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ioports.h
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1 /*
2  ioports.h - typedefs, API structure and functions for auxiliary I/O
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 #pragma once
23 
24 #define IOPORT_UNASSIGNED 255
25 
26 typedef enum {
28  Port_Digital = 1
30 
31 typedef enum {
32  Port_Input = 0,
33  Port_Output = 1
35 
40 typedef void (*digital_out_ptr)(uint8_t port, bool on);
41 
47 typedef bool (*analog_out_ptr)(uint8_t port, float value);
48 
59 typedef int32_t (*wait_on_input_ptr)(io_port_type_t type, uint8_t port, wait_mode_t wait_mode, float timeout);
60 
67 typedef void (*set_pin_description_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t port, const char *s);
68 
76 typedef xbar_t *(*get_pin_info_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t port);
77 
85 typedef bool (*claim_port_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t *port, const char *description);
86 
94 typedef bool (*swap_pins_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t port_from, uint8_t port_to);
95 
100 typedef void (*ioport_interrupt_callback_ptr)(uint8_t port, bool state);
101 
108 typedef bool (*ioport_register_interrupt_handler_ptr)(uint8_t port, pin_irq_mode_t irq_mode, ioport_interrupt_callback_ptr interrupt_callback);
109 
110 typedef bool (*ioports_enumerate_callback_ptr)(xbar_t *properties, uint8_t port, void *data);
111 
113 typedef struct {
114  uint8_t num_digital_in;
115  uint8_t num_digital_out;
116  uint8_t num_analog_in;
117  uint8_t num_analog_out;
126 } io_port_t;
127 
130 xbar_t *ioport_get_info (io_port_type_t type, io_port_direction_t dir, uint8_t port);
131 bool ioport_claim (io_port_type_t type, io_port_direction_t dir, uint8_t *port, const char *description);
132 bool ioport_can_claim_explicit (void);
133 uint8_t ioport_find_free (io_port_type_t type, io_port_direction_t dir, pin_cap_t filter, const char *description);
135 void ioport_assign_function (aux_ctrl_t *aux_ctrl, pin_function_t *function);
136 void ioport_assign_out_function (aux_ctrl_out_t *aux_ctrl, pin_function_t *function);
137 bool ioport_analog_out_config (uint8_t port, pwm_config_t *config);
138 bool ioport_digital_pwm_config (uint8_t port, pwm_config_t *config);
139 bool ioport_digital_in_config (uint8_t port, gpio_in_config_t *config);
140 bool ioport_enable_irq (uint8_t port, pin_irq_mode_t irq_mode, ioport_interrupt_callback_ptr handler);
141 bool ioport_digital_out_config (uint8_t port, gpio_out_config_t *config);
142 
143 //
144 
145 struct io_ports_data;
146 
147 typedef struct {
148  uint8_t n_ports;
149  uint8_t n_start;
150  uint8_t idx_last;
151  uint8_t *map;
153 
154 typedef struct io_ports_data {
155  char *pnum;
158  char *(*get_pnum)(struct io_ports_data *data, uint8_t port);
160 
161 /*
162 typedef struct {
163  io_ports_data_t *analog;
164  analog_out_ptr analog_out; //!< Handler for setting an analog output.
165  wait_on_input_ptr wait_on_input; //!< Handler for reading a digital or analog input.
166  set_pin_description_ptr set_pin_description; //!< Handler for setting a description of an auxiliary pin.
167  get_pin_info_ptr get_pin_info; //!< Handler for getting information about an auxiliary pin.
168  claim_port_ptr claim; //!< Handler for claiming an auxiliary pin for exclusive use.
169 } io_analog_t;
170 
171 typedef struct {
172  io_ports_data_t *ports;
173  digital_out_ptr digital_out; //!< Handler for setting a digital output.
174  wait_on_input_ptr wait_on_input; //!< Handler for reading a digital or analog input.
175  set_pin_description_ptr set_pin_description; //!< Handler for setting a description of an auxiliary pin.
176  get_pin_info_ptr get_pin_info; //!< Handler for getting information about an auxiliary pin.
177  claim_port_ptr claim; //!< Handler for claiming an auxiliary pin for exclusive use.
178  ioport_register_interrupt_handler_ptr register_interrupt_handler;
179 } io_digital_t;
180 */
181 
183 typedef struct {
184  uint32_t f_clock;
185  uint_fast16_t period;
186  uint_fast16_t off_value;
187  uint_fast16_t min_value;
188  uint_fast16_t max_value;
189  float min;
191  bool invert_pwm;
192  bool always_on;
193 } ioports_pwm_t;
194 
195 bool ioports_add (io_ports_data_t *ports, io_port_type_t type, uint8_t n_in, uint8_t n_out);
196 //bool ioports_add_analog (io_analog_t *ports);
197 //bool ioports_add_digital (io_digital_t *ports);
198 void ioports_add_settings (driver_settings_load_ptr settings_loaded, setting_changed_ptr setting_changed);
202 #define iports_get_pnum(type, port) type.get_pnum(&type, port)
203 #define ioports_map(type, port) ( type.map ? type.map[port] : port )
204 uint8_t ioports_map_reverse (io_ports_detail_t *type, uint8_t port);
205 bool ioports_precompute_pwm_values (pwm_config_t *config, ioports_pwm_t *pwm_data, uint32_t clock_hz);
206 uint_fast16_t ioports_compute_pwm_value (ioports_pwm_t *pwm_data, float value);
207 
208 /*EOF*/
pin_function_t
Definition: crossbar.h:27
pin_irq_mode_t
Pin interrupt modes, may be or'ed when reporting pin capability.
Definition: crossbar.h:511
wait_mode_t
M66 Allowed L-parameter values.
Definition: gcode.h:286
bool(* analog_out_ptr)(uint8_t port, float value)
Pointer to function for setting an analog output.
Definition: ioports.h:47
uint8_t ioports_available(io_port_type_t type, io_port_direction_t dir)
Get number of digital or analog ports available.
Definition: ioports.c:107
bool ioports_add(io_ports_data_t *ports, io_port_type_t type, uint8_t n_in, uint8_t n_out)
Definition: ioports.c:401
void ioports_add_settings(driver_settings_load_ptr settings_loaded, setting_changed_ptr setting_changed)
Definition: ioports.c:948
io_port_direction_t
Definition: ioports.h:31
@ Port_Input
0
Definition: ioports.h:32
@ Port_Output
1
Definition: ioports.h:33
bool(* swap_pins_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t port_from, uint8_t port_to)
Pointer to function for swapping two digital or analog ports.
Definition: ioports.h:94
uint8_t ioport_find_free(io_port_type_t type, io_port_direction_t dir, pin_cap_t filter, const char *description)
find first free or claimed digital or analog port.
Definition: ioports.c:163
bool(* ioports_enumerate_callback_ptr)(xbar_t *properties, uint8_t port, void *data)
Definition: ioports.h:110
bool ioport_digital_in_config(uint8_t port, gpio_in_config_t *config)
Definition: ioports.c:346
io_port_type_t
Definition: ioports.h:26
@ Port_Analog
0
Definition: ioports.h:27
@ Port_Digital
1
Definition: ioports.h:28
void ioport_assign_out_function(aux_ctrl_out_t *aux_ctrl, pin_function_t *function)
Definition: ioports.c:284
bool ioport_analog_out_config(uint8_t port, pwm_config_t *config)
Definition: ioports.c:338
void ioport_assign_function(aux_ctrl_t *aux_ctrl, pin_function_t *function)
Reassign pin function.
Definition: ioports.c:268
void ioport_save_output_settings(xbar_t *xbar, gpio_out_config_t *config)
Definition: ioports.c:599
uint8_t ioports_unclaimed(io_port_type_t type, io_port_direction_t dir)
Get number of unclaimed digital or analog ports available.
Definition: ioports.c:122
bool ioport_digital_out_config(uint8_t port, gpio_out_config_t *config)
Definition: ioports.c:359
uint_fast16_t ioports_compute_pwm_value(ioports_pwm_t *pwm_data, float value)
Analog value to PWM conversion.
Definition: ioports.c:555
xbar_t *(* get_pin_info_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t port)
Pointer to function for getting information about a digital or analog port. NOTE: The port informati...
Definition: ioports.h:76
void ioport_setting_changed(setting_id_t id)
Definition: ioports.c:864
uint8_t ioports_map_reverse(io_ports_detail_t *type, uint8_t port)
Definition: ioports.c:495
bool(* ioport_register_interrupt_handler_ptr)(uint8_t port, pin_irq_mode_t irq_mode, ioport_interrupt_callback_ptr interrupt_callback)
Pointer to function for registering or deregistering an interrupt handler for a digital input port.
Definition: ioports.h:108
struct io_ports_data io_ports_data_t
bool ioport_can_claim_explicit(void)
Check if ports can be claimed by aux number or not.
Definition: ioports.c:301
bool ioport_claim(io_port_type_t type, io_port_direction_t dir, uint8_t *port, const char *description)
Claim a digital or analog port for exclusive use.
Definition: ioports.c:240
bool ioport_enable_irq(uint8_t port, pin_irq_mode_t irq_mode, ioport_interrupt_callback_ptr handler)
Definition: ioports.c:354
int32_t(* wait_on_input_ptr)(io_port_type_t type, uint8_t port, wait_mode_t wait_mode, float timeout)
Pointer to function for reading a digital or analog input.
Definition: ioports.h:59
void(* ioport_interrupt_callback_ptr)(uint8_t port, bool state)
Pointer to callback function for input port interrupt events.
Definition: ioports.h:100
bool ioports_precompute_pwm_values(pwm_config_t *config, ioports_pwm_t *pwm_data, uint32_t clock_hz)
Precompute PWM values for faster conversion.
Definition: ioports.c:526
bool(* claim_port_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t *port, const char *description)
Pointer to function for claiming a digital or analog port for exclusive use.
Definition: ioports.h:85
void(* set_pin_description_ptr)(io_port_type_t type, io_port_direction_t dir, uint8_t port, const char *s)
Pointer to function for setting pin description for a digital or analog port.
Definition: ioports.h:67
bool ioports_enumerate(io_port_type_t type, io_port_direction_t dir, pin_cap_t filter, ioports_enumerate_callback_ptr callback, void *data)
Definition: ioports.c:306
xbar_t * ioport_get_info(io_port_type_t type, io_port_direction_t dir, uint8_t port)
Return information about a digital or analog port.
Definition: ioports.c:203
void ioport_save_input_settings(xbar_t *xbar, gpio_in_config_t *config)
Definition: ioports.c:575
bool ioport_digital_pwm_config(uint8_t port, pwm_config_t *config)
Definition: ioports.c:367
void(* digital_out_ptr)(uint8_t port, bool on)
Pointer to function for setting a digital output.
Definition: ioports.h:40
void(* setting_changed_ptr)(setting_id_t id)
Definition: settings.h:1040
setting_id_t
Definition: settings.h:46
void(* driver_settings_load_ptr)(void)
Definition: settings.h:1048
Definition: crossbar.h:669
Definition: crossbar.h:659
/a cfg_data argument to /a xbar_config_ptr for gpio input pins
Definition: crossbar.h:620
/a cfg_data argument to /a xbar_config_ptr for gpio output pins
Definition: crossbar.h:627
Properties and handlers for auxiliary digital and analog I/O.
Definition: ioports.h:113
claim_port_ptr claim
Optional handler for claiming an auxiliary pin for exclusive use.
Definition: ioports.h:123
wait_on_input_ptr wait_on_input
Optional handler for reading a digital or analog input.
Definition: ioports.h:120
uint8_t num_digital_in
Deprecated, use ioports_unclaimed() to get count.
Definition: ioports.h:114
swap_pins_ptr swap_pins
Optional handler for swapping pins.
Definition: ioports.h:124
uint8_t num_analog_out
Deprecated, use ioports_unclaimed() to get count.
Definition: ioports.h:117
set_pin_description_ptr set_pin_description
Optional handler for setting a description of an auxiliary pin.
Definition: ioports.h:121
analog_out_ptr analog_out
Optional handler for setting an analog output.
Definition: ioports.h:119
uint8_t num_digital_out
Deprecated, use ioports_unclaimed() to get count.
Definition: ioports.h:115
digital_out_ptr digital_out
Optional handler for setting a digital output.
Definition: ioports.h:118
ioport_register_interrupt_handler_ptr register_interrupt_handler
Definition: ioports.h:125
uint8_t num_analog_in
Deprecated, use ioports_unclaimed() to get count.
Definition: ioports.h:116
get_pin_info_ptr get_pin_info
Optional handler for getting information about an auxiliary pin.
Definition: ioports.h:122
Definition: ioports.h:154
io_ports_detail_t out
Definition: ioports.h:157
io_ports_detail_t in
Definition: ioports.h:156
char * pnum
Definition: ioports.h:155
Definition: ioports.h:147
uint8_t * map
Definition: ioports.h:151
uint8_t n_start
Definition: ioports.h:149
uint8_t n_ports
Definition: ioports.h:148
uint8_t idx_last
Definition: ioports.h:150
Precalculated values that may be set/used by HAL driver to speed up analog input to PWM conversions....
Definition: ioports.h:183
uint_fast16_t period
Definition: ioports.h:185
uint_fast16_t off_value
NOTE: this value holds the inverted version if software PWM inversion is enabled by the driver.
Definition: ioports.h:186
uint32_t f_clock
Definition: ioports.h:184
bool invert_pwm
NOTE: set (by driver) when inversion is done in code.
Definition: ioports.h:191
uint_fast16_t min_value
Definition: ioports.h:187
float min
Minimum analog input value.
Definition: ioports.h:189
bool always_on
Definition: ioports.h:192
uint_fast16_t max_value
Definition: ioports.h:188
float pwm_gradient
Definition: ioports.h:190
/a cfg_data argument to /a xbar_config_ptr for PWM pins
Definition: crossbar.h:634
Definition: crossbar.h:677
Definition: crossbar.h:555