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Updates and additions to support driver development

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Terje Io
2021-05-27 23:46:12 +02:00
parent cad8d28ca8
commit 37a2ea9291
3 changed files with 273 additions and 14 deletions
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crossbar.h
+60 -12
View File
@@ -54,7 +54,46 @@ typedef enum {
Input_Aux0,
Input_Aux1,
Input_Aux2,
Input_Aux3
Input_Aux3,
Input_Aux4,
Input_Aux5,
Input_Aux6,
Input_Aux7,
Output_StepX,
Output_StepY,
Output_StepZ,
Output_StepA,
Output_StepB,
Output_StepC,
Output_DirX,
Output_DirY,
Output_DirZ,
Output_DirA,
Output_DirB,
Output_DirC,
Output_StepperEnable,
Output_StepperEnableX,
Output_StepperEnableY,
Output_StepperEnableZ,
Output_StepperEnableA,
Output_StepperEnableB,
Output_StepperEnableC,
Output_StepperEnableXY,
Output_StepperEnableAB,
Output_SpindleOn,
Output_SpindleDir,
Output_SpindlePWM,
Output_CoolantMist,
Output_CoolantFlood,
Output_SdCardCS,
Output_Aux0,
Output_Aux1,
Output_Aux2,
Output_Aux3,
Output_Aux4,
Output_Aux5,
Output_Aux6,
Output_Aux7
} pin_function_t;
typedef enum {
@@ -65,17 +104,26 @@ typedef enum {
} pin_irq_mode_t;
typedef enum {
PinGroup_Control = (1<<0),
PinGroup_Limit = (1<<1),
PinGroup_Probe = (1<<2),
PinGroup_Keypad = (1<<3),
PinGroup_MPG = (1<<4),
PinGroup_QEI = (1<<5),
PinGroup_QEI_Select = (1<<6),
PinGroup_SpindlePulse = (1<<7),
PinGroup_SpindleIndex = (1<<8),
PinGroup_AuxInput = (1<<9),
PinGroup_AuxOutput = (1<<10)
PinGroup_Control = (1<<0),
PinGroup_Limit = (1<<1),
PinGroup_Probe = (1<<2),
PinGroup_Keypad = (1<<3),
PinGroup_MPG = (1<<4),
PinGroup_QEI = (1<<5),
PinGroup_QEI_Select = (1<<6),
PinGroup_SpindleControl = (1<<7),
PinGroup_SpindlePWM = (1<<8),
PinGroup_Coolant = (1<<9),
PinGroup_SpindlePulse = (1<<10),
PinGroup_SpindleIndex = (1<<11),
PinGroup_StepperEnable = (1<<12),
PinGroup_StepperStep = (1<<13),
PinGroup_StepperDir = (1<<14),
PinGroup_AuxInput = (1<<15),
PinGroup_AuxOutput = (1<<16),
PinGroup_SdCard = (1<<17),
PinGroup_I2C = (1<<18),
PinGroup_SPI = (1<<19)
} pin_group_t;
typedef bool (*xbar_get_value_ptr)(void);
plugins.h
+2 -2
View File
@@ -56,11 +56,11 @@ typedef union {
uint8_t telnet :1,
websocket :1,
http :1,
ftp :1,
dns :1,
mdns :1,
ssdp :1,
webdav :1,
unassigned :1;
webdav :1;
};
} network_services_t;
stepdir_map.h
+211
View File
@@ -0,0 +1,211 @@
/*
stepdir_map.h - An embedded CNC Controller with rs274/ngc (g-code) support
Lookup tables for converting core step and dir signals to physical signals, includes signal inversion.
May be used by driver code if step and/or dir pins are located to the same port.
NOT referenced in the core grbl code
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 STEP_OUTMODE == GPIO_MAP
static const uint32_t c_step_outmap[] = {
0,
X_STEP_BIT,
Y_STEP_BIT,
Y_STEP_BIT | X_STEP_BIT,
Z_STEP_BIT,
Z_STEP_BIT | X_STEP_BIT,
Z_STEP_BIT | Y_STEP_BIT,
Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
#if N_AXIS > 3
A_STEP_BIT,
A_STEP_BIT | X_STEP_BIT,
A_STEP_BIT | Y_STEP_BIT,
A_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
A_STEP_BIT | Z_STEP_BIT,
A_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
#endif
#if N_AXIS > 4
B_STEP_BIT,
B_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | Y_STEP_BIT,
B_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | Z_STEP_BIT,
B_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
B_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | A_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Y_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
#endif
#if N_AXIS > 5
C_STEP_BIT,
C_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | Y_STEP_BIT,
C_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | Z_STEP_BIT,
C_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
C_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | A_STEP_BIT,
C_STEP_BIT | A_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | A_STEP_BIT | Y_STEP_BIT,
C_STEP_BIT | A_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | A_STEP_BIT | Z_STEP_BIT,
C_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
C_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | B_STEP_BIT
C_STEP_BIT | B_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | Y_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | Z_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | A_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | A_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | A_STEP_BIT | Y_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | A_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | X_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT,
C_STEP_BIT | B_STEP_BIT | A_STEP_BIT | Z_STEP_BIT | Y_STEP_BIT | X_STEP_BIT,
#endif
};
static uint32_t step_outmap[sizeof(c_step_outmap) / sizeof(uint32_t)];
#endif
#if DIRECTION_OUTMODE == GPIO_MAP
static const uint32_t c_dir_outmap[] = {
0,
X_DIRECTION_BIT,
Y_DIRECTION_BIT,
Y_DIRECTION_BIT | X_DIRECTION_BIT,
Z_DIRECTION_BIT,
Z_DIRECTION_BIT | X_DIRECTION_BIT,
Z_DIRECTION_BIT | Y_DIRECTION_BIT,
Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#if N_AXIS > 3
A_DIRECTION_BIT,
A_DIRECTION_BIT | X_DIRECTION_BIT,
A_DIRECTION_BIT | Y_DIRECTION_BIT,
A_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#endif
#if N_AXIS > 4
B_DIRECTION_BIT,
B_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | Y_DIRECTION_BIT, X_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#endif
#if N_AXIS > 5
C_DIRECTION_BIT,
C_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | Y_DIRECTION_BIT,
C_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | Z_DIRECTION_BIT,
C_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
C_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | A_DIRECTION_BIT,
C_DIRECTION_BIT | A_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT,
C_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT,
C_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
C_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT
C_DIRECTION_BIT | B_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | Y_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | Z_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | A_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | A_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | A_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | X_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT,
C_DIRECTION_BIT | B_DIRECTION_BIT | A_DIRECTION_BIT | Z_DIRECTION_BIT | Y_DIRECTION_BIT | X_DIRECTION_BIT,
#endif
};
static uint32_t dir_outmap[sizeof(c_dir_outmap) / sizeof(uint32_t)];
#endif
#if (STEP_OUTMODE == GPIO_MAP) || (DIRECTION_OUTMODE == GPIO_MAP)
static void stepdirmap_init (settings_t *settings)
{
uint_fast8_t i;
#if STEP_OUTMODE == GPIO_MAP
i = sizeof(step_outmap) / sizeof(uint32_t);
do {
i--;
step_outmap[i] = c_step_outmap[i ^ settings->steppers.step_invert.value];
} while(i);
#endif
#if DIRECTION_OUTMODE == GPIO_MAP
i = sizeof(dir_outmap) / sizeof(uint32_t);
do {
i--;
dir_outmap[i] = c_dir_outmap[i ^ settings->steppers.dir_invert.value];
} while(i);
#endif
}
#endif