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driver.c
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driver.c
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/*
driver.c - driver code for RP2040 ARM processors
Part of grblHAL
Copyright (c) 2021 Terje Io
Copyright (c) 2021 Volksolive
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <string.h>
#include "hardware/timer.h"
#include "hardware/irq.h"
#include "hardware/pio.h"
#include "hardware/gpio.h"
#include "hardware/pwm.h"
#include "hardware/clocks.h"
#include "hardware/spi.h"
#include "hardware/structs/systick.h"
#include "hardware/structs/iobank0.h"
#include "hardware/structs/sio.h"
#include "driver.h"
#include "serial.h"
#include "driverPIO.pio.h"
#include "grbl/state_machine.h"
#ifdef I2C_PORT
#include "i2c.h"
#endif
#if SDCARD_ENABLE
#include "sdcard/sdcard.h"
#include "ff.h"
#include "diskio.h"
#endif
#if USB_SERIAL_CDC
#include "usb_serial.h"
#endif
#if EEPROM_ENABLE
#include "eeprom/eeprom.h"
#endif
#if KEYPAD_ENABLE
#include "keypad/keypad.h"
#endif
#if ODOMETER_ENABLE
#include "odometer/odometer.h"
#endif
#if PPI_ENABLE
#include "laser/ppi.h"
#endif
#if FLASH_ENABLE
#include "flash.h"
#endif
#if IOEXPAND_ENABLE
#include "ioexpand.h"
#endif
typedef union {
uint32_t value;
struct {
uint32_t delay :8,
length :8,
set :6,
reset :6;
};
} pio_steps_t;
static pio_steps_t pio_steps = { .delay = 20, .length = 100 };
static uint pulse, timer;
static uint16_t pulse_length, pulse_delay;
static bool pwmEnabled = false, IOInitDone = false;
static axes_signals_t next_step_outbits;
static spindle_pwm_t spindle_pwm;
static status_code_t (*on_unknown_sys_command)(uint_fast16_t state, char *line, char *lcline);
static volatile uint32_t elapsed_ticks = 0;
static volatile bool ms_event = false;
static probe_state_t probe;
static bool probeInputState = false;
static bool safetyDoorInputState = false;
#if IOEXPAND_ENABLE
static ioexpand_t io_expander = {0};
#endif
#if MODBUS_ENABLE
static modbus_stream_t modbus_stream = {0};
#endif
#if DIRECTION_OUTMODE == GPIO_MAP
static const uint32_t c_dir_outmap[] = {
0,
X_DIRECTION_BIT,
Y_DIRECTION_BIT,
Y_DIRECTION_BIT | X_DIRECTION_BIT,
Z_DIRECTION_BIT,
Z_DIRECTION_BIT | X_DIRECTION_BIT,
Z_DIRECTION_BIT | Y_DIRECTION_BIT,
Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#if N_AXIS > 3
A_DIRECTION_BIT,
A_DIRECTION_BIT | X_DIRECTION_BIT,
A_DIRECTION_BIT | Y_DIRECTION_BIT,
A_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#endif
#if N_AXIS > 4
B_DIRECTION_BIT,
B_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#endif
};
static uint32_t dir_outmap[sizeof(c_dir_outmap) / sizeof(uint32_t)];
#endif
typedef struct {
uint8_t pin;
uint8_t bit;
} control_input_t;
static control_input_t control_input[] = {
#if ESTOP_ENABLE
{ .pin = CONTROL_RESET_PIN, .bit = SIGNALS_ESTOP_BIT },
#else
{ .pin = CONTROL_RESET_PIN, .bit = SIGNALS_RESET_BIT },
#endif
{ .pin = CONTROL_FEED_HOLD_PIN, .bit = SIGNALS_FEEDHOLD_BIT },
{ .pin = CONTROL_CYCLE_START_PIN, .bit = SIGNALS_CYCLESTART_BIT },
};
static uint8_t limit_input[] = {
X_LIMIT_PIN,
Y_LIMIT_PIN,
Z_LIMIT_PIN,
#if N_AXIS > 3
A_LIMIT_PIN,
#endif
#if N_AXIS > 4
B_LIMIT_PIN,
#endif
#if N_AXIS > 5
C_LIMIT_PIN,
#endif
};
#ifndef STEPPERS_DISABLE_MASK
#define STEPPERS_DISABLE_MASK 0
#endif
#ifndef X_LIMIT_PORT
#define X_LIMIT_PORT LIMIT_PORT
#endif
#ifndef Y_LIMIT_PORT
#define Y_LIMIT_PORT LIMIT_PORT
#endif
#ifndef Z_LIMIT_PORT
#define Z_LIMIT_PORT LIMIT_PORT
#endif
#ifndef A_LIMIT_PORT
#define A_LIMIT_PORT LIMIT_PORT
#endif
#if KEYPAD_ENABLE == 0
#define KEYPAD_STROBE_BIT 0
#endif
#ifndef SPINDLE_SYNC_ENABLE
#define SPINDLE_INDEX_BIT 0
#endif
// This should be a sdk function but it doesn't exist yet
#define gpio_set_irqover(gpio, value) hw_write_masked(&iobank0_hw->io[gpio].ctrl, value << IO_BANK0_GPIO0_CTRL_IRQOVER_LSB, IO_BANK0_GPIO0_CTRL_IRQOVER_BITS);
#define NVIC_HIGH_LEVEL_PRIORITY 0xC0
#define NVIC_MEDIUM_LEVEL_PRIORITY 0x80
#define NVIC_LOW_LEVEL_PRIORITY 0x40
#define DRIVER_IRQMASK (LIMIT_MASK|CONTROL_MASK|KEYPAD_STROBE_BIT|SPINDLE_INDEX_BIT)
#define GPIO_IRQ_ACK_ALL 0xFu
#define DEBOUNCE_ALARM_HW_TIMER 0 // Hardware alarm timer 0 used for the debounce alarm pool
#define DEBOUNCE_ALARM_MAX_TIMER 16 // Maximum number of alarm timer in the debounce alarm pool (based on SDK 'PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS 16' for default pool used for driver_delay in driver.c)
#define LIMIT_DEBOUNCE_TEMPO 40 // 40ms for Limit debounce
#define SR_LATCH_DEBOUNCE_TEMPO 40 // 40ms for SR LATCH
typedef struct {
alarm_id_t id;
uint8_t pin;
uint8_t level;
} debounce_pool_t;
static alarm_pool_t *debounceAlarmPool;
static volatile debounce_pool_t debounceAlarmPoolArray[DEBOUNCE_ALARM_MAX_TIMER];
static void systick_handler (void);
static void stepper_int_handler (void);
static void gpio_int_handler (uint gpio, uint32_t events);
static void spindle_set_speed (uint_fast16_t pwm_value);
static int64_t delay_callback(alarm_id_t id, void *callback)
{
((delay_callback_ptr)callback)();
return 0;
}
static void driver_delay (uint32_t ms, delay_callback_ptr callback)
{
if(ms > 0) {
if(callback)
add_alarm_in_ms(ms, delay_callback, callback, false);
else {
uint32_t delay = ms * 1000, start = timer_hw->timerawl;
while(timer_hw->timerawl - start < delay);
}
} else if(callback)
callback();
}
//************************* STEPPER *************************//
// Enable/disable stepper motors
static void stepperEnable (axes_signals_t enable)
{
enable.mask ^= settings.steppers.enable_invert.mask;
#if TRINAMIC_ENABLE && TRINAMIC_I2C
axes_signals_t tmc_enable = trinamic_stepper_enable(enable);
#else
#if STEPPERS_DISABLE_OUTMODE == GPIO_IOEXPAND
#ifdef STEPPERS_DISABLEX_PIN
ioex_out(STEPPERS_DISABLEX_PIN) = enable.x;
#endif
#ifdef STEPPERS_DISABLEZ_PIN
ioex_out(STEPPERS_DISABLEZ_PIN) = enable.z;
#endif
ioexpand_out(io_expander);
#else
gpio_put(STEPPERS_DISABLE_PIN, enable.x);
#endif
#endif
}
// Starts stepper driver ISR timer and forces a stepper driver interrupt callback
static void stepperWakeUp (void)
{
stepperEnable((axes_signals_t){AXES_BITMASK});
stepper_timer_set_period(pio1, 0, timer, 1000);
}
// Disables stepper driver interrupts
static void stepperGoIdle (bool clear_signals)
{
stepper_timer_stop(pio1, 0);
}
// Sets up stepper driver interrupt timeout, "Normal" version
static void stepperCyclesPerTick (uint32_t cycles_per_tick)
{
stepper_timer_set_period(pio1, 0, timer, cycles_per_tick);
}
// Set stepper pulse output pins
// NOTE: step_outbits are: bit0 -> X, bit1 -> Y, bit2 -> Z...
inline static __attribute__((always_inline)) void stepperSetStepOutputs (axes_signals_t step_outbits)
{
pio_steps.set = step_outbits.mask ^ settings.steppers.step_invert.mask;
step_pulse_generate(pio0, 0, pio_steps.value);
}
// Set stepper direction output pins
// NOTE: see note for stepperSetStepOutputs()
inline static __attribute__((always_inline)) void stepperSetDirOutputs (axes_signals_t dir_outbits)
{
#if DIRECTION_OUTMODE == GPIO_MAP
gpio_put_masked(DIRECTION_MASK, dir_outmap[dir_outbits.mask]);
#else
gpio_put_masked(DIRECTION_MASK, (dir_outbits.mask ^ settings.steppers.dir_invert.mask) << DIRECTION_OUTMODE);
#endif
}
// Sets stepper direction and pulse pins and starts a step pulse.
static void stepperPulseStart (stepper_t *stepper)
{
if(stepper->dir_change)
stepperSetDirOutputs(stepper->dir_outbits);
if(stepper->step_outbits.value)
stepperSetStepOutputs(stepper->step_outbits);
}
//************************* LIMIT *************************//
// Enable/disable limit pins interrupt
static void limitsEnable (bool on, bool homing)
{
bool active = on & settings.limits.flags.hard_enabled;
for(int i=0; i<(sizeof(limit_input)/sizeof(uint8_t)); i++) {
// Activate or de-activate the Limit GPIO IRQ
gpio_set_irq_enabled(limit_input[i], GPIO_IRQ_EDGE_RISE, active);
}
#if TRINAMIC_ENABLE
trinamic_homing(homing);
#endif
}
// Returns limit state as an limit_signals_t variable.
// Each bitfield bit indicates an axis limit, where triggered is 1 and not triggered is 0.
inline static limit_signals_t limitsGetState()
{
limit_signals_t signals = {0};
#if LIMIT_INMODE == GPIO_MAP
signals.min.x = gpio_get(X_LIMIT_PIN);
signals.min.y = gpio_get(Y_LIMIT_PIN);
signals.min.z = gpio_get(Z_LIMIT_PIN);
#ifdef A_LIMIT_PIN
signals.min.a = gpio_get(A_LIMIT_PIN);
#endif
#ifdef B_LIMIT_PIN
signals.min.b = gpio_get(B_LIMIT_PIN);
#endif
#ifdef C_LIMIT_PIN
signals.min.c = gpio_get(C_LIMIT_PIN);
#endif
#endif
return signals;
}
// Returns system state as a control_signals_t variable.
// Each bitfield bit indicates a control signal, where triggered is 1 and not triggered is 0.
static control_signals_t systemGetState (void)
{
control_signals_t signals = {0};
#if CONTROL_INMODE == GPIO_MAP
#ifdef ESTOP_ENABLE
signals.e_stop = gpio_get(CONTROL_RESET_PIN);
#else
signals.reset = gpio_get(CONTROL_RESET_PIN);
#endif
signals.feed_hold = gpio_get(CONTROL_FEED_HOLD_PIN);
signals.cycle_start = gpio_get(CONTROL_CYCLE_START_PIN);
#ifdef CONTROL_SAFETY_DOOR_PIN
signals.safety_door_ajar = safetyDoorInputState;
#endif
#endif
return signals;
}
//************************* PROBE *************************//
#ifdef PROBE_PIN
// Sets up the probe pin invert mask to
// appropriately set the pin logic according to setting for normal-high/normal-low operation
// and the probing cycle modes for toward-workpiece/away-from-workpiece.
static void probeConfigure (bool is_probe_away, bool probing)
{
probe.triggered = false;
probe.is_probing = probing;
probe.inverted = is_probe_away ? !settings.probe.invert_probe_pin : settings.probe.invert_probe_pin;
}
// Returns the probe connected and triggered pin states.
probe_state_t probeGetState (void)
{
probe_state_t state = {0};
state.connected = probe.connected;
state.triggered = probeInputState;
return state;
}
#endif
//************************* SPINDLE *************************//
// Static spindle (off, on cw & on ccw)
inline static void spindle_off (void)
{
#if SPINDLE_OUTMODE == GPIO_IOEXPAND
ioex_out(SPINDLE_ENABLE_PIN) = settings.spindle.invert.on;
ioexpand_out(io_expander);
#else
gpio_put(SPINDLE_ENABLE_PIN, settings.spindle.invert.on);
#endif
}
inline static void spindle_on (void)
{
#if SPINDLE_OUTMODE == GPIO_IOEXPAND
ioex_out(SPINDLE_ENABLE_PIN) = !settings.spindle.invert.on;
ioexpand_out(io_expander);
#else
gpio_put(SPINDLE_ENABLE_PIN, !settings.spindle.invert.on);
#endif
#ifdef SPINDLE_SYNC_ENABLE
spindleDataReset();
#endif
}
inline static void spindle_dir (bool ccw)
{
#if SPINDLE_OUTMODE == GPIO_IOEXPAND
if(hal.driver_cap.spindle_dir) {
ioex_out(SPINDLE_DIRECTION_PIN) = settings.spindle.invert.ccw;
ioexpand_out(io_expander);
}
#else
if(hal.driver_cap.spindle_dir)
gpio_put(SPINDLE_DIRECTION_PIN, ccw ^ settings.spindle.invert.ccw);
#endif
}
// Start or stop spindle
static void spindleSetState (spindle_state_t state, float rpm)
{
if (!state.on)
spindle_off();
else {
spindle_dir(state.ccw);
spindle_on();
}
}
// Variable spindle control functions
// Sets spindle speed
static void spindle_set_speed (uint_fast16_t pwm_value)
{
if (pwm_value == spindle_pwm.off_value) {
pwmEnabled = false;
if(settings.spindle.flags.pwm_action == SpindleAction_DisableWithZeroSPeed)
spindle_off();
if(spindle_pwm.always_on)
pwm_set_gpio_level(SPINDLE_PWM_PIN, spindle_pwm.off_value);
else
pwm_set_gpio_level(SPINDLE_PWM_PIN, 0);
} else {
if(!pwmEnabled)
spindle_on();
pwmEnabled = true;
pwm_set_gpio_level(SPINDLE_PWM_PIN, pwm_value);
}
}
#ifdef SPINDLE_PWM_DIRECT
static uint_fast16_t spindleGetPWM (float rpm)
{
return spindle_compute_pwm_value(&spindle_pwm, rpm, false);
}
#else
static void spindleUpdateRPM (float rpm)
{
spindle_set_speed(spindle_compute_pwm_value(&spindle_pwm, rpm, false));
}
#endif
// Start or stop spindle
static void spindleSetStateVariable (spindle_state_t state, float rpm)
{
if (!state.on || rpm == 0.0f) {
spindle_set_speed(spindle_pwm.off_value);
spindle_off();
} else {
spindle_dir(state.ccw);
spindle_set_speed(spindle_compute_pwm_value(&spindle_pwm, rpm, false));
}
}
// Returns spindle state in a spindle_state_t variable
static spindle_state_t spindleGetState (void)
{
spindle_state_t state = {settings.spindle.invert.mask};
#if SPINDLE_OUTMODE == GPIO_IOEXPAND
state.on = ioex_out(SPINDLE_ENABLE_PIN);
state.ccw = hal.driver_cap.spindle_dir && ioex_out(SPINDLE_DIRECTION_PIN);
#else
state.on = gpio_get_out_state(SPINDLE_ENABLE_PIN);
state.ccw = (hal.driver_cap.spindle_dir && (gpio_get_out_state(SPINDLE_DIRECTION_PIN))) != 0;
#endif
state.value ^= settings.spindle.invert.mask;
return state;
}
void driver_spindle_pwm_init (void) {
if(hal.driver_cap.variable_spindle) {
hal.spindle.set_state = spindleSetStateVariable;
// Get the default config for
pwm_config config = pwm_get_default_config();
uint32_t prescaler = settings.spindle.pwm_freq > 2000.0f ? 1 : (settings.spindle.pwm_freq > 200.0f ? 12 : 50);
spindle_precompute_pwm_values(&spindle_pwm, clock_get_hz(clk_sys) / prescaler);
// Set divider, not using the 4 fractional bit part of the clock divider, only the integer part
pwm_config_set_clkdiv_int(&config, prescaler);
// Set the top value of the PWM => the period
pwm_config_set_wrap(&config, spindle_pwm.period);
// Set the off value of the PWM => off duty cycle (either 0 or the off value)
pwm_set_gpio_level(SPINDLE_PWM_PIN, spindle_pwm.off_value);
// Set polarity of the channel
uint channel = pwm_gpio_to_channel(SPINDLE_PWM_PIN); // Get which is associated with the PWM pin
pwm_config_set_output_polarity(&config, (!channel & settings.spindle.invert.pwm), (channel & settings.spindle.invert.pwm)); // Set the polarity of the pin's channel
// Load the configuration into our PWM slice, and set it running.
pwm_init(pwm_gpio_to_slice_num(SPINDLE_PWM_PIN), &config, true);
} else
hal.spindle.set_state = spindleSetState;
}
#if PPI_ENABLE
static void spindlePulseOn (uint_fast16_t pulse_length)
{
// PPI_TIMER->ARR = pulse_length;
// PPI_TIMER->EGR = TIM_EGR_UG;
// PPI_TIMER->CR1 |= TIM_CR1_CEN;
spindle_on();
}
#endif
// end spindle code
// Start/stop coolant (and mist if enabled)
static void coolantSetState (coolant_state_t mode)
{
#if COOLANT_OUTMODE == GPIO_IOEXPAND
mode.value ^= settings.coolant_invert.mask;
ioex_out(COOLANT_FLOOD_PIN) = mode.flood;
#ifdef COOLANT_MIST_PIN
ioex_out(COOLANT_MIST_PIN) = mode.mist;
#endif
ioexpand_out(io_expander);
#else
gpio_put(COOLANT_FLOOD_PIN, mode.flood);
#ifdef COOLANT_MIST_PIN
gpio_put(COOLANT_MIST_PIN, mode.mist);
#endif
#endif
}
// Returns coolant state in a coolant_state_t variable
static coolant_state_t coolantGetState (void)
{
coolant_state_t state = {0};
#if COOLANT_OUTMODE == GPIO_IOEXPAND
state.value = settings.coolant_invert.mask;
state.flood = ioex_out(COOLANT_FLOOD_PIN);
#ifdef COOLANT_MIST_PIN
state.mist = ioex_out(COOLANT_MIST_PIN);
state.value ^= settings.coolant_invert.mask;
#endif
#else
state.flood = !!(sio_hw->gpio_out & COOLANT_FLOOD_BIT);
#ifdef COOLANT_MIST_PIN
state.mist = !!(sio_hw->gpio_out & COOLANT_MIST_BIT);
#endif
#endif
return state;
}
// Helper functions for setting/clearing/inverting individual bits atomically (uninterruptable)
static void bitsSetAtomic (volatile uint_fast16_t *ptr, uint_fast16_t bits)
{
__disable_irq();
*ptr |= bits;
__enable_irq();
}
static uint_fast16_t bitsClearAtomic (volatile uint_fast16_t *ptr, uint_fast16_t bits)
{
__disable_irq();
uint_fast16_t prev = *ptr;
*ptr &= ~bits;
__enable_irq();
return prev;
}
static uint_fast16_t valueSetAtomic (volatile uint_fast16_t *ptr, uint_fast16_t value)
{
__disable_irq();
uint_fast16_t prev = *ptr;
*ptr = value;
__enable_irq();
return prev;
}
static uint32_t getElapsedTicks (void)
{
return elapsed_ticks;
}
#if MPG_MODE_ENABLE
static void modeSelect (bool mpg_mode)
{
gpio_set_irq_enabled(MODE_SWITCH_PIN, !mpg_mode ? GPIO_IRQ_EDGE_RISE : GPIO_IRQ_EDGE_FALL, false);
gpio_set_irq_enabled(MODE_SWITCH_PIN, mpg_mode ? GPIO_IRQ_EDGE_RISE : GPIO_IRQ_EDGE_FALL, true);
// Deny entering MPG mode if busy
sys_state_t state = state_get();
if(mpg_mode == sys.mpg_mode || (mpg_mode && (gc_state.file_run || !(state == STATE_IDLE || (state & (STATE_ALARM|STATE_ESTOP)))))) {
hal.stream.enqueue_realtime_command(CMD_STATUS_REPORT_ALL);
return;
}
serialSelect(mpg_mode);
if(mpg_mode) {
hal.stream.read = serial2GetC;
hal.stream.get_rx_buffer_available = serial2RxFree;
hal.stream.cancel_read_buffer = serial2RxCancel;
hal.stream.reset_read_buffer = serial2RxFlush;
} else {
hal.stream.read = serialGetC;
hal.stream.get_rx_buffer_available = serialRxFree;
hal.stream.cancel_read_buffer = serialRxCancel;
hal.stream.reset_read_buffer = serialRxFlush;
}
hal.stream.reset_read_buffer();
sys.mpg_mode = mpg_mode;
sys.report.mpg_mode = On;
// Force a realtime status report, all reports when MPG mode active
hal.stream.enqueue_realtime_command(mpg_mode ? CMD_STATUS_REPORT_ALL : CMD_STATUS_REPORT);
}
static void modeChange (void)
{
modeSelect(gpio_get(MODE_SWITCH_PIN) == 0);
}
static void modeEnable (void)
{
bool on = gpio_get(MODE_SWITCH_PIN) == 0;
if(sys.mpg_mode != on)
modeSelect(true);
gpio_set_irq_enabled(MODE_SWITCH_PIN, !on ? GPIO_IRQ_EDGE_RISE : GPIO_IRQ_EDGE_FALL, false);
gpio_set_irq_enabled(MODE_SWITCH_PIN, on ? GPIO_IRQ_EDGE_RISE : GPIO_IRQ_EDGE_FALL, true);
}
#endif
// Save the gpio that has generated the IRQ together with the alarm pool id and the edge
static void debounce_alarm_pool_save_gpio (alarm_id_t id, uint pin, uint level)
{
static volatile uint8_t index = 0;
debounceAlarmPoolArray[index].id = id;
debounceAlarmPoolArray[index].pin = pin;
debounceAlarmPoolArray[index].level = level;
index = (index + 1) % DEBOUNCE_ALARM_MAX_TIMER;
}
// Configures peripherals when settings are initialized or changed
void settings_changed (settings_t *settings)
{
#ifdef SPINDLE_PWM_PIN
hal.driver_cap.variable_spindle = settings->spindle.rpm_min < settings->spindle.rpm_max;
#endif
#if (DIRECTION_OUTMODE == GPIO_MAP)
uint8_t i = sizeof(dir_outmap) / sizeof(uint32_t);
do {
i--;
dir_outmap[i] = c_dir_outmap[i ^ settings->steppers.dir_invert.value];
} while(i);
#endif
stepperSetStepOutputs((axes_signals_t){0});
stepperSetDirOutputs((axes_signals_t){0});
if(IOInitDone) {
// Init of the spindle PWM
driver_spindle_pwm_init();
// PIO step parameters init
pio_steps.length = (uint32_t)(10.0f * (settings->steppers.pulse_microseconds)) - 1;
pio_steps.delay = (uint32_t)(10.0f * (settings->steppers.pulse_delay_microseconds)) - 1;
pio_steps.reset = settings->steppers.step_invert.mask;
// Set the GPIO interrupt handler, the pin doesn't matter for now
gpio_set_irq_enabled_with_callback(0, 0, false, gpio_int_handler);
// Disable GPIO IRQ while initializing the input pins
irq_set_enabled(IO_IRQ_BANK0, false);
/*************************
* Control pins config *
*************************/
for(int i=0; i<(sizeof(control_input)/sizeof(control_input_t)); i++) {
uint8_t pin = control_input[i].pin;
gpio_init(pin);
gpio_set_pulls(pin, !(!!(settings->control_disable_pullup.mask & control_input[i].bit)), false);
gpio_set_irqover(pin, (!!(settings->control_invert.mask & control_input[i].bit) ? GPIO_OVERRIDE_INVERT : GPIO_OVERRIDE_NORMAL));
gpio_set_inover(pin, (!!(settings->control_invert.mask & control_input[i].bit) ? GPIO_OVERRIDE_INVERT : GPIO_OVERRIDE_NORMAL));
gpio_set_irq_enabled(pin, GPIO_IRQ_EDGE_RISE, true);
}
#if CONTROL_SAFETY_DOOR_PIN
gpio_init(CONTROL_SAFETY_DOOR_PIN);
gpio_set_pulls(CONTROL_SAFETY_DOOR_PIN, !settings->control_disable_pullup.safety_door_ajar, false);
gpio_set_irqover(CONTROL_SAFETY_DOOR_PIN, (settings->control_invert.safety_door_ajar ? GPIO_OVERRIDE_INVERT : GPIO_OVERRIDE_NORMAL));
gpio_set_irq_enabled(CONTROL_SAFETY_DOOR_PIN, GPIO_IRQ_LEVEL_HIGH, true);
#endif
/***********************
* Limit pins config *
***********************/
for(int i=0; i<(sizeof(limit_input)/sizeof(uint8_t)); i++) {
uint8_t pin = limit_input[i];
gpio_init(pin);
gpio_set_pulls(pin, !(!!(settings->limits.disable_pullup.mask & 0x1u<<i)), false);
gpio_set_irqover(pin, (!!(settings->limits.invert.mask & 0x1u<<i) ? GPIO_OVERRIDE_INVERT : GPIO_OVERRIDE_NORMAL));
gpio_set_inover(pin, (!!(settings->limits.invert.mask & 0x1u<<i) ? GPIO_OVERRIDE_INVERT : GPIO_OVERRIDE_NORMAL));
}
#ifdef PROBE_PIN
gpio_set_pulls(PROBE_PIN, !settings->probe.disable_probe_pullup, false);
gpio_set_irqover(PROBE_PIN, (settings->probe.invert_probe_pin ? GPIO_OVERRIDE_INVERT : GPIO_OVERRIDE_NORMAL));
gpio_set_irq_enabled(PROBE_PIN, GPIO_IRQ_LEVEL_HIGH, true);
#endif
#if KEYPAD_ENABLE
gpio_set_irq_enabled_with_callback(KEYPAD_STROBE_PIN, GPIO_IRQ_EDGE_RISE | GPIO_IRQ_EDGE_FALL, true, gpio_int_handler);
gpio_pull_up(KEYPAD_STROBE_PIN);
#endif
/***************************
* MPG mode input enable *
***************************/
#if MPG_MODE_ENABLE
if(hal.driver_cap.mpg_mode) {
// Enable pullup
gpio_set_pulls(MODE_SWITCH_PIN, true, false);
// Delay mode enable a bit so grblHAL can finish startup and MPG controller can check ready status
hal.delay_ms(50, modeEnable);
}
#endif
#if COOLANT_OUTMODE != GPIO_IOEXPAND
gpio_set_outover(COOLANT_FLOOD_PIN, (settings->coolant_invert.flood ? GPIO_OVERRIDE_INVERT : GPIO_OVERRIDE_NORMAL));
#ifdef COOLANT_MIST_PIN
gpio_set_outover(COOLANT_FLOOD_PIN, (settings->coolant_invert.mist ? GPIO_OVERRIDE_INVERT : GPIO_OVERRIDE_NORMAL));
#endif
#endif
//Activate GPIO IRQ
irq_set_priority(IO_IRQ_BANK0, NVIC_MEDIUM_LEVEL_PRIORITY); // By default all IRQ are medium priority but in case the GPIO IRQ would need high or low priority it can be done here
irq_set_enabled(IO_IRQ_BANK0, true); // Enable GPIO IRQ
}
}
// Initializes MCU peripherals for Grbl use
static bool driver_setup (settings_t *settings)
{
// Stepper init
gpio_init_mask(DIRECTION_MASK|STEPPERS_DISABLE_MASK);
gpio_set_dir_out_masked(DIRECTION_MASK|STEPPERS_DISABLE_MASK);
pulse = pio_add_program(pio0, &step_pulse_program);
timer = pio_add_program(pio1, &stepper_timer_program);
step_pulse_program_init(pio0, 0, pulse, STEP_PINS_BASE, N_AXIS);
stepper_timer_program_init(pio1, 0, timer, 12.5f); // 10MHz
irq_set_exclusive_handler(PIO1_IRQ_0, stepper_int_handler);
irq_set_enabled(PIO1_IRQ_0, true);
// Limit pins init
gpio_init_mask(LIMIT_MASK);
// Control pins init
gpio_init_mask(CONTROL_MASK);
// Spindle init
#if SPINDLE_OUTMODE != GPIO_IOEXPAND
gpio_init_mask(SPINDLE_MASK);
gpio_set_dir_out_masked(SPINDLE_MASK);
#endif
if(hal.driver_cap.variable_spindle) {
gpio_init(SPINDLE_PWM_PIN);
gpio_set_function(SPINDLE_PWM_PIN, GPIO_FUNC_PWM);
}
#if PROBE_PIN
gpio_init(PROBE_PIN);
#endif
// Coolant init
#if COOLANT_OUTMODE != GPIO_IOEXPAND
gpio_init_mask(COOLANT_MASK);
gpio_set_dir_out_masked(COOLANT_MASK);
#endif
#if SDCARD_ENABLE
sdcard_init();
#endif
#if MPG_MODE_ENABLE
gpio_init(MODE_SWITCH_PIN);
#endif
IOInitDone = settings->version == 19;
hal.settings_changed(settings);
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
hal.coolant.set_state((coolant_state_t){0});
stepperSetDirOutputs((axes_signals_t){0});
#if PPI_ENABLE
ppi_init();
#endif
return IOInitDone;
}
#if USB_SERIAL_CDC
static void execute_realtime (uint_fast16_t state)
{
if(ms_event) {
ms_event = false;
usb_execute_realtime(state);
}
}
#endif
// Initialize HAL pointers, setup serial comms and enable EEPROM
// NOTE: Grbl is not yet configured (from EEPROM data), driver_setup() will be called when done
bool driver_init (void)
{
// Enable EEPROM and serial port here for Grbl to be able to configure itself and report any errors
// irq_set_exclusive_handler(-1, systick_handler);
systick_hw->rvr = 999;
systick_hw->cvr = 0;
systick_hw->csr = M0PLUS_SYST_CSR_TICKINT_BITS|M0PLUS_SYST_CSR_ENABLE_BITS;
#if USB_SERIAL_CDC
usb_serialInit();
#else
serialInit(115200);
#endif
#ifdef SERIAL2_MOD
serial2Init(115200);
#endif
#ifdef I2C_PORT
I2C_Init();
#endif
hal.info = "RP2040";
hal.driver_version = "21xxxx";
hal.driver_options = "SDK_" PICO_SDK_VERSION_STRING;
#ifdef BOARD_NAME
hal.board = BOARD_NAME;
#endif
hal.driver_setup = driver_setup;
hal.f_step_timer = 10000000;
hal.rx_buffer_size = RX_BUFFER_SIZE;
hal.delay_ms = driver_delay;
hal.settings_changed = settings_changed;
hal.stepper.wake_up = stepperWakeUp;
hal.stepper.go_idle = stepperGoIdle;
hal.stepper.enable = stepperEnable;
hal.stepper.cycles_per_tick = stepperCyclesPerTick;
hal.stepper.pulse_start = stepperPulseStart;
hal.limits.enable = limitsEnable;
hal.limits.get_state = limitsGetState;
hal.coolant.set_state = coolantSetState;
hal.coolant.get_state = coolantGetState;
#ifdef PROBE_PIN
hal.probe.get_state = probeGetState;
hal.probe.configure = probeConfigure;
#endif
hal.spindle.set_state = spindleSetState;
hal.spindle.get_state = spindleGetState;
#ifdef SPINDLE_PWM_DIRECT
hal.spindle.get_pwm = spindleGetPWM;
hal.spindle.update_pwm = spindle_set_speed;
#else
hal.spindle.update_rpm = spindleUpdateRPM;
#endif
#if PPI_ENABLE
hal.spindle.pulse_on = spindlePulseOn;
#endif
hal.control.get_state = systemGetState;
hal.get_elapsed_ticks = getElapsedTicks;
hal.set_bits_atomic = bitsSetAtomic;
hal.clear_bits_atomic = bitsClearAtomic;
hal.set_value_atomic = valueSetAtomic;
#if USB_SERIAL_CDC
hal.stream.read = usb_serialGetC;
hal.stream.write = usb_serialWriteS;
hal.stream.write_all = usb_serialWriteS;
hal.stream.get_rx_buffer_available = usb_serialRxFree;
hal.stream.reset_read_buffer = usb_serialRxFlush;
hal.stream.cancel_read_buffer = usb_serialRxCancel;
hal.stream.suspend_read = usb_serialSuspendInput;
grbl.on_execute_realtime = execute_realtime;
#else
hal.stream.read = serialGetC;
hal.stream.write = serialWriteS;