Fix for issue #74, now keeps motor enable signals high until startup …

…is completed to avoid current surges with Trinamic drivers.

MCP3221.c

@@ -0,0 +1,41 @@
+/*
+  MCP3221.c - analog input from a MCP3221 I2C ADC
+
+  Driver code for RP2040 processor
+
+  Part of grblHAL
+
+  Copyright (c) 2021-2023 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 "i2c.h"
+#include "MCP3221.h"
+
+uint16_t MCP3221_read (void)
+{
+    uint8_t value[2];
+
+    i2c_receive(MCP3221_ADDRESS, value, 2, true);
+
+    return (value[0] << 8) | value[1];
+}
+
+bool MCP3221_init (void)
+{
+    i2c_init();
+
+    return i2c_send(MCP3221_ADDRESS, NULL, 0, true);
+}

MCP3221.h

@@ -0,0 +1,31 @@
+/*
+  MCP3221.h - analog input from a MCP3221 I2C ADC
+
+  Driver code for RP2040 processor
+
+  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/>.
+*/
+
+#pragma once
+
+#define MCP3221_ADDRESS 0b1001101
+
+uint16_t MCP3221_read (void);
+bool MCP3221_init (void);
+
+/*EOF*/

driver.c

@@ -1868,12 +1868,15 @@ static bool driver_setup (settings_t *settings)
     for(uint_fast8_t i = 0; i < sizeof(outputpin) / sizeof(output_signal_t); i++) {
         if(outputpin[i].port == GPIO_OUTPUT && outputpin[i].group != PinGroup_AuxOutputAnalog) {
             outputpin[i].bit = 1 << outputpin[i].pin;
+
             gpio_init(outputpin[i].pin);
+            if(outputpin[i].id == PinGroup_StepperEnable || outputpin[i].id == Output_SdCardCS)
+                DIGITAL_OUT(outputpin[i].bit, 1);
+
             gpio_set_dir_out_masked(outputpin[i].bit);
+
             if(outputpin[i].group == PinGroup_SpindlePWM)
                 gpio_set_function(outputpin[i].pin, GPIO_FUNC_PWM);
-            else if(outputpin[i].id == Output_SdCardCS)
-                DIGITAL_OUT(outputpin[i].bit, 1);
         }
     }
 
@@ -2061,7 +2064,7 @@ bool driver_init(void)
     systick_hw->csr = M0PLUS_SYST_CSR_TICKINT_BITS | M0PLUS_SYST_CSR_ENABLE_BITS;
 
     hal.info = "RP2040";
-    hal.driver_version = "230915";
+    hal.driver_version = "230919";
     hal.driver_options = "SDK_" PICO_SDK_VERSION_STRING;
     hal.driver_url = GRBL_URL "/RP2040";
 #ifdef BOARD_NAME

ioports.c

@@ -38,6 +38,11 @@ static io_ports_data_t digital;
 static input_signal_t *aux_in;
 static output_signal_t *aux_out;
 static ioport_bus_t invert_digital_out;
+#if MCP3221_ENABLE
+static xbar_t analog_in;
+static uint_fast8_t analog_n_in;
+static enumerate_pins_ptr on_enumerate_pins;
+#endif
 
 static void digital_out (uint8_t port, bool on)
 {
@@ -108,6 +113,10 @@ static int32_t wait_on_input (io_port_type_t type, uint8_t port, wait_mode_t wai
         port = ioports_map(digital.in, port);
         value = get_input(&aux_in[port], (settings.ioport.invert_in.mask >> port) & 0x01, wait_mode, timeout);
     }
+#if MCP3221_ENABLE
+    else if(port < analog_n_in)
+        value = (int32_t)MCP3221_read();
+#endif
 
     return value;
 }
@@ -185,6 +194,10 @@ static xbar_t *get_pin_info (io_port_type_t type, io_port_direction_t dir, uint8
             info = &pin;
         }
     }
+#if MCP3221_ENABLE
+    else if(dir == Port_Input && port == 0)
+        info = &analog_in;
+#endif
 
     return info;
 }
@@ -245,6 +258,13 @@ static bool claim (io_port_type_t type, io_port_direction_t dir, uint8_t *port,
             *port = hal.port.num_digital_out;
         }
     }
+#if MCP3221_ENABLE
+    else if(dir == Port_Input && (ok = *port == 0 && analog_in.mode.analog && !analog_in.mode.claimed)) {
+        hal.port.num_analog_in--;
+        analog_in.mode.claimed = On;
+        analog_in.description = description;
+    }
+#endif
 
     return ok;
 }
@@ -283,6 +303,17 @@ bool swap_pins (io_port_type_t type, io_port_direction_t dir, uint8_t port_a, ui
     return ok;
 }
 
+#if MCP3221_ENABLE
+
+static void enumerate_pins (bool low_level, pin_info_ptr pin_info, void *data)
+{
+    on_enumerate_pins(low_level, pin_info, data);
+
+    pin_info(&analog_in, data);
+}
+
+#endif
+
 static void on_settings_loaded (void)
 {
     uint_fast8_t port = digital.out.n_ports;
@@ -333,6 +364,25 @@ void ioports_init (pin_group_pins_t *aux_inputs, pin_group_pins_t *aux_outputs)
 
         ioports_add_settings(on_settings_loaded, on_setting_changed);
     }
+
+#if MCP3221_ENABLE
+
+    analog_in.function = Input_Analog_Aux0;
+    analog_in.group = PinGroup_AuxInput;
+    analog_in.pin = 0;
+    analog_in.port = "MCP3221:";
+
+    if(MCP3221_init()) {
+        analog_in.mode.analog = On;
+        hal.port.num_analog_in = analog_n_in = 1;
+    };
+
+    analog_in.description = analog_in.mode.analog ? "E0" : "No power";
+
+    on_enumerate_pins = hal.enumerate_pins;
+    hal.enumerate_pins = enumerate_pins;
+
+#endif
 }
 
 #endif