/// @file config.h #pragma once #include #include "axis.h" /// Define Debug mode to add additional serial output //#define DEBUG_FINDA /// Enable DEBUG_LOGIC to compile debugging and error messages (beware of code base size ;) ) for the logic layer //#define DEBUG_LOGIC /// Enable DEBUG_LOGIC to compile debugging and error messages (beware of code base size ;) ) for the logic layer //#define DEBUG_MODULES /// Enable DEBUG_HAL to compile debugging and error messages (beware of code base size ;) ) for the logic layer //#define DEBUG_HAL /// Wrangler for assorted compile-time configuration and constants. namespace config { static constexpr const uint8_t toolCount = 5U; ///< Max number of extruders/tools/slots // Printer's filament sensor setup static constexpr const uint16_t fsensorDebounceMs = 10; // LEDS /// The complete period of LED's blinking (i.e. ON and OFF together) /// Beware - in order to keep the blink periods "handle" millis overflow seamlessly /// keep the period a power of 2 (i.e. 256, 512, 1024). /// If you don't, one of the LED unit tests will fail. static constexpr uint16_t ledBlinkPeriodMs = 1024U; static_assert(ledBlinkPeriodMs == 256 || ledBlinkPeriodMs == 512 || ledBlinkPeriodMs == 1024 || ledBlinkPeriodMs == 2048, "LED blink period should be a power of 2"); // FINDA setup static constexpr const uint16_t findaDebounceMs = 100; // Buttons setup static constexpr const uint8_t buttonCount = 3; ///< number of buttons currently supported static constexpr const uint16_t buttonsDebounceMs = 100; static constexpr const uint16_t buttonADCLimits[buttonCount][2] = { { 0, 50 }, { 80, 100 }, { 160, 180 } }; static constexpr const uint8_t buttonsADCIndex = 5; ///< ADC index of buttons input // Motion and planning /// Do not plan moves equal or shorter than the requested steps static constexpr uint8_t dropSegments = 0; /// Max step frequency 40KHz static constexpr uint16_t maxStepFrequency = 40000; /// Minimum stepping rate 120Hz static constexpr uint16_t minStepRate = 120; /// Size for the motion planner block buffer size static constexpr uint8_t blockBufferSize = 2; /// Step timer frequency divider (F = F_CPU / divider) static constexpr uint8_t stepTimerFrequencyDivider = 8; /// Smallest stepping ISR scheduling slice (T = 1 / (F_CPU / divider) * quantum) /// 25us is the max frequency interval per maxStepFrequency attainable for a single axis /// while accelerating: with 3 axes this yields a required minimum of 75us static constexpr uint16_t stepTimerQuantum = 256; // 256 = 128us /// Max retries of FeedToBondtech used in LoadFilament static constexpr uint8_t feedToBondtechMaxRetries = 2; /// Distances static constexpr U_mm pulleyToCuttingEdge = 33.0_mm; /// 33.0_mm /// Pulley to cutting edge. /// Case 1: FINDA working: This should be the max retraction after FINDA un-triggers. /// Case 2: FINDA not working: calculate retraction from printer to this point. static constexpr U_mm filamentMinLoadedToMMU = 20.0_mm; /// 20.0_mm ??? /// Limit of retraction. @TODO find correct distance. static constexpr U_mm ejectFromCuttingEdge = 40.0_mm; /// Eject should ignore FilamentMinLoadedToMMU and retract static constexpr U_mm cuttingEdgeRetract = 5.0_mm; /// 3.0_mm /// Cutting retraction distance (filament should be flush with outlet) @TODO find correct distance. static constexpr U_mm cuttingEdgeToFinda = 18.5_mm; /// 18.5_mm -1.0_mm /// Cutting edge to FINDA MMU2 side -1mm tolerance should be ~18.5. FINDA shouldn't trigger here. static constexpr U_mm findaTriggerDistance = 4.5_mm; /// 9.0_mm /// FINDA trigger distance +1.0_mm tolerance. static constexpr U_mm cuttingEdgeToFindaMidpoint = 22.85_mm; /// Cutting edge to Midpoint of FINDA should be 22.85_mm. static constexpr U_mm findaToCoupler = 12.0_mm; /// 12.0_mm /// FINDA Coupler side to coupler screw. static constexpr U_mm couplerToBowden = 3.5_mm; /// 3.5_mm /// FINDA Coupler screw to bowden mmu2s side (in coupling). // @@TODO this is very tricky - the same MMU, same PTFE, // just another piece of PLA (probably having more resistance in the tubes) // and we are at least 40mm off! It looks like this really depends on the exact position // We'll probably need to check for stallguard while pushing the filament to avoid ginding the filament static constexpr U_mm defaultBowdenLength = 467.0_mm; /// ~427.0_mm /// Default Bowden length. @TODO Should be stored in EEPROM. static constexpr U_mm minimumBowdenLength = 341.0_mm; /// ~341.0_mm /// Minimum bowden length. @TODO Should be stored in EEPROM. static constexpr U_mm maximumBowdenLength = 792.0_mm; /// ~792.0_mm /// Maximum bowden length. @TODO Should be stored in EEPROM. static constexpr U_mm feedToFinda = cuttingEdgeToFindaMidpoint + filamentMinLoadedToMMU; static constexpr U_mm cutLength = 8.0_mm; static constexpr U_mm fsensorToNozzle = 20.0_mm; /// ~20mm from MK4's filament sensor through extruder gears into nozzle static constexpr U_mm fsensorToNozzleAvoidGrind = 5.0_mm; /// Begin: Pulley axis configuration static constexpr AxisConfig pulley = { .dirOn = false, .mRes = MRes_8, .vSense = true, .iRun = 20, /// 348mA .iHold = 0, /// 17mA in SpreadCycle, freewheel in StealthChop .stealth = false, .stepsPerUnit = (200 * 8 / 19.147274), .sg_thrs = 8, }; /// Pulley motion limits static constexpr PulleyLimits pulleyLimits = { .lenght = 1000.0_mm, // TODO .jerk = 4.0_mm_s, .accel = 800.0_mm_s2, }; static constexpr U_mm_s pulleyFeedrate = 40._mm_s; static constexpr U_mm_s pulleySlowFeedrate = 20._mm_s; /// End: Pulley axis configuration /// Begin: Selector configuration static constexpr AxisConfig selector = { .dirOn = true, .mRes = MRes_8, .vSense = true, .iRun = 31, /// 530mA .iHold = 5, /// 99mA .stealth = false, .stepsPerUnit = (200 * 8 / 8.), .sg_thrs = 3, }; /// Selector motion limits static constexpr SelectorLimits selectorLimits = { .lenght = 75.0_mm, // @@TODO how does this relate to SelectorOffsetFromMin? .jerk = 1.0_mm_s, .accel = 200.0_mm_s2, }; static constexpr U_mm SelectorSlotDistance = 14.0_mm; /// Selector distance between two slots static constexpr U_mm SelectorOffsetFromMax = 1.0_mm; /// Selector offset from home max to slot 0 static constexpr U_mm SelectorOffsetFromMin = 75.5_mm; /// Selector offset from home min to slot 0 /// slots 0-4 are the real ones, the 5th is the farthest parking positions /// selector.dirOn = true = Home at max: selector hits left side of the MMU2S body /// selector.dirOn = false = Home at min: selector POM nut hit the selector motor static constexpr U_mm selectorSlotPositions[toolCount + 1] = { ///selector max positions SelectorOffsetFromMax + 0 * SelectorSlotDistance, ///1.0_mm + 0 * 14.0_mm = 1.0_mm SelectorOffsetFromMax + 1 * SelectorSlotDistance, ///1.0_mm + 1 * 14.0_mm = 15.0_mm SelectorOffsetFromMax + 2 * SelectorSlotDistance, ///1.0_mm + 2 * 14.0_mm = 29.0_mm SelectorOffsetFromMax + 3 * SelectorSlotDistance, ///1.0_mm + 3 * 14.0_mm = 43.0_mm SelectorOffsetFromMax + 4 * SelectorSlotDistance, ///1.0_mm + 4 * 14.0_mm = 57.0_mm SelectorOffsetFromMax + 5 * SelectorSlotDistance ///1.0_mm + 5 * 14.0_mm = 71.0_mm ///selector min positions // SelectorOffsetFromMin - 1.0_mm - 0 * SelectorSlotDistance, ///75.5_mm - 1.0_mm - 0 * 14.0_mm = 74.5_mm // SelectorOffsetFromMin - 1.0_mm - 1 * SelectorSlotDistance, ///75.5_mm - 1.0_mm - 1 * 14.0_mm = 60.5_mm // SelectorOffsetFromMin - 1.0_mm - 2 * SelectorSlotDistance, ///75.5_mm - 1.0_mm - 2 * 14.0_mm = 46.5_mm // SelectorOffsetFromMin - 1.0_mm - 3 * SelectorSlotDistance, ///75.5_mm - 1.0_mm - 3 * 14.0_mm = 32.5_mm // SelectorOffsetFromMin - 1.0_mm - 4 * SelectorSlotDistance, ///75.5_mm - 1.0_mm - 4 * 14.0_mm = 18.5_mm // SelectorOffsetFromMin - 1.0_mm - 5 * SelectorSlotDistance ///75.5_mm - 1.0_mm - 5 * 14.0_mm = 4.5_mm }; static constexpr U_mm_s selectorFeedrate = 30._mm_s; /// End: Selector configuration /// Begin: Idler configuration static constexpr AxisConfig idler = { .dirOn = true, .mRes = MRes_16, .vSense = true, .iRun = 31, /// 530mA .iHold = 23, /// 398mA .stealth = false, .stepsPerUnit = (200 * 16 / 360.), .sg_thrs = 8, }; /// Idler motion limits static constexpr IdlerLimits idlerLimits = { .lenght = 270.0_deg, .jerk = 0.1_deg_s, .accel = 500.0_deg_s2, }; static constexpr U_deg IdlerSlotDistance = 40.0_deg; /// Idler distance between two slots static constexpr U_deg IdlerOffsetFromHome = 18.0_deg; /// Idler offset from home to slots /// Absolute positions for Idler's slots: 0-4 are the real ones, the 5th index is the idle position /// Home ccw with 5th idler bearing facing selector static constexpr U_deg idlerSlotPositions[toolCount + 1] = { IdlerOffsetFromHome + 5 * IdlerSlotDistance, /// Slot 0 at 218 degree after homing ///18.0_deg + 5 * 40.0_deg = 218.0_deg IdlerOffsetFromHome + 4 * IdlerSlotDistance, /// Slot 1 at 178 degree after homing ///18.0_deg + 4 * 40.0_deg = 178.0_deg IdlerOffsetFromHome + 3 * IdlerSlotDistance, /// Slot 2 at 138 degree after homing ///18.0_deg + 3 * 40.0_deg = 138.0_deg IdlerOffsetFromHome + 2 * IdlerSlotDistance, /// Slot 3 at 98 degree after homing ///18.0_deg + 2 * 40.0_deg = 98.0_deg IdlerOffsetFromHome + 1 * IdlerSlotDistance, /// Slot 4 at 58 degree after homing ///18.0_deg + 1 * 40.0_deg = 58.0_deg IdlerOffsetFromHome ///18.0_deg Fully disengaged all slots }; static constexpr U_deg idlerParkPositionDelta = -IdlerSlotDistance + 5.0_deg / 2; ///@TODO verify static constexpr U_deg_s idlerFeedrate = 200._deg_s; /// End: Idler configuration // TMC2130 setup // static constexpr int8_t tmc2130_sg_thrs = 3; // static_assert(tmc2130_sg_thrs >= -64 && tmc2130_sg_thrs <= 63, "tmc2130_sg_thrs out of range"); static constexpr uint32_t tmc2130_coolStepThreshold = 5000; ///< step-based 20bit uint static_assert(tmc2130_coolStepThreshold <= 0xfffff, "tmc2130_coolStepThreshold out of range"); static constexpr uint32_t tmc2130_PWM_AMPL = 240; static_assert(tmc2130_PWM_AMPL <= 255, "tmc2130_PWM_AMPL out of range"); static constexpr uint32_t tmc2130_PWM_GRAD = 4; static_assert(tmc2130_PWM_GRAD <= 255, "tmc2130_PWM_GRAD out of range"); static constexpr uint32_t tmc2130_PWM_FREQ = 2; static_assert(tmc2130_PWM_FREQ <= 3, "tmc2130_PWM_GRAD out of range"); static constexpr uint32_t tmc2130_PWM_AUTOSCALE = 1; static_assert(tmc2130_PWM_AUTOSCALE <= 1, "tmc2130_PWM_AUTOSCALE out of range"); /// Freewheel options for standstill: /// 0: Normal operation (IHOLD is supplied to the motor at standstill) /// 1: Freewheeling (as if the driver was disabled, no braking except for detent torque) /// 2: Coil shorted using LS drivers (stronger passive braking) /// 3: Coil shorted using HS drivers (weaker passive braking) static constexpr uint32_t tmc2130_freewheel = 1; static_assert(tmc2130_PWM_AUTOSCALE <= 3, "tmc2130_freewheel out of range"); } // namespace config