grblHAL core  20250320
crossbar.h
Go to the documentation of this file.
1 /*
2  crossbar.h - signal crossbar definitions
3 
4  Part of grblHAL
5 
6  Copyright (c) 2021-2025 Terje Io
7 
8  grblHAL is free software: you can redistribute it and/or modify
9  it under the terms of the GNU General Public License as published by
10  the Free Software Foundation, either version 3 of the License, or
11  (at your option) any later version.
12 
13  grblHAL is distributed in the hope that it will be useful,
14  but WITHOUT ANY WARRANTY; without even the implied warranty of
15  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  GNU General Public License for more details.
17 
18  You should have received a copy of the GNU General Public License
19  along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
20 */
21 
22 #ifndef _CROSSBAR_H_
23 #define _CROSSBAR_H_
24 
25 #include "nuts_bolts.h"
26 
27 typedef enum {
28 // NOTE: the sequence of the following enums MUST match the control_signals_t layout
44 // end control_signals_t sequence
118 // Output pins
207 // Multipin peripherals
222  Input_KeypadStrobe, // To be deprecated? Use Input_I2CStrobe instead.
232 // Single pin bidirectional peripherals
243 
244 #define PIN_ISINPUT(pin) (pin < Outputs)
245 #define PIN_ISOUTPUT(pin) (pin >= Outputs && pin < Bidirectional)
246 #define PIN_ISBIDIRECTIONAL(pin) (pin >= Bidirectional)
247 
248 typedef struct {
249  pin_function_t function;
250  const char *name;
251 } pin_name_t;
252 
253 PROGMEM static const pin_name_t pin_names[] = {
254  { .function = Input_Reset, .name = "Reset" },
255  { .function = Input_FeedHold, .name = "Feed hold" },
256  { .function = Input_CycleStart, .name = "Cycle start" },
257  { .function = Input_SafetyDoor, .name = "Safety door" },
258  { .function = Input_BlockDelete, .name = "Block delete" },
259  { .function = Input_StopDisable, .name = "Stop disable" },
260  { .function = Input_EStop, .name = "Emergency stop" },
261  { .function = Input_ProbeDisconnect, .name = "Probe disconnect" },
262  { .function = Input_MotorFault, .name = "Motor fault" },
263  { .function = Input_MotorWarning, .name = "Motor warning" },
264  { .function = Input_LimitsOverride, .name = "Limits override" },
265  { .function = Input_SingleBlock, .name = "Single block" },
266  { .function = Input_ProbeOvertravel, .name = "Probe overtravel" },
267  { .function = Input_Probe, .name = "Probe" },
268  { .function = Input_MotorFaultX, .name = "X motor fault" },
269  { .function = Input_MotorFaultY, .name = "Y motor fault" },
270  { .function = Input_MotorFaultZ, .name = "Z motor fault" },
271  { .function = Input_MotorFaultX_2, .name = "X motor fault 2" },
272  { .function = Input_MotorFaultY_2, .name = "Y motor fault 2" },
273  { .function = Input_MotorFaultZ_2, .name = "Z motor fault 2" },
274  { .function = Input_Toolsetter, .name = "Toolsetter" },
275  { .function = Input_ToolsetterOvertravel, .name = "Toolsetter overtravel" },
276  { .function = Input_MPGSelect, .name = "MPG mode select" },
277  { .function = Input_LimitX, .name = "X limit min" },
278  { .function = Input_LimitX_2, .name = "X limit min 2" },
279  { .function = Input_LimitX_Max, .name = "X limit max" },
280  { .function = Input_HomeX, .name = "X home" },
281  { .function = Input_HomeX_2, .name = "X home 2" },
282  { .function = Input_LimitY, .name = "Y limit min" },
283  { .function = Input_LimitY_2, .name = "Y limit min 2" },
284  { .function = Input_LimitY_Max, .name = "Y limit max" },
285  { .function = Input_HomeY, .name = "Y home" },
286  { .function = Input_HomeY_2, .name = "Y home 2" },
287  { .function = Input_LimitZ, .name = "Z limit min" },
288  { .function = Input_LimitZ_2, .name = "Z limit min 2" },
289  { .function = Input_LimitZ_Max, .name = "Z limit max" },
290  { .function = Input_HomeZ, .name = "Z home" },
291  { .function = Input_HomeZ_2, .name = "Z home 2" },
292 #ifndef NO_SETTINGS_DESCRIPTIONS
293  { .function = Input_SpindleIndex, .name = "Spindle index" },
294  { .function = Input_SpindlePulse, .name = "Spindle pulse" },
295  { .function = Input_Aux0, .name = "Aux in 0" },
296  { .function = Input_Aux1, .name = "Aux in 1" },
297  { .function = Input_Aux2, .name = "Aux in 2" },
298  { .function = Input_Aux3, .name = "Aux in 3" },
299  { .function = Input_Aux4, .name = "Aux in 4" },
300  { .function = Input_Aux5, .name = "Aux in 5" },
301  { .function = Input_Aux6, .name = "Aux in 6" },
302  { .function = Input_Aux7, .name = "Aux in 7" },
303  { .function = Input_Aux8, .name = "Aux in 8" },
304  { .function = Input_Aux9, .name = "Aux in 9" },
305  { .function = Input_Aux10, .name = "Aux in 10" },
306  { .function = Input_Aux11, .name = "Aux in 11" },
307  { .function = Input_Aux12, .name = "Aux in 12" },
308  { .function = Input_Aux13, .name = "Aux in 13" },
309  { .function = Input_Aux14, .name = "Aux in 14" },
310  { .function = Input_Aux15, .name = "Aux in 15" },
311  { .function = Input_Analog_Aux0, .name = "Aux analog in 0" },
312  { .function = Input_Analog_Aux1, .name = "Aux analog in 1" },
313  { .function = Input_Analog_Aux2, .name = "Aux analog in 2" },
314  { .function = Input_Analog_Aux3, .name = "Aux analog in 3" },
315  { .function = Input_Analog_Aux4, .name = "Aux analog in 4" },
316  { .function = Input_Analog_Aux5, .name = "Aux analog in 5" },
317  { .function = Input_Analog_Aux6, .name = "Aux analog in 6" },
318  { .function = Input_Analog_Aux7, .name = "Aux analog in 7" },
319 #endif
320  { .function = Output_StepX, .name = "X step" },
321  { .function = Output_StepX_2, .name = "X2 step" },
322  { .function = Output_StepY, .name = "Y step" },
323  { .function = Output_StepY_2, .name = "Y2 step" },
324  { .function = Output_StepZ, .name = "Z step" },
325  { .function = Output_StepZ_2, .name = "Z2 step" },
326  { .function = Output_DirX, .name = "X dir" },
327  { .function = Output_DirX_2, .name = "X2 dir" },
328  { .function = Output_DirY, .name = "Y dir" },
329  { .function = Output_DirY_2, .name = "Y2 dir" },
330  { .function = Output_DirZ, .name = "Z dir" },
331  { .function = Output_DirZ_2, .name = "Z2 dir" },
332  { .function = Output_StepperPower, .name = "Stepper power" },
333  { .function = Output_StepperEnable, .name = "Steppers enable" },
334  { .function = Output_StepperEnableX, .name = "X enable" },
335  { .function = Output_StepperEnableY, .name = "Y enable" },
336  { .function = Output_StepperEnableZ, .name = "Z enable" },
337  { .function = Output_StepperEnableXY, .name = "XY enable" },
338 #ifdef A_AXIS
339  { .function = Output_StepA, .name = "A step" },
340  { .function = Output_DirA, .name = "A dir" },
341  { .function = Output_StepperEnableA, .name = "A enable" },
342  { .function = Input_LimitA, .name = "A limit min" },
343  { .function = Input_LimitA_Max, .name = "A limit max" },
344  { .function = Input_HomeA, .name = "A home" },
345  { .function = Input_MotorFaultA, .name = "A motor fault" },
346 #endif
347 #ifdef B_AXIS
348  { .function = Output_StepB, .name = "B step" },
349  { .function = Output_DirB, .name = "B dir" },
350  { .function = Output_StepperEnableB, .name = "B enable" },
351  { .function = Output_StepperEnableAB, .name = "AB enable" },
352  { .function = Input_LimitB, .name = "B limit min" },
353  { .function = Input_LimitB_Max, .name = "B limit max" },
354  { .function = Input_HomeB, .name = "B home" },
355  { .function = Input_MotorFaultB, .name = "B motor fault" },
356 #endif
357 #ifdef C_AXIS
358  { .function = Output_StepC, .name = "C step" },
359  { .function = Output_DirC, .name = "C dir" },
360  { .function = Output_StepperEnableC, .name = "C enable" },
361  { .function = Input_LimitC, .name = "C limit min" },
362  { .function = Input_LimitC_Max, .name = "C limit max" },
363  { .function = Input_HomeC, .name = "C home" },
364  { .function = Input_MotorFaultC, .name = "C motor fault" },
365 #endif
366 #ifdef U_AXIS
367  { .function = Output_StepU, .name = "U step" },
368  { .function = Output_DirU, .name = "U dir" },
369  { .function = Output_StepperEnableU, .name = "U enable" },
370  { .function = Input_LimitU, .name = "U limit min" },
371  { .function = Input_LimitU_Max, .name = "U limit max" },
372  { .function = Input_HomeU, .name = "U home" },
373  { .function = Input_MotorFaultU, .name = "U motor fault" },
374 #endif
375 #ifdef V_AXIS
376  { .function = Output_StepV, .name = "V step" },
377  { .function = Output_DirV, .name = "V dir" },
378  { .function = Output_StepperEnableV, .name = "V enable" },
379  { .function = Input_LimitV, .name = "V limit min" },
380  { .function = Input_LimitV_Max, .name = "V limit max" },
381  { .function = Input_HomeV, .name = "V home" },
382  { .function = Input_MotorFaultV, .name = "V motor fault" },
383 #endif
384 #ifndef NO_SETTINGS_DESCRIPTIONS
385  { .function = Output_MotorChipSelect, .name = "Motor CS" },
386  { .function = Output_MotorChipSelectX, .name = "Motor CSX" },
387  { .function = Output_MotorChipSelectY, .name = "Motor CSY" },
388  { .function = Output_MotorChipSelectZ, .name = "Motor CSZ" },
389  { .function = Output_MotorChipSelectM3, .name = "Motor CSM3" },
390  { .function = Output_MotorChipSelectM4, .name = "Motor CSM4" },
391  { .function = Output_MotorChipSelectM5, .name = "Motor CSM5" },
392  { .function = Output_MotorChipSelectM6, .name = "Motor CSM6" },
393  { .function = Output_MotorChipSelectM7, .name = "Motor CSM7" },
394  { .function = Output_SpindleOn, .name = "Spindle on" },
395  { .function = Output_SpindleDir, .name = "Spindle direction" },
396  { .function = Output_SpindlePWM, .name = "Spindle PWM" },
397  { .function = Output_Spindle1On, .name = "Spindle 2 on" },
398  { .function = Output_Spindle1Dir, .name = "Spindle 2 direction" },
399  { .function = Output_Spindle1PWM, .name = "Spindle 2 PWM" },
400  { .function = Output_CoolantMist, .name = "Mist" },
401  { .function = Output_CoolantFlood, .name = "Flood" },
402  { .function = Output_Aux0, .name = "Aux out 0" },
403  { .function = Output_Aux1, .name = "Aux out 1" },
404  { .function = Output_Aux2, .name = "Aux out 2" },
405  { .function = Output_Aux3, .name = "Aux out 3" },
406  { .function = Output_Aux4, .name = "Aux out 4" },
407  { .function = Output_Aux5, .name = "Aux out 5" },
408  { .function = Output_Aux6, .name = "Aux out 6" },
409  { .function = Output_Aux7, .name = "Aux out 7" },
410  { .function = Output_Aux8, .name = "Aux out 8" },
411  { .function = Output_Aux9, .name = "Aux out 9" },
412  { .function = Output_Aux10, .name = "Aux out 10" },
413  { .function = Output_Aux11, .name = "Aux out 11" },
414  { .function = Output_Aux12, .name = "Aux out 12" },
415  { .function = Output_Aux13, .name = "Aux out 13" },
416  { .function = Output_Aux14, .name = "Aux out 14" },
417  { .function = Output_Aux15, .name = "Aux out 15" },
418  { .function = Output_Analog_Aux0, .name = "Aux analog out 0" },
419  { .function = Output_Analog_Aux1, .name = "Aux analog out 1" },
420  { .function = Output_Analog_Aux2, .name = "Aux analog out 2" },
421  { .function = Output_Analog_Aux3, .name = "Aux analog out 3" },
422  { .function = Output_Analog_Aux4, .name = "Aux analog out 4" },
423  { .function = Output_Analog_Aux5, .name = "Aux analog out 5" },
424  { .function = Output_Analog_Aux6, .name = "Aux analog out 6" },
425  { .function = Output_Analog_Aux7, .name = "Aux analog out 7" },
426  { .function = Output_LED, .name = "LED" },
427  { .function = Output_LED_R, .name = "LED R" },
428  { .function = Output_LED_G, .name = "LED G" },
429  { .function = Output_LED_B, .name = "LED B" },
430  { .function = Output_LED_W, .name = "LED W" },
431  { .function = Output_LED_Adressable, .name = "LED adressable" },
432  { .function = Output_LED1_Adressable, .name = "LED adressable 1" },
433  { .function = Output_CoProc_Reset, .name = "CoProc Reset" },
434  { .function = Output_CoProc_Boot0, .name = "CoProc Boot0" },
435  { .function = Input_MISO, .name = "MISO" },
436  { .function = Output_MOSI, .name = "MOSI" },
437  { .function = Output_SPICLK, .name = "SPI CLK" },
438  { .function = Output_SPICS, .name = "SPI CS" },
439  { .function = Output_FlashCS, .name = "Flash CS" },
440  { .function = Output_SdCardCS, .name = "SD card CS" },
441  { .function = Input_SdCardDetect, .name = "SD card detect" },
442  { .function = Output_SPIRST, .name = "SPI reset" },
443  { .function = Input_SPIIRQ, .name = "SPI IRQ" },
444  { .function = Output_I2CSCK, .name = "I2C SCK" },
445  { .function = Bidirectional_SDA, .name = "I2C SDA" },
446  { .function = Input_KeypadStrobe, .name = "Keypad strobe" },
447  { .function = Input_I2CStrobe, .name = "I2C strobe" },
448  { .function = Input_RX, .name = "RX" },
449  { .function = Output_TX, .name = "TX" },
450  { .function = Output_RTS, .name = "RTS" },
451  { .function = Input_QEI_A, .name = "QEI A" },
452  { .function = Input_QEI_B, .name = "QEI B" },
453  { .function = Input_QEI_Select, .name = "QEI select" },
454  { .function = Input_QEI_Index, .name = "QEI index" },
455  { .function = Virtual_Pin, .name = "Virtual" },
456  { .function = Bidirectional_MotorUARTX, .name = "UART X" },
457  { .function = Bidirectional_MotorUARTY, .name = "UART Y" },
458  { .function = Bidirectional_MotorUARTZ, .name = "UART Z" },
459  { .function = Bidirectional_MotorUARTM3, .name = "UART M3" },
460  { .function = Bidirectional_MotorUARTM4, .name = "UART M4" },
461  { .function = Bidirectional_MotorUARTM5, .name = "UART M5" },
462  { .function = Bidirectional_MotorUARTM6, .name = "UART M6" },
463  { .function = Bidirectional_MotorUARTM7, .name = "UART M7" }
464 #endif
465 };
466 
467 typedef enum {
494 // Interrupt capable pins that may have debounce processing enabled
496  PinGroup_Limit = (1<<9),
497  PinGroup_LimitMax = (1<<10),
498  PinGroup_Probe = (1<<11),
499  PinGroup_Keypad = (1<<12),
500  PinGroup_MPG = (1<<13),
501  PinGroup_QEI = (1<<14),
506  PinGroup_SdCard = (1<<19),
507  PinGroup_AuxInput = (1<<20)
509 
511 typedef enum {
512  IRQ_Mode_None = 0b00000,
513  IRQ_Mode_Rising = 0b00001,
514  IRQ_Mode_Falling = 0b00010,
516  IRQ_Mode_Change = 0b00100,
517  IRQ_Mode_Edges = 0b00111,
518  IRQ_Mode_High = 0b01000,
519  IRQ_Mode_Low = 0b10000,
520  IRQ_Mode_All = 0b11111
522 
523 typedef enum {
525  IRQ_SPI
527 
528 typedef bool (*irq_callback_ptr)(uint_fast8_t id, bool level);
529 
530 typedef struct driver_irq_handler {
535 
537 typedef enum {
538  PullMode_None = 0b00,
539  PullMode_Up = 0b01,
540  PullMode_Down = 0b10,
541  PullMode_UpDown = 0b11
543 
544 #define PINMODE_NONE (0)
545 #define PINMODE_OUTPUT (1U<<1)
546 #ifndef __LPC17XX__
547 #define PINMODE_OD (1U<<2)
548 #endif
549 #define PINMODE_PULLUP (PullMode_Up<<3)
550 #define PINMODE_PULLDOWN (PullMode_Down<<3)
551 #define PINMODE_ANALOG (1U<<11)
552 #define PINMODE_PWM (1U<<12)
553 #define PINMODE_PWM_SERVO (1U<<13)
554 
555 typedef union {
556  uint16_t mask;
557  struct {
558  uint16_t input :1,
559  output :1,
563  invert :1,
564  analog :1,
565  pwm :1,
569  };
570 } pin_cap_t;
571 
572 typedef union {
573  uint16_t mask;
574  struct {
575  uint16_t input :1,
576  output :1,
581  analog :1,
582  pwm :1,
586  };
587 } pin_mode_t;
588 
589 #define XBAR_SET_CAP(cap, mode) { cap.mask = mode.mask; cap.claimable = !mode.claimed; }
590 #define XBAR_SET_DIN_INFO(pin, pin_id, src, cfg_fn, get_val_fn) { \
591  pin.id = pin_id; \
592  pin.mode = src.mode; \
593  pin.cap = src.cap; \
594  pin.cap.invert = On; \
595  pin.cap.claimable = !src.mode.claimed; \
596  pin.function = src.id; \
597  pin.group = src.group; \
598  pin.pin = src.pin; \
599  pin.port = (void *)src.port; \
600  pin.description = src.description; \
601  pin.config = cfg_fn; \
602  pin.get_value = get_val_fn; \
603 }
604 #define XBAR_SET_DOUT_INFO(pin, pin_id, src, cfg_fn, get_val_fn) { \
605  pin.id = pin_id; \
606  pin.mode = src.mode; \
607  pin.cap.mask = src.mode.mask; \
608  pin.cap.invert = On; \
609  pin.cap.claimable = !src.mode.claimed; \
610  pin.function = src.id; \
611  pin.group = src.group; \
612  pin.pin = src.pin; \
613  pin.port = (void *)src.port; \
614  pin.description = src.description; \
615  pin.config = cfg_fn; \
616  pin.get_value = get_val_fn; \
617 }
618 
620 typedef struct {
621  bool inverted;
622  bool debounce;
625 
627 typedef struct {
628  bool inverted;
630  bool pwm;
632 
634 typedef struct {
635  float freq_hz; //
636  float min;
637  float max;
638  float off_value; // percent of period
639  float min_value; // percent of period
640  float max_value; // percent of period
641  bool invert;
643 } pwm_config_t;
644 
645 typedef union
646 {
650 } xbar_cfg_ptr_t __attribute__ ((__transparent_union__));
651 
652 struct xbar;
653 
654 typedef float (*xbar_get_value_ptr)(struct xbar *pin);
655 typedef void (*xbar_set_value_ptr)(struct xbar *pin, float value);
656 typedef void (*xbar_event_ptr)(bool on);
657 typedef bool (*xbar_config_ptr)(struct xbar *pin, xbar_cfg_ptr_t cfg_data, bool persistent);
658 
659 typedef struct {
660  pin_function_t function;
661  uint8_t aux_port;
664  uint8_t pin;
665  void *port;
666  void *input;
667 } aux_ctrl_t;
668 
669 typedef struct {
670  pin_function_t function;
671  uint8_t aux_port;
672  uint8_t pin;
673  void *port;
674  void *output;
676 
677 typedef struct xbar {
678  uint8_t id;
679  pin_function_t function;
681  void *port;
682  const char *description;
683  uint_fast8_t pin;
691 
692 typedef struct {
693  pin_function_t function;
695  void *port;
696  uint_fast8_t pin;
698  const char *description;
699 } periph_pin_t;
700 
701 typedef struct periph_signal {
705 
706 typedef union {
707  uint8_t mask;
708  struct {
709  uint8_t limits :1,
714  };
716 
717 static inline uint8_t xbar_fault_pin_to_axis (pin_function_t fn)
718 {
719  return fn >= Input_MotorFaultX && fn <= Input_MotorFaultV ? fn - Input_MotorFaultX : (fn >= Input_MotorFaultX_2 && fn <= Input_MotorFaultZ_2 ? fn - Input_MotorFaultX_2 : 0);
720 }
721 
722 static inline stepper_state_t xbar_stepper_state_set (stepper_state_t *state, uint8_t axis, bool b)
723 {
724  if(b)
725  state->details.b.bits |= bit(axis);
726  else
727  state->details.a.bits |= bit(axis);
728 
729  return *state;
730 }
731 
732 static inline bool xbar_stepper_state_get (stepper_state_t state, uint8_t axis, bool b)
733 {
734  return bit_istrue(b ? state.details.b.bits : state.details.a.bits, bit(axis));
735 }
736 
737 void xbar_set_homing_source (void);
741 const char *xbar_fn_to_pinname (pin_function_t id);
743 
744 #endif
limit_signals_t xbar_get_homing_source_from_cycle(axes_signals_t homing_cycle)
Definition: crossbar.c:126
bool(* irq_callback_ptr)(uint_fast8_t id, bool level)
Definition: crossbar.h:528
const char * xbar_fn_to_pinname(pin_function_t id)
Definition: crossbar.c:142
pull_mode_t
Pin pullup and pulldown modes, may be or'ed when reporting pin capability.
Definition: crossbar.h:537
@ PullMode_Down
0b10 (0x02)
Definition: crossbar.h:540
@ PullMode_None
0b00 (0x00)
Definition: crossbar.h:538
@ PullMode_Up
0b01 (0x01)
Definition: crossbar.h:539
@ PullMode_UpDown
0b11 (0x03) - only used to report port capability.
Definition: crossbar.h:541
pin_function_t
Definition: crossbar.h:27
@ Output_DirX_2
Definition: crossbar.h:132
@ Output_SPICS
Definition: crossbar.h:212
@ Input_LimitB
Definition: crossbar.h:78
@ Input_QEI_A
Definition: crossbar.h:227
@ Input_LimitY_2
Definition: crossbar.h:66
@ Input_FeedHold
Definition: crossbar.h:30
@ Input_Aux6
Definition: crossbar.h:98
@ Output_Aux2
Definition: crossbar.h:173
@ Input_Toolsetter
Definition: crossbar.h:56
@ Output_Analog_Aux0
Definition: crossbar.h:188
@ Output_MOSI
Definition: crossbar.h:210
@ Output_LED_R
Definition: crossbar.h:198
@ Input_MotorFaultA
Definition: crossbar.h:48
@ Input_HomeX_2
Definition: crossbar.h:64
@ Output_Aux14
Definition: crossbar.h:185
@ Output_RTS
Definition: crossbar.h:226
@ Input_Analog_Aux1
Definition: crossbar.h:110
@ Input_SpindleIndex
Definition: crossbar.h:90
@ Input_Analog_Aux5
Definition: crossbar.h:114
@ Input_MotorFaultB
Definition: crossbar.h:49
@ Output_StepperEnableV
Definition: crossbar.h:159
@ Virtual_Pin
Definition: crossbar.h:231
@ Output_StepZ_2
Definition: crossbar.h:125
@ Input_HomeA
Definition: crossbar.h:77
@ Input_HomeC
Definition: crossbar.h:83
@ Output_DirX
Definition: crossbar.h:131
@ Input_Unassigned
Definition: crossbar.h:41
@ Output_TX
Definition: crossbar.h:225
@ Input_Aux13
Definition: crossbar.h:105
@ Output_MotorChipSelectX
Definition: crossbar.h:143
@ Input_MotorFaultU
Definition: crossbar.h:51
@ Input_Reset
Definition: crossbar.h:29
@ Bidirectional_MotorUARTM7
Definition: crossbar.h:241
@ Input_SPIIRQ
Definition: crossbar.h:217
@ Output_CoProc_Boot0
Definition: crossbar.h:206
@ Input_Aux15
Definition: crossbar.h:107
@ Output_StepB
Definition: crossbar.h:127
@ Input_HomeZ
Definition: crossbar.h:73
@ Bidirectional_MotorUARTM5
Definition: crossbar.h:239
@ Output_Aux4
Definition: crossbar.h:175
@ Input_Analog_Aux7
Definition: crossbar.h:116
@ Output_Analog_AuxMax
Definition: crossbar.h:196
@ Input_Probe
Definition: crossbar.h:43
@ Output_DirV
Definition: crossbar.h:141
@ Input_MotorFaultV
Definition: crossbar.h:52
@ Output_StepperEnableX
Definition: crossbar.h:153
@ Output_FlashCS
Definition: crossbar.h:213
@ Output_DirA
Definition: crossbar.h:137
@ Output_StepY_2
Definition: crossbar.h:123
@ Output_MotorChipSelectM6
Definition: crossbar.h:149
@ Output_DirB
Definition: crossbar.h:138
@ Input_MotorFault
Definition: crossbar.h:37
@ Output_SdCardCS
Definition: crossbar.h:214
@ Input_Analog_AuxMax
Definition: crossbar.h:117
@ Bidirectional_MotorUARTM4
Definition: crossbar.h:238
@ Input_MotorWarning
Definition: crossbar.h:38
@ Output_DirY
Definition: crossbar.h:133
@ Input_ToolsetterOvertravel
Definition: crossbar.h:57
@ Output_StepperEnableAB
Definition: crossbar.h:162
@ Output_Aux13
Definition: crossbar.h:184
@ Output_MotorChipSelectM5
Definition: crossbar.h:148
@ Output_Aux1
Definition: crossbar.h:172
@ Input_ProbeDisconnect
Definition: crossbar.h:36
@ Input_MotorFaultX
Definition: crossbar.h:45
@ Bidirectional_I2CSDA
Definition: crossbar.h:221
@ Output_Aux11
Definition: crossbar.h:182
@ Input_MotorFaultY_2
Definition: crossbar.h:54
@ Input_LimitX
Definition: crossbar.h:60
@ Output_Analog_Aux6
Definition: crossbar.h:194
@ Output_LED
Definition: crossbar.h:197
@ Input_EStop
Definition: crossbar.h:35
@ Input_Aux12
Definition: crossbar.h:104
@ Input_StopDisable
Definition: crossbar.h:34
@ Input_MotorFaultX_2
Definition: crossbar.h:53
@ Input_HomeZ_2
Definition: crossbar.h:74
@ Input_LimitA_Max
Definition: crossbar.h:76
@ Output_DirY_2
Definition: crossbar.h:134
@ Input_HomeX
Definition: crossbar.h:63
@ Output_StepperEnableXY
Definition: crossbar.h:161
@ Input_SdCardDetect
Definition: crossbar.h:215
@ Output_LED1_Adressable
Definition: crossbar.h:204
@ Input_MotorFaultC
Definition: crossbar.h:50
@ Input_SpindlePulse
Definition: crossbar.h:91
@ Input_HomeY_2
Definition: crossbar.h:69
@ Output_LED_Adressable
Definition: crossbar.h:202
@ Output_DirZ
Definition: crossbar.h:135
@ Bidirectional_MotorUARTM6
Definition: crossbar.h:240
@ Input_LimitsOverride
Definition: crossbar.h:39
@ Input_HomeU
Definition: crossbar.h:86
@ Input_Aux3
Definition: crossbar.h:95
@ Input_ModeSelect
Definition: crossbar.h:59
@ Output_LED0_Adressable
Definition: crossbar.h:203
@ Outputs
Definition: crossbar.h:120
@ Input_Aux8
Definition: crossbar.h:100
@ Output_CoProc_Reset
Definition: crossbar.h:205
@ Output_StepV
Definition: crossbar.h:130
@ Input_Aux11
Definition: crossbar.h:103
@ Output_StepperEnableZ
Definition: crossbar.h:155
@ Output_Analog_Aux3
Definition: crossbar.h:191
@ Output_StepU
Definition: crossbar.h:129
@ Input_LimitX_Max
Definition: crossbar.h:62
@ Output_AuxMax
Definition: crossbar.h:187
@ Input_QEI_Select
Definition: crossbar.h:229
@ Output_StepperEnableU
Definition: crossbar.h:158
@ Output_StepperEnableA
Definition: crossbar.h:156
@ Input_Aux9
Definition: crossbar.h:101
@ Output_Aux7
Definition: crossbar.h:178
@ Output_MotorChipSelectY
Definition: crossbar.h:144
@ Bidirectional_MotorUARTZ
Definition: crossbar.h:236
@ Input_LimitA
Definition: crossbar.h:75
@ Output_StepperPower
Definition: crossbar.h:151
@ Input_HomeY
Definition: crossbar.h:68
@ Input_MotorFaultY
Definition: crossbar.h:46
@ Input_LimitY
Definition: crossbar.h:65
@ Output_Aux9
Definition: crossbar.h:180
@ Input_BlockDelete
Definition: crossbar.h:33
@ Input_KeypadStrobe
Definition: crossbar.h:222
@ Output_LED_G
Definition: crossbar.h:199
@ Input_Aux2
Definition: crossbar.h:94
@ Input_Aux4
Definition: crossbar.h:96
@ Output_Aux15
Definition: crossbar.h:186
@ Input_HomeV
Definition: crossbar.h:89
@ Output_StepperEnable
Definition: crossbar.h:152
@ Input_LimitV_Max
Definition: crossbar.h:88
@ Output_Analog_Aux1
Definition: crossbar.h:189
@ Input_LimitU_Max
Definition: crossbar.h:85
@ Input_LimitY_Max
Definition: crossbar.h:67
@ Output_SpindleDir
Definition: crossbar.h:164
@ Output_StepperEnableY
Definition: crossbar.h:154
@ Input_LimitZ_Max
Definition: crossbar.h:72
@ Multipin
Definition: crossbar.h:209
@ Output_StepperEnableC
Definition: crossbar.h:160
@ Input_LimitX_2
Definition: crossbar.h:61
@ Input_LimitC
Definition: crossbar.h:81
@ Input_SingleBlock
Definition: crossbar.h:40
@ Output_DirU
Definition: crossbar.h:140
@ Input_Aux14
Definition: crossbar.h:106
@ Output_SPIRST
Definition: crossbar.h:216
@ Input_LimitU
Definition: crossbar.h:84
@ Input_LimitB_Max
Definition: crossbar.h:79
@ Input_AuxMax
Definition: crossbar.h:108
@ Output_DirZ_2
Definition: crossbar.h:136
@ Output_MotorChipSelectM7
Definition: crossbar.h:150
@ Input_ProbeOvertravel
Definition: crossbar.h:42
@ Output_MotorChipSelectM3
Definition: crossbar.h:146
@ Input_LimitZ_2
Definition: crossbar.h:71
@ Output_DirC
Definition: crossbar.h:139
@ Output_Analog_Aux7
Definition: crossbar.h:195
@ Output_Aux12
Definition: crossbar.h:183
@ Output_StepY
Definition: crossbar.h:122
@ Output_SpindleOn
Definition: crossbar.h:163
@ Input_LimitV
Definition: crossbar.h:87
@ Output_Aux8
Definition: crossbar.h:179
@ Input_I2CStrobe
Definition: crossbar.h:223
@ Input_Analog_Aux3
Definition: crossbar.h:112
@ Output_Spindle1Dir
Definition: crossbar.h:167
@ Output_Aux10
Definition: crossbar.h:181
@ Output_SpindlePWM
Definition: crossbar.h:165
@ Output_CoolantMist
Definition: crossbar.h:169
@ Input_MotorFaultZ_2
Definition: crossbar.h:55
@ Input_MPGSelect
Definition: crossbar.h:58
@ Output_Spindle1On
Definition: crossbar.h:166
@ Input_Aux1
Definition: crossbar.h:93
@ Input_RX
Definition: crossbar.h:224
@ Bidirectional_MotorUARTM3
Definition: crossbar.h:237
@ Input_LimitZ
Definition: crossbar.h:70
@ Output_StepX_2
Definition: crossbar.h:121
@ Input_Analog_Aux6
Definition: crossbar.h:115
@ Output_MotorChipSelectM4
Definition: crossbar.h:147
@ Bidirectional_MotorUARTX
Definition: crossbar.h:233
@ Input_Aux0
Definition: crossbar.h:92
@ Bidirectional_SDA
Definition: crossbar.h:220
@ Output_MotorChipSelectZ
Definition: crossbar.h:145
@ Output_Analog_Aux2
Definition: crossbar.h:190
@ Input_Aux10
Definition: crossbar.h:102
@ Output_Analog_Aux4
Definition: crossbar.h:192
@ Output_Aux0
Definition: crossbar.h:171
@ Input_Analog_Aux2
Definition: crossbar.h:111
@ Input_QEI_B
Definition: crossbar.h:228
@ Output_Aux6
Definition: crossbar.h:177
@ Input_MISO
Definition: crossbar.h:208
@ Bidirectional_MotorUARTY
Definition: crossbar.h:235
@ Output_Aux5
Definition: crossbar.h:176
@ Output_StepperEnableB
Definition: crossbar.h:157
@ Output_SCK
Definition: crossbar.h:218
@ Input_CycleStart
Definition: crossbar.h:31
@ Output_LED_B
Definition: crossbar.h:200
@ Output_StepX
Definition: crossbar.h:119
@ Output_Aux3
Definition: crossbar.h:174
@ Bidirectional
Definition: crossbar.h:234
@ Output_StepZ
Definition: crossbar.h:124
@ Output_StepC
Definition: crossbar.h:128
@ Output_SPICLK
Definition: crossbar.h:211
@ Input_MotorFaultZ
Definition: crossbar.h:47
@ Input_QEI_Index
Definition: crossbar.h:230
@ Input_Analog_Aux0
Definition: crossbar.h:109
@ Output_MotorChipSelect
Definition: crossbar.h:142
@ Input_Aux7
Definition: crossbar.h:99
@ Input_SafetyDoor
Definition: crossbar.h:32
@ Output_CoolantFlood
Definition: crossbar.h:170
@ Input_HomeB
Definition: crossbar.h:80
@ Input_Aux5
Definition: crossbar.h:97
@ Output_Analog_Aux5
Definition: crossbar.h:193
@ Input_LimitC_Max
Definition: crossbar.h:82
@ Output_LED_W
Definition: crossbar.h:201
@ Output_StepA
Definition: crossbar.h:126
@ Input_Analog_Aux4
Definition: crossbar.h:113
@ Output_I2CSCK
Definition: crossbar.h:219
@ Output_Spindle1PWM
Definition: crossbar.h:168
float(* xbar_get_value_ptr)(struct xbar *pin)
Definition: crossbar.h:654
limit_signals_t xbar_get_homing_source(void)
Definition: crossbar.c:120
void(* xbar_event_ptr)(bool on)
Definition: crossbar.h:656
axes_signals_t xbar_fn_to_axismask(pin_function_t id)
Definition: crossbar.c:26
pin_group_t
Definition: crossbar.h:467
@ PinGroup_SpindlePWM
Definition: crossbar.h:469
@ PinGroup_AuxInputAnalog
Definition: crossbar.h:478
@ PinGroup_UART1
Definition: crossbar.h:484
@ PinGroup_Control
Definition: crossbar.h:495
@ PinGroup_QEI_Select
Definition: crossbar.h:502
@ PinGroup_AuxOutput
Definition: crossbar.h:477
@ PinGroup_QEI
Definition: crossbar.h:501
@ PinGroup_Keypad
Definition: crossbar.h:499
@ PinGroup_StepperDir
Definition: crossbar.h:476
@ PinGroup_USB
Definition: crossbar.h:489
@ PinGroup_SPI
Definition: crossbar.h:483
@ PinGroup_UART3
Definition: crossbar.h:487
@ PinGroup_StepperPower
Definition: crossbar.h:473
@ PinGroup_Virtual
Definition: crossbar.h:493
@ PinGroup_UART4
Definition: crossbar.h:488
@ PinGroup_CAN
Definition: crossbar.h:490
@ PinGroup_MotorChipSelect
Definition: crossbar.h:480
@ PinGroup_AuxOutputAnalog
Definition: crossbar.h:479
@ PinGroup_SdCard
Definition: crossbar.h:506
@ PinGroup_Motor_Warning
Definition: crossbar.h:504
@ PinGroup_I2C
Definition: crossbar.h:482
@ PinGroup_LED
Definition: crossbar.h:491
@ PinGroup_MotorUART
Definition: crossbar.h:481
@ PinGroup_UART2
Definition: crossbar.h:486
@ PinGroup_Limit
Definition: crossbar.h:496
@ PinGroup_QEI_Index
Definition: crossbar.h:503
@ PinGroup_SpindleIndex
Definition: crossbar.h:472
@ PinGroup_AuxInput
Definition: crossbar.h:507
@ PinGroup_Home
Definition: crossbar.h:492
@ PinGroup_Probe
Definition: crossbar.h:498
@ PinGroup_LimitMax
Definition: crossbar.h:497
@ PinGroup_MPG
Definition: crossbar.h:500
@ PinGroup_StepperStep
Definition: crossbar.h:475
@ PinGroup_StepperEnable
Definition: crossbar.h:474
@ PinGroup_SpindlePulse
Definition: crossbar.h:471
@ PinGroup_Coolant
Definition: crossbar.h:470
@ PinGroup_Motor_Fault
Definition: crossbar.h:505
@ PinGroup_SpindleControl
Definition: crossbar.h:468
@ PinGroup_UART
Definition: crossbar.h:485
irq_type_t
Definition: crossbar.h:523
@ IRQ_I2C_Strobe
Definition: crossbar.h:524
@ IRQ_SPI
Definition: crossbar.h:525
bool(* xbar_config_ptr)(struct xbar *pin, xbar_cfg_ptr_t cfg_data, bool persistent)
Definition: crossbar.h:657
struct driver_irq_handler driver_irq_handler_t
control_signals_t xbar_fn_to_signals_mask(pin_function_t id)
Definition: crossbar.c:155
struct xbar xbar_t
pin_irq_mode_t
Pin interrupt modes, may be or'ed when reporting pin capability.
Definition: crossbar.h:511
@ IRQ_Mode_Low
0b10000 (0x10)
Definition: crossbar.h:519
@ IRQ_Mode_Rising
0b00001 (0x01)
Definition: crossbar.h:513
@ IRQ_Mode_RisingFalling
0b00011 (0x03) - only used to report port capability.
Definition: crossbar.h:515
@ IRQ_Mode_None
0b00000 (0x00)
Definition: crossbar.h:512
@ IRQ_Mode_High
0b01000 (0x08)
Definition: crossbar.h:518
@ IRQ_Mode_All
0b11111 (0x1F) - only used to report port capability.
Definition: crossbar.h:520
@ IRQ_Mode_Change
0b00100 (0x04)
Definition: crossbar.h:516
@ IRQ_Mode_Falling
0b00010 (0x02)
Definition: crossbar.h:514
@ IRQ_Mode_Edges
0b00111 (0x07) - only used to report port capability.
Definition: crossbar.h:517
void xbar_set_homing_source(void)
Definition: crossbar.c:109
void(* xbar_set_value_ptr)(struct xbar *pin, float value)
Definition: crossbar.h:655
struct periph_signal periph_signal_t
#define bit_istrue(x, mask)
Definition: nuts_bolts.h:216
Definition: crossbar.h:669
uint8_t aux_port
Definition: crossbar.h:671
uint8_t pin
Definition: crossbar.h:672
void * output
Definition: crossbar.h:674
void * port
Definition: crossbar.h:673
Definition: crossbar.h:659
uint8_t aux_port
Definition: crossbar.h:661
control_signals_t cap
Definition: crossbar.h:663
pin_irq_mode_t irq_mode
Definition: crossbar.h:662
void * input
Definition: crossbar.h:666
uint8_t pin
Definition: crossbar.h:664
void * port
Definition: crossbar.h:665
Definition: crossbar.h:530
irq_callback_ptr callback
Definition: crossbar.h:532
struct driver_irq_handler * next
Definition: crossbar.h:533
irq_type_t type
Definition: crossbar.h:531
/a cfg_data argument to /a xbar_config_ptr for gpio input pins
Definition: crossbar.h:620
bool debounce
Definition: crossbar.h:622
bool inverted
Definition: crossbar.h:621
pull_mode_t pull_mode
Definition: crossbar.h:623
/a cfg_data argument to /a xbar_config_ptr for gpio output pins
Definition: crossbar.h:627
bool inverted
Definition: crossbar.h:628
bool open_drain
Definition: crossbar.h:629
bool pwm
Definition: crossbar.h:630
axes_signals_t a
Primary home switches status, optional. Limit signals are used for homing if not available.
Definition: nuts_bolts.h:164
axes_signals_t b
Secondary home switch(es) status, required for auto squaring enabled axes if primary switches are ava...
Definition: nuts_bolts.h:165
Definition: crossbar.h:692
pin_mode_t mode
Definition: crossbar.h:697
const char * description
Definition: crossbar.h:698
uint_fast8_t pin
Definition: crossbar.h:696
void * port
Definition: crossbar.h:695
pin_group_t group
Definition: crossbar.h:694
Definition: crossbar.h:701
struct periph_signal * next
Definition: crossbar.h:703
periph_pin_t pin
Definition: crossbar.h:702
Definition: crossbar.h:248
const char * name
Definition: crossbar.h:250
pin_function_t function
Definition: crossbar.h:249
/a cfg_data argument to /a xbar_config_ptr for PWM pins
Definition: crossbar.h:634
float freq_hz
Definition: crossbar.h:635
bool invert
Definition: crossbar.h:641
float max
Definition: crossbar.h:637
bool servo_mode
Definition: crossbar.h:642
float off_value
Definition: crossbar.h:638
float min_value
Definition: crossbar.h:639
float max_value
Definition: crossbar.h:640
float min
Definition: crossbar.h:636
Definition: crossbar.h:677
xbar_event_ptr on_event
Not used - might be removed.
Definition: crossbar.h:689
uint8_t id
Pin id.
Definition: crossbar.h:678
pin_mode_t mode
Current pin configuration.
Definition: crossbar.h:685
const char * description
Optional pointer to description string.
Definition: crossbar.h:682
xbar_config_ptr config
Optional pointer to function for configuring the port.
Definition: crossbar.h:686
xbar_set_value_ptr set_value
Optional pointer to function to set port value.
Definition: crossbar.h:688
xbar_get_value_ptr get_value
Optional pointer to function to get current port value.
Definition: crossbar.h:687
uint_fast8_t pin
Pin number.
Definition: crossbar.h:683
pin_cap_t cap
Pin capabilities.
Definition: crossbar.h:684
void * port
Optional pointer to the underlying peripheral or pin specific data.
Definition: crossbar.h:681
pin_group_t group
Pin group.
Definition: crossbar.h:680
Definition: nuts_bolts.h:125
uint8_t bits
Definition: nuts_bolts.h:127
Definition: system.h:162
Limit switches struct, consists of four packed axes_signals_t structs in 32 bits.
Definition: nuts_bolts.h:152
Definition: crossbar.h:555
uint16_t output
Definition: crossbar.h:559
uint16_t irq_mode
Definition: crossbar.h:562
uint16_t debounce
Definition: crossbar.h:568
uint16_t pwm
Definition: crossbar.h:565
uint16_t open_drain
Definition: crossbar.h:560
uint16_t mask
Definition: crossbar.h:556
uint16_t input
Definition: crossbar.h:558
uint16_t analog
Definition: crossbar.h:564
uint16_t claimable
Definition: crossbar.h:567
uint16_t invert
Definition: crossbar.h:563
uint16_t pull_mode
Definition: crossbar.h:561
uint16_t servo_pwm
Definition: crossbar.h:566
Definition: crossbar.h:706
uint8_t qei_select
Definition: crossbar.h:712
uint8_t aux_inputs
Definition: crossbar.h:710
uint8_t limits
Definition: crossbar.h:709
uint8_t unassigned
Definition: crossbar.h:713
uint8_t mask
Definition: crossbar.h:707
uint8_t safety_door
Definition: crossbar.h:711
Definition: crossbar.h:572
uint16_t output
Definition: crossbar.h:576
uint16_t irq_mode
Definition: crossbar.h:579
uint16_t claimed
Definition: crossbar.h:584
uint16_t debounce
Definition: crossbar.h:585
uint16_t pwm
Definition: crossbar.h:582
uint16_t open_drain
Definition: crossbar.h:577
uint16_t mask
Definition: crossbar.h:573
uint16_t input
Definition: crossbar.h:575
uint16_t analog
Definition: crossbar.h:581
uint16_t inverted
Definition: crossbar.h:580
uint16_t pull_mode
Definition: crossbar.h:578
uint16_t servo_pwm
Definition: crossbar.h:583
Stepper driver states struct.
Definition: nuts_bolts.h:169
home_signals_t details
Definition: nuts_bolts.h:171
Definition: crossbar.h:646
pwm_config_t * pwm_config
Definition: crossbar.h:647
gpio_out_config_t * gpio_out_config
Definition: crossbar.h:649
gpio_in_config_t * gpio_in_config
Definition: crossbar.h:648