Add Ramps 1.4 Board Support

Changes based on @jekhor’s work Uses D8 as the spindle pin
grbl · ondabeach · Aug 28, 2015 · Aug 28, 2015 · Aug 29, 2015 · Sep 5, 2015
commit 759ff615e271b834dca92cad79fe246ac69f82ef
diff --git a/grbl/config.h b/grbl/config.h
@@ -37,6 +37,10 @@
 #define DEFAULTS_GENERIC
 #define CPU_MAP_2560_INITIAL
 
+// To use with RAMPS 1.4 Board, comment out the above defines and uncomment the next two defines
+//#define DEFAULTS_RAMPS_BOARD
+//#define CPU_MAP_2560_RAMPS_BOARD
+
 // Serial baud rate
 // #define BAUD_RATE 230400
 #define BAUD_RATE 115200
@@ -102,9 +106,15 @@
 // on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
 // will not be affected by pin sharing.
 // NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
-#define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
-#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
-// #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable
+#ifdef DEFAULTS_RAMPS_BOARD
+  #define HOMING_CYCLE_0 (1<<X_AXIS)   // Home X axis
+  #define HOMING_CYCLE_1 (1<<Y_AXIS)   // Home Y axis
+  #define HOMING_CYCLE_2 (1<<Z_AXIS)   // OPTIONAL: Home Z axis 
+#else
+  #define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
+  #define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
+  // #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable
+#endif // DEFAULTS_RAMPS_BOARD
 
 // NOTE: The following are two examples to setup homing for 2-axis machines.
 // #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))  // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle. 
@@ -193,6 +203,12 @@
 // normally-open(NO) and normally-closed(NC) switches installed on their machine.
 // NOTE: PLEASE DO NOT USE THIS, unless you have a situation that needs it.
 // #define INVERT_LIMIT_PIN_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) // Default disabled. Uncomment to enable.
+#ifdef DEFAULTS_RAMPS_BOARD
+  // Only enable the following line if you have - (min) limit switches attached
+  //#define INVERT_MIN_LIMIT_PIN_MASK ((1<<X_AXIS) | (1<<Y_AXIS) | (1<<Z_AXIS))
+  // Only enable the following line if you have + (max) limit switches attached
+  //#define INVERT_MAX_LIMIT_PIN_MASK ((1<<X_AXIS) | (1<<Y_AXIS) | (1<<Z_AXIS))  
+#endif
 
 // Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
 // for some pre-built electronic boards.

diff --git a/grbl/cpu_map.h b/grbl/cpu_map.h
@@ -132,6 +132,157 @@
 
 #endif
 
+#ifdef CPU_MAP_2560_RAMPS_BOARD // (Arduino Mega 2560) with Ramps 1.4 Board
+  #include "nuts_bolts.h"
+
+  // Serial port interrupt vectors
+  #define SERIAL_RX USART0_RX_vect
+  #define SERIAL_UDRE USART0_UDRE_vect
+
+  // Define ports and pins
+  #define DDR(port) DDR##port
+  #define _DDR(port) DDR(port)
+  #define PORT(port) PORT##port
+  #define _PORT(port) PORT(port)
+  #define PIN(pin) PIN##pin
+  #define _PIN(pin) PIN(pin)
+
+  // Define step pulse output pins.
+
+  #define STEP_PORT_0 F
+  #define STEP_PORT_1 F
+  #define STEP_PORT_2 L
+  #define STEP_BIT_0 0
+  #define STEP_BIT_1 6
+  #define STEP_BIT_2 3
+  #define _STEP_BIT(i) STEP_BIT_##i
+  #define STEP_BIT(i) _STEP_BIT(i)
+  #define STEP_DDR(i) _DDR(STEP_PORT_##i)
+  #define _STEP_PORT(i) _PORT(STEP_PORT_##i)
+  #define STEP_PORT(i) _STEP_PORT(i)
+  #define STEP_PIN(i) _PIN(STEP_PORT_##i)
+
+  // Define step direction output pins.
+  #define DIRECTION_PORT_0 F
+  #define DIRECTION_PORT_1 F
+  #define DIRECTION_PORT_2 L
+  #define DIRECTION_BIT_0 1
+  #define DIRECTION_BIT_1 7
+  #define DIRECTION_BIT_2 1
+  #define _DIRECTION_BIT(i) DIRECTION_BIT_##i
+  #define DIRECTION_BIT(i) _DIRECTION_BIT(i)
+  #define DIRECTION_DDR(i) _DDR(DIRECTION_PORT_##i)
+  #define _DIRECTION_PORT(i) _PORT(DIRECTION_PORT_##i)
+  #define DIRECTION_PORT(i) _DIRECTION_PORT(i)
+  #define DIRECTION_PIN(i) _PIN(DIRECTION_PORT_##i)
+
+  // Define stepper driver enable/disable output pin.
+  #define STEPPER_DISABLE_PORT_0 D
+  #define STEPPER_DISABLE_PORT_1 F
+  #define STEPPER_DISABLE_PORT_2 K
+  #define STEPPER_DISABLE_BIT_0 7
+  #define STEPPER_DISABLE_BIT_1 2
+  #define STEPPER_DISABLE_BIT_2 0
+  #define STEPPER_DISABLE_BIT(i) STEPPER_DISABLE_BIT_##i
+  #define STEPPER_DISABLE_DDR(i) _DDR(STEPPER_DISABLE_PORT_##i)
+  #define STEPPER_DISABLE_PORT(i) _PORT(STEPPER_DISABLE_PORT_##i)
+  #define STEPPER_DISABLE_PIN(i) _PIN(STEPPER_DISABLE_PORT_##i)
+
+  // Define homing/hard limit switch input pins and limit interrupt vectors. 
+  #define MIN_LIMIT_PORT_0 E
+  #define MIN_LIMIT_PORT_1 J
+  #define MIN_LIMIT_PORT_2 D
+  #define MIN_LIMIT_BIT_0 5
+  #define MIN_LIMIT_BIT_1 1
+  #define MIN_LIMIT_BIT_2 3
+  #define _MIN_LIMIT_BIT(i) MIN_LIMIT_BIT_##i
+  #define MIN_LIMIT_BIT(i) _MIN_LIMIT_BIT(i)
+  #define MIN_LIMIT_DDR(i) _DDR(MIN_LIMIT_PORT_##i)
+  #define MIN_LIMIT_PORT(i) _PORT(MIN_LIMIT_PORT_##i)
+  #define MIN_LIMIT_PIN(i) _PIN(MIN_LIMIT_PORT_##i)
+
+  #define MAX_LIMIT_PORT_0 E
+  #define MAX_LIMIT_PORT_1 J
+  #define MAX_LIMIT_PORT_2 D
+  #define MAX_LIMIT_BIT_0 4
+  #define MAX_LIMIT_BIT_1 0
+  #define MAX_LIMIT_BIT_2 2
+  #define _MAX_LIMIT_BIT(i) MAX_LIMIT_BIT_##i
+  #define MAX_LIMIT_BIT(i) _MAX_LIMIT_BIT(i)
+  #define MAX_LIMIT_DDR(i) _DDR(MAX_LIMIT_PORT_##i)
+  #define MAX_LIMIT_PORT(i) _PORT(MAX_LIMIT_PORT_##i)
+  #define MAX_LIMIT_PIN(i) _PIN(MAX_LIMIT_PORT_##i)
+
+  //  #define LIMIT_INT       PCIE0  // Pin change interrupt enable pin
+  //  #define LIMIT_INT_vect  PCINT0_vect 
+  //  #define LIMIT_PCMSK     PCMSK0 // Pin change interrupt register
+  //  #define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
+  #define DISABLE_HW_LIMITS
+
+  // Define spindle enable and spindle direction output pins.
+  #define SPINDLE_ENABLE_DDR      DDRG
+  #define SPINDLE_ENABLE_PORT     PORTG
+  #define SPINDLE_ENABLE_BIT      5 // MEGA2560 Digital Pin 4 - Ramps 1.4 Servo 4 Signal pin
+  #define SPINDLE_DIRECTION_DDR   DDRE
+  #define SPINDLE_DIRECTION_PORT  PORTE
+  #define SPINDLE_DIRECTION_BIT   3 // MEGA2560 Digital Pin 5 - Ramps 1.4 Servo 3 Signal pin
+
+  // Define flood and mist coolant enable output pins.
+  #define COOLANT_FLOOD_DDR   DDRB
+  #define COOLANT_FLOOD_PORT  PORTB
+  #define COOLANT_FLOOD_BIT   4 // MEGA2560 Digital Pin 10 - Ramps 1.4 12v output
+  #define COOLANT_MIST_DDR    DDRH
+  #define COOLANT_MIST_PORT   PORTH
+  #define COOLANT_MIST_BIT    6 // MEGA2560 Digital Pin 9 - Ramps 1.4 12v output
+
+  // Define user-control CONTROLs (cycle start, reset, feed hold) input pins.
+  // NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
+  #define CONTROL_DDR       DDRK
+  #define CONTROL_PIN       PINK
+  #define CONTROL_PORT      PORTK
+  #define CONTROL_RESET_BIT         0  // MEGA2560 Analog Pin 8
+  #define CONTROL_FEED_HOLD_BIT     1  // MEGA2560 Analog Pin 9
+  #define CONTROL_CYCLE_START_BIT   2  // MEGA2560 Analog Pin 10
+  #define CONTROL_SAFETY_DOOR_BIT   3  // MEGA2560 Analog Pin 11
+  #define CONTROL_INT       PCIE2  // Pin change interrupt enable pin
+  #define CONTROL_INT_vect  PCINT2_vect
+  #define CONTROL_PCMSK     PCMSK2 // Pin change interrupt register
+  #define CONTROL_MASK      ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
+
+  // Define probe switch input pin.
+  #define PROBE_DDR       DDRK
+  #define PROBE_PIN       PINK
+  #define PROBE_PORT      PORTK
+  #define PROBE_BIT       7  // MEGA2560 Analog Pin 15
+  #define PROBE_MASK      (1<<PROBE_BIT)
+
+  // Advanced Configuration Below You should not need to touch these variables
+  // Set Timer up to use TIMER4B which is attached to Digital Pin 8 - Ramps 1.4 12v output with heat sink
+  #define SPINDLE_PWM_MAX_VALUE     1024.0 // Translates to about 1.9 kHz PWM frequency at 1/8 prescaler
+  #ifndef SPINDLE_PWM_MIN_VALUE
+  #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
+  #endif
+  #define SPINDLE_PWM_OFF_VALUE     0
+  #define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
+
+  //Control Digital Pin 6 which is Servo 2 signal pin on Ramps 1.4 board
+  #define SPINDLE_TCCRA_REGISTER    TCCR4A
+  #define SPINDLE_TCCRB_REGISTER    TCCR4B
+  #define SPINDLE_OCR_REGISTER      OCR4C
+  #define SPINDLE_COMB_BIT          COM4C1
+
+  // 1/8 Prescaler, 16-bit Fast PWM mode
+  #define SPINDLE_TCCRA_INIT_MASK ((1<<WGM40) | (1<<WGM41))
+  #define SPINDLE_TCCRB_INIT_MASK ((1<<WGM42) | (1<<WGM43) | (1<<CS41)) 
+  #define SPINDLE_OCRA_REGISTER   OCR4A // 16-bit Fast PWM mode requires top reset value stored here.
+  #define SPINDLE_OCRA_TOP_VALUE  0x0400 // PWM counter reset value. Should be the same as PWM_MAX_VALUE in hex.
+
+  // Define spindle output pins.
+  #define SPINDLE_PWM_DDR   DDRH
+  #define SPINDLE_PWM_PORT  PORTH
+  #define SPINDLE_PWM_BIT   5 // MEGA2560 Digital Pin 8 
+
+#endif
 /* 
 #ifdef CPU_MAP_CUSTOM_PROC
   // For a custom pin map or different processor, copy and edit one of the available cpu

diff --git a/grbl/defaults.h b/grbl/defaults.h
@@ -452,4 +452,41 @@
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
 #endif
 
+#ifdef DEFAULTS_RAMPS_BOARD
+  #define DEFAULT_X_STEPS_PER_MM 80
+  #define DEFAULT_Y_STEPS_PER_MM 80
+  #define DEFAULT_Z_STEPS_PER_MM 4000
+  #define DEFAULT_X_MAX_RATE 18000.0 // mm/min
+  #define DEFAULT_Y_MAX_RATE 18000.0 // mm/min
+  #define DEFAULT_Z_MAX_RATE 300.0 // mm/min
+  #define DEFAULT_X_ACCELERATION 3000 
+  #define DEFAULT_Y_ACCELERATION 3000
+  #define DEFAULT_Z_ACCELERATION 100
+  #define DEFAULT_X_MAX_TRAVEL 200.0 // mm
+  #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
+  #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
+  #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
+  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
+  #define DEFAULT_STEPPING_INVERT_MASK 0
+  #define DEFAULT_DIRECTION_INVERT_MASK 0
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
+  #define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
+  #define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
+  #define DEFAULT_ARC_TOLERANCE 0.002 // mm
+  #define DEFAULT_REPORT_INCHES 0 // false
+  #define DEFAULT_INVERT_ST_ENABLE 0 // false
+  #define DEFAULT_INVERT_LIMIT_PINS 0 // false
+  #define DEFAULT_SOFT_LIMIT_ENABLE 1 // true
+  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+  #define DEFAULT_INVERT_PROBE_PIN 0 // false
+  #define DEFAULT_LASER_MODE 0 // false
+  #define DEFAULT_HOMING_ENABLE 1  // true
+  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
+  #define DEFAULT_HOMING_FEED_RATE 500.0 // mm/min
+  #define DEFAULT_HOMING_SEEK_RATE 2000.0 // mm/min
+  #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
+  #define DEFAULT_HOMING_PULLOFF 5.0 // mm
 #endif
+
+#endif