kelvin
/
grblHAL-myversion
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Updated for new style stream switching, added support for $pins command

This commit is contained in:
Terje Io 2021-06-06 22:37:13 +02:00
parent 2f69a50af3
commit ea882b6a38
4 changed files with 105 additions and 80 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

118
grblHAL_Teensy4/src/driver.c
View File

@ -507,43 +507,11 @@ static void enetStreamWriteS (const char *data)
WsStreamWriteS(data);
#endif
#if USB_SERIAL_CDC
if(!(services.telnet || services.websocket)) // TODO: check if usb connection is up?
usb_serialWriteS(data);
usb_serialWriteS(data);
#else
serialWriteS(data);
#endif
}
#if TELNET_ENABLE
const io_stream_t ethernet_stream = {
.type = StreamType_Telnet,
.read = TCPStreamGetC,
.write = TCPStreamWriteS,
.write_all = enetStreamWriteS,
.write_char = TCPStreamPutC,
.get_rx_buffer_available = TCPStreamRxFree,
.reset_read_buffer = TCPStreamRxFlush,
.cancel_read_buffer = TCPStreamRxCancel,
.suspend_read = TCPStreamSuspendInput,
.enqueue_realtime_command = protocol_enqueue_realtime_command
};
#endif
#if WEBSOCKET_ENABLE
const io_stream_t websocket_stream = {
.type = StreamType_WebSocket,
.read = WsStreamGetC,
.write = WsStreamWriteS,
.write_all = enetStreamWriteS,
.write_char = WsStreamPutC,
.get_rx_buffer_available = WsStreamRxFree,
.reset_read_buffer = WsStreamRxFlush,
.cancel_read_buffer = WsStreamRxCancel,
.suspend_read = WsStreamSuspendInput,
.enqueue_realtime_command = protocol_enqueue_realtime_command
};
#endif
#endif // ETHERNET_ENABLE
#if USB_SERIAL_CDC
@ -615,32 +583,50 @@ static void driver_delay_ms (uint32_t ms, delay_callback_ptr callback)
}
}
void selectStream (stream_type_t stream)
static bool selectStream (const io_stream_t *stream)
{
static bool serial_connected = false;
static stream_type_t active_stream = StreamType_Serial;
switch(stream) {
if(hal.stream.type == StreamType_Serial)
serial_connected = hal.stream.connected;
if(!stream)
stream = &serial_stream;
memcpy(&hal.stream, stream, sizeof(io_stream_t));
#if ETHERNET_ENABLE
if(!hal.stream.write_all)
hal.stream.write_all = serial_connected ? enetStreamWriteS : hal.stream.write;
#else
if(!hal.stream.write_all)
hal.stream.write_all = hal.stream.write;
#endif
if(!hal.stream.enqueue_realtime_command)
hal.stream.enqueue_realtime_command = protocol_enqueue_realtime_command;
switch(stream->type) {
#if TELNET_ENABLE
case StreamType_Telnet:
hal.stream.write_all("[MSG:TELNET STREAM ACTIVE]" ASCII_EOL);
memcpy(&hal.stream, &ethernet_stream, sizeof(io_stream_t));
services.telnet = On;
hal.stream.write_all("[MSG:TELNET STREAM ACTIVE]" ASCII_EOL);
break;
#endif
#if WEBSOCKET_ENABLE
case StreamType_WebSocket:
hal.stream.write_all("[MSG:WEBSOCKET STREAM ACTIVE]" ASCII_EOL);
memcpy(&hal.stream, &websocket_stream, sizeof(io_stream_t));
services.websocket = On;
hal.stream.write_all("[MSG:WEBSOCKET STREAM ACTIVE]" ASCII_EOL);
break;
#endif
case StreamType_Serial:
memcpy(&hal.stream, &serial_stream, sizeof(io_stream_t));
#if ETHERNET_ENABLE
services.mask = 0;
#endif
if(active_stream != StreamType_Serial)
hal.stream.connected = serial_connected;
if(active_stream != StreamType_Serial && hal.stream.connected)
hal.stream.write_all("[MSG:SERIAL STREAM ACTIVE]" ASCII_EOL);
break;
@ -648,7 +634,9 @@ void selectStream (stream_type_t stream)
break;
}
active_stream = stream;
active_stream = hal.stream.type;
return stream->type == hal.stream.type;
}
// Set stepper pulse output pins.
@ -1778,6 +1766,36 @@ static void settings_changed (settings_t *settings)
}
}
static void enumeratePins (bool low_level, pin_info_ptr pin_info)
{
static xbar_t pin = {0};
uint32_t i = sizeof(inputpin) / sizeof(input_signal_t);
pin.mode.input = On;
for(i = 0; i < sizeof(inputpin) / sizeof(input_signal_t); i++) {
pin.pin = inputpin[i].pin;
pin.function = inputpin[i].id;
pin.group = inputpin[i].group;
// pin.port = low_level ? (void *)inputpin[i].port : (void *)port2char(inputpin[i].port);
pin.mode.pwm = pin.group == PinGroup_SpindlePWM;
pin_info(&pin);
};
pin.mode.mask = 0;
pin.mode.output = On;
for(i = 0; i < sizeof(outputpin) / sizeof(output_signal_t); i++) {
pin.pin = outputpin[i].pin;
pin.function = outputpin[i].id;
pin.group = outputpin[i].group;
// pin.port = low_level ? (void *)outputpin[i].port : (void *)port2char(outputpin[i].port);
pin_info(&pin);
};
}
void pinModeOutput (gpio_t *gpio, uint8_t pin)
{
pinMode(pin, OUTPUT);
@ -2147,7 +2165,7 @@ bool driver_init (void)
options[strlen(options) - 1] = '\0';
hal.info = "iMXRT1062";
hal.driver_version = "210526";
hal.driver_version = "210605";
#ifdef BOARD_NAME
hal.board = BOARD_NAME;
#endif
@ -2201,14 +2219,15 @@ bool driver_init (void)
grbl.on_report_options = reportIP;
#endif
hal.stream_select = selectStream;
hal.stream_select(&serial_stream);
#if USB_SERIAL_CDC
usb_serialInit();
#else
serialInit(115200);
#endif
selectStream(StreamType_Serial);
#ifdef I2C_PORT
i2c_init();
#endif
@ -2229,6 +2248,7 @@ bool driver_init (void)
hal.clear_bits_atomic = bitsClearAtomic;
hal.set_value_atomic = valueSetAtomic;
hal.get_elapsed_ticks = millis;
hal.enumerate_pins = enumeratePins;
#if ETHERNET_ENABLE || ADD_MSEVENT
grbl.on_execute_realtime = execute_realtime;
@ -2474,7 +2494,7 @@ inline static input_signal_t *get_debounce (void)
static void debounce_isr (void)
{
uint8_t grp = 0;
uint32_t grp = 0;
input_signal_t *signal;
TMR3_CSCTRL0 &= ~TMR_CSCTRL_TCF1;
@ -2512,8 +2532,7 @@ static void debounce_isr (void)
static void gpio_isr (void)
{
bool debounce = false;
uint8_t grp = 0;
uint32_t intr_status[4];
uint32_t grp = 0, intr_status[4];
// Get masked interrupt status
intr_status[0] = ((gpio_reg_t *)&GPIO6_DR)->ISR & ((gpio_reg_t *)&GPIO6_DR)->IMR;
@ -2566,9 +2585,8 @@ static void gpio_isr (void)
}
} while(i);
if(debounce) {
if(debounce)
TMR3_CTRL0 |= TMR_CTRL_CM(0b001);
}
if(grp & PinGroup_Limit) {
limit_signals_t state = limitsGetState();

64
grblHAL_Teensy4/src/driver.h
View File

@ -51,35 +51,6 @@
#ifndef USB_SERIAL_WAIT
#define USB_SERIAL_WAIT 0
#endif
#ifndef PLASMA_ENABLE
#define PLASMA_ENABLE 0
#endif
#ifndef PPI_ENABLE
#define PPI_ENABLE 0
#endif
#ifndef SPINDLE_HUANYANG
#define SPINDLE_HUANYANG 0
#endif
#ifndef QEI_ENABLE
#define QEI_ENABLE 0
#endif
#ifndef ODOMETER_ENABLE
#define ODOMETER_ENABLE 0
#endif
#ifndef OPENPNP_ENABLE
#define OPENPNP_ENABLE 0
#endif
#ifndef ETHERNET_ENABLE
#define ETHERNET_ENABLE 0
#endif
#ifndef TELNET_ENABLE
#define TELNET_ENABLE 0
#endif
#ifndef WEBSOCKET_ENABLE
#define WEBSOCKET_ENABLE 0
#endif
#ifndef SDCARD_ENABLE
#define SDCARD_ENABLE 0
#endif
@ -104,6 +75,24 @@
#ifndef TRINAMIC_DEV
#define TRINAMIC_DEV 0
#endif
#ifndef PLASMA_ENABLE
#define PLASMA_ENABLE 0
#endif
#ifndef PPI_ENABLE
#define PPI_ENABLE 0
#endif
#ifndef SPINDLE_HUANYANG
#define SPINDLE_HUANYANG 0
#endif
#ifndef QEI_ENABLE
#define QEI_ENABLE 0
#endif
#ifndef ODOMETER_ENABLE
#define ODOMETER_ENABLE 0
#endif
#ifndef OPENPNP_ENABLE
#define OPENPNP_ENABLE 0
#endif
#ifndef ESTOP_ENABLE
#if COMPATIBILITY_LEVEL <= 1
@ -115,6 +104,22 @@
#warning "Enabling ESTOP may not work with all senders!"
#endif
#ifndef ETHERNET_ENABLE
#define ETHERNET_ENABLE 0
#endif
#ifndef TELNET_ENABLE
#define TELNET_ENABLE 0
#endif
#ifndef WEBSOCKET_ENABLE
#define WEBSOCKET_ENABLE 0
#endif
#ifndef FTP_ENABLE
#define FTP_ENABLE 0
#elif !SDCARD_ENABLE
#undef FTP_ENABLE
#define FTP_ENABLE 0
#endif
#if ETHERNET_ENABLE
#ifndef NETWORK_HOSTNAME
#define NETWORK_HOSTNAME "GRBL"
@ -309,7 +314,6 @@ typedef struct {
//
void selectStream (stream_type_t stream);
void pinModeOutput (gpio_t *gpio, uint8_t pin);
uint32_t xTaskGetTickCount();

1
grblHAL_Teensy4/src/uart.c
View File

@ -231,6 +231,7 @@ uint16_t format = 0;
if ( format & 0x100) UART.port->BAUD |= LPUART_BAUD_SBNS;
//transmitterEnable(1);
hal.stream.connected = true;
}
bool serialSetBaudRate (uint32_t baud_rate)

2
grblHAL_Teensy4/src/usb_serial_ard.cpp
View File

@ -48,6 +48,8 @@ void usb_serialInit(void)
#if USB_SERIAL_WAIT
while(!SerialUSB); // Wait for connection
hal.stream.connected = true;
#endif
txbuf.max_length = SerialUSB.availableForWrite(); // 6144 bytes