Merge pull request #355 from synthetos/issue-347-gpio-enhancements

gpio enhancements (issue #347)

g2core/board/Archim/board_gpio.cpp

@@ -0,0 +1,108 @@
+/*
+ * gpio.cpp - digital IO handling functions
+ * This file is part of the g2core project
+ *
+ * Copyright (c) 2015 - 2107 Alden S. Hart, Jr.
+ * Copyright (c) 2015 - 2017 Robert Giseburt
+ *
+ * This file ("the software") is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License, version 2 as published by the
+ * Free Software Foundation. You should have received a copy of the GNU General Public
+ * License, version 2 along with the software. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * As a special exception, you may use this file as part of a software library without
+ * restriction. Specifically, if other files instantiate templates or use macros or
+ * inline functions from this file, or you compile this file and link it with  other
+ * files to produce an executable, this file does not by itself cause the resulting
+ * executable to be covered by the GNU General Public License. This exception does not
+ * however invalidate any other reasons why the executable file might be covered by the
+ * GNU General Public License.
+ *
+ * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT WITHOUT ANY
+ * WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+ * SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
+ * OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+/* Switch Modes
+ *
+ *  The switches are considered to be homing switches when cycle_state is
+ *  CYCLE_HOMING. At all other times they are treated as limit switches:
+ *    - Hitting a homing switch puts the current move into feedhold
+ *    - Hitting a limit switch causes the machine to shut down and go into lockdown until reset
+ *
+ *  The normally open switch modes (NO) trigger an interrupt on the falling edge
+ *  and lockout subsequent interrupts for the defined lockout period. This approach
+ *  beats doing debouncing as an integration as switches fire immediately.
+ *
+ *  The normally closed switch modes (NC) trigger an interrupt on the rising edge
+ *  and lockout subsequent interrupts for the defined lockout period. Ditto on the method.
+ */
+
+#include "../../g2core.h"  // #1
+#include "config.h"  // #2
+#include "gpio.h"
+#include "hardware.h"
+#include "canonical_machine.h"
+
+#include "text_parser.h"
+#include "controller.h"
+#include "util.h"
+#include "report.h"
+#include "xio.h"
+
+#include "MotateTimers.h"
+
+/**** Setup Actual Objects ****/
+
+gpioDigitalInputPin<IRQPin<Motate::kInput1_PinNumber>>  din1  {DI1_MODE,  1};
+gpioDigitalInputPin<IRQPin<Motate::kInput2_PinNumber>>  din2  {DI2_MODE,  2};
+gpioDigitalInputPin<IRQPin<Motate::kInput3_PinNumber>>  din3  {DI3_MODE,  3};
+gpioDigitalInputPin<IRQPin<Motate::kInput4_PinNumber>>  din4  {DI4_MODE,  4};
+gpioDigitalInputPin<IRQPin<Motate::kInput5_PinNumber>>  din5  {DI5_MODE,  5};
+gpioDigitalInputPin<IRQPin<Motate::kInput6_PinNumber>>  din6  {DI6_MODE,  6};
+gpioDigitalInputPin<IRQPin<Motate::kInput7_PinNumber>>  din7  {DI7_MODE,  7};
+gpioDigitalInputPin<IRQPin<Motate::kInput8_PinNumber>>  din8  {DI8_MODE,  8};
+gpioDigitalInputPin<IRQPin<Motate::kInput9_PinNumber>>  din9  {DI9_MODE,  9};
+// gpioDigitalInputPin<IRQPin<Motate::kInput10_PinNumber>> din10 {DI10_MODE, 10};
+// gpioDigitalInputPin<IRQPin<Motate::kInput11_PinNumber>> din11 {DI11_MODE, 11};
+// gpioDigitalInputPin<IRQPin<Motate::kInput12_PinNumber>> din12 {DI12_MODE, 12};
+
+gpioDigitalOutputPin<OutputType<OUTPUT1_PWM,  Motate::kOutput1_PinNumber>>  dout1  { DO1_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT2_PWM,  Motate::kOutput2_PinNumber>>  dout2  { DO2_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT3_PWM,  Motate::kOutput3_PinNumber>>  dout3  { DO3_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT4_PWM,  Motate::kOutput4_PinNumber>>  dout4  { DO4_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT5_PWM,  Motate::kOutput5_PinNumber>>  dout5  { DO5_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT6_PWM,  Motate::kOutput6_PinNumber>>  dout6  { DO6_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT7_PWM,  Motate::kOutput7_PinNumber>>  dout7  { DO7_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT8_PWM,  Motate::kOutput8_PinNumber>>  dout8  { DO8_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT9_PWM,  Motate::kOutput9_PinNumber>>  dout9  { DO9_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT10_PWM, Motate::kOutput10_PinNumber>> dout10 { DO10_MODE, (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT11_PWM, Motate::kOutput11_PinNumber>> dout11 { DO11_MODE, (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT12_PWM, Motate::kOutput12_PinNumber>> dout12 { DO12_MODE, (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT13_PWM, Motate::kOutput13_PinNumber>> dout13 { DO13_MODE, (uint32_t)200000 };
+
+/**** Setup Arrays - these are extern and MUST match the board_gpio.h ****/
+
+gpioDigitalInput*  const d_in[] = {&din1, &din2, &din3, &din4, &din5, &din6, &din7, &din8, &din9};
+gpioDigitalOutput* const d_out[] = {&dout1, &dout2, &dout3, &dout4, &dout5, &dout6, &dout7, &dout8, &dout9, &dout10, &dout11, &dout12, &dout13};
+// not yet used
+// gpioAnalogInput*    a_in[A_IN_CHANNELS];
+// gpioAnalogOutput*   a_out[A_OUT_CHANNELS];
+
+/************************************************************************************
+ **** CODE **************************************************************************
+ ************************************************************************************/
+/*
+ * gpio_reset() - reset inputs and outputs (no initialization)
+ */
+
+
+void outputs_reset(void) {
+    // nothing to do
+}
+
+void inputs_reset(void) {
+    // nothing to do
+}

g2core/board/Archim/board_gpio.h

@@ -0,0 +1,90 @@
+/*
+ * gpio.h - Digital IO  handling functions
+ * This file is part of the g2core project
+ *
+ * Copyright (c) 2015 - 2017 Alden S. Hart, Jr.
+ * Copyright (c) 2015 - 2017 Robert Giseburt
+ *
+ * This file ("the software") is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License, version 2 as published by the
+ * Free Software Foundation. You should have received a copy of the GNU General Public
+ * License, version 2 along with the software.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * As a special exception, you may use this file as part of a software library without
+ * restriction. Specifically, if other files instantiate templates or use macros or
+ * inline functions from this file, or you compile this file and link it with  other
+ * files to produce an executable, this file does not by itself cause the resulting
+ * executable to be covered by the GNU General Public License. This exception does not
+ * however invalidate any other reasons why the executable file might be covered by the
+ * GNU General Public License.
+ *
+ * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT WITHOUT ANY
+ * WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+ * SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
+ * OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef BOARD_GPIO_H_ONCE
+#define BOARD_GPIO_H_ONCE
+
+// this file is included from the bottom of gpio.h, but we do this for completeness
+#include "../../gpio.h"
+
+/*
+ * GPIO defines
+ */
+//--- change as required for board and switch hardware ---//
+
+#define D_IN_CHANNELS       9         // v9    // number of digital inputs supported
+#define D_OUT_CHANNELS     13         // number of digital outputs supported
+#define A_IN_CHANNELS	    0           // number of analog inputs supported
+#define A_OUT_CHANNELS	    0           // number of analog outputs supported
+
+#define INPUT_LOCKOUT_MS    10          // milliseconds to go dead after input firing
+
+/*
+ * The GPIO objects themselves - this must match up with board_gpio.cpp!
+ */
+
+extern gpioDigitalInput*   const d_in[D_IN_CHANNELS];
+extern gpioDigitalOutput*  const d_out[D_OUT_CHANNELS];
+// extern gpioAnalogInput*    a_in[A_IN_CHANNELS];
+// extern gpioAnalogOutput*   a_out[A_OUT_CHANNELS];
+
+// prepare the objects as externs (for config_app to not bloat)
+using Motate::IRQPin;
+using Motate::PWMOutputPin;
+using Motate::PWMLikeOutputPin;
+template<bool can_pwm, pin_number... V>
+using OutputType = typename std::conditional<can_pwm, PWMOutputPin<V...>, PWMLikeOutputPin<V...>>::type;
+
+extern gpioDigitalInputPin<IRQPin<Motate::kInput1_PinNumber>>  din1;
+extern gpioDigitalInputPin<IRQPin<Motate::kInput2_PinNumber>>  din2;
+extern gpioDigitalInputPin<IRQPin<Motate::kInput3_PinNumber>>  din3;
+extern gpioDigitalInputPin<IRQPin<Motate::kInput4_PinNumber>>  din4;
+extern gpioDigitalInputPin<IRQPin<Motate::kInput5_PinNumber>>  din5;
+extern gpioDigitalInputPin<IRQPin<Motate::kInput6_PinNumber>>  din6;
+extern gpioDigitalInputPin<IRQPin<Motate::kInput7_PinNumber>>  din7;
+extern gpioDigitalInputPin<IRQPin<Motate::kInput8_PinNumber>>  din8;
+extern gpioDigitalInputPin<IRQPin<Motate::kInput9_PinNumber>>  din9;
+// extern gpioDigitalInputPin<IRQPin<Motate::kInput10_PinNumber>> din10;
+// extern gpioDigitalInputPin<IRQPin<Motate::kInput11_PinNumber>> din11;
+// extern gpioDigitalInputPin<IRQPin<Motate::kInput12_PinNumber>> din12;
+
+extern gpioDigitalOutputPin<OutputType<OUTPUT1_PWM,  Motate::kOutput1_PinNumber>>  dout1;
+extern gpioDigitalOutputPin<OutputType<OUTPUT2_PWM,  Motate::kOutput2_PinNumber>>  dout2;
+extern gpioDigitalOutputPin<OutputType<OUTPUT3_PWM,  Motate::kOutput3_PinNumber>>  dout3;
+extern gpioDigitalOutputPin<OutputType<OUTPUT4_PWM,  Motate::kOutput4_PinNumber>>  dout4;
+extern gpioDigitalOutputPin<OutputType<OUTPUT5_PWM,  Motate::kOutput5_PinNumber>>  dout5;
+extern gpioDigitalOutputPin<OutputType<OUTPUT6_PWM,  Motate::kOutput6_PinNumber>>  dout6;
+extern gpioDigitalOutputPin<OutputType<OUTPUT7_PWM,  Motate::kOutput7_PinNumber>>  dout7;
+extern gpioDigitalOutputPin<OutputType<OUTPUT8_PWM,  Motate::kOutput8_PinNumber>>  dout8;
+extern gpioDigitalOutputPin<OutputType<OUTPUT9_PWM,  Motate::kOutput9_PinNumber>>  dout9;
+extern gpioDigitalOutputPin<OutputType<OUTPUT10_PWM, Motate::kOutput10_PinNumber>> dout10;
+extern gpioDigitalOutputPin<OutputType<OUTPUT11_PWM, Motate::kOutput11_PinNumber>> dout11;
+extern gpioDigitalOutputPin<OutputType<OUTPUT12_PWM, Motate::kOutput12_PinNumber>> dout12;
+extern gpioDigitalOutputPin<OutputType<OUTPUT13_PWM, Motate::kOutput13_PinNumber>> dout13;
+
+
+#endif // End of include guard: BOARD_GPIO_H_ONCE

g2core/board/Archim/board_xio.h

@@ -37,10 +37,10 @@
 #include "MotateUSBCDC.h"
 
 #if USB_SERIAL_PORTS_EXPOSED == 1
-typedef Motate::USBDevice< Motate::USBCDC > XIOUSBDevice_t;
+typedef Motate::USBDevice< USBDeviceHardware, Motate::USBCDC > XIOUSBDevice_t;
 #endif
 #if USB_SERIAL_PORTS_EXPOSED == 2
-typedef Motate::USBDevice<Motate::USBCDC, Motate::USBCDC> XIOUSBDevice_t;
+typedef Motate::USBDevice< USBDeviceHardware, Motate::USBCDC, Motate::USBCDC > XIOUSBDevice_t;
 #endif
 
 extern XIOUSBDevice_t usb;

g2core/board/ArduinoDue/board_gpio.cpp

@@ -0,0 +1,108 @@
+/*
+ * gpio.cpp - digital IO handling functions
+ * This file is part of the g2core project
+ *
+ * Copyright (c) 2015 - 2107 Alden S. Hart, Jr.
+ * Copyright (c) 2015 - 2017 Robert Giseburt
+ *
+ * This file ("the software") is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License, version 2 as published by the
+ * Free Software Foundation. You should have received a copy of the GNU General Public
+ * License, version 2 along with the software. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * As a special exception, you may use this file as part of a software library without
+ * restriction. Specifically, if other files instantiate templates or use macros or
+ * inline functions from this file, or you compile this file and link it with  other
+ * files to produce an executable, this file does not by itself cause the resulting
+ * executable to be covered by the GNU General Public License. This exception does not
+ * however invalidate any other reasons why the executable file might be covered by the
+ * GNU General Public License.
+ *
+ * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT WITHOUT ANY
+ * WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
+ * SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
+ * OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+/* Switch Modes
+ *
+ *  The switches are considered to be homing switches when cycle_state is
+ *  CYCLE_HOMING. At all other times they are treated as limit switches:
+ *    - Hitting a homing switch puts the current move into feedhold
+ *    - Hitting a limit switch causes the machine to shut down and go into lockdown until reset
+ *
+ *  The normally open switch modes (NO) trigger an interrupt on the falling edge
+ *  and lockout subsequent interrupts for the defined lockout period. This approach
+ *  beats doing debouncing as an integration as switches fire immediately.
+ *
+ *  The normally closed switch modes (NC) trigger an interrupt on the rising edge
+ *  and lockout subsequent interrupts for the defined lockout period. Ditto on the method.
+ */
+
+#include "../../g2core.h"  // #1
+#include "config.h"  // #2
+#include "gpio.h"
+#include "hardware.h"
+#include "canonical_machine.h"
+
+#include "text_parser.h"
+#include "controller.h"
+#include "util.h"
+#include "report.h"
+#include "xio.h"
+
+#include "MotateTimers.h"
+
+/**** Setup Actual Objects ****/
+
+gpioDigitalInputPin<IRQPin<Motate::kInput1_PinNumber>>  din1  {DI1_MODE,  1};
+gpioDigitalInputPin<IRQPin<Motate::kInput2_PinNumber>>  din2  {DI2_MODE,  2};
+gpioDigitalInputPin<IRQPin<Motate::kInput3_PinNumber>>  din3  {DI3_MODE,  3};
+gpioDigitalInputPin<IRQPin<Motate::kInput4_PinNumber>>  din4  {DI4_MODE,  4};
+gpioDigitalInputPin<IRQPin<Motate::kInput5_PinNumber>>  din5  {DI5_MODE,  5};
+gpioDigitalInputPin<IRQPin<Motate::kInput6_PinNumber>>  din6  {DI6_MODE,  6};
+gpioDigitalInputPin<IRQPin<Motate::kInput7_PinNumber>>  din7  {DI7_MODE,  7};
+gpioDigitalInputPin<IRQPin<Motate::kInput8_PinNumber>>  din8  {DI8_MODE,  8};
+gpioDigitalInputPin<IRQPin<Motate::kInput9_PinNumber>>  din9  {DI9_MODE,  9};
+// gpioDigitalInputPin<IRQPin<Motate::kInput10_PinNumber>> din10 {DI10_MODE, 10};
+// gpioDigitalInputPin<IRQPin<Motate::kInput11_PinNumber>> din11 {DI11_MODE, 11};
+// gpioDigitalInputPin<IRQPin<Motate::kInput12_PinNumber>> din12 {DI12_MODE, 12};
+
+gpioDigitalOutputPin<OutputType<OUTPUT1_PWM,  Motate::kOutput1_PinNumber>>  dout1  { DO1_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT2_PWM,  Motate::kOutput2_PinNumber>>  dout2  { DO2_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT3_PWM,  Motate::kOutput3_PinNumber>>  dout3  { DO3_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT4_PWM,  Motate::kOutput4_PinNumber>>  dout4  { DO4_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT5_PWM,  Motate::kOutput5_PinNumber>>  dout5  { DO5_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT6_PWM,  Motate::kOutput6_PinNumber>>  dout6  { DO6_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT7_PWM,  Motate::kOutput7_PinNumber>>  dout7  { DO7_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT8_PWM,  Motate::kOutput8_PinNumber>>  dout8  { DO8_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT9_PWM,  Motate::kOutput9_PinNumber>>  dout9  { DO9_MODE,  (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT10_PWM, Motate::kOutput10_PinNumber>> dout10 { DO10_MODE, (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT11_PWM, Motate::kOutput11_PinNumber>> dout11 { DO11_MODE, (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT12_PWM, Motate::kOutput12_PinNumber>> dout12 { DO12_MODE, (uint32_t)200000 };
+gpioDigitalOutputPin<OutputType<OUTPUT13_PWM, Motate::kOutput13_PinNumber>> dout13 { DO13_MODE, (uint32_t)200000 };
+
+/**** Setup Arrays - these are extern and MUST match the board_gpio.h ****/
+
+gpioDigitalInput*  const d_in[] = {&din1, &din2, &din3, &din4, &din5, &din6, &din7, &din8, &din9};
+gpioDigitalOutput* const d_out[] = {&dout1, &dout2, &dout3, &dout4, &dout5, &dout6, &dout7, &dout8, &dout9, &dout10, &dout11, &dout12, &dout13};
+// not yet used
+// gpioAnalogInput*    a_in[A_IN_CHANNELS];
+// gpioAnalogOutput*   a_out[A_OUT_CHANNELS];
+
+/************************************************************************************
+ **** CODE **************************************************************************
+ ************************************************************************************/
+/*
+ * gpio_reset() - reset inputs and outputs (no initialization)
+ */
+
+
+void outputs_reset(void) {
+    // nothing to do
+}
+
+void inputs_reset(void) {
+    // nothing to do
+}