Add RP2040 Support for JackW01 and BTT SKR Pico boards #280
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| /** | ||
| * @brief Local hardware configuration for a Raspberry Pi Pico (RP2040) | ||
| * on the BigTreeTech SKR Pico v1.0 printer controller board. | ||
| * | ||
| * This file is NOT tracked by Git and will survive branch changes. | ||
| * It is automatically included by LocalConfiguration.hpp when | ||
| * BOARD == BOARD_RP2040_SKR_PICO. | ||
| * | ||
| * Hardware summary | ||
| * ---------------- | ||
| * MCU : RP2040 (Raspberry Pi Pico) | ||
| * Board : BTT SKR Pico v1.0 | ||
| * Stepper slot : X -> RA (TMC2209, UART addr 0) | ||
| * Stepper slot : Y -> DEC (TMC2209, UART addr 2) | ||
| * Stepper slot : Z -> AZ (TMC2209, UART addr 1) | ||
| * Stepper slot : E0 -> ALT (TMC2209, UART addr 3) | ||
| * Motor rating : 0.9 deg / step (400 SPR), 470 mA | ||
| * Pulley : 16T aluminium GT2 | ||
| * RA homing : Hall sensor on GPIO4 (X-STOP / RA_DIAG_PIN) | ||
| * | ||
| * All pin assignments are in boards/RP2040_SKR_PICO/pins_RP2040_SKR_PICO.hpp. | ||
| * R_SENSE (0.11 ohm) is set globally in src/a_inits.hpp for all TMC2209_UART | ||
| * builds and does not need to be repeated here. | ||
| * | ||
| * Key difference from JackW01: each stepper driver has its own EN pin. | ||
| * AZ_ALWAYS_ON and ALT_ALWAYS_ON are NOT required on this board. | ||
| */ | ||
| #pragma once | ||
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| // ── Board ───────────────────────────────────────────────────────────────────── | ||
| #define BOARD BOARD_RP2040_SKR_PICO | ||
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| // ── Hemisphere ──────────────────────────────────────────────────────────────── | ||
| #define NORTHERN_HEMISPHERE 1 | ||
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| // ── Display (none) ──────────────────────────────────────────────────────────── | ||
| #define DISPLAY_TYPE DISPLAY_TYPE_NONE | ||
| #define INFO_DISPLAY_TYPE INFO_DISPLAY_TYPE_NONE | ||
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| // ── Stepper motor types ─────────────────────────────────────────────────────── | ||
| #define RA_STEPPER_TYPE STEPPER_TYPE_ENABLED | ||
| #define DEC_STEPPER_TYPE STEPPER_TYPE_ENABLED | ||
| #define AZ_STEPPER_TYPE STEPPER_TYPE_ENABLED | ||
| #define ALT_STEPPER_TYPE STEPPER_TYPE_ENABLED | ||
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| // ── Stepper driver types ────────────────────────────────────────────────────── | ||
| #define RA_DRIVER_TYPE DRIVER_TYPE_TMC2209_UART | ||
| #define DEC_DRIVER_TYPE DRIVER_TYPE_TMC2209_UART | ||
| #define AZ_DRIVER_TYPE DRIVER_TYPE_TMC2209_UART | ||
| #define ALT_DRIVER_TYPE DRIVER_TYPE_TMC2209_UART | ||
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| // ── Steps per revolution (0.9 deg motor = 400 full steps/rev) ───────────────── | ||
| #define RA_STEPPER_SPR 400 | ||
| #define DEC_STEPPER_SPR 400 | ||
| #define AZ_STEPPER_SPR 400 | ||
| #define ALT_STEPPER_SPR 400 | ||
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| // ── Pulley tooth count (16T aluminium GT2) ──────────────────────────────────── | ||
| #define RA_PULLEY_TEETH 16 | ||
| #define DEC_PULLEY_TEETH 16 | ||
| #define AZ_PULLEY_TEETH 16 | ||
| #define ALT_PULLEY_TEETH 16 | ||
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| // ── Microstepping ───────────────────────────────────────────────────────────── | ||
| // TMC2209 UART mode can switch microstepping dynamically at runtime. | ||
| // RA switches between slew (8×) and fine tracking (256×). | ||
| // DEC switches between slew (16×) and fine guiding (256×). | ||
| // AZ and ALT use a fixed microstepping mode (no dynamic switching). | ||
| #define RA_SLEW_MICROSTEPPING 8 // µsteps used while slewing RA | ||
| #define RA_TRACKING_MICROSTEPPING 256 // µsteps used for sidereal tracking | ||
| #define DEC_SLEW_MICROSTEPPING 16 // µsteps used while slewing DEC | ||
| #define DEC_GUIDE_MICROSTEPPING 256 // µsteps used for guide pulses | ||
| #define AZ_MICROSTEPPING 64 | ||
| #define ALT_MICROSTEPPING 4 | ||
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| // ── Motor direction ─────────────────────────────────────────────────────────── | ||
| // Set to 1 to reverse the direction of an axis if it moves the wrong way. | ||
| // Verify with manual move commands: :Mw#/:Me# (RA), :Mn#/:Ms# (DEC), | ||
| // :MAL#/:MAR# (AZ), :MAU#/:MAD# (ALT). Then set the appropriate flag to 1. | ||
| #define RA_INVERT_DIR 0 | ||
| #define DEC_INVERT_DIR 1 | ||
| #define AZ_INVERT_DIR 0 | ||
| #define ALT_INVERT_DIR 0 | ||
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| // ── StealthChop (silent mode) ───────────────────────────────────────────────── | ||
| // Configuration_adv.hpp defaults both to 0 (SpreadCycle = noisy). | ||
| // Set to 1 to enable StealthChop (silent) for RA tracking and DEC moves. | ||
| #define RA_UART_STEALTH_MODE 1 | ||
| #define DEC_UART_STEALTH_MODE 1 | ||
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| // ── Motor current ───────────────────────────────────────────────────────────── | ||
| // Motors are rated at 470 mA. Run at 75 % of rated current to reduce heat | ||
| // while maintaining adequate torque. RMS current is computed automatically: | ||
| // RMSCURRENT = RATING * (SETTING / 100) / sqrt(2) => ~249 mA RMS | ||
| // Do NOT define XXX_RMSCURRENT directly; Configuration_adv.hpp will error. | ||
| #define RA_MOTOR_CURRENT_RATING 470 // mA | ||
| #define RA_OPERATING_CURRENT_SETTING 75 // % | ||
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| #define DEC_MOTOR_CURRENT_RATING 470 // mA | ||
| #define DEC_OPERATING_CURRENT_SETTING 75 // % | ||
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| #define AZ_MOTOR_CURRENT_RATING 470 // mA | ||
| #define AZ_OPERATING_CURRENT_SETTING 75 // % | ||
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| #define ALT_MOTOR_CURRENT_RATING 470 // mA | ||
| #define ALT_OPERATING_CURRENT_SETTING 75 // % | ||
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| // ── AZ/ALT hold current ─────────────────────────────────────────────────────── | ||
| // AZ must hold position against backlash forces; use 40 % of run current. | ||
| // ALT is held by friction and gearing; bleed hold current to zero. | ||
| // These are percentages (0-100) converted to TMC2209 IHOLD by the firmware. | ||
| #define AZ_MOTOR_HOLD_SETTING 40 // % | ||
| #define ALT_MOTOR_HOLD_SETTING 0 // % | ||
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| // ── DEC axis travel limits ──────────────────────────────────────────────────── | ||
| // Physical limits measured from the home (level) position. | ||
| // These must be defined here; Configuration_adv.hpp defaults to 0.0f for | ||
| // non-OAM builds, which makes :Mn#/:Ms# target position 0 and do nothing. | ||
| #ifndef DEC_LIMIT_UP | ||
| #define DEC_LIMIT_UP 135.0f // 135° north of home | ||
| #endif | ||
| #ifndef DEC_LIMIT_DOWN | ||
| #define DEC_LIMIT_DOWN 35.0f // 35° south of home | ||
| #endif | ||
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| // ── RA Hall sensor auto-home ────────────────────────────────────────────────── | ||
| // Hall sensor is wired to GPIO4 (X-STOP input / RA_DIAG_PIN on SKR Pico). | ||
| // Active state LOW: sensor pulls GPIO4 LOW when the magnet is present. | ||
| // Search distance: 30° default (RA_HOMING_SENSOR_SEARCH_DEGREES in Configuration_adv.hpp). | ||
| // GPIO4 is configured INPUT (no pull-up); add external 10kΩ to 3.3V if sensor | ||
| // is open-drain, or change to INPUT_PULLUP in b_setup.hpp. | ||
| #define USE_HALL_SENSOR_RA_AUTOHOME 1 | ||
| #define RA_HOMING_SENSOR_PIN 4 // GPIO4 = RA_DIAG_PIN (X-STOP) | ||
| #define RA_HOMING_SENSOR_ACTIVE_STATE LOW // sensor pulls LOW when active | ||
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| // ── GPS ─────────────────────────────────────────────────────────────────────── | ||
| // ATGM336H-5N wired to left-side header: GPS TX→IO1, GPS RX→IO0, VCC→5V, GND. | ||
| // GPS_SERIAL_PORT, RP2040_GPS_TX_PIN, RP2040_GPS_RX_PIN defined in pins file. | ||
| // GPS_BAUD_RATE defaults to 9600 in Configuration_adv.hpp (matches module default). | ||
| #define USE_GPS 1 | ||
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| // ── FAN ─────────────────────────────────────────────────────────────────────── | ||
| // FAN1 power level as a percentage (0 = off, 100 = full speed). | ||
| // The pin and PWM are defined in pins_RP2040_SKR_PICO.hpp. | ||
| #define RP2040_FAN1_POWER_PERCENT 60 | ||
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| // Track immediately after boot | ||
| #define TRACK_ON_BOOT 0 | ||
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| // Uncomment to override defaults for stepper speeds and accelerations | ||
| //#define RA_STEPPER_SPEED 1200 // You can change the speed and acceleration of the steppers here. Max. Speed = 3000. | ||
| //#define RA_STEPPER_ACCELERATION 6000 | ||
| //#define DEC_STEPPER_SPEED 1300 // You can change the speed and acceleration of the steppers here. Max. Speed = 3000. | ||
| //#define DEC_STEPPER_ACCELERATION 6000 |
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