mirror of
https://github.com/grblHAL/core.git
synced 2026-08-17 08:31:43 +08:00
Terje Io
35431d1bd3
Improved handling of some VFS file system actions (unlink, mkdirv and rmdir), added support for truncate. Changed some kinematics API function signatures for readability/debugability. The ioports implementation has been changed to allow for consecutive pin numbers for external (expander based) I/O. See changelog for details.
319 lines
15 KiB
C
319 lines
15 KiB
C
/*
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ioports.h - typedefs, API structure and functions for auxiliary I/O
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Part of grblHAL
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Copyright (c) 2021-2026 Terje Io
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grblHAL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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grblHAL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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//#define IOPORTS_KEEP_DEPRECATED
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#define IOPORT_UNASSIGNED 255
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typedef enum {
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Port_Analog = 0, //!< 0
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Port_Digital = 1 //!< 1
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} io_port_type_t;
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typedef enum {
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Port_Input = 0, //!< 0
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Port_Output = 1 //!< 1
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} io_port_direction_t;
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/*! \brief Pointer to function for setting a digital output.
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\param port port number
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\param on \a true to set output high, \a false to set it low
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*/
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typedef void (*digital_out_ptr)(uint8_t port, bool on);
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/*! \brief Pointer to function for setting an analog output.
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\param port port number.
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\param value
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\returns \a true if successful, \a false otherwise.
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*/
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typedef bool (*analog_out_ptr)(uint8_t port, float value);
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/*! \brief Pointer to function for reading a digital or analog input.
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__NOTE:__ The latest value read is stored in \ref #sys sys.var5399.
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\param type as an \a #io_port_type_t enum value.
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\param port port number.
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\param wait_mode a #wait_mode_t enum value.
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\param timeout in seconds, ignored if wait_mode is #WaitMode_Immediate (0).
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\returns read value if successful, \a -1 otherwise.
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*/
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typedef int32_t (*wait_on_input_ptr)(io_port_type_t type, uint8_t port, wait_mode_t wait_mode, float timeout);
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/*! \brief Pointer to function for reading a digital or analog input.
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__NOTE:__ The latest value read is stored in \ref #sys sys.var5399.
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\param type as an \a #io_port_type_t enum value.
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\param port port number.
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\param wait_mode a #wait_mode_t enum value.
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\param timeout in seconds, ignored if wait_mode is #WaitMode_Immediate (0).
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\returns read value if successful, \a -1 otherwise.
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*/
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typedef int32_t (*ll_wait_on_input_ptr)(uint8_t port, wait_mode_t wait_mode, float timeout);
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/*! \brief Pointer to function for setting pin description for a digital or analog port.
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\param type as an \a #io_port_type_t enum value.
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\param dir as an \a #io_port_direction_t enum value.
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\param port port number.
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\param s pointer to null terminated description string.
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*/
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typedef void (*set_pin_description_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t port, const char *s);
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/*! \brief Pointer to function for setting pin description for a digital or analog port.
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\param type as an \a #io_port_type_t enum value.
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\param dir as an \a #io_port_direction_t enum value.
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\param port port number.
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\param s pointer to null terminated description string.
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*/
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typedef void (*ll_set_pin_description_ptr)(io_port_direction_t dir, uint8_t port, const char *s);
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/*! \brief Pointer to function for getting information about a digital or analog port.
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<br>__NOTE:__ The port information pointed to will be overwritten by the next call to this function.
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\param type as an \a #io_port_type_t enum value.
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\param dir as an \a #io_port_direction_t enum value.
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\param port port number.
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\returns pointer to port information in a \a #xbar_t struct if successful, \a NULL if not.
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*/
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typedef xbar_t *(*get_pin_info_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t port);
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/*! \brief Pointer to function for getting information about a digital or analog port.
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<br>__NOTE:__ The port information pointed to will be overwritten by the next call to this function.
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\param type as an \a #io_port_type_t enum value.
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\param dir as an \a #io_port_direction_t enum value.
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\param port port number.
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\returns pointer to port information in a \a #xbar_t struct if successful, \a NULL if not.
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*/
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typedef xbar_t *(*ll_get_pin_info_ptr)(io_port_direction_t dir, uint8_t port);
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/*! \brief Pointer to function for claiming a digital or analog port for exclusive use.
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\param type as an \a #io_port_type_t enum value.
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\param dir as an \a #io_port_direction_t enum value.
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\param port port number.
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\param description description of the pin function.
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\returns \a true if successful, \a false if not.
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*/
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typedef bool (*claim_port_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t *port, const char *description);
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/*! \brief Pointer to function for claiming a digital or analog port for exclusive use.
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\param type as an \a #io_port_type_t enum value.
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\param dir as an \a #io_port_direction_t enum value.
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\param port port number.
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\param description description of the pin function.
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\returns \a true if successful, \a false if not.
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*/
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typedef bool (*ll_claim_port_ptr)(io_port_direction_t dir, uint8_t port, uint8_t user_port, const char *description);
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/*! \brief Pointer to function for swapping two digital or analog ports.
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\param type as an \a #io_port_type_t enum value.
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\param dir as an \a #io_port_direction_t enum value.
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\param port_from port number.
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\param port_to port number.
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\returns \a true if successful, \a false if not.
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*/
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typedef bool (*swap_pins_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t port_from, uint8_t port_to);
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/*! \brief Pointer to callback function for input port interrupt events.
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\param port port number.
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\param state \a true if port level is high, \a false if it is low.
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*/
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typedef void (*ioport_interrupt_callback_ptr)(uint8_t port, bool state);
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/*! \brief Pointer to function for registering or deregistering an interrupt handler for a digital input port.
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\param port port number.
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\param irq_mode a \a #pin_irq_mode_t enum value.
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\param interrupt_callback pointer to the callback function to register or NULL to deregister the current callback.
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\returns \a true if successful, \a false otherwise.
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*/
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typedef bool (*ioport_register_interrupt_handler_ptr)(uint8_t port, pin_irq_mode_t irq_mode, ioport_interrupt_callback_ptr interrupt_callback);
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/*! \brief Pointer to function for registering or deregistering an interrupt handler for a digital input port.
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\param port port number.
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\param user_port port number to be used for the callback.
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\param irq_mode a \a #pin_irq_mode_t enum value.
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\param interrupt_callback pointer to the callback function to register or NULL to deregister the current callback.
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\returns \a true if successful, \a false otherwise.
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*/
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typedef bool (*ll_ioport_register_interrupt_handler_ptr)(uint8_t port, uint8_t user_port, pin_irq_mode_t irq_mode, ioport_interrupt_callback_ptr interrupt_callback);
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typedef bool (*ioports_enumerate_callback_ptr)(xbar_t *properties, uint8_t port, void *data);
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//! Properties and handlers for auxiliary digital and analog I/O.
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typedef struct {
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uint8_t num_digital_in; //!< Deprecated, use ioports_unclaimed() to get count.
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uint8_t num_digital_out; //!< Deprecated, use ioports_unclaimed() to get count.
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uint8_t num_analog_in; //!< Deprecated, use ioports_unclaimed() to get count.
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uint8_t num_analog_out; //!< Deprecated, use ioports_unclaimed() to get count.
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digital_out_ptr digital_out; //!< Optional handler for setting a digital output.
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analog_out_ptr analog_out; //!< Optional handler for setting an analog output.
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wait_on_input_ptr wait_on_input; //!< Optional handler for reading a digital or analog input.
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set_pin_description_ptr set_pin_description; //!< Optional handler for setting a description of an auxiliary pin.
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get_pin_info_ptr get_pin_info; //!< Optional handler for getting information about an auxiliary pin.
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claim_port_ptr claim; //!< Optional handler for claiming an auxiliary pin for exclusive use.
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swap_pins_ptr swap_pins; //!< Optional handler for swapping pins.
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ioport_register_interrupt_handler_ptr register_interrupt_handler;
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} io_port_t;
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typedef union {
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control_signals_t *control;
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coolant_state_t *coolant;
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limit_signals_t *limits;
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} driver_caps_t __attribute__ ((__transparent_union__));
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typedef union {
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uint8_t io;
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struct {
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uint8_t claim_explicit :1,
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digital_out :1,
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analog_out :1,
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wait_on_input :1,
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configure :1;
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};
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} io_port_cando_t;
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struct ioports_cfg;
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struct ioports_handle; // members defined in ioports.c
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typedef status_code_t (*ioport_set_value_ptr)(struct ioports_cfg *p, uint8_t *port, pin_cap_t caps, float value);
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typedef float (*ioport_get_value_ptr)(struct ioports_cfg *p, uint8_t port);
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typedef xbar_t *(*ioport_get_info_ptr)(struct ioports_cfg *p, uint8_t port);
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typedef uint8_t (*ioport_get_next_ptr)(struct ioports_cfg *p, uint8_t port, const char *description, pin_cap_t caps);
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typedef xbar_t *(*ioport_claim_ptr)(struct ioports_cfg *p, uint8_t *port, const char *description, pin_cap_t caps);
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struct ioports_cfg {
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struct ioports_handle *handle;
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uint8_t n_ports;
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uint8_t port_max;
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const char port_maxs[4];
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ioport_get_value_ptr get_value;
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ioport_set_value_ptr set_value;
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ioport_get_info_ptr get_info;
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ioport_get_next_ptr get_next;
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ioport_claim_ptr claim;
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};
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typedef struct ioports_cfg io_port_cfg_t;
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io_port_cfg_t *ioports_cfg (io_port_cfg_t *p, io_port_type_t type, io_port_direction_t dir);
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uint8_t ioports_available (io_port_type_t type, io_port_direction_t dir);
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uint8_t ioports_unclaimed (io_port_type_t type, io_port_direction_t dir);
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xbar_t *ioport_get_info (io_port_type_t type, io_port_direction_t dir, uint8_t port);
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xbar_t *ioport_claim (io_port_type_t type, io_port_direction_t dir, uint8_t *port, const char *description);
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bool ioport_claimable (io_port_type_t type, io_port_direction_t dir, uint8_t port);
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io_port_cando_t ioports_can_do (void);
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uint8_t ioport_find_free (io_port_type_t type, io_port_direction_t dir, pin_cap_t filter, const char *description);
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bool ioports_enumerate (io_port_type_t type, io_port_direction_t dir, pin_cap_t filter, ioports_enumerate_callback_ptr callback, void *data);
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bool ioport_set_description (io_port_type_t type, io_port_direction_t dir, uint8_t port, const char *description);
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bool ioport_set_function (xbar_t *pin, pin_function_t function, driver_caps_t caps);
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bool ioport_analog_out (uint8_t port, float value);
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bool ioport_digital_out (uint8_t port, uint32_t value);
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int32_t ioport_wait_on_input (io_port_type_t type, uint8_t port, wait_mode_t wait_mode, float timeout);
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bool ioport_analog_out_config (uint8_t port, pwm_config_t *config);
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bool ioport_digital_pwm_config (uint8_t port, pwm_config_t *config);
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bool ioport_digital_in_config (uint8_t port, gpio_in_config_t *config);
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bool ioport_enable_irq (uint8_t port, pin_irq_mode_t irq_mode, ioport_interrupt_callback_ptr handler);
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bool ioport_digital_out_config (uint8_t port, gpio_out_config_t *config);
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struct io_ports_data;
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typedef struct {
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uint8_t n_ports;
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uint8_t n_start;
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uint8_t idx_last;
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uint8_t pin_base;
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#ifdef IOPORTS_KEEP_DEPRECATED
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uint8_t *map; //!< Deprecated - do not reference in new code!
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#endif
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} io_ports_detail_t;
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typedef struct io_ports_data {
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bool external;
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union {
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io_ports_detail_t cfg[2];
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struct {
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io_ports_detail_t in;
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io_ports_detail_t out;
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};
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};
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#ifdef IOPORTS_KEEP_DEPRECATED
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const char *pnum; //!< Deprecated - do not reference in new code!
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const char *(*get_pnum)(struct io_ports_data *data, uint8_t port); //!< Deprecated - do not reference in new code!
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#endif
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} io_ports_data_t;
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typedef struct {
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io_ports_data_t *ports;
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analog_out_ptr analog_out; //!< Handler for setting an analog output.
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ll_wait_on_input_ptr wait_on_input; //!< Handler for reading a digital or analog input.
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ll_set_pin_description_ptr set_pin_description; //!< Handler for setting a description of an auxiliary pin.
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ll_get_pin_info_ptr get_pin_info; //!< Handler for getting information about an auxiliary pin.
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} io_analog_t;
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typedef struct {
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io_ports_data_t *ports;
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digital_out_ptr digital_out; //!< Handler for setting a digital output.
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ll_ioport_register_interrupt_handler_ptr register_interrupt_handler;
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ll_wait_on_input_ptr wait_on_input; //!< Handler for reading a digital or analog input.
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ll_set_pin_description_ptr set_pin_description; //!< Handler for setting a description of an auxiliary pin.
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ll_get_pin_info_ptr get_pin_info; //!< Handler for getting information about an auxiliary pin.
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} io_digital_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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uint32_t f_clock;
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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_analog (io_analog_t *ports);
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bool ioports_add_digital (io_digital_t *ports);
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void ioports_add_settings (driver_settings_load_ptr settings_loaded, setting_changed_ptr setting_changed);
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bool ioport_remap (io_port_type_t type, io_port_direction_t dir, uint8_t from, uint8_t to);
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void ioport_save_input_settings (xbar_t *xbar, gpio_in_config_t *config);
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void ioport_save_output_settings (xbar_t *xbar, gpio_out_config_t *config);
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void ioport_setting_changed (setting_id_t id);
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uint8_t ioports_map_reverse (io_ports_detail_t *type, uint8_t 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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#ifdef IOPORTS_KEEP_DEPRECATED
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#define iports_get_pnum(type, port) type.get_pnum(&type, port)
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#define ioports_map(type, port) ( type.map ? type.map[port] : port )
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#endif
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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); //!< Deprecated - use ioports_add_analog() or ioports_add_digital() instead.
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bool ioport_can_claim_explicit (void); //!< Deprecated - use ioports_can_do() instead.
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void ioport_assign_function (aux_ctrl_t *aux_ctrl, pin_function_t *function); //!< Deprecated - use ioport_set_function() instead.
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void ioport_assign_out_function (aux_ctrl_out_t *aux_ctrl, pin_function_t *function); //!< Deprecated - use ioport_set_function() instead.
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//
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/*EOF*/
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