driver.h

/*

  driver.h - driver code for RP2040 ARM processors

  Part of grblHAL

  Copyright (c) 2021 Terje Io

  Grbl is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  Grbl is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.

*/

//
// NOTE: do NOT change configuration here - edit my_machine.h instead!
//

#ifndef __DRIVER_H__
#define __DRIVER_H__

#include <stdbool.h>
#include <stdint.h>

#include "grbl/hal.h"
#include "grbl/grbl.h"
#include "grbl/nuts_bolts.h"

#ifndef OVERRIDE_MY_MACHINE
#include "my_machine.h"
#endif


// Read GPIO out register value
#define gpio_get_out_state(x) !!!!((1ul << x) & sio_hw->gpio_out)

// Configuration
// Set value to 1 to enable, 0 to disable

#ifndef USB_SERIAL_CDC
#define USB_SERIAL_CDC      0 // for UART comms
#endif
#ifndef SDCARD_ENABLE
#define SDCARD_ENABLE       0
#endif
#ifndef KEYPAD_ENABLE
#define KEYPAD_ENABLE       0
#endif
#ifndef ODOMETER_ENABLE
#define ODOMETER_ENABLE     0
#endif
#ifndef PPI_ENABLE
#define PPI_ENABLE       	  0
#endif
#ifndef EEPROM_ENABLE
#define EEPROM_ENABLE       0
#endif
#ifndef EEPROM_IS_FRAM
#define EEPROM_IS_FRAM      0
#endif
#ifndef TRINAMIC_ENABLE
#define TRINAMIC_ENABLE     0
#endif
#ifndef TRINAMIC_I2C
#define TRINAMIC_I2C        0
#endif
#ifndef TRINAMIC_DEV
#define TRINAMIC_DEV        0
#endif

#define CNC_BOOSTERPACK     0

// Define GPIO mode options

#define GPIO_SHIFT0   0
#define GPIO_SHIFT1   1
#define GPIO_SHIFT2   2
#define GPIO_SHIFT3   3
#define GPIO_SHIFT4   4
#define GPIO_SHIFT5   5
#define GPIO_SHIFT6   6
#define GPIO_SHIFT7   7
#define GPIO_SHIFT8   8
#define GPIO_SHIFT9   9
#define GPIO_SHIFT10 10
#define GPIO_SHIFT11 11
#define GPIO_SHIFT12 12
#define GPIO_SHIFT13 13
#define GPIO_MAP     14
#define GPIO_DIRECT   15
#define GPIO_IOEXPAND 16

// Define timer allocations.

/*
#define RPM_COUNTER_N               3
#define RPM_COUNTER                 timer(RPM_COUNTER_N)
#define RPM_COUNTER_IRQn            timerINT(RPM_COUNTER_N)
#define RPM_COUNTER_IRQHandler      timerHANDLER(RPM_COUNTER_N)

#define RPM_TIMER_N                 2
#define RPM_TIMER                   timer(RPM_TIMER_N)
#define RPM_TIMER_IRQn              timerINT(RPM_TIMER_N)
#define RPM_TIMER_IRQHandler        timerHANDLER(RPM_TIMER_N)

#define PPI_TIMER_N                 2
#define PPI_TIMER                   timer(PPI_TIMER_N)
#define PPI_TIMER_IRQn              timerINT(PPI_TIMER_N)
#define PPI_TIMER_IRQHandler        timerHANDLER(PPI_TIMER_N)
*/

#ifdef BOARD_CNC_BOOSTERPACK
  #include "cnc_boosterpack_map.h"
#elif defined(BOARD_MY_MACHINE)
  #include "my_machine_map.h"
#else // default board
  #include "generic_map.h"
#endif

// Adjust STEP_PULSE_LATENCY to get accurate step pulse length when required, e.g if using high step rates.
// The default value is calibrated for 10 microseconds length.
// NOTE: step output mode, number of axes and compiler optimization settings may all affect this value.
#ifndef STEP_PULSE_LATENCY
#define STEP_PULSE_LATENCY 1.0f // microseconds
#endif

// End configuration

#if EEPROM_ENABLE == 0
#define FLASH_ENABLE 1
#else
#define FLASH_ENABLE 0
#endif

#if EEPROM_ENABLE || KEYPAD_ENABLE || IOEXPAND_ENABLE || (TRINAMIC_ENABLE && TRINAMIC_I2C)
  #define I2C_PORT 1 // SCL_PIN = 27, SDA_PIN = 26
#endif

#if TRINAMIC_ENABLE 
#ifndef TRINAMIC_MIXED_DRIVERS
#define TRINAMIC_MIXED_DRIVERS 1
#endif
#include "trinamic/trinamic.h"
#endif

#if MPG_MODE_ENABLE
#define SERIAL2_MOD
#endif

// End configuration

#if KEYPAD_ENABLE && !defined(KEYPAD_STROBE_PIN)
#error Keypad plugin not supported!
#endif

#if SDCARD_ENABLE && !defined(SD_CS_PIN)
#error SD card plugin not supported!
#endif

bool driver_init (void);

/**
  \brief   Enable IRQ Interrupts
  \details Enables IRQ interrupts by clearing the I-bit in the CPSR.
           Can only be executed in Privileged modes.
 */

// While waiting for CMSIS headers...:

static inline void __enable_irq(void)
{
  __asm volatile ("cpsie i" : : : "memory");
}

/**
  \brief   Disable IRQ Interrupts
  \details Disables IRQ interrupts by setting the I-bit in the CPSR.
           Can only be executed in Privileged modes.
 */
static inline  void __disable_irq(void)
{
  __asm volatile ("cpsid i" : : : "memory");
}


#endif // __DRIVER_H__