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Diffstat (limited to 'src/DuetNG/DueXn.cpp')
| -rw-r--r-- | src/DuetNG/DueXn.cpp | 154 |
1 files changed, 154 insertions, 0 deletions
diff --git a/src/DuetNG/DueXn.cpp b/src/DuetNG/DueXn.cpp new file mode 100644 index 00000000..a0f1c11b --- /dev/null +++ b/src/DuetNG/DueXn.cpp @@ -0,0 +1,154 @@ +/* + * DueXn.cpp + * + * Created on: 19 Oct 2016 + * Author: David + */ + +#include "DueXn.h" +#include "SX1509.h" + +namespace DuetExpansion +{ + static SX1509 expander; + static uint16_t inputMask; + static ExpansionBoardType boardType = ExpansionBoardType::none; + + const uint8_t DueXnAddress = 0x3E; // address of the SX1509B on the DueX0/DueX2/DueX5 + + const uint16_t BoardTypePins = (1u << 14) | (1u << 15); + const unsigned int BoardTypeShift = 14; + const ExpansionBoardType boardTypes[] = + { ExpansionBoardType::DueX5, ExpansionBoardType::DueX2, ExpansionBoardType::DueX0, ExpansionBoardType::none }; + + const unsigned int Fan3Bit = 12; + const unsigned int Fan4Bit = 7; + const unsigned int Fan5Bit = 6; + const unsigned int Fan6Bit = 5; + const unsigned int Fan7Bit = 4; + const uint16_t AllFanBits = (1u << Fan3Bit) | (1u << Fan4Bit) | (1u << Fan5Bit) | (1u << Fan6Bit) | (1u << Fan7Bit); + + const unsigned int E2StopBit = 0; + const unsigned int E3StopBit = 3; + const unsigned int E4StopBit = 2; + const unsigned int E5StopBit = 1; + const unsigned int E6StopBit = 13; + const uint16_t AllStopBits = (1u << E2StopBit) | (1u << E3StopBit) | (1u << E4StopBit) | (1u << E5StopBit) | (1u << E6StopBit); + + const unsigned int Gpio1Bit = 11; + const unsigned int Gpio2Bit = 10; + const unsigned int Gpio3Bit = 9; + const unsigned int Gpio4Bit = 8; + const uint16_t AllGpioBits = (1u << Gpio1Bit) | (1u << Gpio2Bit) | (1u << Gpio3Bit) | (1u <<Gpio4Bit); + + // Identify which expansion board (if any) is attached and initialise it + ExpansionBoardType Init() + { + uint8_t ret = expander.begin(DueXnAddress); + if (ret != 1) + { + delay(100); // wait a little while + ret = expander.begin(DueXnAddress); // do 1 retry + } + + if (ret != 1) + { + boardType = ExpansionBoardType::none; // no device found at that address, or a serious error + } + else + { + expander.pinModeMultiple(BoardTypePins, INPUT_PULLUP); + const uint16_t data = expander.digitalReadAll(); + boardType = boardTypes[(data & BoardTypePins) >> BoardTypeShift]; + } + + if (boardType != ExpansionBoardType::none) + { + expander.pinModeMultiple(AllFanBits, OUTPUT_PWM); // Initialise the PWM pins + expander.pinModeMultiple(AllStopBits, INPUT); // Initialise the endstop inputs (no pullups because 5V-tolerant) + expander.pinModeMultiple(AllGpioBits, INPUT); // Initialise the GPIO pins as inputs + + // Set up the interrupt on any input change + inputMask = AllStopBits | AllGpioBits; + expander.enableInterruptMultiple(inputMask, CHANGE); + + // Clear any initial interrupts + expander.interruptSource(true); + } + + return boardType; + } + + // Return the name of the expansion board, or nullptr if no expansion board + const char* array null GetExpansionBoardName() + { + switch(boardType) + { + case ExpansionBoardType::DueX5: + return "DueX5"; + case ExpansionBoardType::DueX2: + return "DueX2"; + case ExpansionBoardType::DueX0: + return "DueX0"; + default: + return nullptr; + } + } + + // Set the I/O mode of a pin + void SetPinMode(Pin pin, PinMode mode) + { + if (boardType != ExpansionBoardType::none) + { + if (((1 << pin) & AllGpioBits) != 0) + { + // The GPIO pins have pullup resistors to +5V, therefore we need to configure them as open drain outputs + switch(mode) + { + case OUTPUT_LOW: + mode = OUTPUT_LOW_OPEN_DRAIN; + break; + case OUTPUT_HIGH: + mode = OUTPUT_HIGH_OPEN_DRAIN; + break; + case OUTPUT_PWM: + mode = OUTPUT_PWM_OPEN_DRAIN; + break; + default: + break; + } + } + expander.pinMode(pin, mode); + } + } + + // Read a pin + // TODO this is called from the Step ISR if the 6th axis is used, therefore if should be made more efficient. + // We need to use the SX15089 interrupt to read the data register using interrupts, and just retrieve that value here. + bool DigitalRead(Pin pin) + { + return (boardType != ExpansionBoardType::none) + ? expander.digitalRead(pin) + : false; + } + + // Write a pin + void DigitalWrite(Pin pin, bool high) + { + if (boardType != ExpansionBoardType::none) + { + expander.digitalWrite(pin, high); + } + } + + // Set the PWM value on this pin + void AnalogOut(Pin pin, float pwm) + { + if (boardType != ExpansionBoardType::none) + { + expander.analogWrite(pin, (uint8_t)(constrain<float>(pwm, 0.0, 1.0) * 255)); + } + } +} // end namespace + +// End |