config.h

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#pragma once
#include <stdint.h>
#include "axis.h"
 
 
//#define DEBUG_FINDA
//#define DEBUG_LOGIC
 
//#define DEBUG_MODULES
 
//#define DEBUG_HAL
 
namespace config {
 
static constexpr const uint8_t toolCount = 5U;
static_assert(toolCount < 15, "Up to 14 valid slots (+1 parking) is supported in EEPROM storage");
 
// Printer's filament sensor setup
static constexpr const uint16_t fsensorDebounceMs = 2;
 
// LEDS
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; 
static constexpr const uint16_t buttonsDebounceMs = 20; 
static constexpr const uint16_t buttonADCLimits[buttonCount][2] = { { 0, 50 }, { 80, 100 }, { 160, 180 } };
static constexpr const uint16_t buttonADCMaxValue = 1023; 
static constexpr const uint8_t buttonsADCIndex = 5; 
 
// VCC measurement setup
static constexpr const uint8_t VCCADCIndex = 30; 
static constexpr const uint16_t VCCADCThreshold = 274; 
static constexpr const uint8_t VCCADCReadCnt = 10; 
 
// Motion and planning
 
static constexpr uint8_t dropSegments = 0;
 
static constexpr uint16_t maxStepFrequency = 40000;
 
static constexpr uint16_t minStepRate = 120;
 
static constexpr uint8_t blockBufferSize = 4;
 
static constexpr uint8_t stepTimerFrequencyDivider = 8;
 
static constexpr uint16_t stepTimerQuantum = 256; // 256 = 128us
 
static constexpr uint8_t feedToBondtechMaxRetries = 2;
 
static constexpr U_mm pulleyToCuttingEdge = 33.0_mm; 
static constexpr U_mm filamentMinLoadedToMMU = 20.0_mm; 
static constexpr U_mm ejectFromCuttingEdge = 40.0_mm; 
static constexpr U_mm cuttingEdgeRetract = 5.0_mm; 
static constexpr U_mm cuttingEdgeToFinda = 18.5_mm; 
static constexpr U_mm findaTriggerDistance = 4.5_mm; 
static constexpr U_mm cuttingEdgeToFindaMidpoint = 22.85_mm; 
static constexpr U_mm findaToCoupler = 12.0_mm; 
static constexpr U_mm couplerToBowden = 3.5_mm; 
 
// Min, max and default bowden length setup
static constexpr U_mm defaultBowdenLength = 360.0_mm; 
static constexpr U_mm minimumBowdenLength = 341.0_mm; 
static constexpr U_mm maximumBowdenLength = 1000.0_mm; 
static_assert(minimumBowdenLength.v <= defaultBowdenLength.v);
static_assert(maximumBowdenLength.v > defaultBowdenLength.v);
 
static constexpr U_mm feedToFinda = cuttingEdgeToFindaMidpoint + filamentMinLoadedToMMU;
static constexpr U_mm maximumFeedToFinda = feedToFinda + 20.0_mm; 
static constexpr U_mm pulleyHelperMove = 10.0_mm; 
static constexpr U_mm cutLength = 8.0_mm;
static constexpr U_mm fsensorToNozzle = 30.0_mm; 
static constexpr U_mm fsensorToNozzleAvoidGrind = 5.0_mm;
static constexpr U_mm fsensorUnloadCheckDistance = 40.0_mm;
 
static constexpr AxisConfig pulley = {
    .dirOn = false,
    .mRes = MRes_8,
    .iRun = 13, 
    .iHold = 0, 
    .stealth = false,
    .stepsPerUnit = (200 * 8 / 19.147274),
    .sg_thrs = 8,
};
 
static constexpr PulleyLimits pulleyLimits = {
    .lenght = 1000.0_mm, // TODO
    .jerk = 4.0_mm_s,
    .accel = 800.0_mm_s2,
};
 
static constexpr U_mm_s pulleyUnloadFeedrate = 95._mm_s;
static constexpr U_mm_s pulleyLoadFeedrate = 95._mm_s;
static constexpr U_mm_s pulleySlowFeedrate = 20._mm_s;
 
static constexpr AxisConfig selector = {
    .dirOn = true,
    .mRes = MRes_8,
    .iRun = 31, 
    .iHold = 0, 
    .stealth = false,
    .stepsPerUnit = (200 * 8 / 8.),
    .sg_thrs = 3,
};
 
static constexpr uint8_t selectorCutIRun = 40; 
 
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; 
static constexpr U_mm SelectorOffsetFromMax = 1.0_mm; 
static constexpr U_mm SelectorOffsetFromMin = 75.5_mm; 
 
static constexpr U_mm selectorSlotPositions[toolCount + 1] = {
 
    SelectorOffsetFromMax + 0 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 1 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 2 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 3 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 4 * SelectorSlotDistance, 
    SelectorOffsetFromMax + 5 * SelectorSlotDistance 
 
    //    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 = 45._mm_s;
static constexpr U_mm_s selectorHomingFeedrate = 30._mm_s;
 
static constexpr AxisConfig idler = {
    .dirOn = true,
    .mRes = MRes_16,
    .iRun = 31, 
    .iHold = 5, 
    .stealth = false,
    .stepsPerUnit = (200 * 16 / 360.),
    .sg_thrs = 7,
};
 
static constexpr IdlerLimits idlerLimits = {
    .lenght = 225.0_deg,
    .jerk = 0.1_deg_s,
    .accel = 500.0_deg_s2,
};
 
static constexpr U_deg IdlerSlotDistance = 40.0_deg; 
static constexpr U_deg IdlerOffsetFromHome = 18.0_deg; 
 
static constexpr U_deg idlerSlotPositions[toolCount + 1] = {
    IdlerOffsetFromHome + 5 * IdlerSlotDistance, 
    IdlerOffsetFromHome + 4 * IdlerSlotDistance, 
    IdlerOffsetFromHome + 3 * IdlerSlotDistance, 
    IdlerOffsetFromHome + 2 * IdlerSlotDistance, 
    IdlerOffsetFromHome + 1 * IdlerSlotDistance, 
    IdlerOffsetFromHome 
};
 
static constexpr U_deg idlerIntermediateSlotPositions[toolCount + 1] = {
    IdlerOffsetFromHome + 4.75F * IdlerSlotDistance,
    IdlerOffsetFromHome + 3.75F * IdlerSlotDistance,
    IdlerOffsetFromHome + 2.75F * IdlerSlotDistance,
    IdlerOffsetFromHome + 1.75F * IdlerSlotDistance,
    IdlerOffsetFromHome + 0.75F * IdlerSlotDistance,
    IdlerOffsetFromHome 
};
 
static constexpr U_deg idlerParkPositionDelta = -IdlerSlotDistance + 5.0_deg / 2; // TODO verify
 
static constexpr U_deg_s idlerFeedrate = 300._deg_s;
static constexpr U_deg_s idlerHomingFeedrate = 265._deg_s;
 
// 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 = 450; 
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 = 0;
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");
 
static constexpr uint32_t tmc2130_freewheel = 1;
static_assert(tmc2130_PWM_AUTOSCALE <= 3, "tmc2130_freewheel out of range");
 
} // namespace config