Custom firmware

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  • Author
    Posts
  • #2016 Quote
    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 Quote
    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 Quote
    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 Quote
    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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