348 lines
8.5 KiB
C
348 lines
8.5 KiB
C
/** \file
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\brief I/O primitives - step, enable, direction, endstops etc
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*/
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#ifndef _PINIO_H
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#define _PINIO_H
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#include "config_wrapper.h"
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#ifndef MASK
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/// MASKING- returns \f$2^PIN\f$
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#define MASK(PIN) (1 << PIN)
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#endif
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/** Magic I/O routines, also known as "FastIO".
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Now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0);.
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The point here is to move any pin/port mapping calculations into the
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preprocessor. This way there is no longer math at runtime neccessary, all
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instructions melt into a single one with fixed numbers.
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This makes code for setting a pin small, smaller than calling a subroutine.
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It also make code fast, on AVR a pin can be turned on and off in just two
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clock cycles.
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*/
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#if defined __AVR__
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#include <avr/io.h>
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/// Read a pin.
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#define _READ(IO) (IO ## _RPORT & MASK(IO ## _PIN))
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/// Write to a pin.
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#define _WRITE(IO, v) do { if (v) { IO ## _WPORT |= MASK(IO ## _PIN); } \
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else { IO ## _WPORT &= ~MASK(IO ## _PIN); }; } \
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while (0)
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/// Toggle a pin.
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#define _TOGGLE(IO) do { IO ## _RPORT = MASK(IO ## _PIN); } while (0)
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/// Set pin as input.
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#define _SET_INPUT(IO) do { IO ## _DDR &= ~MASK(IO ## _PIN); } while (0)
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/// Set pin as output.
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#define _SET_OUTPUT(IO) do { IO ## _DDR |= MASK(IO ## _PIN); } while (0)
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/// Check if pin is an input.
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#define _GET_INPUT(IO) ((IO ## _DDR & MASK(IO ## _PIN)) == 0)
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/// Check if pin is an output.
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#define _GET_OUTPUT(IO) ((IO ## _DDR & MASK(IO ## _PIN)) != 0)
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#elif defined SIMULATOR
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#include "simulator.h"
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bool _READ(pin_t pin);
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void _WRITE(pin_t pin, bool on);
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void _TOGGLE(pin_t pin);
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void _SET_OUTPUT(pin_t pin);
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void _SET_INPUT(pin_t pin);
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#endif /* __AVR__, SIMULATOR */
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/**
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Why double up on these macros?
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See http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
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*/
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/// Read a pin wrapper.
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#define READ(IO) _READ(IO)
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/// Write to a pin wrapper.
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#define WRITE(IO, v) _WRITE(IO, v)
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/// Toggle a pin wrapper.
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#define TOGGLE(IO) _TOGGLE(IO)
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/// Set pin as input wrapper.
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#define SET_INPUT(IO) _SET_INPUT(IO)
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/// Set pin as output wrapper.
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#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
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/// Check if pin is an input wrapper.
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#define GET_INPUT(IO) _GET_INPUT(IO)
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/// Check if pin is an output wrapper.
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#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
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/*
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Power
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*/
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/// psu_timeout is set to zero when we step, and increases over time so we can
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/// turn the motors off when they've been idle for a while.
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/// A second function is to guarantee a minimum on time of the PSU.
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/// Timeout counting is done in clock.c.
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/// It is used inside and outside of interrupts, which is why it has been made volatile
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extern volatile uint8_t psu_timeout;
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static void power_init(void);
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inline void power_init(void) {
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#ifdef PS_MOSFET_PIN
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WRITE(PS_MOSFET_PIN, 0);
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SET_OUTPUT(PS_MOSFET_PIN);
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#endif
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}
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void power_on(void);
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void power_off(void);
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/*
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X Stepper
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*/
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#define _x_step(st) WRITE(X_STEP_PIN, st)
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#define x_step() _x_step(1)
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#ifndef X_INVERT_DIR
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#define x_direction(dir) WRITE(X_DIR_PIN, dir)
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#else
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#define x_direction(dir) WRITE(X_DIR_PIN, (dir)^1)
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#endif
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#ifdef X_MIN_PIN
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#ifndef X_INVERT_MIN
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#define x_min() (READ(X_MIN_PIN)?1:0)
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#else
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#define x_min() (READ(X_MIN_PIN)?0:1)
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#endif
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#else
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#define x_min() (0)
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#endif
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#ifdef X_MAX_PIN
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#ifndef X_INVERT_MAX
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#define x_max() (READ(X_MAX_PIN)?1:0)
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#else
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#define x_max() (READ(X_MAX_PIN)?0:1)
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#endif
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#else
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#define x_max() (0)
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#endif
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/*
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Y Stepper
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*/
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#define _y_step(st) WRITE(Y_STEP_PIN, st)
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#define y_step() _y_step(1)
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#ifndef Y_INVERT_DIR
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#define y_direction(dir) WRITE(Y_DIR_PIN, dir)
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#else
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#define y_direction(dir) WRITE(Y_DIR_PIN, (dir)^1)
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#endif
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#ifdef Y_MIN_PIN
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#ifndef Y_INVERT_MIN
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#define y_min() (READ(Y_MIN_PIN)?1:0)
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#else
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#define y_min() (READ(Y_MIN_PIN)?0:1)
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#endif
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#else
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#define y_min() (0)
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#endif
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#ifdef Y_MAX_PIN
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#ifndef Y_INVERT_MAX
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#define y_max() (READ(Y_MAX_PIN)?1:0)
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#else
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#define y_max() (READ(Y_MAX_PIN)?0:1)
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#endif
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#else
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#define y_max() (0)
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#endif
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/*
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Z Stepper
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*/
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#if defined Z_STEP_PIN && defined Z_DIR_PIN
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#define _z_step(st) WRITE(Z_STEP_PIN, st)
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#define z_step() _z_step(1)
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#ifndef Z_INVERT_DIR
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#define z_direction(dir) WRITE(Z_DIR_PIN, dir)
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#else
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#define z_direction(dir) WRITE(Z_DIR_PIN, (dir)^1)
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#endif
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#else
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#define _z_step(x) do { } while (0)
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#define z_step() do { } while (0)
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#define z_direction(x) do { } while (0)
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#endif
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#ifdef Z_MIN_PIN
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#ifndef Z_INVERT_MIN
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#define z_min() (READ(Z_MIN_PIN)?1:0)
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#else
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#define z_min() (READ(Z_MIN_PIN)?0:1)
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#endif
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#else
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#define z_min() (0)
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#endif
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#ifdef Z_MAX_PIN
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#ifndef Z_INVERT_MAX
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#define z_max() (READ(Z_MAX_PIN)?1:0)
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#else
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#define z_max() (READ(Z_MAX_PIN)?0:1)
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#endif
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#else
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#define z_max() (0)
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#endif
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/*
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Extruder
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*/
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#if defined E_STEP_PIN && defined E_DIR_PIN
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#define _e_step(st) WRITE(E_STEP_PIN, st)
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#define e_step() _e_step(1)
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#ifndef E_INVERT_DIR
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#define e_direction(dir) WRITE(E_DIR_PIN, dir)
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#else
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#define e_direction(dir) WRITE(E_DIR_PIN, (dir)^1)
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#endif
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#else
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#define _e_step(st) do { } while (0)
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#define e_step() do { } while (0)
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#define e_direction(dir) do { } while (0)
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#endif
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/*
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End Step - All Steppers
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(so we don't have to delay in interrupt context)
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*/
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#define unstep() do { _x_step(0); _y_step(0); _z_step(0); _e_step(0); } while (0)
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/*
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Stepper Enable Pins
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*/
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#ifdef STEPPER_ENABLE_PIN
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#ifdef STEPPER_INVERT_ENABLE
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#define stepper_enable() do { WRITE(STEPPER_ENABLE_PIN, 0); } while (0)
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#define stepper_disable() do { WRITE(STEPPER_ENABLE_PIN, 1); } while (0)
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#else
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#define stepper_enable() do { WRITE(STEPPER_ENABLE_PIN, 1); } while (0)
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#define stepper_disable() do { WRITE(STEPPER_ENABLE_PIN, 0); } while (0)
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#endif
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#else
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#define stepper_enable() do { } while (0)
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#define stepper_disable() do { } while (0)
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#endif
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#ifdef X_ENABLE_PIN
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#ifdef X_INVERT_ENABLE
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#define x_enable() do { WRITE(X_ENABLE_PIN, 0); } while (0)
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#define x_disable() do { WRITE(X_ENABLE_PIN, 1); } while (0)
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#else
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#define x_enable() do { WRITE(X_ENABLE_PIN, 1); } while (0)
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#define x_disable() do { WRITE(X_ENABLE_PIN, 0); } while (0)
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#endif
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#else
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#define x_enable() do { } while (0)
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#define x_disable() do { } while (0)
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#endif
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#ifdef Y_ENABLE_PIN
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#ifdef Y_INVERT_ENABLE
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#define y_enable() do { WRITE(Y_ENABLE_PIN, 0); } while (0)
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#define y_disable() do { WRITE(Y_ENABLE_PIN, 1); } while (0)
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#else
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#define y_enable() do { WRITE(Y_ENABLE_PIN, 1); } while (0)
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#define y_disable() do { WRITE(Y_ENABLE_PIN, 0); } while (0)
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#endif
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#else
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#define y_enable() do { } while (0)
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#define y_disable() do { } while (0)
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#endif
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#ifdef Z_ENABLE_PIN
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#ifdef Z_INVERT_ENABLE
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#define z_enable() do { WRITE(Z_ENABLE_PIN, 0); } while (0)
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#define z_disable() do { WRITE(Z_ENABLE_PIN, 1); } while (0)
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#else
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#define z_enable() do { WRITE(Z_ENABLE_PIN, 1); } while (0)
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#define z_disable() do { WRITE(Z_ENABLE_PIN, 0); } while (0)
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#endif
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#else
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#define z_enable() do { } while (0)
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#define z_disable() do { } while (0)
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#endif
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#ifdef E_ENABLE_PIN
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#ifdef E_INVERT_ENABLE
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#define e_enable() do { WRITE(E_ENABLE_PIN, 0); } while (0)
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#define e_disable() do { WRITE(E_ENABLE_PIN, 1); } while (0)
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#else
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#define e_enable() do { WRITE(E_ENABLE_PIN, 1); } while (0)
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#define e_disable() do { WRITE(E_ENABLE_PIN, 0); } while (0)
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#endif
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#else
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#define e_enable() do { } while (0)
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#define e_disable() do { } while (0)
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#endif
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/*
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Internal pullup resistors for endstops
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*/
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static void endstops_on(void) __attribute__ ((always_inline));
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inline void endstops_on(void) {
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#ifdef USE_INTERNAL_PULLUPS
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#ifdef X_MIN_PIN
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WRITE(X_MIN_PIN, 1);
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#endif
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#ifdef X_MAX_PIN
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WRITE(X_MAX_PIN, 1);
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#endif
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#ifdef Y_MIN_PIN
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WRITE(Y_MIN_PIN, 1);
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#endif
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#ifdef Y_MAX_PIN
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WRITE(Y_MAX_PIN, 1);
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#endif
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#ifdef Z_MIN_PIN
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WRITE(Z_MIN_PIN, 1);
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#endif
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#ifdef Z_MAX_PIN
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WRITE(Z_MAX_PIN, 1);
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#endif
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#endif
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}
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static void endstops_off(void) __attribute__ ((always_inline));
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inline void endstops_off(void) {
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#ifdef USE_INTERNAL_PULLUPS
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#ifdef X_MIN_PIN
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WRITE(X_MIN_PIN, 0);
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#endif
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#ifdef X_MAX_PIN
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WRITE(X_MAX_PIN, 0);
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#endif
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#ifdef Y_MIN_PIN
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WRITE(Y_MIN_PIN, 0);
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#endif
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#ifdef Y_MAX_PIN
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WRITE(Y_MAX_PIN, 0);
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#endif
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#ifdef Z_MIN_PIN
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WRITE(Z_MIN_PIN, 0);
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#endif
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#ifdef Z_MAX_PIN
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WRITE(Z_MAX_PIN, 0);
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#endif
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#endif
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}
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#endif /* _PINIO_H */
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