Custom firmware

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  • #2016
    Mendy
    Participant

      I’m interested in writing my own custom firmware for the Arduino, is there any documentation on what each of the pcb pins is doing?

      #2018
      Angel LM
      Admin

        Hi Mendy!

        You can see the configuration files of GRBL I modified in order to make it work for Thor: https://github.com/angellm/grbl

        However, these are the most relevant ones:

        Steppers ENABLE/DISABLE signal

        #define STEPPERS_DISABLE_BIT 1 // MEGA2560 Digital Pin 40

        Steppers STEP signals

        #define A_STEP_BIT    6 // MEGA2560 Digital Pin 28
        #define B_STEP_BIT    4 // MEGA2560 Digital Pin 26
        #define C_STEP_BIT    2 // MEGA2560 Digital Pin 24
        #define D_STEP_BIT    0 // MEGA2560 Digital Pin 22
        #define E_STEP_BIT    1 // MEGA2560 Digital Pin 23
        #define F_STEP_BIT    3 // MEGA2560 Digital Pin 25
        #define G_STEP_BIT    5 // MEGA2560 Digital Pin 27

        Steppers DIR signals

        #define A_DIRECTION_BIT   1 // MEGA2560 Digital Pin 36
        #define B_DIRECTION_BIT   3 // MEGA2560 Digital Pin 34
        #define C_DIRECTION_BIT   5 // MEGA2560 Digital Pin 32
        #define D_DIRECTION_BIT   7 // MEGA2560 Digital Pin 30
        #define E_DIRECTION_BIT   6 // MEGA2560 Digital Pin 31
        #define F_DIRECTION_BIT   4 // MEGA2560 Digital Pin 33
        #define G_DIRECTION_BIT   2 // MEGA2560 Digital Pin 35

        Endstop signals

        #define A_LIMIT_BIT     7 // MEGA2560 Digital Pin 42
        #define B_LIMIT_BIT     5 // MEGA2560 Digital Pin 44
        #define C_LIMIT_BIT     5 // MEGA2560 Digital Pin 44 //3 // MEGA2560 Digital Pin 46
        #define D_LIMIT_BIT     1 // MEGA2560 Digital Pin 48
        #define E_LIMIT_BIT     0 // MEGA2560 Digital Pin 49
        #define F_LIMIT_BIT     2 // MEGA2560 Digital Pin 47
        #define G_LIMIT_BIT     2 // MEGA2560 Digital Pin 47//4 // MEGA2560 Digital Pin 45

        Tool signal:

        #define SPINDLE_ENABLE_BIT 4 // MEGA2560 Digital Pin 7

        #2019
        Angel LM
        Admin

          Some time ago I also thought about developing my own firmware. Actually, with GRBL, Thor’s movements are not like those of a normal robot, since the movement of all motors starts and ends at the same time, making linear movements not possible. Or at least I think so.
          If you decide to design your own firmware, please keep me updated!

          #2022
          Mendy
          Participant

            Thanks for the information! I’m currently looking into the feasibility of doing custom firmware.

            If I end up doing it it’ll most probably be just the controller software without a GUI.

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