173 lines
5.2 KiB
C
173 lines
5.2 KiB
C
/*
|
|
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 |