are a few selectable movement modes for dual x-carriages using M605 S<mode>
// Mode 0 (DXC_FULL_CONTROL_MODE): Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
// as long as it supports dual x-carriages. (M605 S0)
// Mode 1 (DXC_AUTO_PARK_MODE) : Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
// that additional slicer support is not required. (M605 S1)
// Mode 2 (DXC_DUPLICATION_MODE) : Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all
// actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
// once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
// This is the default power-up mode which can be later using M605.
#define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
// Default settings in "Auto-park Mode"
#define TOOLCHANGE_PARK_ZLIFT 0.2 // the distance to raise Z axis when parking an extruder
#define TOOLCHANGE_UNPARK_ZLIFT 1 // the distance to raise Z axis when unparking an extruder
// Default x offset in duplication mode (typically set to half print bed width)
#define DEFAULT_DUPLICATION_X_OFFSET 100
#endif // DUAL_X_CARRIAGE
// Activate a solenoid on the active extruder with M380. Disable all with M381.
// Define SOL0_PIN, SOL1_PIN, etc., for each extruder that has a solenoid.
//#define EXT_SOLENOID
// @section homing
// Homing hits each endstop, retracts by these distances, then does a slower bump.
#define X_HOME_BUMP_MM 5
#define Y_HOME_BUMP_MM 5
#define Z_HOME_BUMP_MM 2
#define HOMING_BUMP_DIVISOR { 2, 2, 4 } // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME // If homing includes X and Y, do a diagonal move initially
// When G28 is called, this option will make Y home before X
//#define HOME_Y_BEFORE_X
// @section machine
#define AXIS_RELATIVE_MODES {false, false, false, false}
// Allow duplication mode with a basic dual-nozzle extruder
//#define DUAL_NOZZLE_DUPLICATION_MODE
// By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
#define INVERT_X_STEP_PIN false
#define INVERT_Y_STEP_PIN false
#define INVERT_Z_STEP_PIN false
#define INVERT_E_STEP_PIN false
// Default stepper release if idle. Set to 0 to deactivate.
// Steppers will shut down DEFAULT_STEPPER_DEACTIVE_TIME seconds after the last move when DISABLE_INACTIVE_? is true.
// Time can be set by M18 and M84.
#define DEFAULT_STEPPER_DEACTIVE_TIME 120
#define DISABLE_INACTIVE_X true
#define DISABLE_INACTIVE_Y true
#define DISABLE_INACTIVE_Z true // set to false if the nozzle will fall down on your printed part when print has finished.
#define DISABLE_INACTIVE_E true
#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 0.0
//#define HOME_AFTER_DEACTIVATE // Require rehoming after steppers are deactivated
// @section lcd
#if ENABLED(ULTIPANEL)
#define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60} // Feedrates for manual moves along X, Y, Z, E from panel
#define ULTIPANEL_FEEDMULTIPLY // Comment to disable setting feedrate multiplier via encoder
#endif
// @section extras
// minimum time in microseconds that a movement needs to take if the buffer is emptied.
#define DEFAULT_MINSEGMENTTIME 20000
// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN
// Frequency limit
// See nophead's blog for more info
// Not working O
//#define XY_FREQUENCY_LIMIT 15
// 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 MINIMUM_PLANNER_SPEED 0.05 // (mm/sec)
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16]
/**
* @section stepper motor current
*
* Some boards have a means of setting the stepper motor current via firmware.
*
* The power on motor currents are set by:
* PWM_MOTOR_CURRENT - used by MINIRAMBO & ULTIMAIN_2
* known compatible chips: A4982
* DIGIPOT_MOTOR_CURRENT - used by BQ_ZUM_MEGA_3D, RAMBO & SCOOVO_X9H
* known compatible chips: AD5206
* DAC_MOTOR_CURRENT_DEFAULT - used by PRINTRBOARD_REVF & RIGIDBOARD_V2
* known compatible chips: MCP4728
* DIGIPOT_I2C_MOTOR_CURRENTS - used by 5DPRINT, AZTEEG_X3_PRO, MIGHTYBOARD_REVE
* known compatible chips: MCP4451, MCP4018
*
* Motor currents can also be set by M907 - M910 and by the LCD.
* M907 - applies to all.
* M908 - BQ_ZUM_MEGA_3D, RAMBO, PRINTRBOARD_REVF, RIGIDBOARD_V2 & SCOOVO_X9H
* M909, M910 & LCD - only PRINTRBOARD_REVF & RIGIDBOARD_V2
*/
//#define PWM_MOTOR_CURRENT { 1300, 1300, 1250 } // Values in milliamps
//#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135 } // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
//#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 80 } // Default drive percent - X, Y, Z, E axis
// Use an I2C based DIGIPOT (e.g., Azteeg X3 Pro)
//#define DIGIPOT_I2C
#if ENABLED(DIGIPOT_I2C) && !defined(DIGIPOT_I2C_ADDRESS_A)
/**
* Common slave addresses:
*
* A (A shifted) B (B shifted) IC
* Smoothie 0x2C (0x58) 0x2D (0x5A) MCP4451
* AZTEEG_X3_PRO 0x2C (0x58) 0x2E (0x5C) MCP4451
* MIGHTYBOARD_REVE 0x2F (0x5E) MCP4018
*/
#define DIGIPOT_I2C_ADDRESS_A 0x2C // unshifted slave address for first DIGIPOT
#define DIGIPOT_I2C_ADDRESS_B 0x2D // unshifted slave address for second DIGIPOT
#endif
//#define DIGIPOT_MCP4018 // Requires library from https://github.com/stawel/SlowSoftI2CMaster
#define DIGIPOT_I2C_NUM_CHANNELS 8 // 5DPRINT: 4 AZTEEG_X3_PRO: 8
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
#define DIGIPOT_I2C_MOTOR_CURRENTS { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 } // AZTEEG_X3_PRO
//===========================================================================
//=============================Additional Features===========================
//===========================================================================
#define ENCODER_RATE_MULTIPLIER // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
#define ENCODER_10X_STEPS_PER_SEC 75 // If the encoder steps per sec exceeds this value, multiply steps moved x10 to quickly advance the value
#define ENCODER_100X_STEPS_PER_SEC 160 // If the encoder steps per sec exceeds this value, multiply steps moved x100 to really quickly advance the value
//#define CHDK 4 //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
// @section lcd
// Include a page of printer information in the LCD Main Menu
//#define LCD_INFO_MENU
// Leave out seldom-used LCD menu items to recover some Program Memory
//#define SLIM_LCD_MENUS
// Scroll a longer status message into view
//#define STATUS_MESSAGE_SCROLLING
// On the Info Screen, display XY with one decimal place when possible
//#define LCD_DECIMAL_SMALL_XY
// The timeout (in ms) to return to the status screen from sub-menus
//#define LCD_TIMEOUT_TO_STATUS 15000
/**
* LED Control Menu
* Enable this feature to add LED Control to the LCD menu
*/
//#define LED_CONTROL_MENU
#if ENABLED(LED_CONTROL_MENU)
#define LED_COLOR_PRESETS // Enable the Preset Color menu option
#if ENABLED(LED_COLOR_PRESETS)
#define LED_USER_PRESET_RED 255 // User defined RED value
#define LED_USER_PRESET_GREEN 128 // User defined GREEN value
#define LED_USER_PRESET_BLUE 0 // User defined BLUE value
#define LED_USER_PRESET_WHITE 255 // User defined WHITE value
#define LED_USER_PRESET_BRIGHTNESS 255 // User defined intensity
//#define LED_USER_PRESET_STARTUP // Have the printer display the user preset color on startup
#endif
#endif // LED_CONTROL_MENU
#if ENABLED(SDSUPPORT)
// Some RAMPS and other boards don't detect when an SD card is inserted. You can work
// around this by connecting a push button or single throw switch to the pin defined
// as SD_DETECT_PIN in your board's pins definitions.
// This setting should be disabled unless you are using a push button, pulling the pin to ground.
// Note: This is always disabled for ULTIPANEL (except ELB_FULL_GRAPHIC_CONTROLLER).
#define SD_DETECT_INVERTED
#define SD_FINISHED_STEPPERRELEASE true // Disable steppers when SD Print is finished
#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
// Reverse SD sort to show "more recent" files first, according to the card's FAT.
// Since the FAT gets out of order with usage, SDCARD_SORT_ALPHA is recommended.
#define SDCARD_RATHERRECENTFIRST
// Add an option in the menu to run all auto#.g files
//#define MENU_ADDAUTOSTART
/**
* Sort SD file listings in alphabetical order.
*
* With this option enabled, items on SD cards will be sorted
* by name for easier navigation.
*
* By default...
*
* - Use the slowest -but safest- method for sorting.
* - Folders are sorted to the top.
* - The sort key is statically allocated.
* - No added G-code (M34) support.
* - 40 item sorting limit. (Items after the first 40 are unsorted.)
*
* SD sorting uses static allocation (as set by SDSORT_LIMIT), allowing the
* compiler to calculate the worst-case usage and throw an error if the SRAM
* limit is exceeded.
*
* - SDSORT_USES_RAM provides faster sorting via a static directory buffer.
* - SDSORT_USES_STACK does the same, but uses a local stack-based buffer.
* - SDSORT_CACHE_NAMES will retain the sorted file listing in RAM. (Expensive!)
* - SDSORT_DYNAMIC_RAM only uses RAM when the SD menu is visible. (Use with caution!)
*/
//#define SDCARD_SORT_ALPHA
// SD Card Sorting options
#if ENABLED(SDCARD_SORT_ALPHA)
#define SDSORT_LIMIT 40 // Maximum number of sorted items (10-256). Costs 27 bytes each.
#define FOLDER_SORTING -1 // -1=above 0=none 1=below
#define SDSORT_GCODE false // Allow turning sorting on/off with LCD and M34 g-code.
#define SDSORT_USES_RAM false // Pre-allocate a static array for faster pre-sorting.
#define SDSORT_USES_STACK false // Prefer the stack for pre-sorting to give back some SRAM. (Negated by next 2 options.)
#define SDSORT_CACHE_NAMES false // Keep sorted items in RAM longer for speedy performance. Most expensive option.
#define SDSORT_DYNAMIC_RAM false // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use!
#define SDSORT_CACHE_VFATS 2 // Maximum number of 13-byte VFAT entries to use for sorting.
// Note: Only affects SCROLL_LONG_FILENAMES with SDSORT_CACHE_NAMES but not SDSORT_DYNAMIC_RAM.
#endif
// Show a progress bar on HD44780 LCDs for SD printing
//#define LCD_PROGRESS_BAR
#if ENABLED(LCD_PROGRESS_BAR)
// Amount of time (ms) to show the bar
#define PROGRESS_BAR_BAR_TIME 2000
// Amount of time (ms) to show the status message
#define PROGRESS_BAR_MSG_TIME 3000
// Amount of time (ms) to retain the status message (0=forever)
#define PROGRESS_MSG_EXPIRE 0
// Enable this to show messages for MSG_TIME then hide them
//#define PROGRESS_MSG_ONCE
// Add a menu item to test the progress bar:
//#define LCD_PROGRESS_BAR_TEST
#endif
// Add an 'M73' G-code to set the current percentage
//#define LCD_SET_PROGRESS_MANUALLY
// This allows hosts to request long names for files and folders with M33
//#define LONG_FILENAME_HOST_SUPPORT
// Enable this option to scroll long filenames in the SD card menu
//#define SCROLL_LONG_FILENAMES
/**
* This option allows you to abort SD printing when any endstop is triggered.
* This feature must be enabled with "M540 S1" or from the LCD menu.
* To have any effect, endstops must be enabled during SD printing.
*/
//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
/**
* This option makes it easier to print the same SD Card file again.
* On print completion the LCD Menu will open with the file selected.
* You can just click to start the print, or navigate elsewhere.
*/
//#define SD_REPRINT_LAST_SELECTED_FILE
#endif // SDSUPPORT
/**
* Additional options for Graphical Displays
*
* Use the optimizations here to improve printing performance,
* which can be adversely affected by graphical display drawing,
* especially when doing several short moves, and when printing
* on DELTA and SCARA machines.
*
* Some of these options may result in the display lagging behind
* controller events, as there is a trade-off between reliable
* printing performance versus fast display updates.
*/
#if ENABLED(DOGLCD)
// Enable to save many cycles by drawing a hollow frame on the Info Screen
#define XYZ_HOLLOW_FRAME
// Enable to save many cycles by drawing a hollow frame on Menu Screens
#define MENU_HOLLOW_FRAME
// A bigger font is available for edit items. Costs 3120 bytes of PROGMEM.
// Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese.
//#define USE_BIG_EDIT_FONT
// A smaller font may be used on the Info Screen. Costs 2300 bytes of PROGMEM.
// Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese.
//#define USE_SMALL_INFOFONT
// Enable this option and reduce the value to optimize screen updates.
// The normal delay is 10µs. Use the lowest value that still gives a reliable display.
//#define DOGM_SPI_DELAY_US 5
// Swap the CW/CCW indicators in the graphics overlay
//#define OVERLAY_GFX_REVERSE
#endif // DOGLCD
// @section safety
// The hardware watchdog should reset the microcontroller disabling all outputs,
// in case the firmware gets stuck and doesn't do temperature regulation.
//#define USE_WATCHDOG
#if ENABLED(USE_WATCHDOG)
// If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on.
// The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset.
// However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
//#define WATCHDOG_RESET_MANUAL
#endif
// @section lcd
/**
* Babystepping enables movement of the axes by tiny increments without changing
* the current position values. This feature is used primarily to adjust the Z
* axis in the first layer of a print in real-time.
*
* Warning: Does not respect endstops!
*/
//#define BABYSTEPPING
#if ENABLED(BABYSTEPPING)
//#define BABYSTEP_XY // Also enable X/Y Babystepping. Not supported on DELTA!
#define BABYSTEP_INVERT_Z false // Change if Z babysteps should go the other way
#define BABYSTEP_MULTIPLICATOR 1 // Babysteps are very small. Increase for faster motion.
//#define BABYSTEP_ZPROBE_OFFSET // Enable to combine M851 and Babystepping
//#define DOUBLECLICK_FOR_Z_BABYSTEPPING // Double-click on the Status Screen for Z Babystepping.
#define DOUBLECLICK_MAX_INTERVAL 1250 // Maximum interval between clicks, in milliseconds.
// Note: Extra time may be added to mitigate controller latency.
//#define BABYSTEP_ZPROBE_GFX_OVERLAY // Enable graphical overlay on Z-offset editor
#endif
// @section extruder
/**
* Implementation of linear pressure control
*
* Assumption: advance = k * (delta velocity)
* K=0 means advance disabled.
* See Marlin documentation for calibration instructions.
*/
//#define LIN_ADVANCE
#if ENABLED(LIN_ADVANCE)
#define LIN_ADVANCE_K 75
/**
* Some Slicers produce Gcode with randomly jumping extrusion widths occasionally.
* For example within a 0.4mm perimeter it may produce a single segment of 0.05mm width.
* While this is harmless for normal printing (the fluid nature of the filament will
* close this very, very tiny gap), it throws off the LIN_ADVANCE pressure adaption.
*
* For this case LIN_ADVANCE_E_D_RATIO can be used to set the extrusion:distance ratio
* to a fixed value. Note that using a fixed ratio will lead to wrong nozzle pressures
* if the slicer is using variable widths or layer heights within one print!
*
* This option sets the default E:D ratio at startup. Use `M900` to override this value.
*
* Example: `M900 W0.4 H0.2 D1.75`, where:
* - W is the extrusion width in mm
* - H is the layer height in mm
* - D is the filament diameter in mm
*
* Example: `M900 R0.0458` to set the ratio directly.
*
* Set to 0 to auto-detect the ratio based on given Gcode G1 print moves.
*
* Slic3r (including Průša Control) produces Gcode compatible with the automatic mode.
* Cura (as of this writing) may produce Gcode incompatible with the automatic mode.
*/
#define LIN_ADVANCE_E_D_RATIO 0 // The calculated ratio (or 0) according to the formula W * H / ((D / 2) ^ 2 * PI)
// Example: 0.4 * 0.2 / ((1.75 / 2) ^ 2 * PI) = 0.033260135
#endif
// @section leveling
#if ENABLED(DELTA) && !defined(DELTA_PROBEABLE_RADIUS)
#define DELTA_PROBEABLE_RADIUS DELTA_PRINTABLE_RADIUS
#elif IS_SCARA && !defined(SCARA_PRINTABLE_RADIUS)
#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
#endif
#if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_UBL)
// Override the mesh area if the automatic (max) area is too large
//#define MESH_MIN_X MESH_INSET
//#define MESH_MIN_Y MESH_INSET
//#define MESH_MAX_X X_BED_SIZE - (MESH_INSET)
//#define MESH_MAX_Y Y_BED_SIZE - (MESH_INSET)
#endif
// @section extras
//
// G2/G3 Arc Support
//
#define ARC_SUPPORT // Disable this feature to save ~3226 bytes
#if ENABLED(ARC_SUPPORT)
#define MM_PER_ARC_SEGMENT 1 // Length of each arc segment
#define N_ARC_CORRECTION 25 // Number of intertpolated segments between corrections
//#define ARC_P_CIRCLES // Enable the 'P' parameter to specify complete circles
//#define CNC_WORKSPACE_PLANES // Allow G2/G3 to operate in XY, ZX, or YZ planes
#endif
// Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
//#define BEZIER_CURVE_SUPPORT
// G38.2 and G38.3 Probe Target
// Set MULTIPLE_PROBING if you want G38 to double touch
//#define G38_PROBE_TARGET
#if ENABLED(G38_PROBE_TARGET)
#define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
#endif
// Moves (or segments) with fewer steps than this will be joined with the next move
#define MIN_STEPS_PER_SEGMENT 6
// The minimum pulse width (in µs) for stepping a stepper.
// Set this if you find stepping unreliable, or if using a very fast CPU.
#define MINIMUM_STEPPER_PULSE 0 // (µs) The smallest stepper pulse allowed
// @section temperature
// Control heater 0 and heater 1 in parallel.
//#define HEATERS_PARALLEL
//===========================================================================
//================================= Buffers =================================
//===========================================================================
// @section hidden
// The number of linear motions that can be in the plan at any give time.
// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2 (e.g. 8, 16, 32) because shifts and ors are used to do the ring-buffering.
#if ENABLED(SDSUPPORT)
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
#else
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer
#endif
// @section serial
// The ASCII buffer for serial input
#define MAX_CMD_SIZE 96
#define BUFSIZE 4
// Transmission to Host Buffer Size
// To save 386 bytes of PROGMEM (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0.
// To buffer a simple "ok" you need 4 bytes.
// For ADVANCED_OK (M105) you need 32 bytes.
// For debug-echo: 128 bytes for the optimal speed.
// Other output doesn't need to be that speedy.
// :[0, 2, 4, 8, 16, 32, 64, 128, 256]
#define TX_BUFFER_SIZE 0
// Host Receive Buffer Size
// Without XON/XOFF flow control (see SERIAL_XON_XOFF below) 32 bytes should be enough.
// To use flow control, set this buffer size to at least 1024 bytes.
// :[0, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048]
//#define RX_BUFFER_SIZE 1024
#if RX_BUFFER_SIZE >= 1024
// Enable to have the controller send XON/XOFF control characters to
// the host to signal the RX buffer is becoming full.
//#define SERIAL_XON_XOFF
#endif
#if ENABLED(SDSUPPORT)
// Enable this option to collect and display the maximum
// RX queue usage after transferring a file to SD.
//#define SERIAL_STATS_MAX_RX_QUEUED
// Enable this option to collect and display the number
// of dropped bytes after a file transfer to SD.
//#define SERIAL_STATS_DROPPED_RX
#endif
// Enable an emergency-command parser to intercept certain commands as they
// enter the serial receive buffer, so they cannot be blocked.
// Currently handles M108, M112, M410
// Does not work on boards using AT90USB (USBCON) processors!
//#define EMERGENCY_PARSER
// Bad Serial-connections can miss a received command by sending an 'ok'
// Therefore some clients abort after 30 seconds in a timeout.
// Some other clients start sending commands while receiving a 'wait'.
// This "wait" is only sent when the buffer is empty. 1 second is a good value here.
//#define NO_TIMEOUTS 1000 // Milliseconds
// Some clients will have this feature soon. This could make the NO_TIMEOUTS unnecessary.
//#define ADVANCED_OK
// @section extras
/**
* Firmware-based and LCD-controlled retract
*
* Add G10 / G11 commands for automatic firmware-based retract / recover.
* Use M207 and M208 to define parameters for retract / recover.
*
* Use M209 to enable or disable auto-retract.
* With auto-retract enabled, all G1 E moves within the set range
* will be converted to firmware-based retract/recover moves.
*
* Be sure to turn off auto-retract during filament change.
*
* Note that M207 / M208 / M209 settings are saved to EEPROM.
*
*/
//#define FWRETRACT // ONLY PARTIALLY TESTED
#if ENABLED(FWRETRACT)
#define MIN_AUTORETRACT 0.1 // When auto-retract is on, convert E moves of this length and over
#define MAX_AUTORETRACT 10.0 // Upper limit for auto-retract conversion
#define RETRACT_LENGTH 3 // Default retract length (positive mm)
#define RETRACT_LENGTH_SWAP 13 // Default swap retract length (positive mm), for extruder change
#define RETRACT_FEEDRATE 45 // Default feedrate for retracting (mm/s)
#define RETRACT_ZLIFT 0 // Default retract Z-lift
#define RETRACT_RECOVER_LENGTH 0 // Default additional recover length (mm, added to retract length when recovering)
#define RETRACT_RECOVER_LENGTH_SWAP 0 // Default additional swap recover length (mm, added to retract length when recovering from extruder change)
#define RETRACT_RECOVER_FEEDRATE 8 // Default feedrate for recovering from retraction (mm/s)
#define RETRACT_RECOVER_FEEDRATE_SWAP 8 // Default feedrate for recovering from swap retraction (mm/s)
#endif
/**
* Extra Fan Speed
* Adds a secondary fan speed for each print-cooling fan.
* 'M106 P<fan> T3-255' : Set a secondary speed for <fan>
* 'M106 P<fan> T2' : Use the set secondary speed
* 'M106 P<fan> T1' : Restore the previous fan speed
*/
//#define EXTRA_FAN_SPEED
/**
* Advanced Pause
* Experimental feature for filament change support and for parking the nozzle when paused.
* Adds the GCode M600 for initiating filament change.
* If PARK_HEAD_ON_PAUSE enabled, adds the GCode M125 to pause printing and park the nozzle.
*
* Requires an LCD display.
* Requires NOZZLE_PARK_FEATURE.
* This feature is required for the default FILAMENT_RUNOUT_SCRIPT.
*/
//#define ADVANCED_PAUSE_FEATURE
#if ENABLED(ADVANCED_PAUSE_FEATURE)
#define PAUSE_PARK_RETRACT_FEEDRATE 60 // (mm/s) Initial retract feedrate.
#define PAUSE_PARK_RETRACT_LENGTH 2 // (mm) Initial retract.
// This short retract is done immediately, before parking the nozzle.
#define FILAMENT_CHANGE_UNLOAD_FEEDRATE 10 // (mm/s) Unload filament feedrate. This can be pretty fast.
#define FILAMENT_CHANGE_UNLOAD_LENGTH 100 // (mm) The length of filament for a complete unload.
// For Bowden, the full length of the tube and nozzle.
// For direct drive, the full length of the nozzle.
// Set to 0 for manual unloading.
#define FILAMENT_CHANGE_LOAD_FEEDRATE 6 // (mm/s) Load filament feedrate. This can be pretty fast.
#define FILAMENT_CHANGE_LOAD_LENGTH 0 // (mm) Load length of filament, from extruder gear to nozzle.
// For Bowden, the full length of the tube and nozzle.
// For direct drive, the full length of the nozzle.
#define ADVANCED_PAUSE_EXTRUDE_FEEDRATE 3 // (mm/s) Extrude feedrate (after loading). Should be slower than load feedrate.
#define ADVANCED_PAUSE_EXTRUDE_LENGTH 50 // (mm) Length to extrude after loading.
// Set to 0 for manual extrusion.
// Filament can be extruded repeatedly from the Filament Change menu
// until extrusion is consistent, and to purge old filament.
// Filament Unload does a Retract, Delay, and Purge first:
#define FILAMENT_UNLOAD_RETRACT_LENGTH 13 // (mm) Unload initial retract length.
#define FILAMENT_UNLOAD_DELAY 5000 // (ms) Delay for the filament to cool after retract.
#define FILAMENT_UNLOAD_PURGE_LENGTH 8 // (mm) An unretract is done, then this length is purged.
#define PAUSE_PARK_NOZZLE_TIMEOUT 45 // (seconds) Time limit before the nozzle is turned off for safety.
#define FILAMENT_CHANGE_ALERT_BEEPS 10 // Number of alert beeps to play when a response is needed.
#define PAUSE_PARK_NO_STEPPER_TIMEOUT // Enable for XYZ steppers to stay powered on during filament change.
//#define PARK_HEAD_ON_PAUSE // Park the nozzle during pause and filament change.
//#define HOME_BEFORE_FILAMENT_CHANGE // Ensure homing has been completed prior to parking for filament change
//#define FILAMENT_LOAD_UNLOAD_GCODES // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu.
//#define FILAMENT_UNLOAD_ALL_EXTRUDERS // Allow M702 to unload all extruders above a minimum target temp (as set by M302)
#endif
// @section tmc
/**
* Enable this section if you have TMC26X motor drivers.
* You will need to import the TMC26XStepper library into the Arduino IDE for this
* (https://github.com/trinamic/TMC26XStepper.git)
*/
#define HAVE_TMCDRIVER
#if ENABLED(HAVE_TMCDRIVER)
#define X_IS_TMC
//#define X2_IS_TMC
#define Y_IS_TMC
//#define Y2_IS_TMC
#define Z_IS_TMC
#define Z2_IS_TMC
#define E0_IS_TMC
//#define E1_IS_TMC
//#define E2_IS_TMC
//#define E3_IS_TMC
//#define E4_IS_TMC
#define X_MAX_CURRENT 1200 // in mA
#define X_SENSE_RESISTOR 50 // in mOhms
#define X_MICROSTEPS 32 // number of microsteps
#define X2_MAX_CURRENT 1200
#define X2_SENSE_RESISTOR 50
#define X2_MICROSTEPS 32
#define Y_MAX_CURRENT 1200
#define Y_SENSE_RESISTOR 50
#define Y_MICROSTEPS 32
#define Y2_MAX_CURRENT 1200
#define Y2_SENSE_RESISTOR 50
#define Y2_MICROSTEPS 32
#define Z_MAX_CURRENT 1200
#define Z_SENSE_RESISTOR 50
#define Z_MICROSTEPS 32
#define Z2_MAX_CURRENT 1200
#define Z2_SENSE_RESISTOR 50
#define Z2_MICROSTEPS 32
#define E0_MAX_CURRENT 1200
#define E0_SENSE_RESISTOR 50
#define E0_MICROSTEPS 32
#define E1_MAX_CURRENT 1200
#define E1_SENSE_RESISTOR 50
#define E1_MICROSTEPS 32
#define E2_MAX_CURRENT 1200
#define E2_SENSE_RESISTOR 50
#define E2_MICROSTEPS 32
#define E3_MAX_CURRENT 1200
#define E3_SENSE_RESISTOR 50
#define E3_MICROSTEPS 32
#define E4_MAX_CURRENT 1200
#define E4_SENSE_RESISTOR 50
#define E4_MICROSTEPS 32
#endif
// @section TMC2130, TMC2208
/**
* Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
*
* You'll also need the TMC2130Stepper Arduino library
* (https://github.com/teemuatlut/TMC2130Stepper).
*
* To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
* the hardware SPI interface on your board and define the required CS pins
* in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
*/
//#define HAVE_TMC2130
/**
* Enable this for SilentStepStick Trinamic TMC2208 UART-configurable stepper drivers.
* Connect #_SERIAL_TX_PIN to the driver side PDN_UART pin.
* To use the reading capabilities, also connect #_SERIAL_RX_PIN
* to #_SERIAL_TX_PIN with a 1K resistor.
* The drivers can also be used with hardware serial.
*
* You'll also need the TMC2208Stepper Arduino library
* (https://github.com/teemuatlut/TMC2208Stepper).
*/
//#define HAVE_TMC2208
#if ENABLED(HAVE_TMC2130) || ENABLED(HAVE_TMC2208)
// CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
//#define X_IS_TMC2130
//#define X2_IS_TMC2130
//#define Y_IS_TMC2130
//#define Y2_IS_TMC2130
//#define Z_IS_TMC2130
//#define Z2_IS_TMC2130
//#define E0_IS_TMC2130
//#define E1_IS_TMC2130
//#define E2_IS_TMC2130
//#define E3_IS_TMC2130
//#define E4_IS_TMC2130
//#define X_IS_TMC2208
//#define X2_IS_TMC2208
//#define Y_IS_TMC2208
//#define Y2_IS_TMC2208
//#define Z_IS_TMC2208
//#define Z2_IS_TMC2208
//#define E0_IS_TMC2208
//#define E1_IS_TMC2208
//#define E2_IS_TMC2208
//#define E3_IS_TMC2208
//#define E4_IS_TMC2208
/**
* Stepper driver settings
*/
#define R_SENSE 0.11 // R_sense resistor for SilentStepStick2130
#define HOLD_MULTIPLIER 0.5 // Scales down the holding current from run current
#define INTERPOLATE true // Interpolate X/Y/Z_MICROSTEPS to 256
#define X_CURRENT 800 // rms current in mA. Multiply by 1.41 for peak current.
#define X_MICROSTEPS 16 // 0..256
#define Y_CURRENT 800
#define Y_MICROSTEPS 16
#define Z_CURRENT 800
#define Z_MICROSTEPS 16
#define X2_CURRENT 800
#define X2_MICROSTEPS 16
#define Y2_CURRENT 800
#define Y2_MICROSTEPS 16
#define Z2_CURRENT 800
#define Z2_MICROSTEPS 16
#define E0_CURRENT 800
#define E0_MICROSTEPS 16
#define E1_CURRENT 800
#define E1_MICROSTEPS 16
#define E2_CURRENT 800
#define E2_MICROSTEPS 16
#define E3_CURRENT 800
#define E3_MICROSTEPS 16
#define E4_CURRENT 800
#define E4_MICROSTEPS 16
/**
* Use Trinamic's ultra quiet stepping mode.
* When disabled, Marlin will use spreadCycle stepping mode.
*/
#define STEALTHCHOP
/**
* Monitor Trinamic TMC2130 and TMC2208 drivers for error conditions,
* like overtemperature and short to ground. TMC2208 requires hardware serial.
* In the case of overtemperature Marlin can decrease the driver current until error condition clears.
* Other detected conditions can be used to stop the current print.
* Relevant g-codes:
* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given.
* M911 - Report stepper driver overtemperature pre-warn condition.
* M912 - Clear stepper driver overtemperature pre-warn condition flag.
* M122 S0/1 - Report driver parameters (Requires TMC_DEBUG)
*/
//#define MONITOR_DRIVER_STATUS
#if ENABLED(MONITOR_DRIVER_STATUS)
#define CURRENT_STEP_DOWN 50 // [mA]
#define REPORT_CURRENT_CHANGE
#define STOP_ON_ERROR
#endif
/**
* The driver will switch to spreadCycle when stepper speed is over HYBRID_THRESHOLD.
* This mode allows for faster movements at the expense of higher noise levels.
* STEALTHCHOP needs to be enabled.
* M913 X/Y/Z/E to live tune the setting
*/
//#define HYBRID_THRESHOLD
#define X_HYBRID_THRESHOLD 100 // [mm/s]
#define X2_HYBRID_THRESHOLD 100
#define Y_HYBRID_THRESHOLD 100
#define Y2_HYBRID_THRESHOLD 100
#define Z_HYBRID_THRESHOLD 3
#define Z2_HYBRID_THRESHOLD 3
#define E0_HYBRID_THRESHOLD 30
#define E1_HYBRID_THRESHOLD 30
#define E2_HYBRID_THRESHOLD 30
#define E3_HYBRID_THRESHOLD 30
#define E4_HYBRID_THRESHOLD 30
/**
* Use stallGuard2 to sense an obstacle and trigger an endstop.
* You need to place a wire from the driver's DIAG1 pin to the X/Y endstop pin.
* X and Y homing will always be done in spreadCycle mode.
*
* X/Y_HOMING_SENSITIVITY is used for tuning the trigger sensitivity.
* Higher values make the system LESS sensitive.
* Lower value make the system MORE sensitive.
* Too low values can lead to false positives, while too high values will collide the axis without triggering.
* It is advised to set X/Y_HOME_BUMP_MM to 0.
* M914 X/Y to live tune the setting
*/
//#define SENSORLESS_HOMING // TMC2130 only
#if ENABLED(SENSORLESS_HOMING)
#define X_HOMING_SENSITIVITY 8
#define Y_HOMING_SENSITIVITY 8
#endif
/**
* Enable M122 debugging command for TMC stepper drivers.
* M122 S0/1 will enable continous reporting.
*/
//#define TMC_DEBUG
/**
* M915 Z Axis Calibration
*
* - Adjust Z stepper current,
* - Drive the Z axis to its physical maximum, and
* - Home Z to account for the lost steps.
*
* Use M915 Snn to specify the current.
* Use M925 Znn to add extra Z height to Z_MAX_POS.
*/
//#define TMC_Z_CALIBRATION
#if ENABLED(TMC_Z_CALIBRATION)
#define CALIBRATION_CURRENT 250
#define CALIBRATION_EXTRA_HEIGHT 10
#endif
/**
* You can set your own advanced settings by filling in predefined functions.
* A list of available functions can be found on the library github page
* https://github.com/teemuatlut/TMC2130Stepper
* https://github.com/teemuatlut/TMC2208Stepper
*
* Example:
* #define TMC_ADV() { \
* stepperX.diag0_temp_prewarn(1); \
* stepperY.interpolate(0); \
* }
*/
#define TMC_ADV() { }
#endif // TMC2130 || TMC2208
// @section L6470
/**
* Enable this section if you have L6470 motor drivers.
* You need to import the L6470 library into the Arduino IDE for this.
* (https://github.com/ameyer/Arduino-L6470)
*/
//#define HAVE_L6470DRIVER
#if ENABLED(HAVE_L6470DRIVER)
//#define X_IS_L6470
//#define X2_IS_L6470
//#define Y_IS_L6470
//#define Y2_IS_L6470
//#define Z_IS_L6470
//#define Z2_IS_L6470
//#define E0_IS_L6470
//#define E1_IS_L6470
//#define E2_IS_L6470
//#define E3_IS_L6470
//#define E4_IS_L6470
#define X_MICROSTEPS 16 // number of microsteps
#define X_OVERCURRENT 2000 // maxc current in mA. If the current goes over this value, the driver will switch off
#define X_STALLCURRENT 1500 // current in mA where the driver will detect a stall
#define X2_MICROSTEPS 16
#define X2_OVERCURRENT 2000
#define X2_STALLCURRENT 1500
#define Y_MICROSTEPS 16
#define Y_OVERCURRENT 2000
#define Y_STALLCURRENT 1500
#define Y2_MICROSTEPS 16
#define Y2_OVERCURRENT 2000
#define Y2_STALLCURRENT 1500
#define Z_MICROSTEPS 16
#define Z_OVERCURRENT 2000
#define Z_STALLCURRENT 1500
#define Z2_MICROSTEPS 16
#define Z2_OVERCURRENT 2000
#define Z2_STALLCURRENT 1500
#define E0_MICROSTEPS 16
#define E0_OVERCURRENT 2000
#define E0_STALLCURRENT 1500
#define E1_MICROSTEPS 16
#define E1_OVERCURRENT 2000
#define E1_STALLCURRENT 1500
#define E2_MICROSTEPS 16
#define E2_OVERCURRENT 2000
#define E2_STALLCURRENT 1500
#define E3_MICROSTEPS 16
#define E3_OVERCURRENT 2000
#define E3_STALLCURRENT 1500
#define E4_MICROSTEPS 16
#define E4_OVERCURRENT 2000
#define E4_STALLCURRENT 1500
#endif
/**
* TWI/I2C BUS
*
* This feature is an EXPERIMENTAL feature so it shall not be used on production
* machines. Enabling this will allow you to send and receive I2C data from slave
* devices on the bus.
*
* ; Example #1
* ; This macro send the string "Marlin" to the slave device with address 0x63 (99)
* ; It uses multiple M260 commands with one B<base 10> arg
* M260 A99 ; Target slave address
* M260 B77 ; M
* M260 B97 ; a
* M260 B114 ; r
* M260 B108 ; l
* M260 B105 ; i
* M260 B110 ; n
* M260 S1 ; Send the current buffer
*
* ; Example #2
* ; Request 6 bytes from slave device with address 0x63 (99)
* M261 A99 B5
*
* ; Example #3
* ; Example serial output of a M261 request
* echo:i2c-reply: from:99 bytes:5 data:hello
*/
// @section i2cbus
//#define EXPERIMENTAL_I2CBUS
#define I2C_SLAVE_ADDRESS 0 // Set a value from 8 to 127 to act as a slave
// @section extras
/**
* Spindle & Laser control
*
* Add the M3, M4, and M5 commands to turn the spindle/laser on and off, and
* to set spindle speed, spindle direction, and laser power.
*
* SuperPid is a router/spindle speed controller used in the CNC milling community.
* Marlin can be used to turn the spindle on and off. It can also be used to set
* the spindle speed from 5,000 to 30,000 RPM.
*
* You'll need to select a pin for the ON/OFF function and optionally choose a 0-5V
* hardware PWM pin for the speed control and a pin for the rotation direction.
*
* See http://marlinfw.org/docs/configuration/laser_spindle.html for more config details.
*/
//#define SPINDLE_LASER_ENABLE
#if ENABLED(SPINDLE_LASER_ENABLE)
#define SPINDLE_LASER_ENABLE_INVERT false // set to "true" if the on/off function is reversed
#define SPINDLE_LASER_PWM true // set to true if your controller supports setting the speed/power
#define SPINDLE_LASER_PWM_INVERT true // set to "true" if the speed/power goes up when you want it to go slower
#define SPINDLE_LASER_POWERUP_DELAY 5000 // delay in milliseconds to allow the spindle/laser to come up to speed/power
#define SPINDLE_LASER_POWERDOWN_DELAY 5000 // delay in milliseconds to allow the spindle to stop
#define SPINDLE_DIR_CHANGE true // set to true if your spindle controller supports changing spindle direction
#define SPINDLE_INVERT_DIR false
#define SPINDLE_STOP_ON_DIR_CHANGE true // set to true if Marlin should stop the spindle before changing rotation direction
/**
* The M3 & M4 commands use the following equation to convert PWM duty cycle to speed/power
*
* SPEED/POWER = PWM duty cycle * SPEED_POWER_SLOPE + SPEED_POWER_INTERCEPT
* where PWM duty cycle varies from 0 to 255
*
* set the following for your controller (ALL MUST BE SET)
*/
#define SPEED_POWER_SLOPE 118.4
#define SPEED_POWER_INTERCEPT 0
#define SPEED_POWER_MIN 5000
#define SPEED_POWER_MAX 30000 // SuperPID router controller 0 - 30,000 RPM
//#define SPEED_POWER_SLOPE 0.3922
//#define SPEED_POWER_INTERCEPT 0
//#define SPEED_POWER_MIN 10
//#define SPEED_POWER_MAX 100 // 0-100%
#endif
/**
* Filament Width Sensor
*
* Measures the filament width in real-time and adjusts
* flow rate to compensate for any irregularities.
*
* Also allows the measured filament diameter to set the
* extrusion rate, so the slicer only has to specify the
* volume.
*
* Only a single extruder is supported at this time.
*
* 34 RAMPS_14 : Analog input 5 on the AUX2 connector
* 81 PRINTRBOARD : Analog input 2 on the Exp1 connector (version B,C,D,E)
* 301 RAMBO : Analog input 3
*
* Note: May require analog pins to be defined for other boards.
*/
//#define FILAMENT_WIDTH_SENSOR
#if ENABLED(FILAMENT_WIDTH_SENSOR)
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 // Index of the extruder that has the filament sensor. :[0,1,2,3,4]
#define MEASUREMENT_DELAY_CM 14 // (cm) The distance from the filament sensor to the melting chamber
#define FILWIDTH_ERROR_MARGIN 1.0 // (mm) If a measurement differs too much from nominal width ignore it
#define MAX_MEASUREMENT_DELAY 20 // (bytes) Buffer size for stored measurements (1 byte per cm). Must be larger than MEASUREMENT_DELAY_CM.
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA // Set measured to nominal initially
// Display filament width on the LCD status line. Status messages will expire after 5 seconds.
//#define FILAMENT_LCD_DISPLAY
#endif
/**
* CNC Coordinate Systems
*
* Enables G53 and G54-G59.3 commands to select coordinate systems
* and G92.1 to reset the workspace to native machine space.
*/
//#define CNC_COORDINATE_SYSTEMS
/**
* M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
*/
//#define PINS_DEBUGGING
/**
* Auto-report temperatures with M155 S<seconds>
*/
#define AUTO_REPORT_TEMPERATURES
/**
* Include capabilities in M115 output
*/
#define EXTENDED_CAPABILITIES_REPORT
/**
* Disable all Volumetric extrusion options
*/
//#define NO_VOLUMETRICS
#if DISABLED(NO_VOLUMETRICS)
/**
* Volumetric extrusion default state
* Activate to make volumetric extrusion the default method,
* with DEFAULT_NOMINAL_FILAMENT_DIA as the default diameter.
*
* M200 D0 to disable, M200 Dn to set a new diameter.
*/
//#define VOLUMETRIC_DEFAULT_ON
#endif
/**
* Enable this option for a leaner build of Marlin that removes all
* workspace offsets, simplifying coordinate transformations, leveling, etc.
*
* - M206 and M428 are disabled.
* - G92 will revert to its behavior from Marlin 1.0.
*/
//#define NO_WORKSPACE_OFFSETS
/**
* Set the number of proportional font spaces required to fill up a typical character space.
* This can help to better align the output of commands like `G29 O` Mesh Output.
*
* For clients that use a fixed-width font (like OctoPrint), leave this set to 1.0.
* Otherwise, adjust according to your client and font.
*/
#define PROPORTIONAL_FONT_RATIO 1.0
/**
* Spend 28 bytes of SRAM to optimize the GCode parser
*/
#define FASTER_GCODE_PARSER
/**
* User-defined menu items that execute custom GCode
*/
//#define CUSTOM_USER_MENUS
#if ENABLED(CUSTOM_USER_MENUS)
#define USER_SCRIPT_DONE "M117 User Script Done"
#define USER_SCRIPT_AUDIBLE_FEEDBACK
//#define USER_SCRIPT_RETURN // Return to status screen after a script
#define USER_DESC_1 "Home & UBL Info"
#define USER_GCODE_1 "G28\nG29 W"
#define USER_DESC_2 "Preheat for PLA"
#define USER_GCODE_2 "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND)
#define USER_DESC_3 "Preheat for ABS"
#define USER_GCODE_3 "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND)
#define USER_DESC_4 "Heat Bed/Home/Level"
#define USER_GCODE_4 "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nG28\nG29"
#define USER_DESC_5 "Home & Info"
#define USER_GCODE_5 "G28\nM503"
#endif
/**
* Specify an action command to send to the host when the printer is killed.
* Will be sent in the form '//action:ACTION_ON_KILL', e.g. '//action:poweroff'.
* The host must be configured to handle the action command.
*/
//#define ACTION_ON_KILL "poweroff"
/**
* Specify an action command to send to the host on pause and resume.
* Will be sent in the form '//action:ACTION_ON_PAUSE', e.g. '//action:pause'.
* The host must be configured to handle the action command.
*/
//#define ACTION_ON_PAUSE "pause"
//#define ACTION_ON_RESUME "resume"
//===========================================================================
//====================== I2C Position Encoder Settings ======================
//===========================================================================
/**
* I2C position encoders for closed loop control.
* Developed by Chris Barr at Aus3D.
*
* Wiki: http://wiki.aus3d.com.au/Magnetic_Encoder
* Github: https://github.com/Aus3D/MagneticEncoder
*
* Supplier: http://aus3d.com.au/magnetic-encoder-module
* Alternative Supplier: http://reliabuild3d.com/
*
* Reilabuild encoders have been modified to improve reliability.
*/
//#define I2C_POSITION_ENCODERS
#if ENABLED(I2C_POSITION_ENCODERS)
#define I2CPE_ENCODER_CNT 1 // The number of encoders installed; max of 5
// encoders supported currently.
#define I2CPE_ENC_1_ADDR I2CPE_PRESET_ADDR_X // I2C address of the encoder. 30-200.
#define I2CPE_ENC_1_AXIS X_AXIS // Axis the encoder module is installed on. <X|Y|Z|E>_AXIS.
#define I2CPE_ENC_1_TYPE I2CPE_ENC_TYPE_LINEAR // Type of encoder: I2CPE_ENC_TYPE_LINEAR -or-
// I2CPE_ENC_TYPE_ROTARY.
#define I2CPE_ENC_1_TICKS_UNIT 2048 // 1024 for magnetic strips with 2mm poles; 2048 for
// 1mm poles. For linear encoders this is ticks / mm,
// for rotary encoders this is ticks / revolution.
//#define I2CPE_ENC_1_TICKS_REV (16 * 200) // Only needed for rotary encoders; number of stepper
// steps per full revolution (motor steps/rev * microstepping)
//#define I2CPE_ENC_1_INVERT // Invert the direction of axis travel.
#define I2CPE_ENC_1_EC_METHOD I2CPE_ECM_NONE // Type of error error correction.
#define I2CPE_ENC_1_EC_THRESH 0.10 // Threshold size for error (in mm) above which the
// printer will attempt to correct the error; errors
// smaller than this are ignored to minimize effects of
// measurement noise / latency (filter).
#define I2CPE_ENC_2_ADDR I2CPE_PRESET_ADDR_Y // Same as above, but for encoder 2.
#define I2CPE_ENC_2_AXIS Y_AXIS
#define I2CPE_ENC_2_TYPE I2CPE_ENC_TYPE_LINEAR
#define I2CPE_ENC_2_TICKS_UNIT 2048
//#define I2CPE_ENC_2_TICKS_REV (16 * 200)
//#define I2CPE_ENC_2_INVERT
#define I2CPE_ENC_2_EC_METHOD I2CPE_ECM_NONE
#define I2CPE_ENC_2_EC_THRESH 0.10
#define I2CPE_ENC_3_ADDR I2CPE_PRESET_ADDR_Z // Encoder 3. Add additional configuration options
#define I2CPE_ENC_3_AXIS Z_AXIS // as above, or use defaults below.
#define I2CPE_ENC_4_ADDR I2CPE_PRESET_ADDR_E // Encoder 4.
#define I2CPE_ENC_4_AXIS E_AXIS
#define I2CPE_ENC_5_ADDR 34 // Encoder 5.
#define I2CPE_ENC_5_AXIS E_AXIS
// Default settings for encoders which are enabled, but without settings configured above.
#define I2CPE_DEF_TYPE I2CPE_ENC_TYPE_LINEAR
#define I2CPE_DEF_ENC_TICKS_UNIT 2048
#define I2CPE_DEF_TICKS_REV (16 * 200)
#define I2CPE_DEF_EC_METHOD I2CPE_ECM_NONE
#define I2CPE_DEF_EC_THRESH 0.1
//#define I2CPE_ERR_THRESH_ABORT 100.0 // Threshold size for error (in mm) error on any given
// axis after which the printer will abort. Comment out to
// disable abort behaviour.
#define I2CPE_TIME_TRUSTED 10000 // After an encoder fault, there must be no further fault
// for this amount of time (in ms) before the encoder
// is trusted again.
/**
* Position is checked every time a new command is executed from the buffer but during long moves,
* this setting determines the minimum update time between checks. A value of 100 works well with
* error rolling average when attempting to correct only for skips and not for vibration.
*/
#define I2CPE_MIN_UPD_TIME_MS 100 // Minimum time in miliseconds between encoder checks.
// Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
#define I2CPE_ERR_ROLLING_AVERAGE
#endif // I2C_POSITION_ENCODERS
/**
* MAX7219 Debug Matrix
*
* Add support for a low-cost 8x8 LED Matrix based on the Max7219 chip, which can be used as a status
* display. Requires 3 signal wires. Some useful debug options are included to demonstrate its usage.
*
* Fully assembled MAX7219 boards can be found on the internet for under $2(US).
* For example, see https://www.ebay.com/sch/i.html?_nkw=332349290049
*/
//#define MAX7219_DEBUG
#if ENABLED(MAX7219_DEBUG)
#define MAX7219_CLK_PIN 64 // 77 on Re-ARM // Configuration of the 3 pins to control the display
#define MAX7219_DIN_PIN 57 // 78 on Re-ARM
#define MAX7219_LOAD_PIN 44 // 79 on Re-ARM
/**
* Sample debug features
* If you add more debug displays, be careful to avoid conflicts!
*/
#define MAX7219_DEBUG_PRINTER_ALIVE // Blink corner LED of 8x8 matrix to show that the firmware is functioning
#define MAX7219_DEBUG_STEPPER_HEAD 3 // Show the stepper queue head position on this and the next LED matrix row
#define MAX7219_DEBUG_STEPPER_TAIL 5 // Show the stepper queue tail position on this and the next LED matrix row
#define MAX7219_DEBUG_STEPPER_QUEUE 0 // Show the current stepper queue depth on this and the next LED matrix row
// If you experience stuttering, reboots, etc. this option can reveal how
// tweaks made to the configuration are affecting the printer in real-time.
#endif
/**
* NanoDLP Sync support
*
* Add support for Synchronized Z moves when using with NanoDLP. G0/G1 axis moves will output "Z_move_comp"
* string to enable synchronization with DLP projector exposure. This change will allow to use
* [[WaitForDoneMessage]] instead of populating your gcode with M400 commands
*/
//#define NANODLP_Z_SYNC
#if ENABLED(NANODLP_Z_SYNC)
//#define NANODLP_ALL_AXIS // Enables "Z_move_comp" output on any axis move.
// Default behaviour is limited to Z axis only.
#endif
#endif // CONFIGURATION_ADV_H

6
Marlin/src/core/boards.h
View file

@ -199,6 +199,12 @@
#define BOARD_BEAST 1802 // STM32FxxxVxT6 Libmaple based stm32f4 controller #define BOARD_BEAST 1802 // STM32FxxxVxT6 Libmaple based stm32f4 controller
#define BOARD_STM3R_MINI 1803 // STM32 Libmaple based stm32f1 controller #define BOARD_STM3R_MINI 1803 // STM32 Libmaple based stm32f1 controller
//
// ARM Cortex M7
//
#define BOARD_THE_BORG 1860 // THE-BORG (Power outputs: Hotend0, Hotend1, Bed, Fan)
#define MB(board) (MOTHERBOARD==BOARD_##board) #define MB(board) (MOTHERBOARD==BOARD_##board)
#endif // __BOARDS_H #endif // __BOARDS_H

5
Marlin/src/module/stepper_indirection.cpp
View file

@ -41,7 +41,12 @@
#if ENABLED(HAVE_TMCDRIVER) #if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h> #include <SPI.h>
#if defined(STM32F7)
#include "../HAL/HAL_STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h> #include <TMC26XStepper.h>
#endif
#define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR) #define _TMC_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_ENABLE_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR)

4
Marlin/src/module/stepper_indirection.h
View file

@ -49,7 +49,11 @@
// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI // TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI
#if ENABLED(HAVE_TMCDRIVER) #if ENABLED(HAVE_TMCDRIVER)
#include <SPI.h> #include <SPI.h>
#if defined(STM32F7)
#include "../HAL/HAL_STM32F7/TMC2660.h"
#else
#include <TMC26XStepper.h> #include <TMC26XStepper.h>
#endif
void tmc_init(); void tmc_init();
#endif #endif

2
Marlin/src/pins/pins.h
View file

@ -337,6 +337,8 @@
#include "pins_AZTEEG_X5_GT.h" #include "pins_AZTEEG_X5_GT.h"
#elif MB(BIQU_BQ111_A4) #elif MB(BIQU_BQ111_A4)
#include "pins_BIQU_BQ111_A4.h" #include "pins_BIQU_BQ111_A4.h"
#elif MB(THE_BORG)
#include "pins_THE_BORG.h"
#else #else
#error "Unknown MOTHERBOARD value set in Configuration.h" #error "Unknown MOTHERBOARD value set in Configuration.h"
#endif #endif

208
Marlin/src/pins/pins_THE_BORG.h Normal file
View file

@ -0,0 +1,208 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#if !defined(STM32F7)
#error "Oops! Make sure you have an STM32F7 board selected from the 'Tools -> Boards' menu."
#endif
#define DEFAULT_MACHINE_NAME "The-Borge"
#define BOARD_NAME "The-Borge"
#define LARGE_FLASH true
#define E2END 0xFFF // EEPROM end address
// Ignore temp readings during develpment.
#define BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
#if E_STEPPERS > 3 || HOTENDS > 3
#error "The-Borg supports up to 3 hotends / E-steppers."
#endif
#define PORTA 0
#define PORTB 1
#define PORTC 2
#define PORTD 3
#define PORTE 4
#define PORTF 5
#define PORTG 6
#define _STM32_PIN(_PORT,_PIN) ((_PORT * 16) + _PIN)
//
// Limit Switches
//
#define X_MIN_PIN _STM32_PIN(PORTE, 9)
#define X_MAX_PIN _STM32_PIN(PORTE, 10)
#define Y_MIN_PIN _STM32_PIN(PORTE, 7)
#define Y_MAX_PIN _STM32_PIN(PORTE, 8)
#define Z_MIN_PIN _STM32_PIN(PORTF, 15)
#define Z_MAX_PIN _STM32_PIN(PORTG, 0)
#define E_MIN_PIN _STM32_PIN(PORTE, 2)
#define E_MAX_PIN _STM32_PIN(PORTE, 3)
//
// Z Probe (when not Z_MIN_PIN)
//
#ifndef Z_MIN_PROBE_PIN
#define Z_MIN_PROBE_PIN _STM32_PIN(PORTA, 4)
#endif
//
// Steppers
//
#define STEPPER_ENABLE_PIN _STM32_PIN(PORTE, 0)
#define X_STEP_PIN _STM32_PIN(PORTC, 6) //96, 39 in arduino
#define X_DIR_PIN _STM32_PIN(PORTC, 7)
#define X_ENABLE_PIN _STM32_PIN(PORTC, 8)
#define Y_STEP_PIN _STM32_PIN(PORTD, 9)
#define Y_DIR_PIN _STM32_PIN(PORTD, 10)
#define Y_ENABLE_PIN _STM32_PIN(PORTD, 11)
#define Z_STEP_PIN _STM32_PIN(PORTE, 15)
#define Z_DIR_PIN _STM32_PIN(PORTG, 1)
#define Z_ENABLE_PIN _STM32_PIN(PORTD, 8)
#define E0_STEP_PIN _STM32_PIN(PORTB, 1)
#define E0_DIR_PIN _STM32_PIN(PORTB, 2)
#define E0_ENABLE_PIN _STM32_PIN(PORTE, 11)
#define E1_STEP_PIN _STM32_PIN(PORTC, 4)
#define E1_DIR_PIN _STM32_PIN(PORTC, 5)
#define E1_ENABLE_PIN _STM32_PIN(PORTB, 0)
#define E2_STEP_PIN _STM32_PIN(PORTC, 13)
#define E2_DIR_PIN _STM32_PIN(PORTC, 14)
#define E2_ENABLE_PIN _STM32_PIN(PORTC, 15)
#define Z2_STEP_PIN _STM32_PIN(PORTC, 13)
#define Z2_DIR_PIN _STM32_PIN(PORTC, 14)
#define Z2_ENABLE_PIN _STM32_PIN(PORTC, 15)
#define SCK_PIN _STM32_PIN(PORTA, 5)
#define MISO_PIN _STM32_PIN(PORTA, 6)
#define MOSI_PIN _STM32_PIN(PORTA, 7)
#define SPI1_SCK_PIN _STM32_PIN(PORTA, 5)
#define SPI1_MISO_PIN _STM32_PIN(PORTA, 6)
#define SPI1_MOSI_PIN _STM32_PIN(PORTA, 7)
#define SPI6_SCK_PIN _STM32_PIN(PORTG, 13)
#define SPI6_MISO_PIN _STM32_PIN(PORTG, 12)
#define SPI6_MOSI_PIN _STM32_PIN(PORTG, 14)
//
// Temperature Sensors
//
#define TEMP_0_PIN _STM32_PIN(PORTC, 3) // Analog Input
#define TEMP_1_PIN _STM32_PIN(PORTC, 2) // Analog Input
#define TEMP_2_PIN _STM32_PIN(PORTC, 1) // Analog Input
#define TEMP_3_PIN _STM32_PIN(PORTC, 0) // Analog Input
#define TEMP_BED_PIN _STM32_PIN(PORTF, 10) // Analog Input
#define TEMP_5_PIN _STM32_PIN(PORTE, 12) // Analog Input, Probe temp
//
// Heaters / Fans
//
#define HEATER_0_PIN _STM32_PIN(PORTD, 15)
#define HEATER_1_PIN _STM32_PIN(PORTD, 14)
#define HEATER_BED_PIN _STM32_PIN(PORTF, 6)
#define FAN_PIN _STM32_PIN(PORTD, 13)
#define FAN1_PIN _STM32_PIN(PORTA, 0)
#define FAN2_PIN _STM32_PIN(PORTA, 1)
//#define E0_AUTO_FAN_PIN _STM32_PIN(PORTA, 1)
//
// Misc. Functions
//
//#define CASE_LIGHT_PIN_CI _STM32_PIN(PORTF, 13) //
//#define CASE_LIGHT_PIN_DO _STM32_PIN(PORTF, 14) //
//#define NEOPIXEL_PIN _STM32_PIN(PORTF, 13)
//
// Prusa i3 MK2 Multi Material Multiplexer Support
//
#define E_MUX0_PIN _STM32_PIN(PORTG, 3)
#define E_MUX1_PIN _STM32_PIN(PORTG, 4)
//
// Servos
//
#define SERVO0_PIN _STM32_PIN(PORTE, 13)
#define SERVO1_PIN _STM32_PIN(PORTE, 14)
#define SDSS _STM32_PIN(PORTA, 8)
#define SS_PIN _STM32_PIN(PORTA, 8)
#define LED_PIN _STM32_PIN(PORTA, 2) //Alive
#define PS_ON_PIN _STM32_PIN(PORTA, 3)
#define KILL_PIN -1//_STM32_PIN(PORTD, 5) //EXP2-10
#define PWR_LOSS _STM32_PIN(PORTG, 5) //Power loss / nAC_FAULT
//
//MAX7219_DEBUG
//
#define MAX7219_CLK_PIN _STM32_PIN(PORTG, 10) //EXP1-1
#define MAX7219_DIN_PIN _STM32_PIN(PORTD, 7) //EXP1-3
#define MAX7219_LOAD_PIN _STM32_PIN(PORTD, 1) //EXP1-5
//#define NEOPIXEL_PIN 4
//
// LCD / Controller
//
//#define SD_DETECT_PIN -1 //_STM32_PIN(PORTB, 6)) //EXP2-4
#define BEEPER_PIN _STM32_PIN(PORTG, 10) //EXP1-1
#define LCD_PINS_RS _STM32_PIN(PORTG, 9) //EXP1-4
#define LCD_PINS_ENABLE _STM32_PIN(PORTD, 7) //EXP1-3
#define LCD_PINS_D4 _STM32_PIN(PORTD, 1) //EXP1-5
#define LCD_PINS_D5 _STM32_PIN(PORTF, 0) //EXP1-6
#define LCD_PINS_D6 _STM32_PIN(PORTD, 3) //EXP1-7
#define LCD_PINS_D7 _STM32_PIN(PORTD, 4) //EXP1-8
#define BTN_EN1 _STM32_PIN(PORTD, 6) //EXP2-5
#define BTN_EN2 _STM32_PIN(PORTD, 0) //EXP2-3
#define BTN_ENC _STM32_PIN(PORTG, 11) //EXP1-2