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/*
* DueXn.cpp
*
* Created on: 19 Oct 2016
* Author: David
*/
#include "DueXn.h"
#include "SX1509.h"
#include "Platform.h"
namespace DuetExpansion
{
static SX1509 expander;
static uint16_t inputMask;
static ExpansionBoardType boardType = ExpansionBoardType::none;
static uint16_t inputBits;
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 AllStopBitsX2 = (1u << E2StopBit) | (1u << E3StopBit);
const uint16_t AllStopBitsX5 = AllStopBitsX2 | (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)
{
pinMode(DueX_INT, INPUT_PULLUP);
pinMode(DueX_SG, INPUT_PULLUP);
expander.pinModeMultiple(AllFanBits, OUTPUT_PWM_LOW); // Initialise the PWM pins
const uint16_t stopBits = (boardType == ExpansionBoardType::DueX5) ? AllStopBitsX5 : AllStopBitsX2; // I am assuming that the X0 has 2 endstop inputs
expander.pinModeMultiple(stopBits | AllGpioBits, INPUT); // Initialise the endstop inputs and GPIO pins (no pullups because 5V-tolerant)
// Set up the interrupt on any input change
inputMask = stopBits | AllGpioBits;
expander.enableInterruptMultiple(inputMask, CHANGE);
// Clear any initial interrupts
(void)expander.interruptSource(true);
inputBits = expander.digitalReadAll();
}
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_LOW:
case OUTPUT_PWM_HIGH:
mode = OUTPUT_PWM_OPEN_DRAIN;
break;
case INPUT_PULLUP:
case INPUT_PULLDOWN:
mode = INPUT; // we are using 5rV-tolerant input with external pullup resistors, so don't enable internal pullup/pulldown resistors
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)
{
if (boardType == ExpansionBoardType::none || pin >= 16)
{
return false;
}
if (!digitalRead(DueX_INT))
{
// Interrupt is active, so input data may have changed
inputBits = expander.digitalReadAll();
}
return (inputBits & (1 << pin)) != 0;
}
// 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));
}
}
// Diagnose the SX1509 by setting all pins as inputs and reading them
uint16_t DiagnosticRead()
{
expander.pinModeMultiple(AllStopBitsX5 | AllGpioBits | AllFanBits, INPUT); // Initialise the endstop inputs and GPIO pins (no pullups because 5V-tolerant)
delay(1);
const uint16_t retval = expander.digitalReadAll(); // read all inputs with pullup resistors on fans
Init(); // back to normal
return retval;
}
} // end namespace
// End
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