board: V577 CARRIER
name: XYYZ TMC5160 V5 - Normal / Standalone mode (step-dir-enable only)

# ---------------------------------------------------------------
# PiBot SilentStep TMC5160 V5  +  PiBot V5.77 Carrier
# Mode: Normal / Standalone mode (step-dir-enable only)
# Axes: X / Y1 / Y2 / Z  (dual-Y gantry, 4 drivers)
#
# Before use, set your own: steps_per_mm, travel, limit pins, homing direction.
# Limit pins follow this board's own test YAML; NO_PIN where none is documented.
# In this mode current and microsteps come from the DIP switch, not this file.
# ---------------------------------------------------------------

stepping:
  engine: I2S_STATIC
  idle_ms: 250
  pulse_us: 4
  dir_delay_us: 0
  disable_delay_us: 0
  segments: 12

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 - connector 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
      standard_stepper:
        step_pin: I2SO.2
        direction_pin: I2SO.1
        disable_pin: I2SO.0

  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 - connector 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
      standard_stepper:
        step_pin: I2SO.5
        direction_pin: I2SO.4
        disable_pin: I2SO.7

    motor1:                    # Y2 - connector 3
      limit_neg_pin: gpio.38:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.10
        direction_pin: I2SO.9
        disable_pin: I2SO.8

  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 - connector 4
      limit_neg_pin: gpio.37:low
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: false
      pulloff_mm: 1.000
      standard_stepper:
        step_pin: I2SO.13
        direction_pin: I2SO.12
        disable_pin: I2SO.15

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

# ---- 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 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