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driver.c
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/*
driver.c - driver code for RP2040 ARM processors
Part of grblHAL
Copyright (c) 2021 Volksolive
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/>.
*/
#include <math.h>
#include <string.h>
#include <stdlib.h>
#include <time.h>
#include <malloc.h>
#include "pico/time.h"
#include "pico/bootrom.h"
#include "hardware/timer.h"
#include "hardware/irq.h"
#include "hardware/pwm.h"
#include "hardware/clocks.h"
#include "hardware/spi.h"
#include "hardware/structs/systick.h"
#include "hardware/structs/iobank0.h"
#include "hardware/structs/sio.h"
#if RP_MCU == 2040
#include "hardware/rtc.h"
#if defined(PICO_USE_FASTEST_SUPPORTED_CLOCK) && PICO_USE_FASTEST_SUPPORTED_CLOCK
#define PIO_STEP_ADJ 0.2f
#else
#define PIO_STEP_ADJ 0.29f
#endif
#define PIO_RATE_ADJ 16
#else
#define PIO_STEP_ADJ 0.2f
#define PIO_RATE_ADJ 14
#endif
#include "driver.h"
#include "serial.h"
#include "driverPIO.pio.h"
#include "ws2812.pio.h"
#define AUX_DEVICES // until all drivers are converted?
#ifndef AUX_CONTROLS
#define AUX_CONTROLS (AUX_CONTROL_SPINDLE|AUX_CONTROL_COOLANT)
#endif
#include "grbl/crossbar.h"
#include "grbl/machine_limits.h"
#include "grbl/state_machine.h"
#include "grbl/motor_pins.h"
#include "grbl/pin_bits_masks.h"
#include "grbl/protocol.h"
#if NVSDATA_BUFFER_ENABLE
#include "grbl/nvs_buffer.h"
#endif
#ifdef I2C_PORT
#include "i2c.h"
#endif
#if SDCARD_ENABLE
#include "sdcard/sdcard.h"
#include "ff.h"
#include "diskio.h"
#endif
#if LITTLEFS_ENABLE
#include "littlefs_hal.h"
#include "sdcard/fs_littlefs.h"
#include "sdcard/macros.h"
#endif
#if USB_SERIAL_CDC
#include "usb_serial.h"
#endif
#if EEPROM_ENABLE
#include "eeprom/eeprom.h"
#endif
#if PPI_ENABLE
#include "laser/ppi.h"
#endif
#if FLASH_ENABLE
#include "flash.h"
#endif
#if WIFI_ENABLE
#include "wifi.h"
#endif
#if BLUETOOTH_ENABLE == 1
#include "bt_native.h"
#endif
#if WIFI_ENABLE || BLUETOOTH_ENABLE == 1
#include "pico/cyw43_arch.h"
#endif
#if ETHERNET_ENABLE
#include "networking/wiznet/enet.h"
#endif
#if STEP_PORT == GPIO_SR8
static PIO sr8_pio;
static uint sr8_sm;
static PIO sr8_delay_pio;
static uint sr8_delay_sm;
static PIO sr8_hold_pio;
static uint sr8_hold_sm;
#elif STEP_PORT == GPIO_PIO
static PIO step_pio;
static uint step_sm;
#elif STEP_PORT == GPIO_PIO_1
static PIO x_step_pio;
static uint x_step_sm;
static PIO y_step_pio;
static uint y_step_sm;
static PIO z_step_pio;
static uint z_step_sm;
#ifdef X2_STEP_PIN
static PIO x2_step_pio;
static uint x2_step_sm;
#endif
#ifdef Y2_STEP_PIN
static PIO y2_step_pio;
static uint y2_step_sm;
#endif
#ifdef Z2_STEP_PIN
static PIO z2_step_pio;
static uint z2_step_sm;
#endif
#ifdef A_STEP_PIN
static PIO a_step_pio;
static uint a_step_sm;f
#endif
#ifdef B_STEP_PIN
static PIO b_step_pio;
static uint b_step_sm;
#endif
#ifdef C_STEP_PIN
static PIO c_step_pio;
static uint c_step_sm;
#endif
#endif // GPIO_PIO_1
#ifdef NEOPIXELS_PIN
#ifndef NEOPIXELS_NUM
#define NEOPIXELS_NUM 0
#endif
static PIO neop_pio;
static uint neop_sm;
#endif
typedef union {
uint32_t value;
struct {
uint32_t delay :8,
length :8,
set :8,
reset :8;
};
} pio_steps_t;
#if ETHERNET_ENABLE || WIFI_ENABLE || BLUETOOTH_ENABLE == 1
typedef union {
uint8_t value;
struct {
uint8_t wifi :1,
bluetooth :1,
ethernet :1,
unused :5;
};
} net_types_t;
static net_types_t net = {0};
#endif
static float pio_clk;
#if DRIVER_SPINDLE_ENABLE
static spindle_id_t spindle_id = -1;
#endif
#if DRIVER_SPINDLE_ENABLE & SPINDLE_PWM
static bool pwmEnabled = false;
static spindle_pwm_t spindle_pwm;
#endif
static pio_steps_t pio_steps = {.delay = 20, .length = 100};
static uint stepper_timer_sm, stepper_timer_sm_offset;
static bool IOInitDone = false;
static status_code_t (*on_unknown_sys_command)(uint_fast16_t state, char *line, char *lcline);
static volatile uint32_t elapsed_ticks = 0;
static probe_state_t probe = { .connected = On };
static pin_group_pins_t limit_inputs;
#if SAFETY_DOOR_BIT
static input_signal_t *safety_door;
#endif
#ifdef USE_EXPANDERS
static xbar_t *iox_out[16] = {};
#endif
#ifdef NEOPIXELS_PIN
neopixel_cfg_t neopixel = { .intensity = 255 };
#endif
#if SPINDLE_ENCODER_ENABLE
#include "grbl/spindle_sync.h"
#define RPM_TIMER_RESOLUTION 1
static uint encoder_pwm;
static uint32_t encoder_ovf;
static absolute_time_t encoder_started;
static spindle_data_t spindle_data;
static spindle_encoder_t spindle_encoder = {
.tics_per_irq = 4
};
static on_spindle_programmed_ptr on_spindle_programmed = NULL;
#endif // SPINDLE_ENCODER_ENABLE
#include "grbl/stepdir_map.h"
static input_signal_t *irq_pins[NUM_BANK0_GPIOS] = {};
static periph_signal_t *periph_pins = NULL;
#define add_in_pin(p) defined(p##_PIN)
#define add_limit_pin(p) { .id = Input_Limit##p, .port = GPIO_INPUT, .pin = p##_LIMIT_PIN, .group = PinGroup_Limit },
#define add_maxlimit_pin(p) { .id = Input_Limit##p##_Max, .port = GPIO_INPUT, .pin = p##_LIMIT_PIN_MAX, .group = PinGroup_Limit },
static input_signal_t inputpin[] = {
#ifdef RESET_PIN
#if ESTOP_ENABLE
{ .id = Input_EStop, .port = GPIO_INPUT, .pin = RESET_PIN, .group = PinGroup_Control },
#else
{ .id = Input_Reset, .port = GPIO_INPUT, .pin = RESET_PIN, .group = PinGroup_Control },
#endif
#endif
#ifdef FEED_HOLD_PIN
{ .id = Input_FeedHold, .port = GPIO_INPUT, .pin = FEED_HOLD_PIN, .group = PinGroup_Control },
#endif
#ifdef CYCLE_START_PIN
{ .id = Input_CycleStart, .port = GPIO_INPUT, .pin = CYCLE_START_PIN, .group = PinGroup_Control },
#endif
#if SAFETY_DOOR_BIT
{ .id = Input_SafetyDoor, .port = GPIO_INPUT, .pin = SAFETY_DOOR_PIN, .group = PinGroup_Control },
#endif
#ifdef LIMITS_OVERRIDE_PIN
{ .id = Input_LimitsOverride, .port = GPIO_INPUT, .pin = LIMITS_OVERRIDE_PIN, .group = PinGroup_Control },
#endif
add_limit_pin(X)
add_limit_pin(Y)
add_limit_pin(Z)
#if add_in_pin(X2_LIMIT)
add_limit_pin(X2)
#endif
#ifdef X_LIMIT_PIN_MAX
add_maxlimit_pin(X)
#endif
#if add_in_pin(Y2_LIMIT)
add_limit_pin(Y2)
#endif
#ifdef Y_LIMIT_PIN_MAX
add_maxlimit_pin(Y)
#endif
#if add_in_pin(Z2_LIMIT)
add_limit_pin(Z2)
#endif
#ifdef Z_LIMIT_PIN_MAX
add_maxlimit_pin(Z)
#endif
#if add_in_pin(A_LIMIT)
add_limit_pin(A)
#endif
#if add_in_pin(B_LIMIT)
add_limit_pin(B)
#endif
#if add_in_pin(C_LIMIT)
add_limit_pin(C)
#endif
#if add_in_pin(U_LIMIT)
add_limit_pin(U)
#endif
#if add_in_pin(V_LIMIT)
add_limit_pin(V)
#endif
#ifdef A_LIMIT_PIN_MAX
{ .id = Input_LimitA_Max, .port = GPIO_INPUT, .pin = A_LIMIT_PIN_MAX, .group = PinGroup_Limit },
#endif
#ifdef B_LIMIT_PIN
{ .id = Input_LimitB, .port = GPIO_INPUT, .pin = B_LIMIT_PIN, .group = PinGroup_Limit },
#endif
#ifdef B_LIMIT_PIN_MAX
{ .id = Input_LimitB_Max, .port = GPIO_INPUT, .pin = B_LIMIT_PIN_MAX, .group = PinGroup_Limit },
#endif
#ifdef C_LIMIT_PIN
{ .id = Input_LimitC, .port = GPIO_INPUT, .pin = C_LIMIT_PIN, .group = PinGroup_Limit },
#endif
#ifdef C_LIMIT_PIN_MAX
{ .id = Input_LimitC_Max, .port = GPIO_INPUT, .pin = C_LIMIT_PIN_MAX, .group = PinGroup_Limit },
#endif
#ifndef AUX_DEVICES
#ifdef PROBE_PIN
{ .id = Input_Probe, .port = GPIO_INPUT, .pin = PROBE_PIN, .group = PinGroup_Probe },
#endif
#if MPG_MODE_PIN
{ .id = Input_MPGSelect, .port = GPIO_INPUT, .pin = MPG_MODE_PIN, .group = PinGroup_MPG },
#endif
#if I2C_STROBE_ENABLE && defined(I2C_STROBE_PIN)
{ .id = Input_I2CStrobe, .port = GPIO_INPUT, .pin = I2C_STROBE_PIN, .group = PinGroup_I2C },
#endif
#endif // AUX_DEVICES
#ifdef SPI_IRQ_PIN
{ .id = Input_SPIIRQ, .port = GPIO_INPUT, .pin = SPI_IRQ_PIN, .group = PinGroup_SPI },
#endif
#ifdef SPINDLE_INDEX_PIN
{ .id = Input_SpindleIndex, .port = GPIO_INPUT, .pin = SPINDLE_INDEX_PIN, .group = PinGroup_SpindleIndex },
#endif
#ifdef AUXINPUT0_PIN
{ .id = Input_Aux0, .port = GPIO_INPUT, .pin = AUXINPUT0_PIN, .group = PinGroup_AuxInput },
#endif
#ifdef AUXINPUT1_PIN
{ .id = Input_Aux1, .port = GPIO_INPUT, .pin = AUXINPUT1_PIN, .group = PinGroup_AuxInput },
#endif
#ifdef AUXINPUT2_PIN
{ .id = Input_Aux2, .port = GPIO_INPUT, .pin = AUXINPUT2_PIN, .group = PinGroup_AuxInput },
#endif
#ifdef AUXINPUT3_PIN
{ .id = Input_Aux3, .port = GPIO_INPUT, .pin = AUXINPUT3_PIN, .group = PinGroup_AuxInput },
#endif
#ifdef AUXINPUT4_PIN
{ .id = Input_Aux4, .port = GPIO_INPUT, .pin = AUXINPUT4_PIN, .group = PinGroup_AuxInput },
#endif
#ifdef AUXINPUT5_PIN
{ .id = Input_Aux5, .port = GPIO_INPUT, .pin = AUXINPUT5_PIN, .group = PinGroup_AuxInput },
#endif
#ifdef AUXINPUT6_PIN
{ .id = Input_Aux6, .port = GPIO_INPUT, .pin = AUXINPUT6_PIN, .group = PinGroup_AuxInput },
#endif
#ifdef AUXINPUT7_PIN
{ .id = Input_Aux7, .port = GPIO_INPUT, .pin = AUXINPUT7_PIN, .group = PinGroup_AuxInput }
#endif
};
#if STEP_PORT == GPIO_SR8
#if N_ABC_MOTORS > 1
#error "Axis configuration is not supported!"
#endif
#define X_STEP_PIN 0
#define Y_STEP_PIN 1
#define Z_STEP_PIN 2
#ifdef X2_STEP_PORT
#undef X2_STEP_PIN
#define X2_STEP_PIN 3
#endif
#ifdef Y2_STEP_PORT
#undef Y2_STEP_PIN
#define Y2_STEP_PIN 3
#endif
#ifdef Z2_STEP_PORT
#undef Z2_STEP_PIN
#define Z2_STEP_PIN 3
#endif
#ifdef A_STEP_PORT
#undef A_STEP_PIN
#define A_STEP_PIN 3
#endif
#endif
#if DIRECTION_PORT == GPIO_SR8
#if N_ABC_MOTORS > 1
#error "Axis configuration is not supported!"
#endif
#define X_DIRECTION_PIN 4
#define Y_DIRECTION_PIN 5
#define Z_DIRECTION_PIN 6
#ifdef X2_DIRECTION_PORT
#undef X2_DIRECTION_PIN
#define X2_DIRECTION_PIN 7
#endif
#ifdef Y2_DIRECTION_PORT
#undef Y2_DIRECTION_PIN
#define Y2_DIRECTION_PIN 7
#endif
#ifdef Z2_DIRECTION_PORT
#undef Z2_DIRECTION_PIN
#define Z2_DIRECTION_PIN 7
#endif
#ifdef A_DIRECTION_PORT
#undef A_DIRECTION_PIN
#define A_DIRECTION_PIN 7
#endif
#endif
#ifndef SPI_RST_PORT
#define SPI_RST_PORT GPIO_OUTPUT
#endif
#define add_aux_pin(a, p) !(AUX_CONTROLS & AUX_CONTROL_##a) && defined(a##_##p##_PIN) && a##_##p##_PORT != EXPANDER_PORT
#define add_pin(p) defined(p##_PIN) && p##_PORT != EXPANDER_PORT
#define add_step_pin(p) { .id = Output_Step##p, .port = p##_STEP_PORT, .pin = p##_STEP_PIN, .group = PinGroup_StepperStep, .mode = { STEP_PINMODE } },
#define add_dir_pin(p) { .id = Output_Dir##p, .port = p##_DIRECTION_PORT, .pin = p##_DIRECTION_PIN, .group = PinGroup_StepperStep, .mode = { DIRECTION_PINMODE } },
#define add_enable_pin(p) { .id = Output_StepperEnable##p, .port = p##_ENABLE_PORT, .pin = p##_ENABLE_PIN, .group = PinGroup_StepperEnable, .mode = { STEPPERS_ENABLE_PINMODE } },
static output_signal_t outputpin[] = {
add_step_pin(X)
add_step_pin(Y)
add_step_pin(Z)
#if add_pin(X2_STEP)
add_step_pin(X2)
#endif
#if add_pin(Y2_STEP)
add_step_pin(Y2)
#endif
#if add_pin(Z2_STEP)
add_step_pin(Z2)
#endif
#if add_pin(A_STEP)
add_step_pin(A)
#endif
#if add_pin(B_STEP)
add_step_pin(B)
#endif
#if add_pin(C_STEP)
add_step_pin(C)
#endif
#if add_pin(U_STEP)
add_step_pin(U)
#endif
#if add_pin(V_STEP)
add_step_pin(V)
#endif
add_dir_pin(X)
add_dir_pin(Y)
add_dir_pin(Z)
#if add_pin(X2_DIRECTION)
add_dir_pin(X2)
#endif
#if add_pin(Y2_DIRECTION)
add_dir_pin(Y2)
#endif
#if add_pin(Z2_DIRECTION)
add_dir_pin(Z2)
#endif
#if add_pin(A_DIRECTION)
add_dir_pin(A)
#endif
#if add_pin(B_DIRECTION)
add_dir_pin(B)
#endif
#if add_pin(C_DIRECTION)
add_dir_pin(C)
#endif
#if add_pin(U_DIRECTION)
add_dir_pin(U)
#endif
#if add_pin(U_DIRECTION)
add_dir_pin(V)
#endif
#if !(TRINAMIC_ENABLE && TRINAMIC_I2C)
#if add_pin(STEPPERS_ENABLE)
{ .id = Output_StepperEnable, .port = STEPPERS_ENABLE_PORT, .pin = STEPPERS_ENABLE_PIN, .group = PinGroup_StepperEnable, .mode = { STEPPERS_ENABLE_PINMODE } },
#elif add_pin(XY_ENABLE)
add_enable_pin(XY)
#else
#if add_pin(X_ENABLE)
add_enable_pin(X)
#endif
#if add_pin(Y_ENABLE)
add_enable_pin(Y)
#endif
#endif
#if add_pin(Z_ENABLE)
add_enable_pin(Z)
#endif
#if add_pin(X2_ENABLE)
add_enable_pin(X2)
#endif
#if add_pin(Y2_ENABLE)
add_enable_pin(Y2)
#endif
#if add_pin(Z2_ENABLE)
add_enable_pin(Z2)
#endif
#if add_pin(A_ENABLE)
add_enable_pin(A)
#endif
#if add_pin(B_ENABLE)
add_enable_pin(B)
#endif
#if add_pin(C_ENABLE)
add_enable_pin(C)
#endif
#if add_pin(U_ENABLE)
add_enable_pin(U)
#endif
#if add_pin(V_ENABLE)
add_enable_pin(V)
#endif
#endif // !(TRINAMIC_ENABLE && TRINAMIC_I2C)
#if add_aux_pin(SPINDLE, PWM) || SPINDLE_ENABLE_PORT == EXPANDER_PORT
{ .id = Output_SpindlePWM, .port = SPINDLE_PWM_PORT, .pin = SPINDLE_PWM_PIN, .group = PinGroup_SpindlePWM },
#endif
#ifdef RTS_PIN
{ .id = Output_RTS, .port = GPIO_OUTPUT, .pin = RTS_PIN, .group = PinGroup_UART },
#endif
#ifdef SD_CS_PIN
{ .id = Output_SdCardCS, .port = GPIO_OUTPUT, .pin = SD_CS_PIN, .group = PinGroup_SdCard },
#endif
#ifdef SPI_CS_PIN
{ .id = Output_SPICS, .port = GPIO_OUTPUT, .pin = SPI_CS_PIN, .group = PinGroup_SPI },
#endif
#if add_pin(SPI_RST)
{ .id = Output_SPIRST, .port = SPI_RST_PORT, .pin = SPI_RST_PIN, .group = PinGroup_SPI },
#endif
#if add_aux_pin(SPINDLE, ENABLE)
{ .id = Output_SpindleOn, .port = SPINDLE_ENABLE_PORT, .pin = SPINDLE_ENABLE_PIN, .group = PinGroup_SpindleControl},
#endif
#if add_aux_pin(SPINDLE, DIRECTION)
{ .id = Output_SpindleDir, .port = SPINDLE_DIRECTION_PORT, .pin = SPINDLE_DIRECTION_PIN, .group = PinGroup_SpindleControl},
#endif
#if add_aux_pin(COOLANT, FLOOD)
{ .id = Output_CoolantFlood, .port = COOLANT_FLOOD_PORT, .pin = COOLANT_FLOOD_PIN, .group = PinGroup_Coolant},
#endif
#if add_aux_pin(COOLANT, MIST)
{ .id = Output_CoolantMist, .port = COOLANT_MIST_PORT, .pin = COOLANT_MIST_PIN, .group = PinGroup_Coolant},
#endif
#ifdef LED_PIN
{ .id = Output_LED, .port = GPIO_OUTPUT, .pin = LED_PIN, .group = PinGroup_LED },
#endif
#ifdef LED_R_PIN
{ .id = Output_LED_R, .port = GPIO_OUTPUT, .pin = LED_R_PIN, .group = PinGroup_LED },
#endif
#ifdef LED_G_PIN
{ .id = Output_LED_G, .port = GPIO_OUTPUT, .pin = LED_G_PIN, .group = PinGroup_LED },
#endif
#ifdef LED_B_PIN
{ .id = Output_LED_B, .port = GPIO_OUTPUT, .pin = LED_B_PIN, .group = PinGroup_LED },
#endif
#ifdef LED_W_PIN
{ .id = Output_LED_W, .port = GPIO_OUTPUT, .pin = LED_W_PIN, .group = PinGroup_LED },
#endif
#ifdef AUXOUTPUT0_PORT
{ .id = Output_Aux0, .port = AUXOUTPUT0_PORT, .pin = AUXOUTPUT0_PIN, .group = PinGroup_AuxOutput},
#endif
#ifdef AUXOUTPUT1_PORT
{ .id = Output_Aux1, .port = AUXOUTPUT1_PORT, .pin = AUXOUTPUT1_PIN, .group = PinGroup_AuxOutput},
#endif
#ifdef AUXOUTPUT2_PORT
{ .id = Output_Aux2, .port = AUXOUTPUT2_PORT, .pin = AUXOUTPUT2_PIN, .group = PinGroup_AuxOutput},
#endif
#ifdef AUXOUTPUT3_PORT
{ .id = Output_Aux3, .port = AUXOUTPUT3_PORT, .pin = AUXOUTPUT3_PIN, .group = PinGroup_AuxOutput},
#endif
#ifdef AUXOUTPUT4_PORT
{ .id = Output_Aux4, .port = AUXOUTPUT4_PORT, .pin = AUXOUTPUT4_PIN, .group = PinGroup_AuxOutput},
#endif
#ifdef AUXOUTPUT5_PORT
{ .id = Output_Aux5, .port = AUXOUTPUT5_PORT, .pin = AUXOUTPUT5_PIN, .group = PinGroup_AuxOutput},
#endif
#ifdef AUXOUTPUT6_PORT
{ .id = Output_Aux6, .port = AUXOUTPUT6_PORT, .pin = AUXOUTPUT6_PIN, .group = PinGroup_AuxOutput},
#endif
#ifdef AUXOUTPUT7_PORT
{ .id = Output_Aux7, .port = AUXOUTPUT7_PORT, .pin = AUXOUTPUT7_PIN, .group = PinGroup_AuxOutput},
#endif
#ifdef AUXOUTPUT0_PWM_PIN
{ .id = Output_Analog_Aux0, .port = GPIO_OUTPUT, .pin = AUXOUTPUT0_PWM_PIN, .group = PinGroup_AuxOutputAnalog, .mode = { PINMODE_PWM } },
#endif
#ifdef AUXOUTPUT1_PWM_PIN
{ .id = Output_Analog_Aux1, .port = GPIO_OUTPUT, .pin = AUXOUTPUT1_PWM_PIN, .group = PinGroup_AuxOutputAnalog, .mode = { PINMODE_PWM } },
#endif
#ifdef AUXOUTPUT2_PWM_PIN
{ .id = Output_Analog_Aux2, .port = GPIO_OUTPUT, .pin = AUXOUTPUT2_PWM_PIN, .group = PinGroup_AuxOutputAnalog, .mode = { PINMODE_PWM } },
#endif
#ifdef AUXOUTPUT3_PWM_PIN
{ .id = Output_Analog_Aux3, .port = GPIO_OUTPUT, .pin = AUXOUTPUT3_PWM_PIN, .group = PinGroup_AuxOutputAnalog, .mode = { PINMODE_PWM } },
#endif
};
#ifndef I2C_STROBE_BIT
#define I2C_STROBE_BIT 0
#endif
#ifndef SPI_IRQ_BIT
#define SPI_IRQ_BIT 0
#endif
#ifndef DEBOUNCE_DELAY
#define DEBOUNCE_DELAY 40 // ms
#endif
#if AUX_CONTROLS_ENABLED
static uint8_t probe_port;
static pin_debounce_t debounce = {0};
static void aux_irq_handler (uint8_t port, bool state);
#endif
#if SD_SHIFT_REGISTER
static step_dir_sr_t sd_sr;
#endif
#if OUT_SHIFT_REGISTER
static sr_reg_t sr16;
#endif
static struct {
uint32_t length;
uint32_t delay;
uint32_t t_min_period; // timer ticks
axes_signals_t out;
#if STEP_INJECT_ENABLE
struct {
hal_timer_t timer;
axes_signals_t claimed;
volatile axes_signals_t axes;
volatile axes_signals_t out;
} inject;
#endif
} step_pulse = {0};
static void systick_handler(void);
static void stepper_int_handler(void);
static void rpm_int_handler(void);
static void gpio_int_handler(uint gpio, uint32_t events);
#if I2C_STROBE_ENABLE || SPI_IRQ_BIT
#if I2C_STROBE_ENABLE
static driver_irq_handler_t i2c_strobe = { .type = IRQ_I2C_Strobe };
#endif
#if SPI_IRQ_BIT
static driver_irq_handler_t spi_irq = { .type = IRQ_SPI };
#endif
static bool irq_claim (irq_type_t irq, uint_fast8_t id, irq_callback_ptr handler)
{
bool ok = false;
switch(irq) {
#if I2C_STROBE_ENABLE
case IRQ_I2C_Strobe:
if((ok = i2c_strobe.callback == NULL))
i2c_strobe.callback = handler;
break;
#endif
#if SPI_IRQ_BIT
case IRQ_SPI:
if((ok = spi_irq.callback == NULL))
spi_irq.callback = handler;
break;
#endif
default:
break;
}
return ok;
}
#endif // I2C_STROBE_ENABLE || SPI_IRQ_BIT
static int64_t delay_callback (alarm_id_t id, void *callback)
{
((delay_callback_ptr)callback)();
return 0;
}
static void driver_delay (uint32_t ms, delay_callback_ptr callback)
{
if (ms > 0) {
if (callback)
add_alarm_in_ms(ms, delay_callback, callback, false);
else {
uint32_t delay = ms * 1000, start = timer_hw->timerawl;
while (timer_hw->timerawl - start < delay)
grbl.on_execute_delay(state_get());
}
}
else if (callback)
callback();
tight_loop_contents();
}
//************************* STEPPER *************************//
// Enable/disable stepper motors
static void stepperEnable (axes_signals_t enable, bool hold)
{
enable.mask ^= settings.steppers.enable_invert.mask;
#if TRINAMIC_ENABLE && TRINAMIC_I2C
axes_signals_t tmc_enable = trinamic_stepper_enable(enable);
#elif defined(STEPPERS_ENABLE_PIN)
#if STEPPERS_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(STEPPERS_ENABLE_PIN, enable.x);
#else
DIGITAL_OUT(STEPPERS_ENABLE_PIN, enable.x);
#endif
#else
#ifdef XY_ENABLE_PIN
#if XY_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(XY_ENABLE_PIN, enable.x || enable.y);
#else
DIGITAL_OUT(XY_ENABLE_PIN, enable.x || enable.y);
#endif
#else
#ifdef X_ENABLE_PIN
#if X_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(X_ENABLE_PIN, enable.x);
#else
DIGITAL_OUT(X_ENABLE_PIN, enable.x);
#endif
#endif
#endif
#ifdef Y_ENABLE_PIN
#if Y_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(Y_ENABLE_PIN, enable.y);
#else
DIGITAL_OUT(Y_ENABLE_PIN, enable.y);
#endif
#endif
#ifdef X2_ENABLE_PIN
#if X2_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(X2_ENABLE_PIN, enable.x);
#else
DIGITAL_OUT(X2_ENABLE_PIN, enable.x);
#endif
#endif
#ifdef Y2_ENABLE_PIN
#if Y2_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(Y2_ENABLE_PIN, enable.y);
#else
DIGITAL_OUT(Y2_ENABLE_PIN, enable.y);
#endif
#endif
#ifdef Z_ENABLE_PIN
#if Z_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(Z_ENABLE_PIN, enable.z);
#else
DIGITAL_OUT(Z_ENABLE_PIN, enable.z);
#endif
#endif
#ifdef Z2_ENABLE_PIN
#if Z2_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(Z2_ENABLE_PIN, enable.z);
#else
DIGITAL_OUT(Z2_ENABLE_PIN, enable.z);
#endif
#endif
#ifdef A_ENABLE_PIN
#if A_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(A_ENABLE_PIN, enable.a);
#else
DIGITAL_OUT(A_ENABLE_PIN, enable.a);
#endif
#endif
#ifdef B_ENABLE_PIN
#if B_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(B_ENABLE_PIN, enable.b);
#else
DIGITAL_OUT(B_ENABLE_PIN, enable.b);
#endif
#endif
#ifdef C_ENABLE_PIN
#if C_ENABLE_PORT == EXPANDER_PORT
EXPANDER_OUT(C_ENABLE_PIN, enable.c);
#else
DIGITAL_OUT(C_ENABLE_PIN, enable.c);
#endif
#endif
#endif
}
// Starts stepper driver ISR timer and forces a stepper driver interrupt callback
static void stepperWakeUp (void)
{
hal.stepper.enable((axes_signals_t){AXES_BITMASK}, false);
stepper_timer_set_period(pio1, stepper_timer_sm, stepper_timer_sm_offset, hal.f_step_timer / 50, 0); // ~2ms delay to allow drivers time to wake up.
irq_set_enabled(PIO1_IRQ_0, true);
}
// Sets up stepper driver interrupt timeout, "Normal" version
static void __not_in_flash_func(stepperCyclesPerTick)(uint32_t cycles_per_tick)
{
stepper_timer_set_period(pio1, stepper_timer_sm, stepper_timer_sm_offset, cycles_per_tick < 1000000 ? max(cycles_per_tick, step_pulse.t_min_period) : 1000000, PIO_RATE_ADJ);
}
#if STEP_PORT == GPIO_PIO || STEP_PORT == GPIO_PIO_1
// Set stepper pulse output pins
// NOTE: step_out are: bit0 -> X, bit1 -> Y, bit2 -> Z...
static inline __attribute__((always_inline)) void stepper_set_step (uint_fast8_t axis, pio_steps_t *pio_steps)
{
switch(axis) {
case X_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(x_step_pio, x_step_sm, pio_steps->value);
#if X_GANGED
step_pulse_generate(x2_step_pio, x2_step_sm, pio_steps->value);
#endif
#else
pio_steps->set |= (1 << (X_STEP_PIN - STEP_PINS_BASE));
#if X_GANGED
pio_steps->set |= (1 << (X2_STEP_PIN - STEP_PINS_BASE));
#endif
#endif
break;
case Y_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(y_step_pio, y_step_sm, pio_steps->value);
#if Y_GANGED
step_pulse_generate(y2_step_pio, y2_step_sm, pio_steps->value);
#endif
#else
pio_steps->set |= (1 << (Y_STEP_PIN - STEP_PINS_BASE));
#if Y_GANGED
pio_steps->set |= (1 << (Y2_STEP_PIN - STEP_PINS_BASE));
#endif
#endif
break;
case Z_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(z_step_pio, z_step_sm, pio_steps->value);
#if Z_GANGED
step_pulse_generate(z2_step_pio, z2_step_sm, pio_steps->value);
#endif
#else
pio_steps->set |= (1 << (Z_STEP_PIN - STEP_PINS_BASE));
#if Z_GANGED
pio_steps->set |= (1 << (Z2_STEP_PIN - STEP_PINS_BASE));
#endif
#endif
break;
#ifdef A_AXIS
case A_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(a_step_pio, a_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (A_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#endif
#ifdef B_AXIS
case B_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(b_step_pio, b_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (B_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#endif
#ifdef C_AXIS
case C_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(c_step_pio, c_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (C_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#endif
#ifdef U_AXIS
case U_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(u_step_pio, u_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (U_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#endif
#ifdef V_AXIS
case V_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(v_step_pio, v_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (V_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#endif
}
}
#endif // STEP_PORT == GPIO_PIO || STEP_PORT == GPIO_PIO_1
#ifdef SQUARING_ENABLED
static axes_signals_t motors_1 = {AXES_BITMASK}, motors_2 = {AXES_BITMASK};
#if STEP_PORT == GPIO_PIO || STEP_PORT == GPIO_PIO_1
static inline __attribute__((always_inline)) void stepper_step_out1 (uint_fast8_t axis, pio_steps_t *pio_steps)
{
switch(axis) {
case X_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(x_step_pio, x_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (X_STEP_PIN - STEP_PINS_BASE));
#endif
break;
case Y_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(y_step_pio, y_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (Y_STEP_PIN - STEP_PINS_BASE));
#endif
break;
case Z_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(z_step_pio, z_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (Z_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#ifdef A_AXIS
case A_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(a_step_pio, a_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (A_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#endif
#ifdef B_AXIS
case B_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(b_step_pio, b_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (B_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#endif
#ifdef C_AXIS
case C_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(c_step_pio, c_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (C_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#endif
#ifdef U_AXIS
case U_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(u_step_pio, u_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (U_STEP_PIN - STEP_PINS_BASE));
#endif
break;
#endif
#ifdef V_AXIS
case V_AXIS:
#if STEP_PORT == GPIO_PIO_1
step_pulse_generate(v_step_pio, v_step_sm, pio_steps->value);
#else
pio_steps->set |= (1 << (V_STEP_PIN - STEP_PINS_BASE));
#endif