Updated for the changed ioports/crossbar interfaces.

Added NeoPixel driver for the new HAL RGB API. Untested.
grblHAL · Jan 19, 2024 · 3111cbc · 3111cbc
1 parent 53468bb
commit 3111cbc
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Showing 6 changed files with 224 additions and 35 deletions.
diff --git a/driver.c b/driver.c
@@ -4,8 +4,8 @@
 
   Part of grblHAL
 
-  Copyright (c) 2021-2024 Terje Io
   Copyright (c) 2021 Volksolive
+  Copyright (c) 2021-2024 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
@@ -44,6 +44,7 @@
 #include "driver.h"
 #include "serial.h"
 #include "driverPIO.pio.h"
+#include "ws2812.pio.h"
 
 #include "grbl/crossbar.h"
 #include "grbl/machine_limits.h"
@@ -132,6 +133,17 @@ static uint c_step_sm;
 #endif
 #endif
 
+#ifdef NEOPIXELS_PIN
+
+#ifndef NEOPIXELS_NUM
+#define NEOPIXELS_NUM 1
+#endif
+
+static PIO neop_pio;
+static uint neop_sm;
+
+#endif
+
 typedef union
 {
     uint32_t value;
@@ -1094,7 +1106,7 @@ static void limitsEnable (bool on, axes_signals_t homing_cycle)
             pin = xbar_fn_to_axismask(limit_inputs.pins.inputs[i].id);
             disable = limit_inputs.pins.inputs[i].group == PinGroup_Limit ? (pin.mask & homing_source.min.mask) : (pin.mask & homing_source.max.mask);
         }
-        pinEnableIRQ(&limit_inputs.pins.inputs[i], disable ? IRQ_Mode_None : limit_inputs.pins.inputs[i].irq_mode);
+        pinEnableIRQ(&limit_inputs.pins.inputs[i], disable ? IRQ_Mode_None : limit_inputs.pins.inputs[i].mode.irq_mode);
     } while (i);
 
 #if TRINAMIC_ENABLE
@@ -1651,15 +1663,15 @@ static void mpg_select (sys_state_t state)
 {
     stream_mpg_enable(DIGITAL_IN(mpg_pin->bit) == 0);
 
-    pinEnableIRQ(mpg_pin, (mpg_pin->irq_mode = sys.mpg_mode ? IRQ_Mode_Rising : IRQ_Mode_Falling));
+    pinEnableIRQ(mpg_pin, (mpg_pin->mode.irq_mode = sys.mpg_mode ? IRQ_Mode_Rising : IRQ_Mode_Falling));
 }
 
 static void mpg_enable (sys_state_t state)
 {
     if (sys.mpg_mode != (DIGITAL_IN(mpg_pin->bit) == 0))
         mpg_select(state);
     else
-        pinEnableIRQ(mpg_pin, (mpg_pin->irq_mode = sys.mpg_mode ? IRQ_Mode_Rising : IRQ_Mode_Falling));
+        pinEnableIRQ(mpg_pin, (mpg_pin->mode.irq_mode = sys.mpg_mode ? IRQ_Mode_Rising : IRQ_Mode_Falling));
 }
 
 #endif
@@ -1816,7 +1828,7 @@ void settings_changed (settings_t *settings, settings_changed_flags_t changed)
             input->debounce = false;
             input->invert = false;
 
-            input->irq_mode = IRQ_Mode_None;
+            input->mode.irq_mode = IRQ_Mode_None;
             pullup = input->group == PinGroup_AuxInput;
 
             gpio_init(input->pin);
@@ -1849,7 +1861,7 @@ void settings_changed (settings_t *settings, settings_changed_flags_t changed)
                     safety_door = input;
                     pullup = !settings->control_disable_pullup.safety_door_ajar;
                     input->invert = control_fei.safety_door_ajar;
-                    input->irq_mode = safety_door->invert ? IRQ_Mode_Low : IRQ_Mode_High;
+                    input->mode.irq_mode = safety_door->invert ? IRQ_Mode_Low : IRQ_Mode_High;
                     break;
     #endif
                 case Input_Probe:
@@ -1903,12 +1915,12 @@ void settings_changed (settings_t *settings, settings_changed_flags_t changed)
     #endif
                 case Input_I2CStrobe:
                     pullup = true;
-                    input->irq_mode = IRQ_Mode_Change;
+                    input->mode.irq_mode = IRQ_Mode_Change;
                     break;
 
                 case Input_SPIIRQ:
                     pullup = true;
-                    input->irq_mode = IRQ_Mode_Falling;
+                    input->mode.irq_mode = IRQ_Mode_Falling;
                     break;
 
                 default:
@@ -1919,7 +1931,7 @@ void settings_changed (settings_t *settings, settings_changed_flags_t changed)
 
                 case PinGroup_Limit:
                 case PinGroup_Control:
-                    input->irq_mode = input->invert ? IRQ_Mode_Falling : IRQ_Mode_Rising;
+                    input->mode.irq_mode = input->invert ? IRQ_Mode_Falling : IRQ_Mode_Rising;
                     break;
 
                 case PinGroup_AuxInput:
@@ -1935,7 +1947,7 @@ void settings_changed (settings_t *settings, settings_changed_flags_t changed)
             gpio_set_inover(input->pin, input->invert ? GPIO_OVERRIDE_INVERT : GPIO_OVERRIDE_NORMAL);
 
             if (!(input->group == PinGroup_Limit || input->group == PinGroup_AuxInput))
-                pinEnableIRQ(input, input->irq_mode);
+                pinEnableIRQ(input, input->mode.irq_mode);
 
             if (input->id == Input_Probe)
                 probeConfigure(false, false);
@@ -2067,6 +2079,29 @@ void setPeriphPinDescription (const pin_function_t function, const pin_group_t g
     } while(ppin);
 }
 
+#ifdef NEOPIXELS_PIN
+
+static void rgb_out (uint8_t device, rgb_color_t color)
+{
+    static uint8_t pixels[NEOPIXELS_NUM * 4] = {0};
+
+    if(device < NEOPIXELS_NUM) {
+
+        device *= 4;
+        pixels[device++] = color.G;
+        pixels[device++] = color.R;
+        pixels[device] = color.B;
+
+        uint_fast16_t i = NEOPIXELS_NUM;
+
+        for(i = 0; i < NEOPIXELS_NUM; i++) {
+            pio_sm_put_blocking(neop_pio, neop_sm, (uint32_t *)pixels[idx]);
+        }
+    }
+}
+
+#endif
+
 // Initializes MCU peripherals
 static bool driver_setup (settings_t *settings)
 {
@@ -2192,6 +2227,28 @@ static bool driver_setup (settings_t *settings)
   #endif
 #endif
 
+#ifdef NEOPIXELS_PIN
+
+    int nsm;
+#ifdef GPIO_PIO_1
+    neop_pio = pio0;
+#else
+    neop_pio = pio1;
+#endif
+
+    if((nsm = pio_claim_unused_sm(neop_pio, true)) != -1) {
+
+        neop_sm = (uint)nsm;
+        hal.rgb.out = rgb_out;
+        hal.rgb.num_devices = NEOPIXELS_NUM;
+        hal.rgb.cap = (rgb_color_t){ .R = 255, .G = 255, .B = 255 };
+
+        pio_offset = pio_add_program(neop_pio, &ws2812_program);
+        ws2812_program_init(neop_pio, neop_sm, pio_offset, NEOPIXELS_PIN, 800000, false);
+    }
+
+#endif
+
 #if SDCARD_ENABLE
     sdcard_init();
 #endif
@@ -2273,7 +2330,7 @@ bool driver_init (void)
     systick_hw->csr = M0PLUS_SYST_CSR_TICKINT_BITS | M0PLUS_SYST_CSR_ENABLE_BITS;
 
     hal.info = "RP2040";
-    hal.driver_version = "240110";
+    hal.driver_version = "240119";
     hal.driver_options = "SDK_" PICO_SDK_VERSION_STRING;
     hal.driver_url = GRBL_URL "/RP2040";
 #ifdef BOARD_NAME
@@ -2431,6 +2488,7 @@ bool driver_init (void)
 
     for(i = 0; i < sizeof(inputpin) / sizeof(input_signal_t); i++) {
         input = &inputpin[i];
+        input->mode.input = input->cap.input = On;
         if(input->group == PinGroup_AuxInput) {
             if(aux_inputs.pins.inputs == NULL)
                 aux_inputs.pins.inputs = input;
@@ -2461,13 +2519,15 @@ bool driver_init (void)
 
     for(i = 0; i < sizeof(outputpin) / sizeof(output_signal_t); i++) {
         output = &outputpin[i];
+        output->mode.output = On;
         if(output->group == PinGroup_AuxOutput) {
             if(aux_outputs.pins.outputs == NULL)
                 aux_outputs.pins.outputs = output;
             output->id = Output_Aux0 + aux_outputs.n_pins++;
         } else if(output->group == PinGroup_AuxOutputAnalog) {
             if(aux_outputs_analog.pins.outputs == NULL)
                 aux_outputs_analog.pins.outputs = output;
+            output->mode.analog = On;
             output->id = Output_Analog_Aux0 + aux_outputs_analog.n_pins++;
         }
     }
@@ -2511,7 +2571,7 @@ bool driver_init (void)
 #if AUX_CONTROLS_ENABLED
     for(i = AuxCtrl_ProbeDisconnect; i < AuxCtrl_NumEntries; i++) {
         if(aux_ctrl[i].enabled) {
-            if((aux_ctrl[i].enabled = ioports_enumerate(Port_Digital, Port_Input, (pin_mode_t){ .irq_mode = aux_ctrl[i].irq_mode }, true, aux_claim, (void *)&aux_ctrl[i])))
+            if((aux_ctrl[i].enabled = ioports_enumerate(Port_Digital, Port_Input, (pin_cap_t){ .irq_mode = aux_ctrl[i].irq_mode, .claimable = On }, aux_claim, (void *)&aux_ctrl[i])))
                 hal.signals_cap.mask |= aux_ctrl[i].cap.mask;
         }
     }

diff --git a/driver.h b/driver.h
@@ -4,7 +4,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2021-2023 Terje Io
+  Copyright (c) 2021-2024 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
@@ -276,10 +276,10 @@ typedef struct {
     uint32_t bit;
     uint8_t port;
     bool invert;
-    pin_irq_mode_t irq_mode;
     volatile bool active;
     volatile bool debounce;
-    pin_mode_t cap;
+    pin_cap_t cap;
+    pin_mode_t mode;
     ioport_interrupt_callback_ptr interrupt_callback;
     aux_ctrl_t *aux_ctrl;
     const char *description;

diff --git a/ioports.c b/ioports.c
@@ -82,7 +82,7 @@ inline static __attribute__((always_inline)) int32_t get_input (const input_sign
                     break;
             } while(--delay && !sys.abort);
 
-            pinEnableIRQ(input, input->irq_mode);    // Restore pin interrupt status
+            pinEnableIRQ(input, input->mode.irq_mode);    // Restore pin interrupt status
         }
 
     } else {
@@ -144,15 +144,15 @@ static bool register_interrupt_handler (uint8_t port, pin_irq_mode_t irq_mode, i
         input_signal_t *input = &aux_in[port];
 
         if((ok = (irq_mode & input->cap.irq_mode) == irq_mode && interrupt_callback != NULL)) {
-            input->irq_mode = irq_mode;
+            input->mode.irq_mode = irq_mode;
             input->interrupt_callback = interrupt_callback;
             pinEnableIRQ(input, irq_mode);
         }
 
         if(irq_mode == IRQ_Mode_None || !ok) {
             while(spin_lock);
         //    EXTI->IMR &= ~input->bit;     // Disable pin interrupt
-            input->irq_mode = IRQ_Mode_None;
+            input->mode.irq_mode = IRQ_Mode_None;
             input->interrupt_callback = NULL;
         }
     }
@@ -171,10 +171,9 @@ static xbar_t *get_pin_info (io_port_type_t type, io_port_direction_t dir, uint8
 
         if(dir == Port_Input && port < digital.in.n_ports) {
             port = ioports_map(digital.in, port);
-            pin.mode.input = On;
-            pin.mode.irq_mode = aux_in[port].irq_mode;
-            pin.mode.can_remap = !aux_in[port].cap.remapped;
+            pin.mode = aux_in[port].mode;
             pin.cap = aux_in[port].cap;
+            pin.cap.claimable = !pin.mode.claimed;
             pin.function = aux_in[port].id;
             pin.group = aux_in[port].group;
             pin.pin = aux_in[port].pin;
@@ -186,7 +185,7 @@ static xbar_t *get_pin_info (io_port_type_t type, io_port_direction_t dir, uint8
         if(dir == Port_Output && port < digital.out.n_ports) {
             port = ioports_map(digital.out, port);
             pin.mode = aux_out[port].mode;
-            pin.mode.output = On;
+            XBAR_SET_CAP(pin.cap, pin.mode);
             pin.function = aux_out[port].id;
             pin.group = aux_out[port].group;
             pin.pin = aux_out[port].pin;
@@ -223,7 +222,7 @@ static bool claim (io_port_type_t type, io_port_direction_t dir, uint8_t *port,
 
         if(dir == Port_Input) {
 
-            if((ok = digital.in.map  && *port < digital.in.n_ports && !aux_in[*port].cap.claimed)) {
+            if((ok = digital.in.map  && *port < digital.in.n_ports && !aux_in[*port].mode.claimed)) {
 
                 uint8_t i;
 
@@ -234,7 +233,7 @@ static bool claim (io_port_type_t type, io_port_direction_t dir, uint8_t *port,
                     aux_in[digital.in.map[i]].description = iports_get_pnum(digital, i);
                 }
 
-                aux_in[*port].cap.claimed = On;
+                aux_in[*port].mode.claimed = On;
                 aux_in[*port].description = description;
 
                 digital.in.map[hal.port.num_digital_in] = *port;

diff --git a/ioports_analog.c b/ioports_analog.c
@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2023 Terje Io
+  Copyright (c) 2023-2024 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
@@ -38,6 +38,20 @@ static get_pin_info_ptr get_pin_info_digital;
 static claim_port_ptr claim_digital;
 static swap_pins_ptr swap_pins_digital; 
 
+static void set_pwm_cap (xbar_t *output, bool servo_pwm)
+{
+    uint_fast8_t i = analog.out.n_ports;
+
+    if(output) do {
+        i--;
+        if(aux_out_analog[i].pin == output->pin) {
+            aux_out_analog[i].mode.pwm = !servo_pwm;
+            aux_out_analog[i].mode.servo_pwm = servo_pwm;
+            break;
+        }
+    } while(i);
+}
+
 static bool init_pwm (xbar_t *output, pwm_config_t *config)
 {
     bool ok;
@@ -57,6 +71,8 @@ static bool init_pwm (xbar_t *output, pwm_config_t *config)
         pwm_config_set_output_polarity(&pwm_config, (!channel & config->invert), (channel & config->invert));
 
         pwm_init(pwm_gpio_to_slice_num(output->pin), &pwm_config, true);
+
+        set_pwm_cap(output, config->servo_mode);
     }
 
     return ok;
@@ -87,8 +103,8 @@ static xbar_t *get_pin_info (io_port_type_t type, io_port_direction_t dir, uint8
         if(dir == Port_Output && port < analog.out.n_ports) {
             port = ioports_map(analog.out, port);
             pin.mode = aux_out_analog[port].mode;
-            pin.mode.output = pin.mode.analog = On;
-            pin.cap = pin.mode;
+            pin.mode.pwm = !pin.mode.servo_pwm; //?? for easy filtering
+            XBAR_SET_CAP(pin.cap, pin.mode);
             pin.function = aux_out_analog[port].id;
             pin.group = aux_out_analog[port].group;
             pin.pin = aux_out_analog[port].pin;