Revised pin mappings for BTT SKR Pico board. Added misc. plugins to c…

…ompilation.
grblHAL · Sep 7, 2024 · 0ffb27e · 0ffb27e
1 parent 6c52c61
commit 0ffb27e
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Showing 7 changed files with 118 additions and 70 deletions.
diff --git a/CMakeLists.tpl b/CMakeLists.tpl
@@ -24,6 +24,7 @@ include(spindle/CMakeLists.txt)
 include(keypad/CMakeLists.txt)
 include(embroidery/CMakeLists.txt)
 include(laser/CMakeLists.txt)
+include(plugins/CMakeLists.txt)
 %include_libraries%
 
 project(grblHAL)
@@ -186,9 +187,11 @@ target_link_libraries(grblHAL PRIVATE
  spindle
  keypad
  laser
+ misc_plugins
  embroidery
  tinyusb_device_unmarked
  pico_stdlib
+ pico_unique_id
  hardware_dma
  hardware_uart
  hardware_pio

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -38,6 +38,7 @@ include(fans/CMakeLists.txt)
 include(bluetooth/CMakeLists.txt)
 include(embroidery/CMakeLists.txt)
 include(laser/CMakeLists.txt)
+include(plugins/CMakeLists.txt)
 if(ADD_HPGL)
     include(hpgl/CMakeLists.txt)
 endif()
@@ -195,6 +196,7 @@ target_link_libraries(grblHAL PRIVATE
  laser
  bluetooth
  eeprom
+ misc_plugins
  embroidery
  tinyusb_device_unmarked
  pico_stdlib

diff --git a/boards/btt_skr_pico_10_map.h b/boards/btt_skr_pico_10_map.h
@@ -27,6 +27,8 @@
 #error "Wireless networking is not supported!"
 #endif
 
+#define AUX_CONTROLS_OUT
+
 #define BOARD_NAME "BTT SKR Pico 1.0"
 #define BOARD_URL "https://github.com/bigtreetech/SKR-Pico"
 
@@ -67,71 +69,60 @@
 #define M3_DIRECTION_PIN            13
 #define M3_ENABLE_PIN               15
 #define M3_LIMIT_PIN                16
+#else
+#define RESET_PIN                   16  // E0 limit
 #endif
 
 // Define homing/hard limit switch input pins.
 #define X_LIMIT_PIN                 4
 #define Y_LIMIT_PIN                 3
 #define Z_LIMIT_PIN                 25
 
+#define AUXOUTPUT0_PORT             GPIO_OUTPUT
+#define AUXOUTPUT0_PIN              20
+#define AUXOUTPUT1_PORT             GPIO_OUTPUT
+#define AUXOUTPUT1_PIN              18
+#define AUXOUTPUT2_PORT             GPIO_OUTPUT
+#define AUXOUTPUT2_PIN              17   
+
 // Define driver spindle pins
 
 #if DRIVER_SPINDLE_PWM_ENABLE
-#define SPINDLE_PWM_PORT            GPIO_OUTPUT
-#define SPINDLE_PWM_PIN             20
-#else
-#define AUXOUTPUT0_PORT             GPIO_OUTPUT
-#define AUXOUTPUT0_PIN              20
+#define SPINDLE_PWM_PORT            AUXOUTPUT0_PORT
+#define SPINDLE_PWM_PIN             AUXOUTPUT0_PIN
 #endif
 
 #if DRIVER_SPINDLE_DIR_ENABLE
-#define SPINDLE_PORT                GPIO_OUTPUT
-#define SPINDLE_DIRECTION_PIN       18
-#else
-#define AUXOUTPUT1_PORT             GPIO_OUTPUT
-#define AUXOUTPUT1_PIN              18
+#define SPINDLE_PORT                AUXOUTPUT1_PORT
+#define SPINDLE_DIRECTION_PORT      AUXOUTPUT1_PORT
+#define SPINDLE_DIRECTION_PIN       AUXOUTPUT1_PIN
 #endif
 
 #if DRIVER_SPINDLE_ENABLE
 #ifndef SPINDLE_PORT
-#define SPINDLE_PORT                GPIO_OUTPUT
+#define SPINDLE_PORT                AUXOUTPUT2_PORT
 #endif
-#define SPINDLE_ENABLE_PIN          17
-#else
-#define AUXOUTPUT2_PORT             GPIO_OUTPUT
-#define AUXOUTPUT2_PIN              17   
+#define SPINDLE_ENABLE_PORT         AUXOUTPUT2_PORT
+#define SPINDLE_ENABLE_PIN          AUXOUTPUT2_PIN 
 #endif
 
 // Define flood and mist coolant enable output pins.
-/*
-#define COOLANT_PORT                GPIO_OUTPUT
-#define COOLANT_FLOOD_PIN           2
-#define COOLANT_MIST_PIN            3
-*/
 
-#if N_ABC_MOTORS == 0
-
-#define AUXINPUT0_PIN               15
+#define COOLANT_PORT                GPIO_OUTPUT
+#define COOLANT_FLOOD_PIN           21 // HB PWM
+#define COOLANT_MIST_PIN            23 // HE PWM
 
-// Define user-control controls (cycle start, reset, feed hold) input pins.
-#define RESET_PIN                   16
-#define FEED_HOLD_PIN               13
-#define CYCLE_START_PIN             14
+#define AUXINPUT0_PIN               22 // Probe
+#define AUXOUTPUT0_PWM_PIN          29 // Servo
 
-#if SAFETY_DOOR_ENABLE
-#define SAFETY_DOOR_PIN             AUXINPUT0_PIN
-#elif MOTOR_FAULT_ENABLE
-#define MOTOR_FAULT_PIN             AUXINPUT0_PIN
+#if PROBE_ENABLE
+#define PROBE_PIN                   AUXINPUT0_PIN
 #endif
 
-#endif // N_ABC_MOTORS == 0
-
-#define AUXINPUT1_PIN               22 // Probe
-
-#if PROBE_ENABLE
-#define PROBE_PIN                   AUXINPUT1_PIN
+#if RGB_LED_ENABLE
+#define NEOPIXELS_PIN               24
 #endif
 
 #if MODBUS_ENABLE
-#define MODBUS_SERIAL_PORT          0
+#define MODBUS_RTU_STREAM           0
 #endif
diff --git a/boards/pico_cnc_map.h b/boards/pico_cnc_map.h
@@ -174,16 +174,19 @@ typedef union {
   #else
     #define SPI_CS_PIN      AUX_IO4_PIN
   #endif
-  #define SPI_IRQ_PIN       26
-  #define SPI_RST_PORT      GPIO_SR16
+    #define SPI_IRQ_PIN       26
+    #define SPI_RST_PORT      GPIO_SR16
 #else
-  #define AUXINPUT5_PIN     26
-  #define AUXOUTPUT7_PORT   GPIO_OUTPUT
-  #define AUXOUTPUT7_PIN    AUX_IO4_PIN
+    #define AUXINPUT5_PIN     26
+  #if RGB_LED_ENABLE
+    #define NEOPIXELS_PIN     AUX_IO4_PIN
+  #else
+    #define AUXOUTPUT7_PORT   GPIO_OUTPUT
+    #define AUXOUTPUT7_PIN    AUX_IO4_PIN
+  #endif
 #endif
 
-#if !(WIFI_ENABLE || BLUETOOTH_ENABLE == 1)
-//#define LED_PIN           25
+#if !(WIFI_ENABLE || BLUETOOTH_ENABLE == 1 || defined(NEOPIXELS_PIN))
 #define LED_G_PIN           25
 #endif
 

diff --git a/driver.c b/driver.c
@@ -143,7 +143,7 @@ static uint c_step_sm;
 #ifdef NEOPIXELS_PIN
 
 #ifndef NEOPIXELS_NUM
-#define NEOPIXELS_NUM 1
+#define NEOPIXELS_NUM 0
 #endif
 
 static PIO neop_pio;
@@ -450,7 +450,7 @@ static output_signal_t outputpin[] = {
     { .id = Output_StepperEnable,  .port = ENABLE_PORT, .pin = STEPPERS_ENABLE_PIN, .group = PinGroup_StepperEnable, .mode = { STEPPERS_ENABLE_PINMODE } },
 #endif
 #endif // !(TRINAMIC_ENABLE && TRINAMIC_I2C)
-#ifdef SPINDLE_PWM_PIN
+#if defined(SPINDLE_PWM_PORT) && !defined(AUX_CONTROLS_OUT)
     { .id = Output_SpindlePWM,   .port = SPINDLE_PWM_PORT, .pin = SPINDLE_PWM_PIN,       .group = PinGroup_SpindlePWM },
 #endif
 #ifdef RTS_PIN
@@ -465,13 +465,31 @@ static output_signal_t outputpin[] = {
 #ifdef SPI_RST_PIN
     { .id = Output_SPIRST,       .port = SPI_RST_PORT,     .pin = SPI_RST_PIN,           .group = PinGroup_SPI },
 #endif
-#ifndef SD_SHIFT_REGISTER
+#ifdef SD_SHIFT_REGISTER // SD_SHIFT_REGISTER pin definitions - for $pins command only
+    { .id = Output_SpindleOn,    .port = GPIO_SR16, .pin = 4,  .group = PinGroup_SpindleControl },
+    { .id = Output_SpindleDir,   .port = GPIO_SR16, .pin = 5,  .group = PinGroup_SpindleControl },
+    { .id = Output_CoolantFlood, .port = GPIO_SR16, .pin = 6,  .group = PinGroup_Coolant },
+    { .id = Output_CoolantMist,  .port = GPIO_SR16, .pin = 7,  .group = PinGroup_Coolant },
+    { .id = Output_Aux0,         .port = GPIO_SR16, .pin = 8,  .group = PinGroup_AuxOutput },
+    { .id = Output_Aux1,         .port = GPIO_SR16, .pin = 9,  .group = PinGroup_AuxOutput },
+    { .id = Output_Aux2,         .port = GPIO_SR16, .pin = 10, .group = PinGroup_AuxOutput },
+    { .id = Output_Aux3,         .port = GPIO_SR16, .pin = 11, .group = PinGroup_AuxOutput },
+    { .id = Output_Aux4,         .port = GPIO_SR16, .pin = 12, .group = PinGroup_AuxOutput },
+    { .id = Output_Aux5,         .port = GPIO_SR16, .pin = 13, .group = PinGroup_AuxOutput },
+    { .id = Output_Aux6,         .port = GPIO_SR16, .pin = 14, .group = PinGroup_AuxOutput },
+#ifdef AUXOUTPUT7_PORT
+    { .id = Output_Aux7,         .port = AUXOUTPUT7_PORT, .pin = AUXOUTPUT7_PIN, .group = PinGroup_AuxOutput},
+#endif
+    { .id = Output_SPIRST,       .port = GPIO_SR16, .pin = 15, .group = PinGroup_SPI },
+#else // !SD_SHIFT_REGISTER
+#ifndef AUX_CONTROLS_OUT
 #ifdef SPINDLE_ENABLE_PIN
     { .id = Output_SpindleOn,    .port = SPINDLE_PORT,     .pin = SPINDLE_ENABLE_PIN,    .group = PinGroup_SpindleControl},
 #endif
 #ifdef SPINDLE_DIRECTION_PIN
     { .id = Output_SpindleDir,   .port = SPINDLE_PORT,     .pin = SPINDLE_DIRECTION_PIN, .group = PinGroup_SpindleControl},
 #endif
+#endif // AUX_CONTROLS_OUT
 #ifdef COOLANT_FLOOD_PIN
     { .id = Output_CoolantFlood, .port = COOLANT_PORT,     .pin = COOLANT_FLOOD_PIN,     .group = PinGroup_Coolant},
 #endif
@@ -517,23 +535,7 @@ static output_signal_t outputpin[] = {
 #ifdef AUXOUTPUT7_PORT
     { .id = Output_Aux7,         .port = AUXOUTPUT7_PORT,  .pin = AUXOUTPUT7_PIN,        .group = PinGroup_AuxOutput},
 #endif
-#else // SD_SHIFT_REGISTER pin definitions - for $pins command only
-    { .id = Output_SpindleOn,    .port = GPIO_SR16, .pin = 4,  .group = PinGroup_SpindleControl },
-    { .id = Output_SpindleDir,   .port = GPIO_SR16, .pin = 5,  .group = PinGroup_SpindleControl },
-    { .id = Output_CoolantFlood, .port = GPIO_SR16, .pin = 6,  .group = PinGroup_Coolant },
-    { .id = Output_CoolantMist,  .port = GPIO_SR16, .pin = 7,  .group = PinGroup_Coolant },
-    { .id = Output_Aux0,         .port = GPIO_SR16, .pin = 8,  .group = PinGroup_AuxOutput },
-    { .id = Output_Aux1,         .port = GPIO_SR16, .pin = 9,  .group = PinGroup_AuxOutput },
-    { .id = Output_Aux2,         .port = GPIO_SR16, .pin = 10, .group = PinGroup_AuxOutput },
-    { .id = Output_Aux3,         .port = GPIO_SR16, .pin = 11, .group = PinGroup_AuxOutput },
-    { .id = Output_Aux4,         .port = GPIO_SR16, .pin = 12, .group = PinGroup_AuxOutput },
-    { .id = Output_Aux5,         .port = GPIO_SR16, .pin = 13, .group = PinGroup_AuxOutput },
-    { .id = Output_Aux6,         .port = GPIO_SR16, .pin = 14, .group = PinGroup_AuxOutput },
-#ifdef AUXOUTPUT7_PORT
-    { .id = Output_Aux7,         .port = AUXOUTPUT7_PORT, .pin = AUXOUTPUT7_PIN, .group = PinGroup_AuxOutput},
 #endif
-    { .id = Output_SPIRST,       .port = GPIO_SR16, .pin = 15, .group = PinGroup_SPI },
-#endif // SD_SHIFT_REGISTER
 #ifdef AUXOUTPUT0_PWM_PIN
     { .id = Output_Analog_Aux0, .port = GPIO_OUTPUT, .pin = AUXOUTPUT0_PWM_PIN, .group = PinGroup_AuxOutputAnalog, .mode = { PINMODE_PWM } },
 #endif
@@ -1392,6 +1394,25 @@ static bool aux_claim_explicit (aux_ctrl_t *aux_ctrl)
 
 #endif // AUX_CONTROLS_ENABLED
 
+#ifdef AUX_CONTROLS_OUT
+
+bool aux_out_claim_explicit (aux_ctrl_out_t *aux_ctrl)
+{
+    if(ioport_claim(Port_Digital, Port_Output, &aux_ctrl->aux_port, NULL)) {
+        if(aux_ctrl->function == Output_SpindlePWM || aux_ctrl->function == Output_Spindle1PWM) {
+            gpio_init(aux_ctrl->pin);
+            gpio_set_dir_out_masked(1 << aux_ctrl->pin);
+            gpio_set_function(aux_ctrl->pin, GPIO_FUNC_PWM);
+        }
+        ioport_assign_out_function(aux_ctrl, &((output_signal_t *)aux_ctrl->output)->id);
+    } else
+        aux_ctrl->aux_port = 0xFF;
+
+    return aux_ctrl->aux_port != 0xFF;
+}
+
+#endif // AUX_CONTROLS_OUT
+
 //*************************  SPINDLE  *************************//
 
 #if DRIVER_SPINDLE_ENABLE
@@ -2141,7 +2162,7 @@ void setPeriphPinDescription (const pin_function_t function, const pin_group_t g
 
 #ifdef NEOPIXELS_PIN
 
-static void neopixels_write (void)
+static void _write (void)
 {
     // 50 us delay if busy? DMA?
     uint32_t *led = (uint32_t *)neopixel.leds;
@@ -2154,6 +2175,12 @@ static void neopixels_write (void)
         pio_sm_put_blocking(neop_pio, neop_sm, *led++);
 }
 
+static void neopixels_write (void)
+{
+    if(neopixel.num_leds > 1)
+        _write();
+}
+
 static void neopixel_out_masked (uint16_t device, rgb_color_t color, rgb_color_mask_t mask)
 {
     if(neopixel.num_leds && device < neopixel.num_leds) {
@@ -2176,7 +2203,7 @@ static void neopixel_out_masked (uint16_t device, rgb_color_t color, rgb_color_m
             *led = color.G;
 
        if(neopixel.num_leds == 1)
-            neopixels_write();
+            _write();
     }
 }
 
@@ -2218,7 +2245,8 @@ static uint8_t neopixels_set_intensity (uint8_t intensity)
                 neopixel_out(device, color);
             } while(device);
 
-//            neopixels_write();
+            if(neopixel.num_leds > 1)
+                _write();
         }
     }
 
@@ -2264,6 +2292,9 @@ static bool driver_setup (settings_t *settings)
         if(outputpin[i].port == GPIO_OUTPUT && outputpin[i].group != PinGroup_AuxOutputAnalog) {
             outputpin[i].bit = 1 << outputpin[i].pin;
 
+            if(gpio_get_function(outputpin[i].pin) == GPIO_FUNC_PWM)
+                continue;
+
             gpio_init(outputpin[i].pin);
             if(outputpin[i].id == PinGroup_StepperEnable || outputpin[i].id == Output_SdCardCS)
                 DIGITAL_OUT(outputpin[i].bit, 1);
@@ -2383,7 +2414,7 @@ bool driver_init (void)
     systick_hw->csr = M0PLUS_SYST_CSR_TICKINT_BITS | M0PLUS_SYST_CSR_ENABLE_BITS;
 
     hal.info = "RP2040";
-    hal.driver_version = "240827";
+    hal.driver_version = "240907";
     hal.driver_options = "SDK_" PICO_SDK_VERSION_STRING;
     hal.driver_url = GRBL_URL "/RP2040";
 #ifdef BOARD_NAME
@@ -2582,7 +2613,11 @@ bool driver_init (void)
         if(output->group == PinGroup_AuxOutput) {
             if(aux_outputs.pins.outputs == NULL)
                 aux_outputs.pins.outputs = output;
-            output->id = Output_Aux0 + aux_outputs.n_pins++;
+            output->id = Output_Aux0 + aux_outputs.n_pins;
+#ifdef AUX_CONTROLS_OUT
+            aux_out_remap_explicit((void *)output->port, output->pin, aux_outputs.n_pins, output);
+#endif
+            aux_outputs.n_pins++;
         } else if(output->group == PinGroup_AuxOutputAnalog) {
             if(aux_outputs_analog.pins.outputs == NULL)
                 aux_outputs_analog.pins.outputs = output;
@@ -2596,6 +2631,10 @@ bool driver_init (void)
         ioports_init(&aux_inputs, &aux_outputs);
 #endif
 
+#ifdef AUX_CONTROLS_OUT
+    aux_ctrl_claim_out_ports(aux_out_claim_explicit, NULL);
+#endif
+
 #ifdef HAS_BOARD_INIT
 #if OUT_SHIFT_REGISTER
     board_init(&aux_inputs, &aux_outputs, &out_sr);
@@ -2727,9 +2766,10 @@ bool driver_init (void)
         neop_sm = (uint)nsm;
         hal.rgb0.out = neopixel_out;
         hal.rgb0.out_masked = neopixel_out_masked;
-        hal.rgb0.write = neopixels_write;
         hal.rgb0.set_intensity = neopixels_set_intensity;
+        hal.rgb0.write = neopixels_write;
         hal.rgb0.num_devices = NEOPIXELS_NUM;
+        hal.rgb0.flags = (rgb_properties_t){ .is_blocking = On, .is_strip = On };
         hal.rgb0.cap = (rgb_color_t){ .R = 255, .G = 255, .B = 255 };
 
         pio_offset = pio_add_program(neop_pio, &ws2812_program);

diff --git a/ioports_analog.c b/ioports_analog.c
@@ -59,6 +59,8 @@ static bool init_pwm (xbar_t *output, pwm_config_t *config, bool persistent)
         pwm_config_set_clkdiv_int(&pwm_config, prescaler);
         pwm_config_set_wrap(&pwm_config, pwm_data->period);
 
+        gpio_init(output->pin);
+        gpio_set_dir_out_masked(1 << output->pin);
         gpio_set_function(output->pin, GPIO_FUNC_PWM);
         pwm_set_gpio_level(output->pin, pwm_data->off_value);
 

diff --git a/my_machine.h b/my_machine.h
@@ -78,6 +78,13 @@
 //#define EEPROM_ENABLE          16 // I2C EEPROM/FRAM support. Set to 16 for 2K, 32 for 4K, 64 for 8K, 128 for 16K and 256 for 16K capacity.
 //#define EEPROM_IS_FRAM          1 // Uncomment when EEPROM is enabled and chip is FRAM, this to remove write delay.
 //#define STEP_INJECT_ENABLE      1
+//#define MCP3221_ENABLE       0x4D // Enable MCP3221 I2C ADC input with address 0x4D (0b01001101).
+//#define RGB_LED_ENABLE          2 // Set to 1 to enable strip length settings $536 and $537, set to 2 to also enable M150 LED strip control.
+//#define PWM_SERVO_ENABLE        1 // Enable PWM servo support, requires at least one PWM capable auxillary output.
+//#define BLTOUCH_ENABLE          1 // Enable BLTouch support. Requires and claims one PWM servo output.
+//#define EVENTOUT_ENABLE         1 // Enable binding events (triggers) to control auxillary outputs.
+
+
 // Optional control signals:
 // These will be assigned to aux input pins. Use the $pins command to check which pins are assigned.
 // NOTE: If not enough pins are available assignment will silently fail.