Enhanced ioports API, fix for issue grblHAL#87 ++

Author: terjeio

CMakeLists.txt

@@ -26,6 +26,7 @@ target_sources(grbl INTERFACE
  ${CMAKE_CURRENT_LIST_DIR}/ngc_params.c
  ${CMAKE_CURRENT_LIST_DIR}/ngc_expr.c
  ${CMAKE_CURRENT_LIST_DIR}/regex.c
+ ${CMAKE_CURRENT_LIST_DIR}/ioports.c
 )
 
 target_include_directories(grbl INTERFACE ${CMAKE_CURRENT_LIST_DIR})

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20211109, see the [changelog](changelog.md) for details.  
+Latest build date is 20211117, see the [changelog](changelog.md) for details.  
 __NOTE:__ Drivers built with more than three axes configured \(`N_AXIS` > `3`\) will force a settings reset when upgraded. Backup and restore of settings is recommended for these.
 
 ---
@@ -80,4 +80,4 @@ List of Supported G-Codes:
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-2021-10-24
+2021-11-17

changelog.md

@@ -1,5 +1,29 @@
 ## grblHAL changelog
 
+Build 20211117:
+
+Core:
+
+* Enhanced [ioports API](http://svn.io-engineering.com/grblHAL/html/ioports_8h.html) with new calls for claiming ports and swapping pin to port mappings.
+* Fixed bug #87 where executing G28/G30 with explicit motion when a motion mode was not active \(following a G80\) raised error 31.
+* Replaced string symbol `GRBL_VERSION_BUILD` with numeric symbol `GRBL_BUILD`.  
+The new symbol can be used by plugin code to check for functionality.
+
+Plugins:
+
+* Updated Bluetooth plugin for enhanced ioports API, bug fix.
+* Updated Spindle plugin for dual spindle support, merged PR#4.
+* Updated some to use the new `GRBL_BUILD` symbol.
+
+Drivers:
+
+* Updated many for define symbol changes (harmonization) and enhanced ioports API.
+* iMRXT1062 \(Teensy 4\): Fixed bugs, one was a typo and one slowed down max USB streaming rate.
+* RP2040 \(Pi Pico\): Added  support for SD card and ioports API for aux output pins on Pico CNC board.
+* STM32F3xx: Fixed typo and some compiler warnings.
+
+---
+
 Build 20211108:
 
 Core:
@@ -15,7 +39,7 @@ Plugins:
 * Made Modbus plugin configuration symbols settable from compiler command line, added pin description to claimed UART pins.
 
 Drivers:
-* Updated most to provide peripheral pin info to `$pins` report.
+* Updated to provide peripheral pin info to `$pins` report.
 * Some bug fixes.
 
 ---

crossbar.h

@@ -281,6 +281,7 @@ typedef enum {
     IRQ_Mode_Rising  = 0b00001, //!< 0b00001 (0x01)
     IRQ_Mode_Falling = 0b00010, //!< 0b00010 (0x02)
     IRQ_Mode_Change  = 0b00100, //!< 0b00100 (0x04)
+    IRQ_Mode_Edges   = 0b00111, //!< 0b00111 (0x07) - only used to report port capability.
     IRQ_Mode_High    = 0b01000, //!< 0b01000 (0x08)
     IRQ_Mode_Low     = 0b10000, //!< 0b10000 (0x10)
     IRQ_Mode_All     = 0b11111  //!< 0b11111 (0x1F) - only used to report port capability.
@@ -298,10 +299,12 @@ typedef struct driver_irq_handler {
     struct driver_irq_handler *next;
 } driver_irq_handler_t;
 
+//! Pin pullup and pulldown modes, may be or'ed when reporting pin capability.
 typedef enum {
-    PullMode_None    = 0b00,
-    PullMode_Up      = 0b01,
-    PullMode_Down    = 0b10
+    PullMode_None    = 0b00, //!< 0b00 (0x00)
+    PullMode_Up      = 0b01, //!< 0b01 (0x01)
+    PullMode_Down    = 0b10, //!< 0b10 (0x02)
+    PullMode_UpDown  = 0b11  //!< 0b11 (0x03) - only used to report port capability.
 } pull_mode_t;
 
 #define PINMODE_NONE     (0)
@@ -324,7 +327,8 @@ typedef union {
                  pwm        :1,
                  analog     :1,
                  peripheral :1,
-                 reserved   :2,
+                 claimed    :1,
+                 remapped   :1,
                  can_remap  :1;
     };
 } pin_mode_t;

driver_opts.h

@@ -125,16 +125,27 @@
 #ifndef PPI_ENABLE
 #define PPI_ENABLE          0
 #endif
-#ifndef SPINDLE_HUANYANG
-#define SPINDLE_HUANYANG    0
+
+#ifndef HUANYANG_ENABLE
+#define HUANYANG_ENABLE     0
+#else
+#ifndef VFD_SPINDLE
+#define VFD_SPINDLE         1
 #endif
+#endif
+
+#ifndef VFD_SPINDLE
+#define VFD_SPINDLE         0
+#endif
+
 #ifndef MODBUS_ENABLE
-#if SPINDLE_HUANYANG
+#if HUANYANG_ENABLE
 #define MODBUS_ENABLE       1
 #else
 #define MODBUS_ENABLE       0
 #endif
 #endif
+
 #ifndef QEI_ENABLE
 #define QEI_ENABLE          0
 #endif

gcode.c

@@ -1771,7 +1771,7 @@ status_code_t gc_execute_block(char *block)
                         FAIL(Status_GcodeUnsupportedCoordSys); // [Greater than N sys]
                     // Determine coordinate system to change and try to load from non-volatile storage.
                     gc_block.values.coord_data.id = p_value == 0
-                                                     ? gc_block.modal.coord_system.id      // Index P0 as the active coordinate system
+                                                     ? gc_block.modal.coord_system.id       // Index P0 as the active coordinate system
                                                      : (coord_system_id_t)(p_value - 1);    // else adjust index to NVS coordinate data indexing.
 
                     if (!settings_read_coord_data(gc_block.values.coord_data.id, &gc_block.values.coord_data.xyz))
@@ -1924,7 +1924,7 @@ status_code_t gc_execute_block(char *block)
 
         // [G80 Errors]: Axis word are programmed while G80 is active.
         // NOTE: Even non-modal commands or TLO that use axis words will throw this strict error.
-        if (axis_words.mask) // [No axis words allowed]
+        if (axis_words.mask && axis_command != AxisCommand_NonModal) // [No axis words allowed]
             FAIL(Status_GcodeAxisWordsExist);
 
         gc_block.modal.retract_mode = CCRetractMode_Previous;

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_VERSION_BUILD "20211107"
+#define GRBL_BUILD 20211117
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

hal.h

@@ -35,6 +35,7 @@
 #include "stepper.h"
 #include "nvs.h"
 #include "probe.h"
+#include "ioports.h"
 #include "plugins.h"
 
 #define HAL_VERSION 8
@@ -86,90 +87,6 @@ __NOTE:__ required if the networking plugin is to be supported.
 */
 typedef bool (*stream_select_ptr)(const io_stream_t *stream);
 
-
-/*************
- *  Aux I/O  *
- *************/
-
-typedef enum {
-    Port_Analog = 0,
-    Port_Digital = 1
-} io_port_type_t;
-
-typedef enum {
-    Port_Input = 0,
-    Port_Output = 1
-} io_port_direction_t;
-
-/*! \brief Pointer to function for setting a digital output.
-\param port port number
-\param on true to set ouput high, false to set it low
-*/
-typedef void (*digital_out_ptr)(uint8_t port, bool on);
-
-/*! \brief Pointer to function for setting an analog output.
-\param port port number.
-\param value
-\returns true if successful, false otherwise.
-*/
-typedef bool (*analog_out_ptr)(uint8_t port, float value);
-
-/*! \brief Pointer to function for reading a digital or analog input.
-
-__NOTE:__ The latest value read is stored in \ref #sys  \ref #sys#var5399.
-
-\param digital true if port is digital, false if analog.
-\param port port number.
-\param wait_mode a #wait_mode_t enum value.
-\param timeout in seconds, ignored if wait_mode is #WaitMode_Immediate (0).
-\returns read value if successful, -1 otherwise.
-*/
-typedef int32_t (*wait_on_input_ptr)(bool digital, uint8_t port, wait_mode_t wait_mode, float timeout);
-
-/*! \brief Pointer to function for setting pin description for a digital or analog port.
-\param digital true if port is digital, false if analog.
-\param output true if port is an output, false if an input.
-\param port port number.
-\param s pointer to null terminated description string.
-*/
-typedef void (*set_pin_description_ptr)(bool digital, bool output, uint8_t port, const char *s);
-
-/*! \brief Pointer to function for getting information about a digital or analog port.
-\param digital true if port is digital, false if analog.
-\param output true if port is an output, false if an input.
-\param port port number.
-\returns pointer to port information in a xbar_t struct if successful, NULL if not.
-*/
-typedef xbar_t *(*get_pin_info_ptr)(bool digital, bool output, uint8_t port);
-
-/*! \brief Pointer to callback function for input port interrupt events.
-\param port port number.
-\param state true if port level is high, false if it is low.
-*/
-typedef void (*ioport_interrupt_callback_ptr)(uint8_t port, bool state);
-
-/*! \brief Pointer to function for registering or deregistering an interrupt handler for a digital input port.
-\param port port number.
-\param irq_mode a \a #pin_irq_mode_t enum value.
-\param interrupt_callback pointer to the callback function to register or NULL to deregister the current callback.
-\returns true if successful, false otherwise.
-*/
-typedef bool (*ioport_register_interrupt_handler_ptr)(uint8_t port, pin_irq_mode_t irq_mode, ioport_interrupt_callback_ptr interrupt_callback);
-
-//! Properties and handlers for auxillary digital and analog I/O.
-typedef struct {
-    uint8_t num_digital_in;                         //!< Number of digital inputs available.
-    uint8_t num_digital_out;                        //!< Number of digital outputs available.
-    uint8_t num_analog_in;                          //!< Number of analog inputs available.
-    uint8_t num_analog_out;                         //!< Number of analog outputs available.
-    digital_out_ptr digital_out;                    //!< Optional handler for setting a digital output.
-    analog_out_ptr analog_out;                      //!< Optional handler for setting an analog output.
-    wait_on_input_ptr wait_on_input;                //!< Optional handler for reading a digital or analog input.
-    set_pin_description_ptr set_pin_description;    //!< Optional handler for setting a description of an auxillary pin.
-    get_pin_info_ptr get_pin_info;                  //!< Optional handler for getting information about an auxillary pin.
-    ioport_register_interrupt_handler_ptr register_interrupt_handler;
-} io_port_t;
-
 /*! \brief Pointer to function for registering information about a peripheral pin.
 \param pin as periph_pin_t struct containing pin information.
 */

ioports.c

@@ -0,0 +1,121 @@
+/*
+  ioports.c - some wrapper functions for the ioports HAL API
+
+  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/>.
+*/
+
+/**
+ * @file
+ *
+ * Some wrapper functions for the #io_port_t API.
+ * They perform the neccesary checks for both availablity of ports
+ * and advanced functionality simplifying plugin code that uses them.
+ */
+
+#include "hal.h"
+
+static int16_t digital_in = -1,  digital_out = -1, analog_in = -1,  analog_out = -1;
+
+static uint8_t ioports_count (io_port_type_t type, io_port_direction_t dir)
+{
+    xbar_t *port;
+    uint8_t n_ports = 0;
+
+    // determine how many ports, including claimed ports, that are available
+    do {
+        if((port = hal.port.get_pin_info(type, type, n_ports)))
+            n_ports++;
+    } while(port != NULL);
+
+    return n_ports;
+}
+
+/*! \brief Get number of digital or analog ports available.
+\param type as an \a #io_port_type_t enum value.
+\param dir as an \a #io_port_direction_t enum value.
+\returns number of ports available including claimed ports if the API implementation supports that.
+*/
+uint8_t ioports_available (io_port_type_t type, io_port_direction_t dir)
+{
+    uint8_t ports = 0;
+
+    if(hal.port.get_pin_info) {
+
+        if(type == Port_Digital) {
+            if(dir == Port_Input)
+                ports = digital_in == -1 ? (digital_in = ioports_count(type, dir)) : (uint8_t)digital_in;
+            else
+                ports = digital_out == -1 ? (digital_out = ioports_count(type, dir)) : (uint8_t)digital_out;
+        } else {
+            if(dir == Port_Input)
+                ports = analog_in == -1 ? (analog_in = ioports_count(type, dir)) : (uint8_t)analog_in;
+            else
+                ports = analog_out == -1 ? (analog_out = ioports_count(type, dir)) : (uint8_t)analog_out;
+        }
+    } else {
+        if(type == Port_Digital)
+            ports = dir == Port_Input ? hal.port.num_digital_in : hal.port.num_digital_out;
+        else
+            ports = dir == Port_Input ? hal.port.num_analog_in : hal.port.num_analog_out;
+    }
+
+    return ports;
+}
+
+/*! \brief Claim a digital or analog port for exclusive use.
+\param type as an \a #io_port_type_t enum value.
+\param dir as an \a #io_port_direction_t enum value.
+\param port pointer to a \a uint8_t holding the ports aux number, returns the actual port number to use if successful.
+\param description pointer to a \a char constant for the pin description.
+\returns true if successful, false if not.
+*/
+bool ioport_claim (io_port_type_t type, io_port_direction_t dir, uint8_t *port, const char *description)
+{
+    bool ok = false;
+    uint8_t n_ports = ioports_available(type, dir);
+
+    if(hal.port.claim != 0) {
+
+        xbar_t *portinfo = NULL;
+
+        if(n_ports > 0) do {
+            n_ports--;
+            portinfo = hal.port.get_pin_info(type, dir, n_ports);
+            if((ok = portinfo && !portinfo->mode.claimed && (portinfo->function - Output_Aux0) == *port)) {
+                hal.port.claim(type, dir, port, description);
+                break;
+            }
+        } while(n_ports && !ok);
+
+    } else if((ok = n_ports > 0)) {
+        if(type == Port_Digital)
+            *port = dir == Port_Input ? --hal.port.num_digital_in : --hal.port.num_digital_out;
+        else
+            *port = dir == Port_Input ? --hal.port.num_analog_in : --hal.port.num_analog_out;
+    }
+
+    return ok;
+}
+
+/*! \brief Check if ports can be claimed by aux number or not.
+\returns true if ports can be claimed by aux number, false if claimed ports are allocated by the API.
+*/
+bool ioport_can_claim_explicit (void)
+{
+    return !(hal.port.claim == NULL || hal.port.get_pin_info == NULL);
+}