570 lines
12 KiB
C
570 lines
12 KiB
C
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* Fast I/O Routines for SAM3X8E
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* Use direct port manipulation to save scads of processor time.
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* Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al.
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*/
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/**
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* Description: Fast IO functions for Arduino Due and compatible (SAM3X8E)
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*
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* For ARDUINO_ARCH_SAM
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* Note the code here was specifically crafted by disassembling what GCC produces
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* out of it, so GCC is able to optimize it out as much as possible to the least
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* amount of instructions. Be very carefull if you modify them, as "clean code"
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* leads to less efficient compiled code!!
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*/
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#include <pins_arduino.h>
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/**
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* Utility functions
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*/
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// Due has 12 PWMs assigned to logical pins 2-13.
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// 6, 7, 8 & 9 come from the PWM controller. The others come from the timers.
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#define PWM_PIN(P) WITHIN(P, 2, 13)
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#ifndef MASK
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#define MASK(PIN) (1 << PIN)
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#endif
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/**
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* Magic I/O routines
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*
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* Now you can simply SET_OUTPUT(STEP); WRITE(STEP, HIGH); WRITE(STEP, LOW);
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*
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* Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
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*/
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// Read a pin
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#define _READ(IO) bool(DIO ## IO ## _WPORT -> PIO_PDSR & MASK(DIO ## IO ## _PIN))
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// Write to a pin
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#define _WRITE_VAR(IO,V) do { \
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volatile Pio* port = digitalPinToPort(IO); \
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const uint32_t mask = digitalPinToBitMask(IO); \
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if (V) port->PIO_SODR = mask; \
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else port->PIO_CODR = mask; \
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} while(0)
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// Write to a pin
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#define _WRITE(IO,V) do { \
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volatile Pio* port = (DIO ## IO ## _WPORT); \
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const uint32_t mask = MASK(DIO ## IO ## _PIN); \
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if (V) port->PIO_SODR = mask; \
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else port->PIO_CODR = mask; \
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} while(0)
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// Toggle a pin
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#define _TOGGLE(IO) _WRITE(IO, !READ(IO))
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#if MB(PRINTRBOARD_G2)
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#include "G2_pins.h"
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// Set pin as input
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#define _SET_INPUT(IO) do{ \
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pmc_enable_periph_clk(G2_g_APinDescription[IO].ulPeripheralId); \
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PIO_Configure((DIO ## IO ## _WPORT), PIO_INPUT, MASK(DIO ## IO ## _PIN), 0); \
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}while(0)
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// Set pin as output
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#define _SET_OUTPUT(IO) do{ \
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uint32_t mask = MASK(G2_g_APinDescription[IO].ulPeripheralId); \
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if ((PMC->PMC_PCSR0 & mask) != (mask)) PMC->PMC_PCER0 = mask; \
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volatile Pio* port = (DIO ## IO ## _WPORT); \
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mask = MASK(DIO ## IO ## _PIN); \
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if (_READ(IO)) port->PIO_SODR = mask; \
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else port->PIO_CODR = mask; \
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port->PIO_IDR = mask; \
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const uint32_t pin_config = G2_g_APinDescription[IO].ulPinConfiguration; \
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if (pin_config & PIO_PULLUP) port->PIO_PUER = mask; \
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else port->PIO_PUDR = mask; \
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if (pin_config & PIO_OPENDRAIN) port->PIO_MDER = mask; \
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else port->PIO_MDDR = mask; \
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port->PIO_PER = mask; \
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port->PIO_OER = mask; \
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g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT; \
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}while(0)
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/**
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* Set pin as output with comments
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* #define _SET_OUTPUT(IO) do{ \
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* uint32_t mask = MASK(G2_g_APinDescription[IO].ulPeripheralId); \
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* if ((PMC->PMC_PCSR0 & mask ) != (mask)) PMC->PMC_PCER0 = mask; \ // enable PIO clock if not already enabled
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*
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* volatile Pio* port = (DIO ## IO ## _WPORT); \
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* const uint32_t mask = MASK(DIO ## IO ## _PIN); \
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* if (_READ(IO)) port->PIO_SODR = mask; \ // set output to match input BEFORE setting direction or will glitch the output
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* else port->PIO_CODR = mask; \
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*
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* port->PIO_IDR = mask; \ // disable interrupt
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*
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* uint32_t pin_config = G2_g_APinDescription[IO].ulPinConfiguration; \
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* if (pin_config & PIO_PULLUP) pPio->PIO_PUER = mask; \ // enable pullup if necessary
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* else pPio->PIO_PUDR = mask; \
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*
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* if (pin_config & PIO_OPENDRAIN) port->PIO_MDER = mask; \ // Enable multi-drive if necessary
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* else port->PIO_MDDR = mask; \
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*
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* port->PIO_PER = mask; \
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* port->PIO_OER = mask; \ // set to output
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*
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* g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT; \
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* }while(0)
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*/
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#else
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// Set pin as input
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#define _SET_INPUT(IO) do{ \
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pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
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PIO_Configure(digitalPinToPort(IO), PIO_INPUT, digitalPinToBitMask(IO), 0); \
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}while(0)
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// Set pin as output
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#define _SET_OUTPUT(IO) do{ \
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pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
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PIO_Configure(digitalPinToPort(IO), _READ(IO) ? PIO_OUTPUT_1 : PIO_OUTPUT_0, digitalPinToBitMask(IO), g_APinDescription[IO].ulPinConfiguration); \
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g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT; \
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}while(0)
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#endif
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// Set pin as input with pullup mode
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#define _PULLUP(IO,V) pinMode(IO, (V) ? INPUT_PULLUP : INPUT)
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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_VAR(IO,V) _WRITE_VAR(IO,V)
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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 input with pullup (wrapper)
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#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
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// Set pin as output (wrapper) - reads the pin and sets the output to that value
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#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
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// Set pin as PWM
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#define SET_PWM(IO) SET_OUTPUT(IO)
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// Check if pin is an input
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#define IS_INPUT(IO) ((digitalPinToPort(IO)->PIO_OSR & digitalPinToBitMask(IO)) == 0)
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// Check if pin is an output
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#define IS_OUTPUT(IO) ((digitalPinToPort(IO)->PIO_OSR & digitalPinToBitMask(IO)) != 0)
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// Shorthand
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#define OUT_WRITE(IO,V) { SET_OUTPUT(IO); WRITE(IO,V); }
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// digitalRead/Write wrappers
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#define extDigitalRead(IO) digitalRead(IO)
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#define extDigitalWrite(IO,V) digitalWrite(IO,V)
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/**
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* Ports and functions
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* Added as necessary or if I feel like it- not a comprehensive list!
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*/
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// UART
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#define RXD DIO0
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#define TXD DIO1
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// TWI (I2C)
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#define SCL DIO21
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#define SDA DIO20
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/**
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* pins
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*/
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#define DIO0_PIN 8
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#define DIO0_WPORT PIOA
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#define DIO1_PIN 9
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#define DIO1_WPORT PIOA
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#define DIO2_PIN 25
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#define DIO2_WPORT PIOB
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#define DIO3_PIN 28
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#define DIO3_WPORT PIOC
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#define DIO4_PIN 26
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#define DIO4_WPORT PIOC
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#define DIO5_PIN 25
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#define DIO5_WPORT PIOC
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#define DIO6_PIN 24
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#define DIO6_WPORT PIOC
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#define DIO7_PIN 23
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#define DIO7_WPORT PIOC
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#define DIO8_PIN 22
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#define DIO8_WPORT PIOC
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#define DIO9_PIN 21
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#define DIO9_WPORT PIOC
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#define DIO10_PIN 29
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#define DIO10_WPORT PIOC
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#define DIO11_PIN 7
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#define DIO11_WPORT PIOD
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#define DIO12_PIN 8
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#define DIO12_WPORT PIOD
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#define DIO13_PIN 27
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#define DIO13_WPORT PIOB
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#define DIO14_PIN 4
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#define DIO14_WPORT PIOD
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#define DIO15_PIN 5
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#define DIO15_WPORT PIOD
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#define DIO16_PIN 13
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#define DIO16_WPORT PIOA
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#define DIO17_PIN 12
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#define DIO17_WPORT PIOA
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#define DIO18_PIN 11
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#define DIO18_WPORT PIOA
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#define DIO19_PIN 10
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#define DIO19_WPORT PIOA
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#define DIO20_PIN 12
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#define DIO20_WPORT PIOB
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#define DIO21_PIN 13
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#define DIO21_WPORT PIOB
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#define DIO22_PIN 26
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#define DIO22_WPORT PIOB
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#define DIO23_PIN 14
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#define DIO23_WPORT PIOA
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#define DIO24_PIN 15
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#define DIO24_WPORT PIOA
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#define DIO25_PIN 0
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#define DIO25_WPORT PIOD
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#define DIO26_PIN 1
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#define DIO26_WPORT PIOD
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#define DIO27_PIN 2
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#define DIO27_WPORT PIOD
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#define DIO28_PIN 3
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#define DIO28_WPORT PIOD
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#define DIO29_PIN 6
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#define DIO29_WPORT PIOD
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#define DIO30_PIN 9
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#define DIO30_WPORT PIOD
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#define DIO31_PIN 7
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#define DIO31_WPORT PIOA
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#define DIO32_PIN 10
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#define DIO32_WPORT PIOD
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#define DIO33_PIN 1
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#define DIO33_WPORT PIOC
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#if !MB(PRINTRBOARD_G2) // normal DUE pin mapping
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#define DIO34_PIN 2
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#define DIO34_WPORT PIOC
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#define DIO35_PIN 3
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#define DIO35_WPORT PIOC
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#define DIO36_PIN 4
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#define DIO36_WPORT PIOC
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#define DIO37_PIN 5
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#define DIO37_WPORT PIOC
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#define DIO38_PIN 6
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#define DIO38_WPORT PIOC
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#define DIO39_PIN 7
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#define DIO39_WPORT PIOC
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#define DIO40_PIN 8
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#define DIO40_WPORT PIOC
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#define DIO41_PIN 9
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#define DIO41_WPORT PIOC
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#endif // !PRINTRBOARD_G2
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#define DIO42_PIN 19
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#define DIO42_WPORT PIOA
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#define DIO43_PIN 20
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#define DIO43_WPORT PIOA
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#define DIO44_PIN 19
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#define DIO44_WPORT PIOC
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#define DIO45_PIN 18
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#define DIO45_WPORT PIOC
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#define DIO46_PIN 17
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#define DIO46_WPORT PIOC
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#define DIO47_PIN 16
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#define DIO47_WPORT PIOC
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#define DIO48_PIN 15
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#define DIO48_WPORT PIOC
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#define DIO49_PIN 14
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#define DIO49_WPORT PIOC
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#define DIO50_PIN 13
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#define DIO50_WPORT PIOC
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#define DIO51_PIN 12
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#define DIO51_WPORT PIOC
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#define DIO52_PIN 21
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#define DIO52_WPORT PIOB
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#define DIO53_PIN 14
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#define DIO53_WPORT PIOB
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#define DIO54_PIN 16
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#define DIO54_WPORT PIOA
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#define DIO55_PIN 24
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#define DIO55_WPORT PIOA
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#define DIO56_PIN 23
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#define DIO56_WPORT PIOA
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#define DIO57_PIN 22
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#define DIO57_WPORT PIOA
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#define DIO58_PIN 6
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#define DIO58_WPORT PIOA
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#define DIO59_PIN 4
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#define DIO59_WPORT PIOA
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#define DIO60_PIN 3
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#define DIO60_WPORT PIOA
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#define DIO61_PIN 2
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#define DIO61_WPORT PIOA
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#define DIO62_PIN 17
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#define DIO62_WPORT PIOB
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#define DIO63_PIN 18
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#define DIO63_WPORT PIOB
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#define DIO64_PIN 19
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#define DIO64_WPORT PIOB
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#define DIO65_PIN 20
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#define DIO65_WPORT PIOB
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#define DIO66_PIN 15
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#define DIO66_WPORT PIOB
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#define DIO67_PIN 16
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#define DIO67_WPORT PIOB
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#define DIO68_PIN 1
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#define DIO68_WPORT PIOA
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#define DIO69_PIN 0
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#define DIO69_WPORT PIOA
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#define DIO70_PIN 17
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#define DIO70_WPORT PIOA
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#define DIO71_PIN 18
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#define DIO71_WPORT PIOA
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#define DIO72_PIN 30
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#define DIO72_WPORT PIOC
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#define DIO73_PIN 21
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#define DIO73_WPORT PIOA
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#define DIO74_PIN 25
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#define DIO74_WPORT PIOA
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#define DIO75_PIN 26
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#define DIO75_WPORT PIOA
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#define DIO76_PIN 27
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#define DIO76_WPORT PIOA
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#define DIO77_PIN 28
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#define DIO77_WPORT PIOA
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#define DIO78_PIN 23
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#define DIO78_WPORT PIOB
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#define DIO79_PIN 17
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#define DIO79_WPORT PIOA
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#define DIO80_PIN 12
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#define DIO80_WPORT PIOB
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#define DIO81_PIN 8
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#define DIO81_WPORT PIOA
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#define DIO82_PIN 11
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#define DIO82_WPORT PIOA
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#define DIO83_PIN 13
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#define DIO83_WPORT PIOA
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#define DIO84_PIN 4
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#define DIO84_WPORT PIOD
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#define DIO85_PIN 11
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#define DIO85_WPORT PIOB
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#define DIO86_PIN 21
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#define DIO86_WPORT PIOB
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#define DIO87_PIN 29
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#define DIO87_WPORT PIOA
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#define DIO88_PIN 15
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#define DIO88_WPORT PIOB
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#define DIO89_PIN 14
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#define DIO89_WPORT PIOB
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#define DIO90_PIN 1
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#define DIO90_WPORT PIOA
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#define DIO91_PIN 15
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#define DIO91_WPORT PIOB
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#if ARDUINO_SAM_ARCHIM
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#define DIO92_PIN 11
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#define DIO92_WPORT PIOC
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#define DIO93_PIN 2
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#define DIO93_WPORT PIOB
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#define DIO94_PIN 1
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#define DIO94_WPORT PIOB
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#define DIO95_PIN 0
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#define DIO95_WPORT PIOB
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#define DIO96_PIN 10
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#define DIO96_WPORT PIOC
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#define DIO97_PIN 24
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#define DIO97_WPORT PIOB
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#define DIO98_PIN 7
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#define DIO98_WPORT PIOB
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#define DIO99_PIN 6
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#define DIO99_WPORT PIOB
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#define DIO100_PIN 8
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#define DIO100_WPORT PIOB
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#define DIO101_PIN 5
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#define DIO101_WPORT PIOB
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#define DIO102_PIN 4
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#define DIO102_WPORT PIOB
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#define DIO103_PIN 3
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#define DIO103_WPORT PIOB
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#define DIO104_PIN 20
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#define DIO104_WPORT PIOC
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#define DIO105_PIN 22
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#define DIO105_WPORT PIOB
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#define DIO106_PIN 27
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#define DIO106_WPORT PIOC
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#define DIO107_PIN 10
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#define DIO107_WPORT PIOB
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#define DIO108_PIN 9
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#define DIO108_WPORT PIOB
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#else // !ARDUINO_SAM_ARCHIM
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#define DIO92_PIN 5
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#define DIO92_WPORT PIOA
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#define DIO93_PIN 12
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#define DIO93_WPORT PIOB
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#define DIO94_PIN 22
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#define DIO94_WPORT PIOB
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#define DIO95_PIN 23
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#define DIO95_WPORT PIOB
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#define DIO96_PIN 24
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#define DIO96_WPORT PIOB
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#define DIO97_PIN 20
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#define DIO97_WPORT PIOC
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#define DIO98_PIN 27
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#define DIO98_WPORT PIOC
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#define DIO99_PIN 10
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#define DIO99_WPORT PIOC
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#define DIO100_PIN 11
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#define DIO100_WPORT PIOC
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#endif // !ARDUINO_SAM_ARCHIM
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