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grblHAL/crossbar.h
Terje Io adba5d031c Refactored M70-M73 modal state handling, should now be fully compatible with LinuxCNC behaviour. 
Added ADC/DAC resolution to $pinstate command, changed reported values to integer for ADC/DAC devices and float formatted for PWM devices.
Numeric settings can now be set via G65P1Q<n>S<value>, <n> is the setting number, <value> is the new value.
Changed alarm code for Modbus exceptions (communication errors) from 14 to 19.
Refactored MPG stream code to allow plugins to hook into MPG streams (via event handler).
Added _free memory system parameter, returns value in KBytes or -1 if not available from driver.
Changed basic stream data type from char to uint8_t, added HAL function and core API for releasing/closing UART streams.
2025-11-08 07:52:01 +01:00

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/*
crossbar.h - signal crossbar definitions
Part of grblHAL
Copyright (c) 2021-2025 Terje Io
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.
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
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _CROSSBAR_H_
#define _CROSSBAR_H_
#include "nuts_bolts.h"
typedef enum {
// NOTE: the sequence of the following enums MUST match the control_signals_t layout
Input_Reset = 0,
Input_FeedHold,
Input_CycleStart,
Input_SafetyDoor,
Input_BlockDelete,
Input_StopDisable,
Input_EStop,
Input_ProbeDisconnect,
Input_MotorFault,
Input_MotorWarning,
Input_LimitsOverride,
Input_SingleBlock,
Input_ToolsetterOvertravel,
Input_ProbeOvertravel,
Input_Probe,
// end control_signals_t sequence
Input_MotorFaultX,
Input_MotorFaultY,
Input_MotorFaultZ,
Input_MotorFaultA,
Input_MotorFaultB,
Input_MotorFaultC,
Input_MotorFaultU,
Input_MotorFaultV,
Input_MotorFaultX_2,
Input_MotorFaultY_2,
Input_MotorFaultZ_2,
Input_Probe2,
Input_Probe2Overtravel,
Input_Toolsetter,
Input_MPGSelect,
Input_ModeSelect = Input_MPGSelect, // Deprecated
Input_LimitX,
Input_LimitX2,
Input_LimitX_2 = Input_LimitX2, // Deprecated
Input_LimitX_Max,
Input_HomeX,
Input_HomeX_2,
Input_LimitY,
Input_LimitY2,
Input_LimitY_2 = Input_LimitY2, // Deprecated
Input_LimitY_Max,
Input_HomeY,
Input_HomeY_2,
Input_LimitZ,
Input_LimitZ2,
Input_LimitZ_2 = Input_LimitZ2, // Deprecated
Input_LimitZ_Max,
Input_HomeZ,
Input_HomeZ_2,
Input_LimitA,
Input_LimitA_Max,
Input_HomeA,
Input_LimitB,
Input_LimitB_Max,
Input_HomeB,
Input_LimitC,
Input_LimitC_Max,
Input_HomeC,
Input_LimitU,
Input_LimitU_Max,
Input_HomeU,
Input_LimitV,
Input_LimitV_Max,
Input_HomeV,
Input_SpindleIndex,
Input_SpindlePulse,
Input_Aux0,
Input_Aux1,
Input_Aux2,
Input_Aux3,
Input_Aux4,
Input_Aux5,
Input_Aux6,
Input_Aux7,
Input_Aux8,
Input_Aux9,
Input_Aux10,
Input_Aux11,
Input_Aux12,
Input_Aux13,
Input_Aux14,
Input_Aux15,
Input_Aux16,
Input_Aux17,
Input_Aux18,
Input_Aux19,
Input_Aux20,
Input_Aux21,
Input_Aux22,
Input_Aux23,
Input_AuxMax = Input_Aux23,
Input_Analog_Aux0,
Input_Analog_Aux1,
Input_Analog_Aux2,
Input_Analog_Aux3,
Input_Analog_Aux4,
Input_Analog_Aux5,
Input_Analog_Aux6,
Input_Analog_Aux7,
Input_Analog_AuxMax = Input_Analog_Aux7,
// Output pins
Output_StepX,
Outputs = Output_StepX,
Output_StepX2,
Output_StepX_2 = Output_StepX2, // deprecated
Output_StepY,
Output_StepY2,
Output_StepY_2 = Output_StepY2, // deprecated
Output_StepZ,
Output_StepZ2,
Output_StepZ_2 = Output_StepZ2, // deprecated
Output_StepA,
Output_StepB,
Output_StepC,
Output_StepU,
Output_StepV,
Output_DirX,
Output_DirX2,
Output_DirX_2 = Output_DirX2, // deprecated
Output_DirY,
Output_DirY2,
Output_DirY_2 = Output_DirY2, // deprecated
Output_DirZ,
Output_DirZ2,
Output_DirZ_2 = Output_DirZ2, // deprecated
Output_DirA,
Output_DirB,
Output_DirC,
Output_DirU,
Output_DirV,
Output_MotorChipSelect,
Output_MotorChipSelectX,
Output_MotorChipSelectY,
Output_MotorChipSelectZ,
Output_MotorChipSelectM3,
Output_MotorChipSelectM4,
Output_MotorChipSelectM5,
Output_MotorChipSelectM6,
Output_MotorChipSelectM7,
Output_StepperPower,
Output_StepperEnable,
Output_StepperEnableSTEPPERS = Output_StepperEnable,
Output_StepperEnableX,
Output_StepperEnableX2 = Output_StepperEnableX,
Output_StepperEnableY,
Output_StepperEnableY2 = Output_StepperEnableY,
Output_StepperEnableZ,
Output_StepperEnableZ2 = Output_StepperEnableZ,
Output_StepperEnableA,
Output_StepperEnableB,
Output_StepperEnableC,
Output_StepperEnableU,
Output_StepperEnableV,
Output_StepperEnableXY,
Output_StepperEnableAB,
Output_SpindleOn,
Output_SpindleDir,
Output_SpindlePWM,
Output_Spindle1On,
Output_Spindle1Dir,
Output_Spindle1PWM,
Output_CoolantMist,
Output_CoolantFlood,
Output_Aux0,
Output_Aux1,
Output_Aux2,
Output_Aux3,
Output_Aux4,
Output_Aux5,
Output_Aux6,
Output_Aux7,
Output_Aux8,
Output_Aux9,
Output_Aux10,
Output_Aux11,
Output_Aux12,
Output_Aux13,
Output_Aux14,
Output_Aux15,
Output_Aux16,
Output_Aux17,
Output_Aux18,
Output_Aux19,
Output_Aux20,
Output_Aux21,
Output_Aux22,
Output_Aux23,
Output_AuxMax = Output_Aux23,
Output_Analog_Aux0,
Output_Analog_Aux1,
Output_Analog_Aux2,
Output_Analog_Aux3,
Output_Analog_Aux4,
Output_Analog_Aux5,
Output_Analog_Aux6,
Output_Analog_Aux7,
Output_Analog_AuxMax = Output_Analog_Aux7,
Output_LED,
Output_LED_R,
Output_LED_G,
Output_LED_B,
Output_LED_W,
Output_LED_Adressable,
Output_LED0_Adressable = Output_LED_Adressable,
Output_LED1_Adressable,
Output_CoProc_Reset,
Output_CoProc_Boot0,
// Multipin peripherals
Input_MISO,
Multipin = Input_MISO,
Output_MOSI,
Output_SPICLK,
Output_SPICS,
Output_FlashCS,
Output_SdCardCS,
Input_SdCardDetect,
Output_SPIRST,
Input_SPIIRQ,
Output_SCK,
Output_I2CSCK = Output_SCK,
Bidirectional_SDA,
Bidirectional_I2CSDA = Bidirectional_SDA,
Input_KeypadStrobe, // To be deprecated? Use Input_I2CStrobe instead.
Input_I2CStrobe,
Input_RX,
Output_TX,
Output_RTS,
Output_RS485_Direction,
Input_QEI_A,
Input_QEI_B,
Input_QEI_Select,
Input_QEI_Index,
Virtual_Pin,
// Single pin bidirectional peripherals
Bidirectional_MotorUARTX,
Bidirectional = Bidirectional_MotorUARTX,
Bidirectional_MotorUARTY,
Bidirectional_MotorUARTZ,
Bidirectional_MotorUARTM3,
Bidirectional_MotorUARTM4,
Bidirectional_MotorUARTM5,
Bidirectional_MotorUARTM6,
Bidirectional_MotorUARTM7
} pin_function_t;
#define PIN_ISINPUT(pin) (pin < Outputs)
#define PIN_ISOUTPUT(pin) (pin >= Outputs && pin < Bidirectional)
#define PIN_ISBIDIRECTIONAL(pin) (pin >= Bidirectional)
typedef struct {
pin_function_t function;
const char *name;
} pin_name_t;
PROGMEM static const pin_name_t pin_names[] = {
{ .function = Input_Reset, .name = "Reset" },
{ .function = Input_FeedHold, .name = "Feed hold" },
{ .function = Input_CycleStart, .name = "Cycle start" },
{ .function = Input_SafetyDoor, .name = "Safety door" },
{ .function = Input_BlockDelete, .name = "Block delete" },
{ .function = Input_StopDisable, .name = "Stop disable" },
{ .function = Input_EStop, .name = "Emergency stop" },
{ .function = Input_ProbeDisconnect, .name = "Probe disconnect" },
{ .function = Input_MotorFault, .name = "Motor fault" },
{ .function = Input_MotorWarning, .name = "Motor warning" },
{ .function = Input_LimitsOverride, .name = "Limits override" },
{ .function = Input_SingleBlock, .name = "Single block" },
{ .function = Input_ProbeOvertravel, .name = "Probe overtravel" },
{ .function = Input_Probe, .name = "Probe" },
{ .function = Input_MotorFaultX, .name = "X motor fault" },
{ .function = Input_MotorFaultY, .name = "Y motor fault" },
{ .function = Input_MotorFaultZ, .name = "Z motor fault" },
{ .function = Input_MotorFaultX_2, .name = "X motor fault 2" },
{ .function = Input_MotorFaultY_2, .name = "Y motor fault 2" },
{ .function = Input_MotorFaultZ_2, .name = "Z motor fault 2" },
{ .function = Input_Probe2, .name = "Probe 2" },
{ .function = Input_Probe2Overtravel, .name = "Probe 2 overtravel" },
{ .function = Input_Toolsetter, .name = "Toolsetter" },
{ .function = Input_ToolsetterOvertravel, .name = "Toolsetter overtravel" },
{ .function = Input_MPGSelect, .name = "MPG mode select" },
{ .function = Input_LimitX, .name = "X limit min" },
{ .function = Input_LimitX_2, .name = "X limit min 2" },
{ .function = Input_LimitX_Max, .name = "X limit max" },
{ .function = Input_HomeX, .name = "X home" },
{ .function = Input_HomeX_2, .name = "X home 2" },
{ .function = Input_LimitY, .name = "Y limit min" },
{ .function = Input_LimitY_2, .name = "Y limit min 2" },
{ .function = Input_LimitY_Max, .name = "Y limit max" },
{ .function = Input_HomeY, .name = "Y home" },
{ .function = Input_HomeY_2, .name = "Y home 2" },
{ .function = Input_LimitZ, .name = "Z limit min" },
{ .function = Input_LimitZ_2, .name = "Z limit min 2" },
{ .function = Input_LimitZ_Max, .name = "Z limit max" },
{ .function = Input_HomeZ, .name = "Z home" },
{ .function = Input_HomeZ_2, .name = "Z home 2" },
{ .function = Input_SpindleIndex, .name = "Spindle index" },
{ .function = Input_SpindlePulse, .name = "Spindle pulse" },
{ .function = Input_Aux0, .name = "Aux in 0" },
{ .function = Input_Aux1, .name = "Aux in 1" },
{ .function = Input_Aux2, .name = "Aux in 2" },
{ .function = Input_Aux3, .name = "Aux in 3" },
{ .function = Input_Aux4, .name = "Aux in 4" },
{ .function = Input_Aux5, .name = "Aux in 5" },
{ .function = Input_Aux6, .name = "Aux in 6" },
{ .function = Input_Aux7, .name = "Aux in 7" },
{ .function = Input_Aux8, .name = "Aux in 8" },
{ .function = Input_Aux9, .name = "Aux in 9" },
{ .function = Input_Aux10, .name = "Aux in 10" },
{ .function = Input_Aux11, .name = "Aux in 11" },
{ .function = Input_Aux12, .name = "Aux in 12" },
{ .function = Input_Aux13, .name = "Aux in 13" },
{ .function = Input_Aux14, .name = "Aux in 14" },
{ .function = Input_Aux15, .name = "Aux in 15" },
{ .function = Input_Aux16, .name = "Aux in 16" },
{ .function = Input_Aux17, .name = "Aux in 17" },
{ .function = Input_Aux18, .name = "Aux in 18" },
{ .function = Input_Aux19, .name = "Aux in 19" },
{ .function = Input_Aux20, .name = "Aux in 20" },
{ .function = Input_Aux21, .name = "Aux in 21" },
{ .function = Input_Aux22, .name = "Aux in 22" },
{ .function = Input_Aux23, .name = "Aux in 23" },
{ .function = Input_Analog_Aux0, .name = "Aux analog in 0" },
{ .function = Input_Analog_Aux1, .name = "Aux analog in 1" },
{ .function = Input_Analog_Aux2, .name = "Aux analog in 2" },
{ .function = Input_Analog_Aux3, .name = "Aux analog in 3" },
{ .function = Input_Analog_Aux4, .name = "Aux analog in 4" },
{ .function = Input_Analog_Aux5, .name = "Aux analog in 5" },
{ .function = Input_Analog_Aux6, .name = "Aux analog in 6" },
{ .function = Input_Analog_Aux7, .name = "Aux analog in 7" },
{ .function = Output_StepX, .name = "X step" },
{ .function = Output_StepX2, .name = "X2 step" },
{ .function = Output_StepY, .name = "Y step" },
{ .function = Output_StepY2, .name = "Y2 step" },
{ .function = Output_StepZ, .name = "Z step" },
{ .function = Output_StepZ2, .name = "Z2 step" },
{ .function = Output_DirX, .name = "X dir" },
{ .function = Output_DirX2, .name = "X2 dir" },
{ .function = Output_DirY, .name = "Y dir" },
{ .function = Output_DirY2, .name = "Y2 dir" },
{ .function = Output_DirZ, .name = "Z dir" },
{ .function = Output_DirZ2, .name = "Z2 dir" },
{ .function = Output_StepperPower, .name = "Stepper power" },
{ .function = Output_StepperEnable, .name = "Steppers enable" },
{ .function = Output_StepperEnableX, .name = "X enable" },
{ .function = Output_StepperEnableY, .name = "Y enable" },
{ .function = Output_StepperEnableZ, .name = "Z enable" },
{ .function = Output_StepperEnableXY, .name = "XY enable" },
#ifdef A_AXIS
{ .function = Output_StepA, .name = "A step" },
{ .function = Output_DirA, .name = "A dir" },
{ .function = Output_StepperEnableA, .name = "A enable" },
{ .function = Input_LimitA, .name = "A limit min" },
{ .function = Input_LimitA_Max, .name = "A limit max" },
{ .function = Input_HomeA, .name = "A home" },
{ .function = Input_MotorFaultA, .name = "A motor fault" },
#endif
#ifdef B_AXIS
{ .function = Output_StepB, .name = "B step" },
{ .function = Output_DirB, .name = "B dir" },
{ .function = Output_StepperEnableB, .name = "B enable" },
{ .function = Output_StepperEnableAB, .name = "AB enable" },
{ .function = Input_LimitB, .name = "B limit min" },
{ .function = Input_LimitB_Max, .name = "B limit max" },
{ .function = Input_HomeB, .name = "B home" },
{ .function = Input_MotorFaultB, .name = "B motor fault" },
#endif
#ifdef C_AXIS
{ .function = Output_StepC, .name = "C step" },
{ .function = Output_DirC, .name = "C dir" },
{ .function = Output_StepperEnableC, .name = "C enable" },
{ .function = Input_LimitC, .name = "C limit min" },
{ .function = Input_LimitC_Max, .name = "C limit max" },
{ .function = Input_HomeC, .name = "C home" },
{ .function = Input_MotorFaultC, .name = "C motor fault" },
#endif
#ifdef U_AXIS
{ .function = Output_StepU, .name = "U step" },
{ .function = Output_DirU, .name = "U dir" },
{ .function = Output_StepperEnableU, .name = "U enable" },
{ .function = Input_LimitU, .name = "U limit min" },
{ .function = Input_LimitU_Max, .name = "U limit max" },
{ .function = Input_HomeU, .name = "U home" },
{ .function = Input_MotorFaultU, .name = "U motor fault" },
#endif
#ifdef V_AXIS
{ .function = Output_StepV, .name = "V step" },
{ .function = Output_DirV, .name = "V dir" },
{ .function = Output_StepperEnableV, .name = "V enable" },
{ .function = Input_LimitV, .name = "V limit min" },
{ .function = Input_LimitV_Max, .name = "V limit max" },
{ .function = Input_HomeV, .name = "V home" },
{ .function = Input_MotorFaultV, .name = "V motor fault" },
#endif
{ .function = Output_MotorChipSelect, .name = "Motor CS" },
{ .function = Output_MotorChipSelectX, .name = "Motor CSX" },
{ .function = Output_MotorChipSelectY, .name = "Motor CSY" },
{ .function = Output_MotorChipSelectZ, .name = "Motor CSZ" },
{ .function = Output_MotorChipSelectM3, .name = "Motor CSM3" },
{ .function = Output_MotorChipSelectM4, .name = "Motor CSM4" },
{ .function = Output_MotorChipSelectM5, .name = "Motor CSM5" },
{ .function = Output_MotorChipSelectM6, .name = "Motor CSM6" },
{ .function = Output_MotorChipSelectM7, .name = "Motor CSM7" },
{ .function = Output_SpindleOn, .name = "Spindle on" },
{ .function = Output_SpindleDir, .name = "Spindle direction" },
{ .function = Output_SpindlePWM, .name = "Spindle PWM" },
{ .function = Output_Spindle1On, .name = "Spindle 2 on" },
{ .function = Output_Spindle1Dir, .name = "Spindle 2 direction" },
{ .function = Output_Spindle1PWM, .name = "Spindle 2 PWM" },
{ .function = Output_CoolantMist, .name = "Mist" },
{ .function = Output_CoolantFlood, .name = "Flood" },
{ .function = Output_Aux0, .name = "Aux out 0" },
{ .function = Output_Aux1, .name = "Aux out 1" },
{ .function = Output_Aux2, .name = "Aux out 2" },
{ .function = Output_Aux3, .name = "Aux out 3" },
{ .function = Output_Aux4, .name = "Aux out 4" },
{ .function = Output_Aux5, .name = "Aux out 5" },
{ .function = Output_Aux6, .name = "Aux out 6" },
{ .function = Output_Aux7, .name = "Aux out 7" },
{ .function = Output_Aux8, .name = "Aux out 8" },
{ .function = Output_Aux9, .name = "Aux out 9" },
{ .function = Output_Aux10, .name = "Aux out 10" },
{ .function = Output_Aux11, .name = "Aux out 11" },
{ .function = Output_Aux12, .name = "Aux out 12" },
{ .function = Output_Aux13, .name = "Aux out 13" },
{ .function = Output_Aux14, .name = "Aux out 14" },
{ .function = Output_Aux15, .name = "Aux out 15" },
{ .function = Output_Aux15, .name = "Aux out 16" },
{ .function = Output_Aux16, .name = "Aux out 17" },
{ .function = Output_Aux17, .name = "Aux out 18" },
{ .function = Output_Aux18, .name = "Aux out 19" },
{ .function = Output_Aux19, .name = "Aux out 20" },
{ .function = Output_Aux20, .name = "Aux out 21" },
{ .function = Output_Aux21, .name = "Aux out 22" },
{ .function = Output_Aux22, .name = "Aux out 23" },
{ .function = Output_Analog_Aux0, .name = "Aux analog out 0" },
{ .function = Output_Analog_Aux1, .name = "Aux analog out 1" },
{ .function = Output_Analog_Aux2, .name = "Aux analog out 2" },
{ .function = Output_Analog_Aux3, .name = "Aux analog out 3" },
{ .function = Output_Analog_Aux4, .name = "Aux analog out 4" },
{ .function = Output_Analog_Aux5, .name = "Aux analog out 5" },
{ .function = Output_Analog_Aux6, .name = "Aux analog out 6" },
{ .function = Output_Analog_Aux7, .name = "Aux analog out 7" },
{ .function = Output_LED, .name = "LED" },
{ .function = Output_LED_R, .name = "LED R" },
{ .function = Output_LED_G, .name = "LED G" },
{ .function = Output_LED_B, .name = "LED B" },
{ .function = Output_LED_W, .name = "LED W" },
{ .function = Output_LED_Adressable, .name = "LED adressable" },
{ .function = Output_LED1_Adressable, .name = "LED adressable 1" },
{ .function = Output_CoProc_Reset, .name = "CoProc Reset" },
{ .function = Output_CoProc_Boot0, .name = "CoProc Boot0" },
{ .function = Input_MISO, .name = "MISO" },
{ .function = Output_MOSI, .name = "MOSI" },
{ .function = Output_SPICLK, .name = "SPI CLK" },
{ .function = Output_SPICS, .name = "SPI CS" },
{ .function = Output_FlashCS, .name = "Flash CS" },
{ .function = Output_SdCardCS, .name = "SD card CS" },
{ .function = Input_SdCardDetect, .name = "SD card detect" },
{ .function = Output_SPIRST, .name = "SPI reset" },
{ .function = Input_SPIIRQ, .name = "SPI IRQ" },
{ .function = Output_I2CSCK, .name = "I2C SCK" },
{ .function = Bidirectional_SDA, .name = "I2C SDA" },
{ .function = Input_KeypadStrobe, .name = "Keypad strobe" },
{ .function = Input_I2CStrobe, .name = "I2C strobe" },
{ .function = Input_RX, .name = "RX" },
{ .function = Output_TX, .name = "TX" },
{ .function = Output_RTS, .name = "RTS" },
{ .function = Output_RS485_Direction, .name = "RS485 RX/TX direction" },
{ .function = Input_QEI_A, .name = "QEI A" },
{ .function = Input_QEI_B, .name = "QEI B" },
{ .function = Input_QEI_Select, .name = "QEI select" },
{ .function = Input_QEI_Index, .name = "QEI index" },
{ .function = Virtual_Pin, .name = "Virtual" },
{ .function = Bidirectional_MotorUARTX, .name = "UART X" },
{ .function = Bidirectional_MotorUARTY, .name = "UART Y" },
{ .function = Bidirectional_MotorUARTZ, .name = "UART Z" },
{ .function = Bidirectional_MotorUARTM3, .name = "UART M3" },
{ .function = Bidirectional_MotorUARTM4, .name = "UART M4" },
{ .function = Bidirectional_MotorUARTM5, .name = "UART M5" },
{ .function = Bidirectional_MotorUARTM6, .name = "UART M6" },
{ .function = Bidirectional_MotorUARTM7, .name = "UART M7" }
};
typedef enum {
PinGroup_SpindleControl = 0,
PinGroup_SpindlePWM,
PinGroup_Coolant,
PinGroup_SpindlePulse,
PinGroup_SpindleIndex,
PinGroup_StepperPower,
PinGroup_StepperEnable,
PinGroup_StepperStep,
PinGroup_StepperDir,
PinGroup_AuxOutput,
PinGroup_AuxInputAnalog,
PinGroup_AuxOutputAnalog,
PinGroup_MotorChipSelect,
PinGroup_MotorUART,
PinGroup_I2C,
PinGroup_SPI,
PinGroup_UART1,
PinGroup_UART = PinGroup_UART1,
PinGroup_UART2,
PinGroup_UART3,
PinGroup_UART4,
PinGroup_USB,
PinGroup_CAN,
PinGroup_LED,
PinGroup_Home,
PinGroup_Virtual,
// Interrupt capable pins that may have debounce processing enabled
PinGroup_Control = (1<<8),
PinGroup_Limit = (1<<9),
PinGroup_LimitMax = (1<<10),
PinGroup_Probe = (1<<11),
PinGroup_Keypad = (1<<12),
PinGroup_MPG = (1<<13),
PinGroup_QEI = (1<<14),
PinGroup_QEI_Select = (1<<15),
PinGroup_QEI_Index = (1<<16),
PinGroup_Motor_Warning = (1<<17),
PinGroup_Motor_Fault = (1<<18),
PinGroup_SdCard = (1<<19),
PinGroup_AuxInput = (1<<20)
} pin_group_t;
//! Pin interrupt modes, may be or'ed when reporting pin capability.
typedef enum {
IRQ_Mode_None = 0b00000, //!< 0b00000 (0x00)
IRQ_Mode_Rising = 0b00001, //!< 0b00001 (0x01)
IRQ_Mode_Falling = 0b00010, //!< 0b00010 (0x02)
IRQ_Mode_RisingFalling = 0b00011, //!< 0b00011 (0x03) - only used to report port capability.
IRQ_Mode_Change = 0b00100, //!< 0b00100 (0x04)
IRQ_Mode_Edges = 0b00111, //!< 0b00111 (0x07) - only used to report port capability.
IRQ_Mode_High = 0b01000, //!< 0b01000 (0x08)
IRQ_Mode_Low = 0b10000, //!< 0b10000 (0x10)
IRQ_Mode_All = 0b11111 //!< 0b11111 (0x1F) - only used to report port capability.
} pin_irq_mode_t;
typedef enum {
IRQ_I2C_Strobe = 0,
IRQ_SPI
} irq_type_t;
typedef bool (*irq_callback_ptr)(uint_fast8_t id, bool level);
typedef struct driver_irq_handler {
irq_type_t type;
irq_callback_ptr callback;
struct driver_irq_handler *next;
} driver_irq_handler_t;
//! Pin pullup and pulldown modes, may be or'ed when reporting pin capability.
typedef enum {
PullMode_None = 0b00, //!< 0b00 (0x00)
PullMode_Up = 0b01, //!< 0b01 (0x01)
PullMode_Down = 0b10, //!< 0b10 (0x02)
PullMode_UpDown = 0b11 //!< 0b11 (0x03) - only used to report port capability.
} pull_mode_t;
//! ADC/DAC resolution or multi pin register width.
typedef enum {
Resolution_4bit = 0, //!< 0 - 4 bit
Resolution_8bit, //!< 1 - 8 bit
Resolution_10bit, //!< 2 - 10 bit
Resolution_12bit, //!< 3 - 12 bit
Resolution_14bit, //!< 4 - 14 bit
Resolution_16bit, //!< 5 - 16 bit
Resolution_18bit, //!< 6 - 18 bit
Resolution_20bit, //!< 7 - 20 bit
Resolution_24bit, //!< 8 - 24 bit
Resolution_32bit //!< 9 - 32 bit, NOTE: "wait for input" can only return 31 bits
} resolution_t;
#define PINMODE_NONE (0)
#define PINMODE_OUTPUT (1U<<1)
#ifndef __LPC17XX__
#define PINMODE_OD (1U<<2)
#endif
#define PINMODE_PULLUP (PullMode_Up<<3)
#define PINMODE_PULLDOWN (PullMode_Down<<3)
#define PINMODE_ANALOG (1U<<11)
#define PINMODE_PWM (1U<<12)
#define PINMODE_PWM_SERVO (1U<<13)
typedef union {
uint32_t mask;
struct {
uint32_t input :1,
output :1,
open_drain :1,
pull_mode :2, //!< pull_mode_t - pull up/down modes
irq_mode :5, //!< pin_irq_mode_t - IRQ modes
invert :1,
analog :1,
pwm :1,
servo_pwm :1,
claimable :1,
debounce :1,
external :1,
async :1,
resolution :4, //!< resolution_t - ADC/DAC resolution
unused :10;
};
} pin_cap_t;
typedef union {
uint16_t mask;
struct {
uint16_t input :1,
output :1,
open_drain :1,
pull_mode :2,
irq_mode :5,
inverted :1,
analog :1,
pwm :1,
servo_pwm :1,
claimed :1,
debounce :1;
};
} pin_mode_t;
#define XBAR_SET_CAP(cap, mode) { cap.mask = mode.mask; cap.claimable = !mode.claimed; }
#define XBAR_SET_DIN_INFO(pin, pin_id, src, cfg_fn, get_val_fn) { \
pin.id = pin_id; \
pin.mode = src.mode; \
pin.cap = src.cap; \
pin.cap.invert = On; \
pin.cap.claimable = !src.mode.claimed; \
pin.function = src.id; \
pin.group = src.group; \
pin.pin = src.pin; \
pin.port = (void *)src.port; \
pin.description = src.description; \
pin.config = cfg_fn; \
pin.get_value = get_val_fn; \
}
#define XBAR_SET_DOUT_INFO(pin, pin_id, src, cfg_fn, get_val_fn) { \
pin.id = pin_id; \
pin.mode = src.mode; \
pin.cap.mask = src.mode.mask; \
pin.cap.invert = On; \
pin.cap.claimable = !src.mode.claimed; \
pin.function = src.id; \
pin.group = src.group; \
pin.pin = src.pin; \
pin.port = (void *)src.port; \
pin.description = src.description; \
pin.config = cfg_fn; \
pin.get_value = get_val_fn; \
}
//! /a cfg_data argument to /a xbar_config_ptr for gpio input pins
typedef struct {
bool inverted;
bool debounce;
pull_mode_t pull_mode;
} gpio_in_config_t;
//! /a cfg_data argument to /a xbar_config_ptr for gpio output pins
typedef struct {
bool inverted;
bool open_drain;
bool pwm;
} gpio_out_config_t;
//! /a cfg_data argument to /a xbar_config_ptr for PWM pins
typedef struct {
float freq_hz; //
float min;
float max;
float off_value; // percent of period
float min_value; // percent of period
float max_value; // percent of period
bool invert;
bool servo_mode;
} pwm_config_t;
typedef union
{
pwm_config_t *pwm_config;
gpio_in_config_t *gpio_in_config;
gpio_out_config_t *gpio_out_config;
} xbar_cfg_ptr_t __attribute__ ((__transparent_union__));
struct xbar;
typedef float (*xbar_get_value_ptr)(struct xbar *pin);
typedef void (*xbar_set_value_ptr)(struct xbar *pin, float value);
typedef bool (*xbar_set_function_ptr)(struct xbar *pin, pin_function_t function);
typedef void (*xbar_event_ptr)(bool on);
typedef bool (*xbar_config_ptr)(struct xbar *pin, xbar_cfg_ptr_t cfg_data, bool persistent);
// MCU port base address and pin number
typedef struct {
void *port; //!< MCU port address (may be NULL).
uint8_t pin; //!< MCU pin number.
} aux_gpio_t;
typedef struct {
pin_function_t function; //!< Pin function.
uint8_t port; //!< Auxiliary port number, post claimed.
pin_irq_mode_t irq_mode; //!< Required IRQ mode for the input.
control_signals_t signal; //!< Set to the pin the input maps to, 0 if none.
aux_gpio_t gpio; //!< MCU port base address (may be NULL) and pin number.
void *input; //!< Pointer to the driver input array entry for the pin.
bool scan; //!< true if the pin is to be scanned when control state is requested.
} aux_ctrl_t;
typedef struct {
pin_function_t function; //!< Pin function.
uint8_t port; //!< Auxiliary port number, post claimed.
aux_gpio_t gpio; //!< MCU port base address (may be NULL) and pin number.
void *output; //!< Pointer to the driver input array entry for the pin.
} aux_ctrl_out_t;
typedef struct xbar {
void *ports_id;
uint8_t id; //!< Pin id.
pin_function_t function; //!< Pin function.
pin_group_t group; //!< Pin group.
void *port; //!< Optional pointer to the underlying peripheral or pin specific data.
const char *description; //!< Optional pointer to description string.
uint_fast8_t pin; //!< Pin number.
pin_cap_t cap; //!< Pin capabilities.
pin_mode_t mode; //!< Current pin configuration.
xbar_config_ptr config; //!< Optional pointer to function for configuring the port.
xbar_get_value_ptr get_value; //!< Optional pointer to function to get current port value.
xbar_set_value_ptr set_value; //!< Optional pointer to function to set port value.
xbar_set_function_ptr set_function; //!< Optional pointer to function to set port function.
// xbar_event_ptr on_event; //!< Not used - might be removed.
} xbar_t;
typedef struct {
pin_function_t function;
pin_group_t group;
void *port;
uint_fast8_t pin;
pin_mode_t mode;
const char *description;
} periph_pin_t;
typedef struct periph_signal {
periph_pin_t pin;
struct periph_signal *next;
} periph_signal_t;
typedef union {
uint8_t mask;
struct {
uint8_t limits :1,
aux_inputs :1,
safety_door :1,
qei_select :1,
unassigned :4;
};
} pin_debounce_t;
static inline uint8_t xbar_fault_pin_to_axis (pin_function_t fn)
{
return fn >= Input_MotorFaultX && fn <= Input_MotorFaultV ? fn - Input_MotorFaultX : (fn >= Input_MotorFaultX_2 && fn <= Input_MotorFaultZ_2 ? fn - Input_MotorFaultX_2 : 0);
}
static inline stepper_state_t xbar_stepper_state_set (stepper_state_t *state, uint8_t axis, bool b)
{
if(b)
state->details.b.bits |= bit(axis);
else
state->details.a.bits |= bit(axis);
return *state;
}
static inline bool xbar_stepper_state_get (stepper_state_t state, uint8_t axis, bool b)
{
return bit_istrue(b ? state.details.b.bits : state.details.a.bits, bit(axis));
}
static inline bool xbar_is_probe_in (pin_function_t fn)
{
return fn == Input_Probe || fn == Input_Probe2 || fn == Input_Toolsetter;
}
#define N_AUX_AIN_MAX (Input_Analog_AuxMax - Input_Analog_Aux0 + 1)
#define N_AUX_AOUT_MAX (Output_Analog_AuxMax - Output_Analog_Aux0 + 1)
#define N_AUX_DIN_MAX (Input_AuxMax - Input_Aux0 + 1)
#define N_AUX_DOUT_MAX (Output_AuxMax - Output_Aux0 + 1)
void xbar_set_homing_source (void);
limit_signals_t xbar_get_homing_source (void);
limit_signals_t xbar_get_homing_source_from_cycle (axes_signals_t homing_cycle);
axes_signals_t xbar_fn_to_axismask (pin_function_t id);
const char *xbar_fn_to_pinname (pin_function_t id);
const char *xbar_group_to_description ( pin_group_t group);
const char *xbar_resolution_to_string (pin_cap_t cap);
control_signals_t xbar_fn_to_signals_mask (pin_function_t id);
#endif
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