Forum › Development › Firmware
- This topic has 3 replies, 2 voices, and was last updated 2 years ago by
Mendy.
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July 22, 2022 at 3:04 am #2016
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?
July 25, 2022 at 9:28 am #2018Hi 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
July 25, 2022 at 9:35 am #2019Some 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!July 26, 2022 at 3:37 am #2022Thanks 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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