/* stepper-brick * Copyright (C) 2010-2012 Olaf Lüke * * config.h: Stepper-Brick specific configuration * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2 of the License, or (at your option) any later version. * * This library 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 * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the * Free Software Foundation, Inc., 59 Temple Place - Suite 330, * Boston, MA 02111-1307, USA. */ #ifndef CONFIG_H #define CONFIG_H #include "communication.h" #include "bricklib/drivers/board/sam3s/SAM3S.h" #include "stepper.h" #define BRICK_FIRMWARE_VERSION_MAJOR 2 #define BRICK_FIRMWARE_VERSION_MINOR 0 #define BRICK_FIRMWARE_VERSION_REVISION 1 #define BRICK_HARDWARE_VERSION_MAJOR 1 #define BRICK_HARDWARE_VERSION_MINOR 1 #define BRICK_HARDWARE_VERSION_REVISION 0 #define BRICK_DEVICE_IDENTIFIER 15 // ************** DEBUG SETTINGS ************** #define DEBUG_SPI_STACK 1 #define DEBUG_I2C_EEPROM 0 #define DEBUG_STARTUP 1 #define DEBUG_BRICKLET 1 #define DEBUG_STEPPER 1 //#define PROFILING //#define PROFILING_TIME 100 // After how many seconds profiling is printed #define DISABLE_JTAG_ON_STARTUP //#define LOGGING_SERIAL //#define LOGGING_LEVEL LOGGING_DEBUG #define LOGGING_LEVEL LOGGING_NONE // ************** BRICK SETTINGS ************** // Frequencies #define BOARD_MCK 64000000 // Frequency of brick #define BOARD_MAINOSC 16000000 // Frequency of oscillator #define BOARD_ADC_FREQ 16000000 // Frequency of ADC #define BOARD_OSC_EXTERNAL // Use external oscillator // UART for console output (printf) #define PIN_CONSOLE_RXD {1 << 21, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT} #define PIN_CONSOLE_TXD {1 << 22, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT} #define CONSOLE_BAUDRATE 115200 #define CONSOLE_USART USART1 #define CONSOLE_ID ID_USART1 #define CONSOLE_PINS {PIN_CONSOLE_RXD, PIN_CONSOLE_TXD} #define PINS_UART {PIN_CONSOLE_RXD, PIN_CONSOLE_TXD} // TWI // TWI version #define TWI_V3XX // TWI stack definitions (for reading of eeproms from Bricks in stack) #define TWI_STACK TWI1 #define PIN_TWI_TWD_STACK {1 << 4, PIOB, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT} #define PIN_TWI_TWCK_STACK {1 << 5, PIOB, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT} #define PINS_TWI_STACK PIN_TWI_TWD_STACK, PIN_TWI_TWCK_STACK // TWI bricklet definitions (for bricklets, spi select and brick specific // functions) #define TWI_BRICKLET TWI0 #define PIN_TWI_TWD_BRICKLET {1 << 3, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT} #define PIN_TWI_TWCK_BRICKLET {1 << 4, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT} #define PINS_TWI_BRICKLET PIN_TWI_TWD_BRICKLET, PIN_TWI_TWCK_BRICKLET // USB // USB VBUS monitoring pin for USB plug and play #define PIN_USB_DETECT {1 << 26, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT} // USB product descriptor (name of brick) #define PRODUCT_DESCRIPTOR { \ USBStringDescriptor_LENGTH(13), \ USBGenericDescriptor_STRING, \ USBStringDescriptor_UNICODE('S'), \ USBStringDescriptor_UNICODE('t'), \ USBStringDescriptor_UNICODE('e'), \ USBStringDescriptor_UNICODE('p'), \ USBStringDescriptor_UNICODE('p'), \ USBStringDescriptor_UNICODE('e'), \ USBStringDescriptor_UNICODE('r'), \ USBStringDescriptor_UNICODE(' '), \ USBStringDescriptor_UNICODE('B'), \ USBStringDescriptor_UNICODE('r'), \ USBStringDescriptor_UNICODE('i'), \ USBStringDescriptor_UNICODE('c'), \ USBStringDescriptor_UNICODE('k') \ } // SPI #define PIN_SPI_MISO {1 << 12, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT} #define PIN_SPI_MOSI {1 << 13, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT} #define PIN_SPI_SPCK {1 << 14, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT} #define PINS_SPI PIN_SPI_MISO, PIN_SPI_MOSI, PIN_SPI_SPCK #define PIN_SPI_SELECT_SLAVE {1 << 11, PIOA, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT} // LED #define PIN_LED_STD_BLUE {1 << 9, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT} #define PIN_LED_STD_RED {1 << 10, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT} #define PINS_STD_LED PIN_LED_STD_BLUE, PIN_LED_STD_RED #define PINS_LED PINS_STD_LED #define LED_STD_BLUE 0 #define LED_STD_RED 1 // Brick Detect // Set low by master // TODO: Change name #define PIN_DETECT {1 << 6, PIOB, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT} // ************** INTERRUPT PRIORITIES *********** #define PRIORITY_EEPROM_MASTER_TWI0 1 #define PRIORITY_EEPROM_SLAVE_TWI1 1 #define PRIORITY_STACK_SLAVE_SPI 5 #define PRIORITY_PROFILING_TC0 0 #define PRIORITY_STEPPER_TC0 6 // ************** BRICKLET SETTINGS ************** // Number of bricklet ports #define BRICKLET_NUM 2 // BRICKLET A #define BRICKLET_A_ADDRESS 84 #define BRICKLET_A_ADC_CHANNEL 4 #define BRICKLET_A_PIN_1_AD {1 << 0, PIOB, ID_PIOB, PIO_INPUT, PIO_DEFAULT} #define BRICKLET_A_PIN_2_DA {1 << 2, PIOB, ID_PIOB, PIO_INPUT, PIO_DEFAULT} #define BRICKLET_A_PIN_3_PWM {1 << 0, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT} #define BRICKLET_A_PIN_4_IO {1 << 25, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT} #define BRICKLET_A_PIN_SELECT {0, 0, 0, 0, 0} // BRICKLET B #define BRICKLET_B_ADDRESS 80 #define BRICKLET_B_ADC_CHANNEL 5 #define BRICKLET_B_PIN_1_AD {1 << 1, PIOB, ID_PIOB, PIO_INPUT, PIO_DEFAULT} #define BRICKLET_B_PIN_2_DA {1 << 3, PIOB, ID_PIOB, PIO_INPUT, PIO_DEFAULT} #define BRICKLET_B_PIN_3_PWM {1 << 1, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT} #define BRICKLET_B_PIN_4_IO {1 << 16, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT} #define BRICKLET_B_PIN_SELECT {0, 0, 0, 0, 0} // *************** STEPPER DEBUGGING ************** #if(DEBUG_STEPPER) #define logstepperd(str, ...) do{logd("stepper: " str, ##__VA_ARGS__);}while(0) #define logstepperi(str, ...) do{logi("stepper: " str, ##__VA_ARGS__);}while(0) #define logstepperw(str, ...) do{logw("stepper: " str, ##__VA_ARGS__);}while(0) #define logsteppere(str, ...) do{loge("stepper: " str, ##__VA_ARGS__);}while(0) #define logstepperf(str, ...) do{logf("stepper: " str, ##__VA_ARGS__);}while(0) #else #define logstepperd(str, ...) {} #define logstepperi(str, ...) {} #define logstepperw(str, ...) {} #define logsteppere(str, ...) {} #define logstepperf(str, ...) {} #endif #endif // *************** DRV8811 PINS *************** #define PIN_ENABLE {1 << 23, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT} #define PIN_SLEEP {1 << 24, PIOA, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT} #define PIN_STEP {1 << 15, PIOA, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT} #define PIN_DIRECTION {1 << 28, PIOA, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT} #define PIN_USM0 {1 << 29, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT} #define PIN_USM1 {1 << 30, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT} #define PIN_RESET {1 << 31, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT} #define PIN_SYNC_RECT {1 << 2, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT} #define PIN_HOME {1 << 5, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT} #define PIN_VREF {1 << 13, PIOB, ID_PIOB, PIO_INPUT, PIO_DEFAULT} #define PIN_DECAY {1 << 14, PIOB, ID_PIOB, PIO_INPUT, PIO_DEFAULT} #define PIN_PWR_DAC {1 << 8, PIOA, ID_PIOA, PIO_INPUT, PIO_DEFAULT} #define PINS_STEPPER PIN_ENABLE, PIN_SLEEP, PIN_STEP, PIN_DIRECTION, \ PIN_USM0, PIN_USM1, PIN_RESET, PIN_SYNC_RECT, \ PIN_HOME, PIN_VREF, PIN_DECAY, PIN_PWR_DAC #define PINS_BRICKLET_A BRICKLET_A_PIN_1_AD, BRICKLET_A_PIN_2_DA, \ BRICKLET_A_PIN_3_PWM, BRICKLET_A_PIN_4_IO #define PINS_BRICKLET_B BRICKLET_B_PIN_1_AD, BRICKLET_B_PIN_2_DA, \ BRICKLET_B_PIN_3_PWM, BRICKLET_B_PIN_4_IO #ifndef MAX_JOYSTICK_POSITION #define MAX_JOYSTICK_POSITION 200 #endif #ifndef MAX_ADC_VALUE #define MAX_ADC_VALUE ((1 << 12) - 1) #endif // ************** POWER MANAGEMENT ************** #define VOLTAGE_MAX_VALUE 4095 #define VOLTAGE_MIN_VALUE 0 #define VOLTAGE_MIN_DAC (3300/6) #define VOLTAGE_MAX_DAC (3300*5/6) #define VOLTAGE_STACK_CHANNEL 3 #define VOLTAGE_STACK_MULTIPLIER 11 #define VOLTAGE_STACK_REFERENCE 3300 #define VOLTAGE_STACK_PIN {1 << 20, PIOA, ID_PIOA, PIO_INPUT, PIO_PULLDOWN} #define VOLTAGE_STACK_SWITCH_PIN {1 << 27, PIOA, ID_PIOA, PIO_OUTPUT_1, PIO_DEFAULT} #define VOLTAGE_EXTERN_CHANNEL 2 #define VOLTAGE_EXTERN_MULTIPLIER 11 #define VOLTAGE_EXTERN_REFERENCE 3300 #define VOLTAGE_EXTERN_PIN {1 << 19, PIOA, ID_PIOA, PIO_INPUT, PIO_PULLDOWN} #define VREF_CHANNEL 0 #define VREF_MULTIPLIER 1 #define VREF_REFERENCE 2750 #define VREF_DEFAULT_CURRENT 1500 #define MIN_EXTERN_VOLTAGE 8000 #define MIN_EXTERN_VALUE ((MIN_EXTERN_VOLTAGE * VOLTAGE_MAX_VALUE) / \ (VOLTAGE_EXTERN_MULTIPLIER* \ VOLTAGE_EXTERN_REFERENCE)) #define STEPPER_CURRENT_CHANNEL 1 #define STEPPER_CURRENT_MULTIPLIER 2 #define STEPPER_CURRENT_REFERENCE 3300 #define STEPPER_CURRENT_PIN {1 << 18, PIOA, ID_PIOA, PIO_INPUT, PIO_PULLDOWN} // 15: 0.15 Ohm Resistor // 1/6: Minimum value for DAC // 5/6: Maximim value for DAC #define VREF_MIN_CURRENT (330000/(6*8*15)) #define VREF_MAX_CURRENT (330000*5/(6*8*15)) // 2.7k voltage divider #define VREF_RES_MIN_CURRENT ((330000*27/127)/(6*8*15)) #define VREF_RES_MAX_CURRENT ((330000*27/127)*5/(6*8*15)) #define DECAY_CHANNEL 1