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Diffstat (limited to 'src/GPIO/GpOutPort.cpp')
| -rw-r--r-- | src/GPIO/GpOutPort.cpp | 171 |
1 files changed, 171 insertions, 0 deletions
diff --git a/src/GPIO/GpOutPort.cpp b/src/GPIO/GpOutPort.cpp new file mode 100644 index 00000000..51f32c78 --- /dev/null +++ b/src/GPIO/GpOutPort.cpp @@ -0,0 +1,171 @@ +/* + * GpOutPort.cpp + * + * Created on: 11 Feb 2020 + * Author: David + */ + +#include "GpOutPort.h" +#include <GCodes/GCodeBuffer/GCodeBuffer.h> +#include <RepRap.h> +#include <Platform.h> + +#if SUPPORT_CAN_EXPANSION +# include <CAN/CanInterface.h> +# include <CAN/CanMessageGenericConstructor.h> +#endif + +#if SUPPORT_OBJECT_MODEL + +// Object model table and functions +// Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17. +// Otherwise the table will be allocated in RAM instead of flash, which wastes too much RAM. + +// Macro to build a standard lambda function that includes the necessary type conversions +#define OBJECT_MODEL_FUNC(...) OBJECT_MODEL_FUNC_BODY(GpOutputPort, __VA_ARGS__) +#define OBJECT_MODEL_FUNC_IF(_condition,...) OBJECT_MODEL_FUNC_IF_BODY(GpOutputPort, _condition,__VA_ARGS__) + +constexpr ObjectModelTableEntry GpOutputPort::objectModelTable[] = +{ + // Within each group, these entries must be in alphabetical order + { "pwm", OBJECT_MODEL_FUNC(self->lastPwm, 2), ObjectModelEntryFlags::live }, +}; + +constexpr uint8_t GpOutputPort::objectModelTableDescriptor[] = { 1, 1 }; + +DEFINE_GET_OBJECT_MODEL_TABLE(GpOutputPort) + +#endif + +// Return true if the port is not configured +bool GpOutputPort::IsUnused() const noexcept +{ + return +#if SUPPORT_CAN_EXPANSION + boardAddress == CanId::MasterAddress && +#endif + !port.IsValid(); +} + +GCodeResult GpOutputPort::Configure(uint32_t gpioNumber, bool isServo, GCodeBuffer &gb, const StringRef &reply) +{ + PwmFrequency freq = 0; + const bool seenFreq = gb.Seen('Q'); + if (seenFreq) + { + freq = gb.GetPwmFrequency(); + } + + if (gb.Seen('C')) + { + String<StringLength50> pinName; + gb.GetReducedString(pinName.GetRef()); + + // Remove any existing assignment +#if SUPPORT_CAN_EXPANSION + if (boardAddress != CanId::MasterAddress) + { + CanMessageGenericConstructor cons(M950GpioParams); + cons.AddUParam('P', gpioNumber); + cons.AddStringParam('C', NoPinName); + if (cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply) != GCodeResult::ok) + { + reprap.GetPlatform().Message(WarningMessage, reply.c_str()); + reply.Clear(); + } + boardAddress = CanId::MasterAddress; + } +#endif + port.Release(); + + if (!seenFreq) + { + freq = (isServo) ? ServoRefreshFrequency : DefaultPinWritePwmFreq; + } + + GCodeResult rslt; + +#if SUPPORT_CAN_EXPANSION + boardAddress = IoPort::RemoveBoardAddress(pinName.GetRef()); + if (boardAddress != CanId::MasterAddress) + { + CanMessageGenericConstructor cons(M950GpioParams); + cons.AddUParam('P', gpioNumber); + cons.AddUParam('Q', freq); + cons.AddUParam('S', (isServo) ? 1 : 0); + cons.AddStringParam('C', pinName.c_str()); + rslt = cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply); + } + else +#endif + { + if (port.AssignPort(pinName.c_str(), reply, PinUsedBy::gpout, (isServo) ? PinAccess::servo : PinAccess::pwm)) + { + rslt = GCodeResult::ok; + port.SetFrequency(freq); + } + else + { + rslt = GCodeResult::error; + } + } + + reprap.StateUpdated(); + return rslt; + } + else if (seenFreq) + { +#if SUPPORT_CAN_EXPANSION + if (boardAddress != CanId::MasterAddress) + { + CanMessageGenericConstructor cons(M950GpioParams); + cons.AddUParam('P', gpioNumber); + cons.AddUParam('Q', freq); + reprap.StateUpdated(); + return cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply); + } +#endif + port.SetFrequency(freq); + reprap.StateUpdated(); + } + else + { +#if SUPPORT_CAN_EXPANSION + if (boardAddress != CanId::MasterAddress) + { + CanMessageGenericConstructor cons(M950GpioParams); + cons.AddUParam('P', gpioNumber); + return cons.SendAndGetResponse(CanMessageType::m950Gpio, boardAddress, reply); + } +#endif + reply.printf("GPIO/servo port %" PRIu32, gpioNumber); + port.AppendDetails(reply); + } + return GCodeResult::ok; +} + +GCodeResult GpOutputPort::WriteAnalog(uint32_t gpioPortNumber, bool isServo, float pwm, const GCodeBuffer& gb, const StringRef& reply) noexcept +{ + lastPwm = pwm; +#if SUPPORT_CAN_EXPANSION + if (boardAddress != CanId::MasterAddress) + { + return CanInterface::WriteGpio(boardAddress, gpioPortNumber, pwm, isServo, gb, reply); + } +#endif + port.WriteAnalog(pwm); + return GCodeResult::ok; +} + +#ifdef PCCB + +// Function used to assign default GPOUT devices +void GpOutputPort::Assign(const char *pinName) noexcept +{ + String<1> dummy; + port.AssignPort(pinName, dummy.GetRef(), PinUsedBy::gpout, PinAccess::pwm); +} + +#endif + +// End |