/*

driver.h - driver code for RP2040 ARM processors

Part of grblHAL

Copyright (c) 2021-2023 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/>.

*/

//

// NOTE: do NOT change configuration here - edit my_machine.h instead!

//

#ifndef __DRIVER_H__

#define __DRIVER_H__

#include <stdbool.h>

#include <stdint.h>

#ifndef OVERRIDE_MY_MACHINE

#include "my_machine.h"

#endif

#include "grbl/driver_opts.h"

#define DIGITAL_IN(bit) (!!(sio_hw->gpio_in & bit))

#define DIGITAL_OUT(bit, on) { if(on) sio_hw->gpio_set = bit; else sio_hw->gpio_clr = bit; }

#define GPIO_IRQ_ALL (GPIO_IRQ_LEVEL_HIGH|GPIO_IRQ_LEVEL_LOW|GPIO_IRQ_EDGE_RISE|GPIO_IRQ_EDGE_FALL)

// Define GPIO mode options

#define GPIO_SHIFT0 0

#define GPIO_SHIFT1 1

#define GPIO_SHIFT2 2

#define GPIO_SHIFT3 3

#define GPIO_SHIFT4 4

#define GPIO_SHIFT5 5

#define GPIO_SHIFT6 6

#define GPIO_SHIFT7 7

#define GPIO_SHIFT8 8

#define GPIO_SHIFT9 9

#define GPIO_SHIFT10 10

#define GPIO_SHIFT11 11

#define GPIO_SHIFT12 12

#define GPIO_SHIFT13 13

#define GPIO_SHIFT14 14

#define GPIO_SHIFT15 15

#define GPIO_SHIFT16 16

#define GPIO_SHIFT17 17

#define GPIO_SHIFT18 18

#define GPIO_SHIFT19 19

#define GPIO_SHIFT20 20

#define GPIO_SHIFT21 21

#define GPIO_SHIFT22 22

#define GPIO_SHIFT23 23

#define GPIO_SHIFT24 24

#define GPIO_SHIFT25 25

#define GPIO_SHIFT26 26

#define GPIO_SHIFT27 27

#define GPIO_SHIFT28 28

#define GPIO_MAP 31

#define GPIO_DIRECT 33

#define GPIO_IOEXPAND 34

#define GPIO_INPUT 35

#define GPIO_OUTPUT 36

#define GPIO_PIO 37

#define GPIO_PIO_1 38

#define GPIO_SR8 39

#define GPIO_SR16 40

#define STEPPERS_ENABLE_PINMODE 0

// Define timer allocations.

/*

#define RPM_COUNTER_N 3

#define RPM_COUNTER timer(RPM_COUNTER_N)

#define RPM_COUNTER_IRQn timerINT(RPM_COUNTER_N)

#define RPM_COUNTER_IRQHandler timerHANDLER(RPM_COUNTER_N)

#define RPM_TIMER_N 2

#define RPM_TIMER timer(RPM_TIMER_N)

#define RPM_TIMER_IRQn timerINT(RPM_TIMER_N)

#define RPM_TIMER_IRQHandler timerHANDLER(RPM_TIMER_N)

#define PPI_TIMER_N 2

#define PPI_TIMER timer(PPI_TIMER_N)

#define PPI_TIMER_IRQn timerINT(PPI_TIMER_N)

#define PPI_TIMER_IRQHandler timerHANDLER(PPI_TIMER_N)

*/

#if WEBUI_ENABLE && LITTLEFS_ENABLE

#ifdef WEBUI_INFLASH

#undef WEBUI_INFLASH

#endif

#define WEBUI_INFLASH 1

#endif

#ifdef BOARD_CNC_BOOSTERPACK

#include "cnc_boosterpack_map.h"

#elif defined(BOARD_PICO_CNC)

#include "pico_cnc_map.h"

#elif defined(BOARD_PICOBOB)

#include "picobob_map.h"

#elif defined(BOARD_PICOBOB_G540)

#include "picobob_g540_map.h"

#elif defined(BOARD_BTT_SKR_PICO_10)

#include "btt_skr_pico_10_map.h"

#elif defined BOARD_CITOH_CX6000

#include "citoh_cx6000_map.h"

#elif defined(BOARD_MY_MACHINE)

#include "my_machine_map.h"

#elif defined(BOARD_GENERIC_4AXIS)

#include "generic_map_4axis.h"

#else // default board

#include "generic_map.h"

#endif

#if STEP_PORT == GPIO_PIO

#define X_STEP_PIN STEP_PINS_BASE + 0

#define Y_STEP_PIN STEP_PINS_BASE + 1

#define Z_STEP_PIN STEP_PINS_BASE + 2

#ifdef M3_AVAILABLE

#define M3_STEP_PIN STEP_PINS_BASE + 3

#endif

#ifdef M4_AVAILABLE

#define M4_STEP_PIN STEP_PINS_BASE + 4

#endif

#ifdef M5_AVAILABLE

#define M5_STEP_PIN STEP_PINS_BASE + 5

#endif

#endif

// Adjust STEP_PULSE_LATENCY to get accurate step pulse length when required, e.g if using high step rates.

// The default value is calibrated for 10 microseconds length.

// NOTE: step output mode, number of axes and compiler optimization settings may all affect this value.

#ifndef STEP_PULSE_LATENCY

#define STEP_PULSE_LATENCY 1.0f // microseconds

#endif

// End configuration

#if EEPROM_ENABLE == 0

#define FLASH_ENABLE 1

#else

#define FLASH_ENABLE 0

#endif

#ifdef IOEXPAND_ENABLE

#undef I2C_ENABLE

#define I2C_ENABLE 1

#endif

#if I2C_ENABLE && !defined(I2C_PORT)

#define I2C_PORT 1

#define I2C_SDA 26

#define I2C_SCL 27

#endif

#if TRINAMIC_ENABLE

#ifndef TRINAMIC_MIXED_DRIVERS

#define TRINAMIC_MIXED_DRIVERS 1

#endif

#include "motors/trinamic.h"

#endif

#if MODBUS_ENABLE

#define MODBUS_TEST 1

#else

#define MODBUS_TEST 0

#endif

#if KEYPAD_ENABLE == 2 && MPG_ENABLE == 0

#define KEYPAD_TEST 1

#else

#define KEYPAD_TEST 0

#endif

#if MPG_ENABLE

#define MPG_TEST 1

#else

#define MPG_TEST 0

#endif

#if MODBUS_TEST + KEYPAD_TEST + BLUETOOTH_ENABLE + TRINAMIC_UART_ENABLE + MPG_TEST > 1

#error "Only one option that uses the serial port can be enabled!"

#endif

#if MODBUS_TEST || KEYPAD_TEST || BLUETOOTH_ENABLE || TRINAMIC_UART_ENABLE || MPG_ENABLE

#define SERIAL2_MOD

#endif

#undef MODBUS_TEST

#undef KEYPAD_TEST

#undef MPG_TEST

// End configuration

#if MPG_MODE == 1 && !defined(MPG_MODE_PIN)

#error "MPG_MODE_PIN must be defined!"

#endif

#if KEYPAD_ENABLE == 1 && !defined(I2C_STROBE_PIN)

#error Keypad plugin not supported!

#endif

#if SDCARD_ENABLE && !defined(SD_CS_PIN)

#error SD card plugin not supported!

#endif

#ifndef STEP_PINMODE

#define STEP_PINMODE PINMODE_OUTPUT

#endif

#ifndef DIRECTION_PINMODE

#define DIRECTION_PINMODE PINMODE_OUTPUT

#endif

#ifndef STEPPERS_DISABLE_PINMODE

#define STEPPERS_DISABLE_PINMODE PINMODE_OUTPUT

#endif

typedef struct {

pin_function_t id;

pin_group_t group;

uint8_t pin;

uint32_t bit;

uint8_t port;

bool invert;

pin_irq_mode_t irq_mode;

volatile bool active;

volatile bool debounce;

pin_mode_t cap;

ioport_interrupt_callback_ptr interrupt_callback;

const char *description;

} input_signal_t;

typedef struct {

pin_function_t id;

pin_group_t group;

uint8_t pin;

uint32_t bit;

uint8_t port;

pin_mode_t mode;

const char *description;

} output_signal_t;

typedef struct {

uint8_t n_pins;

union {

input_signal_t *inputs;

output_signal_t *outputs;

} pins;

} pin_group_pins_t;

bool driver_init (void);

#if OUT_SHIFT_REGISTER

void board_init (pin_group_pins_t *aux_inputs, pin_group_pins_t *aux_outputs, output_sr_t *reg);

#else

void board_init (void);

#endif

void ioports_init (pin_group_pins_t *aux_inputs, pin_group_pins_t *aux_outputs);

void ioports_event (input_signal_t *input);

void pinEnableIRQ (const input_signal_t *input, pin_irq_mode_t irq_mode);

/**

\brief Enable IRQ Interrupts

\details Enables IRQ interrupts by clearing the I-bit in the CPSR.

Can only be executed in Privileged modes.

*/

// While waiting for CMSIS headers...:

static inline void __enable_irq(void)

{

__asm volatile ("cpsie i" : : : "memory");

}

/**

\brief Disable IRQ Interrupts

\details Disables IRQ interrupts by setting the I-bit in the CPSR.

Can only be executed in Privileged modes.

*/

static inline void __disable_irq(void)

{

__asm volatile ("cpsid i" : : : "memory");

}

#endif // __DRIVER_H__