initial check in

.gitattributes

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+# Auto detect text files and perform LF normalization
+* text=auto eol=lf
+
+
+# Custom for Visual Studio
+*.cs     diff=csharp
+
+# Standard to msysgit
+*.doc	 diff=astextplain
+*.DOC	 diff=astextplain
+*.docx diff=astextplain
+*.DOCX diff=astextplain
+*.dot  diff=astextplain
+*.DOT  diff=astextplain
+*.pdf  diff=astextplain
+*.PDF	 diff=astextplain
+*.rtf	 diff=astextplain
+*.RTF	 diff=astextplain

.gitignore

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+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Folder config file
+Desktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+# Subversion folders
+
+.svn
+
+# grblHAL core and plugin folders
+
+grbl
+EEPROM
+sdcard
+
+# Build folder
+
+build
+
+#
+# =========================
+# Operating System Files
+# =========================
+
+.vscode/settings.json
+.vscode/c_cpp_properties.json

.vscode/.cortex-debug.peripherals.state.json

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+[]

.vscode/.cortex-debug.registers.state.json

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+[]

.vscode/launch.json

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+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Pico Debug",
+            "cwd": "${workspaceRoot}",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            // This may need to be arm-none-eabi-gdb depending on your system
+            "gdbPath" : "gdb-multiarch",
+            "device": "RP2040",
+            "configFiles": [
+                "interface/raspberrypi-swd.cfg",
+                "target/rp2040.cfg"
+            ],
+            "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
+            "runToMain": true,
+            // Work around for stopping at main on restart
+            "postRestartCommands": [
+                "break main",
+                "continue"
+            ]
+        }
+    ]
+}

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.12)
+
+include(pico_sdk_import.cmake)
+
+project(grblHAL)
+
+pico_sdk_init()
+
+
+add_executable(grblHAL
+ main.c
+ driver.c
+ serial.c
+ i2c.c
+ PCA9654E.c
+ eeprom/eeprom_24AAxxx.c
+ eeprom/eeprom_24LC16B.c
+ grbl/grbllib.c
+ grbl/coolant_control.c
+ grbl/nvs_buffer.c
+ grbl/gcode.c
+ grbl/limits.c
+ grbl/motion_control.c
+ grbl/my_plugin.c
+ grbl/nuts_bolts.c
+ grbl/override.c
+ grbl/planner.c
+ grbl/protocol.c
+ grbl/report.c
+ grbl/settings.c
+ grbl/sleep.c
+ grbl/spindle_control.c
+ grbl/state_machine.c
+ grbl/stepper.c
+ grbl/system.c
+ grbl/tool_change.c
+ grbl/my_plugin.c
+)
+
+pico_generate_pio_header(grblHAL ${CMAKE_CURRENT_LIST_DIR}/driverPIO.pio)
+
+target_sources(grblHAL PRIVATE driver.c)
+
+# Pull in our pico_stdlib which pulls in commonly used features
+target_link_libraries(grblHAL PRIVATE pico_stdlib hardware_uart hardware_pio hardware_i2c hardware_gpio hardware_pwm hardware_clocks)
+
+# create map/bin/hex file etc.
+pico_add_extra_outputs(grblHAL)

PCA9654E.c

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+/*
+
+  PCA9654E.c - driver code for RP2040 ARM processor
+
+  I2C I/O expander, PCA9654
+
+  Part of grblHAL
+
+  Copyright (c) 2018-2021 Terje Io
+
+  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 "driver.h"
+
+#if IOEXPAND_ENABLE == 1
+
+#include "ioexpand.h"
+#include "i2c.h"
+
+#define IOEX_ADDRESS (0x40 >> 1)
+#define READ_INPUT   0
+#define RW_OUTPUT    1
+#define RW_INVERSION 2
+#define RW_CONFIG    3
+
+void ioexpand_init (void)
+{
+    uint8_t cmd[2];
+
+    // 0 = output, 1 = input
+    // TODO: move to driver.h?
+    const ioexpand_t cfg = {0};
+
+    cmd[0] = RW_CONFIG;
+    cmd[1] = cfg.mask;
+    I2C_Send(IOEX_ADDRESS, cmd, 2, true);
+
+    cmd[0] = RW_INVERSION;
+    cmd[1] = 0;
+    I2C_Send(IOEX_ADDRESS, cmd, 2, true);
+}
+
+void ioexpand_out (ioexpand_t pins)
+{
+    uint8_t cmd[2];
+
+    cmd[0] = RW_OUTPUT;
+    cmd[1] = pins.mask;
+
+    I2C_Send(IOEX_ADDRESS, cmd, 2, true);
+}
+
+ioexpand_t ioexpand_in (void)
+{
+    ioexpand_t pins = {0};
+    uint8_t cmd[2];
+
+    cmd[0] = READ_INPUT;
+    cmd[1] = 0;
+    I2C_ReadRegister(IOEX_ADDRESS, cmd, 1, true);
+
+    return (ioexpand_t)cmd[0];
+}
+
+#endif

cnc_boosterpack_map.h

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+/*
+  cnc_boosterpack_map.h - driver code for RP2040 ARM processors
+
+  Part of grblHAL
+
+  Copyright (c) 2021 Terje Io
+
+  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/>.
+*/
+
+#if TRINAMIC_ENABLE
+#error Trinamic plugin not supported!
+#endif
+
+#define BOARD_NAME "CNC BoosterPack"
+
+#define IOEXPAND_ENABLE 1
+
+#undef EEPROM_ENABLE
+#define EEPROM_ENABLE 1
+
+// Define step pulse output pins.
+#define STEP_PINS_BASE      2 // N_AXIS number of consecutive pins are used by PIO
+
+// Define step direction output pins.
+#define X_DIRECTION_PIN     5
+#define Y_DIRECTION_PIN     6
+#define Z_DIRECTION_PIN     7
+#define X_DIRECTION_BIT     (1<<X_DIRECTION_PIN)
+#define Y_DIRECTION_BIT     (1<<Y_DIRECTION_PIN)
+#define Z_DIRECTION_BIT     (1<<Z_DIRECTION_PIN)
+#define DIRECTION_MASK      (X_DIRECTION_BIT|Y_DIRECTION_BIT|Z_DIRECTION_BIT)
+#define DIRECTION_OUTMODE   GPIO_SHIFT5
+
+// Define stepper driver enable/disable output pin.
+#define STEPPERS_DISABLEX_PIN     6
+#define STEPPERS_DISABLEZ_PIN     0
+#define STEPPERS_DISABLE_OUTMODE  GPIO_IOEXPAND
+
+// Define homing/hard limit switch input pins.
+#define LIMIT_PORT       GPIO_IN
+#define X_LIMIT_PIN      8
+#define Y_LIMIT_PIN      9
+#define Z_LIMIT_PIN      10
+#define X_LIMIT_BIT      (1<<X_LIMIT_PIN)
+#define Y_LIMIT_BIT      (1<<Y_LIMIT_PIN)
+#define Z_LIMIT_BIT      (1<<Z_LIMIT_PIN)
+#define LIMIT_MASK       (X_LIMIT_BIT|Y_LIMIT_BIT|Z_LIMIT_BIT)
+#define LIMIT_INMODE GPIO_OE
+
+  // Define spindle enable and spindle direction output pins.
+#define SPINDLE_ENABLE_PIN    0
+#define SPINDLE_DIRECTION_PIN 5
+#define SPINDLE_OUTMODE       GPIO_IOEXPAND
+
+// Define spindle PWM output pin.
+#define SPINDLE_PWM_PIN       11
+#define SPINDLE_PWM_BIT       (1<<SPINDLE_PWM_PIN)
+
+// Define flood and mist coolant enable output pins.
+#define COOLANT_FLOOD_PIN     2
+#define COOLANT_MIST_PIN      3
+#define COOLANT_OUTMODE       GPIO_IOEXPAND
+
+// Define user-control controls (cycle start, reset, feed hold) input pins.
+#define CONTROL_RESET_PIN           12
+#define CONTROL_RESET_BIT           (1<<CONTROL_RESET_PIN)
+#define CONTROL_FEED_HOLD_PIN       13
+#define CONTROL_FEED_HOLD_BIT       (1<<CONTROL_FEED_HOLD_PIN)
+#define CONTROL_CYCLE_START_PIN     14
+#define CONTROL_CYCLE_START_BIT     (1<<CONTROL_CYCLE_START_PIN)
+#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
+#define CONTROL_SAFETY_DOOR_PIN     15
+#define CONTROL_SAFETY_DOOR_BIT     (1<<CONTROL_SAFETY_DOOR_PIN)
+#define CONTROL_MASK                (CONTROL_RESET_BIT|CONTROL_FEED_HOLD_BIT|CONTROL_CYCLE_START_BIT|CONTROL_SAFETY_DOOR_BIT)
+#else
+#define CONTROL_MASK                (CONTROL_RESET_BIT|CONTROL_FEED_HOLD_BIT|CONTROL_CYCLE_START_BIT)
+#endif
+#define CONTROL_INMODE              GPIO_OE
+
+// Define probe switch input pin.
+#define PROBE_PORT                  GPIO_IN
+#define PROBE_PIN                   16
+#define PROBE_BIT                   (1<<PROBE_PIN)
+
+#if KEYPAD_ENABLE
+#define KEYPAD_STROBE_PIN           17
+#define KEYPAD_STROBE_BIT           (1<<KEYPAD_STROBE_PIN)
+#endif
+
+#if SDCARD_ENABLE
+#define SD_CS_PIN   17
+#define SD_CS_BIT   (1<<SD_CS_PIN)
+#define SPI_PORT    1 // SPI0, SCK_PIN = 18, MISO_PIN = 16, MOSI_PIN = 19
+#endif
+
+//I2C: 26,27
+//Free: 21,21,22,28