mirror of
https://github.com/grblHAL/core.git
synced 2026-08-17 16:41:45 +08:00
Expanded ioports API with some configuration and PWM related functions.
This commit is contained in:
Terje Io
@@ -1,5 +1,17 @@
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## grblHAL changelog
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<a name="20230525"/>Build 20230525
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Core:
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* Expanded ioports API with some configuration and PWM related functions.
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Drivers:
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* RP2040: added low-level ioports driver layer for analog output \(PWM\). NOTE: not yet used by any board map files.
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---
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<a name="20230521"/>20230521
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Drivers:
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+7
-3
@@ -343,6 +343,8 @@ typedef enum {
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PinGroup_StepperStep,
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PinGroup_StepperDir,
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PinGroup_AuxOutput,
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PinGroup_AuxInputAnalog,
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PinGroup_AuxOutputAnalog,
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PinGroup_SdCard,
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PinGroup_MotorChipSelect,
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PinGroup_MotorUART,
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@@ -409,9 +411,9 @@ typedef enum {
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#endif
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#define PINMODE_PULLUP (PullMode_Up<<3)
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#define PINMODE_PULLDOWN (PullMode_Down<<3)
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#define PINMODE_REMAP (1U<<10)
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#define PINMODE_PWM (1U<<11)
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#define PINMODE_ANALOG (1U<<12)
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#define PINMODE_PWM (1U<<10)
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#define PINMODE_ANALOG (1U<<11)
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#define PINMODE_REMAP (1U<<14)
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typedef union {
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uint16_t mask;
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@@ -433,6 +435,8 @@ typedef union {
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//! /a cfg_data argument to /a xbar_config_ptr for PWM pins
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typedef struct {
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float freq_hz; //
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float min;
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float max;
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float off_value; // percent of period
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float min_value; // percent of period
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float max_value; // percent of period
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@@ -42,7 +42,7 @@
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#else
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#define GRBL_VERSION "1.1f"
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#endif
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#define GRBL_BUILD 20230519
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#define GRBL_BUILD 20230524
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#define GRBL_URL "https://github.com/grblHAL"
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@@ -27,9 +27,11 @@
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* and advanced functionality simplifying plugin code that uses them.
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*/
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#include <math.h>
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#include "hal.h"
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static int16_t digital_in = -1, digital_out = -1, analog_in = -1, analog_out = -1;
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static int16_t digital_in = -1, digital_out = -1, analog_in = -1, analog_out = -1;
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static uint8_t ioports_count (io_port_type_t type, io_port_direction_t dir)
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{
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@@ -126,3 +128,147 @@ bool ioport_can_claim_explicit (void)
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{
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return !(hal.port.claim == NULL || hal.port.get_pin_info == NULL);
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}
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/* experimental code follows */
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static char *get_pnum (io_ports_data_t *ports, uint8_t port)
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{
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return ports->pnum ? (ports->pnum + (port * 3) + (port > 9 ? port - 10 : 0)) : NULL;
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}
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bool ioports_add (io_ports_data_t *ports, io_port_type_t type, uint8_t n_in, uint8_t n_out)
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{
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uint_fast8_t n_ports;
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ports->get_pnum = get_pnum;
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if(type == Port_Digital) {
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if(n_in) {
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ports->n_in_start = hal.port.num_digital_in;
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hal.port.num_digital_in += (ports->n_in = n_in);
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ports->in_map = malloc(ports->n_in * sizeof(ports->n_in));
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}
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if(n_out) {
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ports->n_out_start = hal.port.num_digital_out;
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hal.port.num_digital_out += (ports->n_out = n_out);
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ports->out_map = malloc(ports->n_out * sizeof(ports->n_out));
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}
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} else {
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if(n_in) {
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ports->n_in_start = hal.port.num_analog_in;
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hal.port.num_analog_in += (ports->n_in = n_in);
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ports->in_map = malloc(ports->n_in * sizeof(ports->n_in));
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}
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if(n_out) {
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ports->n_out_start = hal.port.num_analog_out;
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hal.port.num_analog_out += (ports->n_out = n_out);
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ports->out_map = malloc(ports->n_out * sizeof(ports->n_out));
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}
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}
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if((n_ports = max(ports->n_in, ports->n_out)) > 0) {
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char *pn;
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uint_fast8_t i;
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if((ports->pnum = pn = malloc((3 * n_ports + (n_ports > 9 ? n_ports - 10 : 0)) + 1)))
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for(i = 0; i < n_ports; i++) {
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if(pn) {
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*pn = type == Port_Digital ? 'P' : 'E';
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strcpy(pn + 1, uitoa(i));
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}
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if(ports->n_in && i < ports->n_in) {
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if(ports->in_map)
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ports->in_map[i] = i;
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if(i < 8) {
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strcat(ports->input_ports, i == 0 ? "Aux " : ",Aux ");
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strcat(ports->input_ports, uitoa(i));
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}
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}
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if(ports->n_out && i < ports->n_out) {
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if(ports->out_map)
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ports->out_map[i] = i;
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if(i < 8) {
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ports->out.mask = (ports->out.mask << 1) + 1;
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strcat(ports->output_ports, i == 0 ? "Aux " : ",Aux ");
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strcat(ports->output_ports, uitoa(i));
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}
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}
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if(pn)
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pn += i > 9 ? 4 : 3;
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}
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}
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return n_ports > 0;
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}
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/*! \brief calculate inverted pwm value if configured
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\param pwm_data pointer t a \a spindle_pwm_t structure.
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\param pwm_value non inverted PWM value.
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\returns the inverted PWM value to use.
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*/
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static inline uint_fast16_t invert_pwm (ioports_pwm_t *pwm_data, uint_fast16_t pwm_value)
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{
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return pwm_data->invert_pwm ? pwm_data->period - pwm_value - 1 : pwm_value;
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}
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/*! \brief Precompute PWM values for faster conversion.
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\param config pointer to a \ref pwm_config_t structure.
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\param pwm_data pointer to a \a ioports_pwm_t structure, to hold the precomputed values.
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\param clock_hz timer clock frequency used for PWM generation.
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\returns \a true if successful, \a false if no PWM range possible - driver should then revert to simple on/off control.
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*/
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bool ioports_precompute_pwm_values (pwm_config_t *config, ioports_pwm_t *pwm_data, uint32_t clock_hz)
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{
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if(config->max > config->min) {
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pwm_data->min = config->min;
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pwm_data->period = (uint_fast16_t)((float)clock_hz / config->freq_hz);
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if(config->off_value == 0.0f)
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pwm_data->off_value = pwm_data->invert_pwm ? pwm_data->period : 0;
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else
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pwm_data->off_value = invert_pwm(pwm_data, (uint_fast16_t)(pwm_data->period * config->off_value / 100.0f));
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pwm_data->min_value = (uint_fast16_t)(pwm_data->period * config->min_value / 100.0f);
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pwm_data->max_value = (uint_fast16_t)(pwm_data->period * config->max_value / 100.0f); // + pwm_data->offset;
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pwm_data->pwm_gradient = (float)(pwm_data->max_value - pwm_data->min_value) / (config->max - config->min);
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pwm_data->always_on = config->off_value != 0.0f;
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}
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return config->max > config->min;
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}
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/*! \brief Analog value to PWM conversion.
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\param pwm_data pointer to a \a ioports_pwm_t structure.
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\param value analog value to be converted.
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\returns the PWM value to use.
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__NOTE:__ \a ioports_precompute_pwm_values() must be called to precompute values before this function is called.
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Typically this is done by the ioports initialization code.
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*/
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uint_fast16_t ioports_compute_pwm_value (ioports_pwm_t *pwm_data, float value)
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{
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uint_fast16_t pwm_value;
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if(value > pwm_data->min) {
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pwm_value = (uint_fast16_t)floorf((value - pwm_data->min) * pwm_data->pwm_gradient) + pwm_data->min_value;
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if(pwm_value >= pwm_data->max_value)
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pwm_value = pwm_data->max_value;
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else if(pwm_value < pwm_data->min_value)
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pwm_value = pwm_data->min_value;
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pwm_value = invert_pwm(pwm_data, pwm_value);
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} else
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pwm_value = value == 0.0f ? pwm_data->off_value : invert_pwm(pwm_data, pwm_data->min_value);
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return pwm_value;
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}
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@@ -124,4 +124,35 @@ uint8_t ioports_available (io_port_type_t type, io_port_direction_t dir);
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bool ioport_claim (io_port_type_t type, io_port_direction_t dir, uint8_t *port, const char *description);
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bool ioport_can_claim_explicit (void);
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//
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struct io_ports_data;
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typedef struct io_ports_data {
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char *pnum;
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uint8_t n_in_start, n_in, n_out_start, n_out, *in_map, *out_map;
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char input_ports[50], output_ports[50];
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ioport_bus_t out;
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char *(*get_pnum)(struct io_ports_data *data, uint8_t port);
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} io_ports_data_t;
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//!* \brief Precalculated values that may be set/used by HAL driver to speed up analog input to PWM conversions. */
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typedef struct {
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uint_fast16_t period;
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uint_fast16_t off_value; //!< NOTE: this value holds the inverted version if software PWM inversion is enabled by the driver.
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uint_fast16_t min_value;
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uint_fast16_t max_value;
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float min; //!< Minimum analog input value.
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float pwm_gradient;
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bool invert_pwm; //!< NOTE: set (by driver) when inversion is done in code
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bool always_on;
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} ioports_pwm_t;
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bool ioports_add (io_ports_data_t *ports, io_port_type_t type, uint8_t n_in, uint8_t n_out);
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#define iports_get_pnum(type, port) type.get_pnum(&type, port)
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#define ioports_map_input(type, port) ( type.in_map ? type.in_map[port] : port )
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#define ioports_map_output(type, port) ( type.out_map ? type.out_map[port] : port )
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bool ioports_precompute_pwm_values (pwm_config_t *config, ioports_pwm_t *pwm_data, uint32_t clock_hz);
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uint_fast16_t ioports_compute_pwm_value (ioports_pwm_t *pwm_data, float value);
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/*EOF*/
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