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Updated to support new MPG mode. Updated for core signature change.
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Enhanced Neopixel support. Note: Not yet used by any boards.
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@terjeio
terjeio committed Feb 5, 2024
1 parent b473ba2 commit 84dd606
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Showing 3 changed files with 116 additions and 45 deletions.
124 changes: 99 additions & 25 deletions driver.c
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Original file line number Diff line number Diff line change
Expand Up @@ -7,18 +7,18 @@
Copyright (c) 2021 Volksolive
Copyright (c) 2021-2024 Terje Io
Grbl is free software: you can redistribute it and/or modify
grblHAL 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,
grblHAL 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
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/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/

Expand Down Expand Up @@ -200,6 +200,10 @@ static input_signal_t *safety_door;
static ioexpand_t io_expander = {0};
#endif

#ifdef NEOPIXELS_PIN
neopixel_cfg_t neopixel = { .intensity = 255 };
#endif

#include "grbl/stepdir_map.h"

static periph_signal_t *periph_pins = NULL;
Expand Down Expand Up @@ -1784,6 +1788,31 @@ void settings_changed (settings_t *settings, settings_changed_flags_t changed)
}
#endif

#ifdef NEOPIXELS_PIN

if(neopixel.leds == NULL || hal.rgb.num_devices != settings->rgb_strip0_length) {

if(settings->rgb_strip0_length == 0)
settings->rgb_strip0_length = hal.rgb.num_devices;
else
hal.rgb.num_devices = settings->rgb_strip0_length;

if(neopixel.leds) {
free(neopixel.leds);
neopixel.leds = NULL;
}

if(hal.rgb.num_devices) {
neopixel.num_bytes = hal.rgb.num_devices * sizeof(uint32_t);
if((neopixel.leds = calloc(neopixel.num_bytes, sizeof(uint8_t))) == NULL)
hal.rgb.num_devices = 0;
}

neopixel.num_leds = hal.rgb.num_devices;
}

#endif

#if SD_SHIFT_REGISTER
pio_steps.length = (uint32_t)(10.0f * (settings->steppers.pulse_microseconds - 0.8f));
pio_steps.delay = settings->steppers.pulse_delay_microseconds <= 0.8f
Expand Down Expand Up @@ -2112,22 +2141,27 @@ void setPeriphPinDescription (const pin_function_t function, const pin_group_t g

#ifdef NEOPIXELS_PIN

static uint32_t leds[NEOPIXELS_NUM * 4] = {0};

static void neopixels_write (void)
{
// 50 us delay if busy? DMA?
for(uint_fast16_t i = 0; i < NEOPIXELS_NUM; i++) {
pio_sm_put_blocking(neop_pio, neop_sm, leds[i]);
}
uint32_t *led = (uint32_t *)neopixel.leds;
// uint64_t now = getElapsedMicros();

while(pio_sm_get_tx_fifo_level(neop_pio, neop_sm) != 0);
// while(getElapsedMicros() - now < 200);

for(uint_fast16_t i = 0; i < neopixel.num_leds; i++)
pio_sm_put_blocking(neop_pio, neop_sm, *led++);
}

static void neopixel_out_masked (uint16_t device, rgb_color_t color, rgb_color_mask_t mask)
{
if(device < NEOPIXELS_NUM) {
if(neopixel.num_leds && device < neopixel.num_leds) {

uint8_t *led = &neopixel.leds[device * sizeof(uint32_t)] + 1;

color = rgb_set_intensity(color, neopixel.intensity);

uint8_t *led = (uint8_t *)&leds[device] + 1;

if(mask.B)
*led++ = color.B;
else
Expand All @@ -2141,9 +2175,8 @@ static void neopixel_out_masked (uint16_t device, rgb_color_t color, rgb_color_m
if(mask.G)
*led = color.G;

#if NEOPIXELS_NUM == 1
neopixels_write();
#endif
if(neopixel.num_leds == 1)
neopixels_write();
}
}

Expand All @@ -2152,6 +2185,46 @@ static void neopixel_out (uint16_t device, rgb_color_t color)
neopixel_out_masked(device, color, (rgb_color_mask_t){ .mask = 0xFF });
}

static inline rgb_color_t rp_rgb_1bpp_unpack (uint8_t *led, uint8_t intensity)
{
rgb_color_t color = {0};

if(intensity) {

color.B = *led++;
color.R = *led++;
color.G = *led;

color = rgb_reset_intensity(color, intensity);
}

return color;
}

static uint8_t neopixels_set_intensity (uint8_t intensity)
{
uint8_t prev = neopixel.intensity;

if(neopixel.intensity != intensity) {

neopixel.intensity = intensity;

if(neopixel.num_leds) {

uint_fast16_t device = neopixel.num_leds;
do {
device--;
rgb_color_t color = rp_rgb_1bpp_unpack(&neopixel.leds[device * sizeof(uint32_t)] + 1, prev);
neopixel_out(device, color);
} while(device);

// neopixels_write();
}
}

return prev;
}

#elif defined(LED_G_PIN)

static void board_led_out (uint16_t device, rgb_color_t color)
Expand Down Expand Up @@ -2310,7 +2383,7 @@ bool driver_init (void)
systick_hw->csr = M0PLUS_SYST_CSR_TICKINT_BITS | M0PLUS_SYST_CSR_ENABLE_BITS;

hal.info = "RP2040";
hal.driver_version = "240202";
hal.driver_version = "240205";
hal.driver_options = "SDK_" PICO_SDK_VERSION_STRING;
hal.driver_url = GRBL_URL "/RP2040";
#ifdef BOARD_NAME
Expand Down Expand Up @@ -2559,17 +2632,19 @@ bool driver_init (void)
#endif

#if MPG_MODE == 1
#if KEYPAD_ENABLE == 2
if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), false, keypad_enqueue_keycode)))
#if KEYPAD_ENABLE == 2
if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL, NULL), false, keypad_enqueue_keycode)))
protocol_enqueue_foreground_task(mpg_enable, NULL);
#else
if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), false, NULL)))
#else
if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL, NULL), false, NULL)))
protocol_enqueue_foreground_task(mpg_enable, NULL);
#endif
#endif
#elif MPG_MODE == 2
hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), false, keypad_enqueue_keycode);
hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL, NULL), false, keypad_enqueue_keycode);
#elif MPG_MODE == 3
hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL, NULL), false, stream_mpg_check_enable);
#elif KEYPAD_ENABLE == 2
stream_open_instance(KEYPAD_STREAM, 115200, keypad_enqueue_keycode);
stream_open_instance(KEYPAD_STREAM, 115200, keypad_enqueue_keycode, "Keypad");
#endif

#if IOEXPAND_ENABLE
Expand Down Expand Up @@ -2678,9 +2753,8 @@ bool driver_init (void)
neop_sm = (uint)nsm;
hal.rgb.out = neopixel_out;
hal.rgb.out_masked = neopixel_out_masked;
#if NEOPIXELS_NUM > 1
hal.rgb.write = neopixels_write;
#endif
hal.rgb.set_intensity = neopixels_set_intensity;
hal.rgb.num_devices = NEOPIXELS_NUM;
hal.rgb.cap = (rgb_color_t){ .R = 255, .G = 255, .B = 255 };

Expand Down
21 changes: 11 additions & 10 deletions my_machine.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,20 +3,20 @@
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
grblHAL 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,
grblHAL 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
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/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/

// NOTE: Only one board may be enabled!
Expand Down Expand Up @@ -60,11 +60,12 @@
//#define WEBUI_AUTH_ENABLE 1 // Enable ESP3D-WEBUI authentication.
//#define WEBUI_INFLASH 1 // Store WebUI files in flash instead of on SD card.
//#define SDCARD_ENABLE 2 // Run gcode programs from SD card. Set to 2 to enable YModem upload.
//#define MPG_ENABLE 1 // Enable MPG interface. Requires serial port and one handshake pin unless
// KEYPAD_ENABLE is set to 2 when mode switching is done by the CMD_MPG_MODE_TOGGLE (0x8B)
// command character. Set both MPG_ENABLE and KEYPAD_ENABLE to 2 to use a handshake pin anyway.
//#define KEYPAD_ENABLE 1 // Set to 1 for I2C keypad, 2 for other input such as serial data. If KEYPAD_ENABLE is set to 2
// and MPG_ENABLE is uncommented then the serial stream is shared with the MPG.
//#define MPG_ENABLE 1 // Enable MPG interface. Requires a serial port and means to switch between normal and MPG mode.
// 1: Mode switching is by handshake pin input unless the keypad plugin is enabled in mode 2 which
// uses mode switching by the CMD_MPG_MODE_TOGGLE (0x8B) command character.
// 2: Mode switching is by the CMD_MPG_MODE_TOGGLE command character. The keypad plugin is not required.
//#define KEYPAD_ENABLE 1 // 1: uses a I2C keypad for input.
// 2: uses a serial port for input. If MPG_ENABLE is set to 1 the serial stream is shared with the MPG.
//#define DISPLAY_ENABLE 1 // Set to 1 for I2C display protocol, 2 for I2C LED protocol.
//#define ODOMETER_ENABLE 1 // Odometer plugin.
//#define LASER_COOLANT_ENABLE 1 // Laser coolant plugin. To be completed.
Expand Down
16 changes: 6 additions & 10 deletions tmc_uart.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5,18 +5,18 @@
Copyright (c) 2020-2024 Terje Io
Grbl is free software: you can redistribute it and/or modify
grblHAL 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,
grblHAL 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
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/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/

#include "driver.h"
Expand Down Expand Up @@ -97,10 +97,8 @@ void tmc_uart_init (void)

const io_stream_t *stream;

if((stream = stream_open_instance(TRINAMIC_STREAM, 230400, NULL)) == NULL)
if((stream = stream_open_instance(TRINAMIC_STREAM, 230400, NULL, "Trinamic UART")) == NULL)
stream = stream_null_init(230400);
else
stream_set_description(stream, "Trinamic UART");

memcpy(&tmc_uart, stream, sizeof(io_stream_t));

Expand All @@ -116,10 +114,8 @@ void tmc_uart_init (void)
{
const io_stream_t *stream;

if((stream = stream_open_instance(TRINAMIC_STREAM, 230400, NULL)) == NULL)
if((stream = stream_open_instance(TRINAMIC_STREAM, 230400, NULL, "Trinamic UART")) == NULL)
stream = stream_null_init(230400);
else
stream_set_description(stream, "Trinamic UART");

memcpy(&tmc_uart, stream, sizeof(io_stream_t));

Expand Down

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