board: PiBot V5.88 Ultra
name:  XYYZ on-board TMC2130 SPI drivers

# ---------------------------------------------------------------
# PiBot V5.88 Ultra  -  4.2 Connect Stepper Drivers
# Mode: C - on-board SPI (TMC2130), independent chip select
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, homing direction,
# and check every limit pin against your real switches.
# Limit pins follow this board's own test YAML; NO_PIN where none
# is documented. This is a starting point, not a finished machine.
#
# ENABLE POLARITY: FluidNC asserts disable_pin to DISABLE a motor, but
# step/dir drivers do not agree on which level means disabled. If a motor
# is limp and never steps while STP and DIR look right, invert it:
#   disable_pin: I2SO.0:low
# Some ordinary drivers only run that way. Try one axis, then do the rest.
#
# Current and microstepping come from the tmc_2130 blocks below.
# Set run_amps to your motor's rating - do not leave the 1.2 A
# placeholder. Install the SPI jumper block, remove the MS / RST /
# SLP jumpers, and set the VDD logic jumper to 3.3 V.
#
# toff_disable is the TOFF register value used while the driver is
# disabled. TOFF 0 means 'driver disable, all bridges off', so leave
# it at 0 - that is the FluidNC default and what every official
# FluidNC example uses. A non-zero value keeps the power stage
# chopping while the motor is supposed to be off, so the motor stays
# energised and hot. FluidNC only writes this value when
# use_enable is true, so a non-zero value here is a trap that only
# springs once someone switches use_enable on.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 1
  disable_delay_us: 0

axes:
  shared_stepper_disable_pin: NO_PIN
  x:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # X  - socket DRV1 / terminal 1
      limit_neg_pin: gpio.42:low
      limit_pos_pin: gpio.41:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_2130:
        cs_pin: i2so.3          # this socket's MS3 / CS output
        spi_index: -1           # independent CS, not a daisy chain
        r_sense_ohms: 0.110
        run_amps: 1.2           # SET THIS to your motor
        hold_amps: 0.1
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0           # 0 = bridges off when disabled (FluidNC default)
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0       # add :low if the driver runs inverted

  y:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 2
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Y1 - socket DRV2 / terminal 2
      limit_neg_pin: gpio.40:low
      limit_pos_pin: gpio.39:low
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_2130:
        cs_pin: i2so.6          # this socket's MS3 / CS output
        spi_index: -1           # independent CS, not a daisy chain
        r_sense_ohms: 0.110
        run_amps: 1.2           # SET THIS to your motor
        hold_amps: 0.1
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0           # 0 = bridges off when disabled (FluidNC default)
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7       # add :low if the driver runs inverted

    motor1:                    # Y2 - socket DRV3 / terminal 3
      limit_neg_pin: gpio.38:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_2130:
        cs_pin: i2so.11         # this socket's MS3 / CS output
        spi_index: -1           # independent CS, not a daisy chain
        r_sense_ohms: 0.110
        run_amps: 1.2           # SET THIS to your motor
        hold_amps: 0.1
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0           # 0 = bridges off when disabled (FluidNC default)
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8       # add :low if the driver runs inverted

  z:
    steps_per_mm: 800.000
    max_rate_mm_per_min: 1000.000
    acceleration_mm_per_sec2: 100.000
    max_travel_mm: 300.000
    soft_limits: false
    homing:
      cycle: 1
      positive_direction: false
      mpos_mm: 150.000
      feed_mm_per_min: 100.000
      seek_mm_per_min: 200.000
      settle_ms: 500
      seek_scaler: 1.100
      feed_scaler: 1.100
    motor0:                    # Z  - socket DRV4 / terminal 4
      limit_neg_pin: gpio.37:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      tmc_2130:
        cs_pin: i2so.14         # this socket's MS3 / CS output
        spi_index: -1           # independent CS, not a daisy chain
        r_sense_ohms: 0.110
        run_amps: 1.2           # SET THIS to your motor
        hold_amps: 0.1
        microsteps: 16
        stallguard: 0
        stallguard_debug: false
        toff_disable: 0           # 0 = bridges off when disabled (FluidNC default)
        toff_stealthchop: 5
        toff_coolstep: 3
        run_mode: CoolStep
        homing_mode: CoolStep
        use_enable: false
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15      # add :low if the driver runs inverted


i2so:
  bck_pin: gpio.16
  data_pin: gpio.17
  ws_pin: gpio.18

spi:
  miso_pin: gpio.2
  mosi_pin: gpio.1
  sck_pin: gpio.21

sdcard:
  card_detect_pin: NO_PIN
  cs_pin: gpio.9

# ---- Probe and toolsetter ----
# gpio.3 is only an input when jumper 10 selects input mode.
probe:
  pin: gpio.47:low
  toolsetter_pin: gpio.3:low
  check_mode_start: true
  hard_stop: false

# ---- Spindle / laser PWM on the 5 V output header ----
pwm:
  pwm_hz: 5000
  output_pin: gpio.45
  enable_pin: NO_PIN
  direction_pin: NO_PIN
  disable_with_s0: false
  s0_with_disable: true
  tool_num: 0
  speed_map: 0=0.000% 10000=100.000%
  off_on_alarm: false

# ---- OLED display ----
i2c0:
  sda_pin: gpio.14
  scl_pin: gpio.13

oled:
  i2c_num: 0
  i2c_address: 60
  width: 128
  height: 64
  radio_delay_ms: 1000

# ---- Pendant / I/O Expander (UART2) ----
# Independent of the OLED on this board; delete this pair if unused.
uart2:
  txd_pin: gpio.0
  rxd_pin: gpio.35
  rts_pin: NO_PIN
  cts_pin: NO_PIN
  baud: 1000000
  mode: 8N1

uart_channel2:
  report_interval_ms: 75
  uart_num: 2

start:
  must_home: false