Machine-Fraiseuse_Cnc_CharlyRobot_CRA4/Grbl_Esp32-master/Grbl_Esp32/atari_1020.h

/*
	atari_1020.h
	Part of Grbl_ESP32

	copyright (c) 2018 -	Bart Dring This file was modified for use on the ESP32
					CPU. Do not use this with Grbl for atMega328P

	Grbl 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.

	Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.

	This contains all the special features required to control an 
	Atari 1010 Pen Plotter
*/

#define CPU_MAP_NAME "CPU_MAP_ATARI_1020"			
	
// ================== CPU MAP ====================== 	
	#define USE_UNIPOLAR

	#define X_UNIPOLAR	
	#define X_PIN_PHASE_0	GPIO_NUM_13
	#define X_PIN_PHASE_1	GPIO_NUM_21
	#define X_PIN_PHASE_2	GPIO_NUM_16
	#define X_PIN_PHASE_3	GPIO_NUM_22		
	
	#define Y_UNIPOLAR
	#define Y_PIN_PHASE_0	GPIO_NUM_25
	#define Y_PIN_PHASE_1	GPIO_NUM_27
	#define Y_PIN_PHASE_2	GPIO_NUM_26
	#define Y_PIN_PHASE_3	GPIO_NUM_32
	
		
	#define SOLENOID_DIRECTION_PIN GPIO_NUM_4
	#define SOLENOID_PEN_PIN GPIO_NUM_2
	#define SOLENOID_CHANNEL_NUM 6	
			
	#ifdef HOMING_CYCLE_0
		#undef HOMING_CYCLE_0		
	#endif
	#define HOMING_CYCLE_0 (1<<X_AXIS) // this 'bot only homes the X axis
	#ifdef HOMING_CYCLE_1
		#undef HOMING_CYCLE_1
	#endif
	#ifdef HOMING_CYCLE_2
		#undef HOMING_CYCLE_2
	#endif			
		
	#define REED_SW_PIN      	GPIO_NUM_17	
	#define LIMIT_MASK      	0
	
	
	#ifdef IGNORE_CONTROL_PINS // maybe set in config.h
		#undef IGNORE_CONTROL_PINS
	#endif
	
	
	#ifndef ENABLE_CONTROL_SW_DEBOUNCE
		#define ENABLE_CONTROL_SW_DEBOUNCE
	#endif
	
	#ifdef INVERT_CONTROL_PIN_MASK
		#undef IGNORE_CONTROL_PINS
	#endif
	#define INVERT_CONTROL_PIN_MASK   B01110000
	
	#define MACRO_BUTTON_0_PIN		GPIO_NUM_34  // Pen Switch
	#define MACRO_BUTTON_1_PIN		GPIO_NUM_35	 // Color Switch
	#define MACRO_BUTTON_2_PIN		GPIO_NUM_36  // Paper Switch
	
	#ifdef DEFAULTS_GENERIC
		#undef DEFAULTS_GENERIC  // undefine generic then define each default below
	#endif
	#define DEFAULT_STEP_PULSE_MICROSECONDS 3 
	#define DEFAULT_STEPPER_IDLE_LOCK_TIME 200 // 200ms
	
	#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
	#define DEFAULT_DIRECTION_INVERT_MASK 0 // uint8_t
	#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
	#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
	#define DEFAULT_INVERT_PROBE_PIN 0 // boolean 
	
	#define DEFAULT_STATUS_REPORT_MASK 1
	
	#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
	#define DEFAULT_ARC_TOLERANCE 0.002 // mm
	#define DEFAULT_REPORT_INCHES 0 // false
	
	#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
	#define DEFAULT_HARD_LIMIT_ENABLE 0  // false
	
	#define DEFAULT_HOMING_ENABLE 1
	#define DEFAULT_HOMING_DIR_MASK 0 
	#define DEFAULT_HOMING_FEED_RATE 3000.0 // mm/min
	#define DEFAULT_HOMING_SEEK_RATE 3000.0 // mm/min
	#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
	#define DEFAULT_HOMING_PULLOFF 2.0 // mm

	#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
	#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
	
	#define DEFAULT_LASER_MODE 0 // false
	
	#define DEFAULT_X_STEPS_PER_MM 10
	#define DEFAULT_Y_STEPS_PER_MM 10
	#define DEFAULT_Z_STEPS_PER_MM 100.0 // This is percent in servo mode
	
	
	#define DEFAULT_X_MAX_RATE 5000.0 // mm/min
	#define DEFAULT_Y_MAX_RATE 5000.0 // mm/min
	#define DEFAULT_Z_MAX_RATE 200000.0 // mm/min
	
	#define DEFAULT_X_ACCELERATION (500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
	#define DEFAULT_Y_ACCELERATION (500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
	#define DEFAULT_Z_ACCELERATION (500.0*60*60) 
	
	#define DEFAULT_X_MAX_TRAVEL 120.0 // mm NOTE: Must be a positive value.
	#define DEFAULT_Y_MAX_TRAVEL 20000.0 // mm NOTE: Must be a positive value.
	#define DEFAULT_Z_MAX_TRAVEL 10.0 // This is percent in servo mode
	
// ================== CPU MAP ======================	

#define ATARI_1020


#define SOLENOID_PWM_FREQ 5000
#define SOLENOID_PWM_RES_BITS 8

#define SOLENOID_PULSE_LEN_PULL 255
#define SOLENOID_PULL_DURATION 50 // in task counts...after this delay power will change to hold level see SOLENOID_TASK_FREQ
#define SOLENOID_PULSE_LEN_HOLD 40 // solenoid hold level ... typically a lower value to prevent overheating

#define SOLENOID_TASK_FREQ 50  // this is milliseconds

#define MAX_PEN_NUMBER			4
#define BUMPS_PER_PEN_CHANGE	3


#define ATARI_HOME_POS -10.0f // this amound to the left of the paper 0
#define ATARI_PAPER_WIDTH 100.0f //
#define ATARI_HOMING_ATTEMPTS 13

// tells grbl we have some special functions to call
#define USE_MACHINE_INIT
#define USE_CUSTOM_HOMING
#define USE_TOOL_CHANGE
#define ATARI_TOOL_CHANGE_Z 5.0
#define USE_M30 // use the user defined end of program

#ifndef atari_h
	#define atari_h

	void machine_init();
	void solenoid_disable();
	void solenoidSyncTask(void *pvParameters);
	void calc_solenoid(float penZ);
	bool user_defined_homing();
	void atari_home_task(void *pvParameters);
	void user_tool_change(uint8_t new_tool);
	void user_defined_macro(uint8_t index);
	void user_m30();
	void atari_next_pen();
	
#endif