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#ifndef PINS_DUETNG_H__
#define PINS_DUETNG_H__
#include <PinDescription.h>
// Pins definition file for Duet 2 WiFi/Ethernet
// This file is normally #included by #including RepRapFirmware.h, which includes this file
#define BOARD_NAME_WIFI "Duet 2 WiFi"
#define BOARD_NAME_ETHERNET "Duet 2 Ethernet"
#define BOARD_NAME_SBC "Duet 2 + SBC"
#define BOARD_SHORT_NAME_WIFI "2WiFi"
#define BOARD_SHORT_NAME_ETHERNET "2Ethernet"
#define BOARD_SHORT_NAME_SBC "2SBC"
#if defined(USE_SBC)
#define FIRMWARE_NAME "RepRapFirmware for Duet 2 SBC"
#define DEFAULT_BOARD_TYPE BoardType::Duet2SBC_10
#define IAP_FIRMWARE_FILE "Duet2Firmware_SBC.bin"
#define IAP_UPDATE_FILE_SBC "Duet2_SBCiap32_SBC.bin"
constexpr size_t NumFirmwareUpdateModules = 5; // 0 = mainboard, 4 = PanelDue, values in between unused
#else
#define FIRMWARE_NAME "RepRapFirmware for Duet 2 WiFi/Ethernet"
#define DEFAULT_BOARD_TYPE BoardType::DuetWiFi_10
#define IAP_FIRMWARE_FILE "Duet2CombinedFirmware.bin"
#define IAP_UPDATE_FILE "Duet2_SDiap32_WiFiEth.bin" // using the same IAP file for both Duet WiFi and Duet Ethernet
#define WIFI_FIRMWARE_FILE "DuetWiFiServer.bin"
constexpr size_t NumFirmwareUpdateModules = 5; // 4 modules, plus one for manual upload to WiFi module (module 2 is now unused)
#endif
constexpr uint32_t IAP_IMAGE_START = 0x20018000; // IAP is loaded into the last 32kb of RAM
// Features definition
#define HAS_LWIP_NETWORKING 0
#if defined(USE_SBC)
# define HAS_WIFI_NETWORKING 0
# define HAS_W5500_NETWORKING 0
# define HAS_LINUX_INTERFACE 1
# define HAS_MASS_STORAGE 0
#else
# define HAS_WIFI_NETWORKING 1
# define HAS_W5500_NETWORKING 1
# define HAS_LINUX_INTERFACE 0
#endif
#define HAS_CPU_TEMP_SENSOR 1
#if defined(USE_SBC)
# define HAS_HIGH_SPEED_SD 0
#else
# define HAS_HIGH_SPEED_SD 1
#endif
#define SUPPORT_TMC2660 1
#define TMC2660_USES_USART 1
#define HAS_VOLTAGE_MONITOR 1
#define ENFORCE_MAX_VIN 1
#define HAS_VREF_MONITOR 0
#define HAS_DEFAULT_PSON_PIN 1
#define ACTIVE_LOW_HEAT_ON 1
#define SUPPORT_INKJET 0 // set nonzero to support inkjet control
#define SUPPORT_ROLAND 0 // set nonzero to support Roland mill
#if defined(USE_SBC)
# define SUPPORT_SCANNER 0
#else
# define SUPPORT_SCANNER 1 // set zero to disable support for FreeLSS scanners
#endif
#define SUPPORT_LASER 1 // support laser cutters and engravers using G1 S parameter
#define SUPPORT_IOBITS 1 // set to support P parameter in G0/G1 commands
#define SUPPORT_DHT_SENSOR 1 // set nonzero to support DHT temperature/humidity sensors
#define SUPPORT_WORKPLACE_COORDINATES 1 // set nonzero to support G10 L2 and G53..59
#define SUPPORT_12864_LCD 1 // set nonzero to support 12864 LCD and rotary encoder
#if defined(USE_SBC)
# define SUPPORT_ACCELEROMETERS 0 // temporary until we can pass accelerometer data to the SBC
#else
# define SUPPORT_ACCELEROMETERS 1
#endif
#define SUPPORT_OBJECT_MODEL 1
#define SUPPORT_LED_STRIPS 1
#define VARIABLE_NUM_DRIVERS SUPPORT_12864_LCD // nonzero means that some pins may only support drivers if not used for other purposes e.g. LCD
#if defined(USE_SBC)
# define SUPPORT_HTTP 0
# define SUPPORT_FTP 0
# define SUPPORT_TELNET 0
#else
# define SUPPORT_HTTP 1
# define SUPPORT_FTP 1
# define SUPPORT_TELNET 1
#endif
#define SUPPORT_ASYNC_MOVES 1
#define ALLOCATE_DEFAULT_PORTS 0
#define TRACK_OBJECT_NAMES 1
#define USE_CACHE 1 // set nonzero to enable the cache
#define USE_MPU 0 // set nonzero to enable the memory protection unit
// The physical capabilities of the machine
constexpr size_t NumDirectDrivers = 12; // The maximum number of drives supported directly by the electronics
constexpr size_t MaxSmartDrivers = 10; // The maximum number of smart drivers
constexpr size_t MaxSensors = 32;
constexpr size_t MaxHeaters = 10; // The maximum number of heaters in the machine
constexpr size_t MaxPortsPerHeater = 2;
constexpr size_t MaxMonitorsPerHeater = 3; // The maximum number of monitors per heater
constexpr size_t MaxBedHeaters = 4;
constexpr size_t MaxChamberHeaters = 4;
constexpr int8_t DefaultBedHeater = 0;
constexpr int8_t DefaultE0Heater = 1; // Index of the default first extruder heater, used only for the legacy status response
constexpr size_t NumThermistorInputs = 8;
constexpr size_t NumTmcDriversSenseChannels = 2;
constexpr size_t MaxZProbes = 4;
constexpr size_t MaxGpInPorts = 20;
constexpr size_t MaxGpOutPorts = 20;
constexpr size_t MinAxes = 3; // The minimum and default number of axes
constexpr size_t MaxAxes = 10; // The maximum number of movement axes in the machine, usually just X, Y and Z
constexpr size_t MaxDriversPerAxis = 5; // The maximum number of stepper drivers assigned to one axis
constexpr size_t MaxExtruders = 7; // The maximum number of extruders
constexpr size_t NumDefaultExtruders = 0; // The number of drivers that we configure as extruders by default
constexpr size_t MaxAxesPlusExtruders = 12;
constexpr size_t MaxHeatersPerTool = 8;
constexpr size_t MaxExtrudersPerTool = 8;
constexpr size_t MaxFans = 12;
constexpr unsigned int MaxTriggers = 16; // Must be <= 32 because we store a bitmap of pending triggers in a uint32_t
constexpr size_t MaxSpindles = 4; // Maximum number of configurable spindles
constexpr size_t NumSerialChannels = 2; // The number of serial IO channels not counting the WiFi serial connection (USB and one auxiliary UART)
#define SERIAL_MAIN_DEVICE SerialUSB
#define SERIAL_AUX_DEVICE Serial
#define SERIAL_WIFI_DEVICE Serial1
constexpr Pin UsbVBusPin = PortCPin(22); // Pin used to monitor VBUS on USB port
#define I2C_IFACE Wire // Which TWI interface we use
#define I2C_IRQn WIRE_ISR_ID // The interrupt number it uses
constexpr Pin DueXnExpansionStart = 32*4+6; // Pin numbers 134-149 are on the I/O expander
constexpr Pin AdditionalIoExpansionStart = DueXnExpansionStart+16; // Pin numbers 150-166 are on the additional I/O expander
// The numbers of entries in each array must correspond with the values of DRIVES, AXES, or HEATERS. Set values to NoPin to flag unavailability.
// Drives
constexpr Pin GlobalTmc2660EnablePin = PortCPin(6); // The pin that drives ENN of all TMC2660 drivers on production boards (on pre-production boards they are grounded)
constexpr Pin ENABLE_PINS[NumDirectDrivers] =
{
PortDPin(14), PortCPin(9), PortCPin(10), PortCPin(17), PortCPin(25), // Duet
PortDPin(23), PortDPin(24), PortDPin(25), PortDPin(26), PortBPin(14), // DueX5
PortDPin(18), PortCPin(28) // CONN_LCD
};
constexpr Pin STEP_PINS[NumDirectDrivers] =
{
PortDPin(6), PortDPin(7), PortDPin(8), PortDPin(5), PortDPin(4), // Duet
PortDPin(2), PortDPin(1), PortDPin(0), PortDPin(3), PortDPin(27), // DueX5
PortDPin(20), PortDPin(21) // CONN_LCD
};
constexpr Pin DIRECTION_PINS[NumDirectDrivers] =
{ PortDPin(11), PortDPin(12), PortDPin(13), PortAPin(1), PortDPin(9), // Duet
PortDPin(28), PortDPin(22), PortDPin(16), PortDPin(17), PortCPin(0), // DueX5
PortDPin(19), PortAPin(25) // CONN_LCD
};
// Pin assignments etc. using USART1 in SPI mode
Usart * const USART_TMC2660 = USART1;
constexpr uint32_t ID_TMC2660_SPI = ID_USART1;
constexpr IRQn TMC2660_SPI_IRQn = USART1_IRQn;
# define TMC2660_SPI_Handler USART1_Handler
constexpr Pin TMC2660MosiPin = PortAPin(22);
constexpr Pin TMC2660MisoPin = PortAPin(21);
constexpr Pin TMC2660SclkPin = PortAPin(23);
constexpr GpioPinFunction TMC2660PeriphMode = GpioPinFunction::A;
constexpr uint32_t DefaultStandstillCurrentPercent = 100; // it's not adjustable on Duet 2
constexpr Pin DueX_SG = PortEPin(0); // DueX stallguard detect pin on older DueX boards (was E2_STOP)
constexpr Pin DueX_INT = PortAPin(17); // DueX interrupt pin (was E6_STOP)
// Thermistors
constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] =
{
PortCPin(13), PortCPin(15), PortCPin(12), // Duet
PortCPin(29), PortCPin(30), PortCPin(31), PortCPin(27), PortAPin(18) // DueX5
};
// Thermistor series resistor value in Ohms
constexpr float DefaultThermistorSeriesR = 4700.0;
// Digital pins the 31855s have their select lines tied to
constexpr Pin SpiTempSensorCsPins[] =
{ PortBPin(2), PortCPin(18), PortCPin(19), PortCPin(20), PortAPin(24), PortEPin(1), PortEPin(2), PortEPin(3) }; // SPI0_CS1, SPI0_CS2, CS3, CS4, CS5, CS6, CS7, CS8
// Analogue pin numbers
constexpr Pin PowerMonitorVinDetectPin = PortCPin(4); // AFE1_AD7/PC4 Vin monitor
#if 0 // the 5V regulator input monitor pin has never been used and may be removed on future PCB revisions
constexpr Pin PowerMonitor5vDetectPin = PortBPin(3); // AFE1_AD1/PB3 5V regulator input monitor
#endif
constexpr float PowerMonitorVoltageRange = 11.0 * 3.3; // We use an 11:1 voltage divider
constexpr Pin VssaSensePin = PortBPin(7);
// Z probes
constexpr Pin Z_PROBE_PIN = PortCPin(1); // AFE1_AD4/PC1 Z probe analog input
constexpr Pin Z_PROBE_MOD_PIN = PortCPin(2);
constexpr Pin DiagPin = Z_PROBE_MOD_PIN;
constexpr bool DiagOnPolarity = true;
// SD cards
constexpr size_t NumSdCards = 2;
constexpr Pin SdCardDetectPins[NumSdCards] = { PortCPin(21), NoPin };
constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin, NoPin };
constexpr Pin SdSpiCSPins[1] = { PortCPin(24) };
constexpr IRQn SdhcIRQn = HSMCI_IRQn;
constexpr uint32_t ExpectedSdCardSpeed = 20000000;
#if SUPPORT_12864_LCD
// The ST7920 datasheet specifies minimum clock cycle time 400ns @ Vdd=4.5V, min. clock width 200ns high and 20ns low.
// This assumes that the Vih specification is met, which is 0.7 * Vcc = 3.5V @ Vcc=5V
// The Duet Maestro level shifts all 3 LCD signals to 5V, so we meet the Vih specification and can reliably run at 2MHz.
// For other electronics, there are reports that operation with 3.3V LCD signals may work if you reduce the clock frequency.
// Displays based on the ST7567 use level shifters because the ST7567 is a 3.3V device.
constexpr uint32_t LcdSpiClockFrequency = 2000000; // 2.0MHz
constexpr Pin EncoderPinB = PortCPin(7); // connlcd.3 -> exp2.6
constexpr Pin EncoderPinA = PortAPin(8); // connlcd.4 -> exp2.8
constexpr Pin LcdNeopixelOutPin = PortDPin(18); // connlcd.5 -> exp1.5
constexpr Pin LcdResetPin = PortCPin(28); // connlcd.6 -> exp1.6
constexpr Pin LcdA0Pin = PortDPin(19); // connlcd.7 -> exp1.7
constexpr Pin LcdCSPin = PortAPin(25); // connlcd.8 -> exp1.8
constexpr Pin EncoderPinSw = PortDPin(20); // connlcd.9 -> exp1.9
constexpr Pin LcdBeepPin = PortDPin(21); // connlcd.10 -> exp1.10
// Additional spi wiring for FYSETC Mini 12864 display:
// connlcd.2 (gnd) -> exp1.2
// connsd.1 (+5V) -> exp1.1
// connsd.2 (gnd) -> exp2.2
// connsd.3 (SD CS) -> exp2.7
// connsd.4 (sck) -> exp2.9
// connsd.5 (mosi) -> exp2.5
// connsd.6 (miso) -> exp2.10
#endif
// Shared SPI definitions
#define USART_SPI 1
#define USART_SSPI USART0
#define ID_SSPI ID_USART0
// List of assignable pins and their mapping from names to MPU ports. This is indexed by logical pin number.
// The names must match user input that has been concerted to lowercase and had _ and - characters stripped out.
// Aliases are separate by the , character.
// If a pin name is prefixed by ! then this means the pin is hardware inverted. The same pin may have names for both the inverted and non-inverted cases,
// for example the inverted heater pins on the expansion connector are available as non-inverted servo pins on a DueX.
constexpr PinDescription PinTable[] =
{ // TC PWM ADC Capability PinNames
// Port A
{ TcOutput::tioa0, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "fan2" }, // PA00 Fan 2
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA01 E0_Dir
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "ystop" }, // PA02 Y_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA03 TWD0
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA04 TWCK0
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA05 URXD1
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA06 UTXD1
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "connsd.encsw,connsd.7" }, // PA07 ENC_SW
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "connlcd.enca,connlcd.4" }, // PA08 Endstop 11 (was LCD ENC_A)
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "urxd0" }, // PA09 URXD0 PanelDue Dout
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "utxd0" }, // PA10 PanelDue Din
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA11 NPCS0
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA12 MISO
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA13 MOSI
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA14 SPCK
{ TcOutput::tioa1, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "exp.heater7,exp.31,!duex.e6heat,!duex.pwm5"}, // PA15 Heater 7
{ TcOutput::none, PwmOutput::pwm0l2_c,AdcInput::none, PinCapability::wpwm, "!e1heat" }, // PA16 Heater 2
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_0, PinCapability::rw, "exp.e6stop,exp.24" }, // PA17 E6_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_1, PinCapability::ainr, "e6temp,duex.e6temp,exp.thermistor7,exp.39" }, // PA18
{ TcOutput::none, PwmOutput::pwm0l0_b,AdcInput::none, PinCapability::wpwm, "!bedheat" }, // PA19 Heater 0
{ TcOutput::none, PwmOutput::pwm0l1_b,AdcInput::none, PinCapability::wpwm, "!e0heat" }, // PA20 Heater 1
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA21 SPI bus 1 MISO
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA22 SPI bus 1 MOSI
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA23 SPI bus 1 SPCK
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "spi.cs5,duex.cs5,exp.50" }, // PA24 SPI bus 0 CS5
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA25 DIR_11 (was LCD_E)
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA26 HSMCI MCDA2
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA27 HSMCI MCDA3
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA28 HSMCI MCCDA
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA29 HSMCI MCCK
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA30 HSMCI MCDA0
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PA31 HSMCI MCDA1
// Port B
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB00 SPI0 MISO
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB01 SPI0 MOSI
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "spi.cs1" }, // PB02 SPI0 CS1
{ TcOutput::none, PwmOutput::none, AdcInput::adc1_1, PinCapability::none, nullptr }, // PB03 PWR_FAIL_DET1 Power fail detect 5V regulator input
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB04 TDI
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB05 TDO
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "exp.pb6,exp.29,duex.pb6" }, // PB06 (was SWDIO)
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB07 VssaSensePin (was SWCLK)
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB08 Crystal
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB09 Crystal
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB10 USB DDM
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB11 USB DDP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB12 Erase
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB13 SPI0 SPCK
{ TcOutput::none, PwmOutput::none, AdcInput::dac1, PinCapability::none, nullptr }, // PB14 DAC 1 (E1 motor current)
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB15 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB16 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB17 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB18 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB19 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB20 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB21 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB22 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB23 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB24 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB25 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB26 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB27 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB28 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB29 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB30 Not on chip
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PB31 Not on chip
// Port C
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_14, PinCapability::none, nullptr }, // PC00 E6_DIR
{ TcOutput::none, PwmOutput::none, AdcInput::adc1_4, PinCapability::ainr, "zprobe.in" }, // PC01 Z probe analog in
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::write, "zprobe.mod" }, // PC02 Z_PROBE_MOD Z probe mod and LED
{ TcOutput::none, PwmOutput::pwm0l3_b,AdcInput::none, PinCapability::wpwm, "exp.heater3,exp.8,!duex.e2heat,!duex.pwm1" }, // PC03 Heater 3
{ TcOutput::none, PwmOutput::none, AdcInput::adc1_7, PinCapability::none, nullptr }, // PC04 PWR_FAIL_DET2 Vin power fail detect
{ TcOutput::tioa6, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "exp.heater4,exp.13,!duex.e3heat,!duex.pwm2"}, // PC05 Heater 4
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PC06 ENN GlobalTmc2660EnablePin
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "connlcd.encb,connlcd.3" }, // PC07 Endstop 10 (was LCD ENC_B)
{ TcOutput::tioa7, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "exp.heater5,exp.18,!duex.e4heat,!duex.pwm3"}, // PC08 Heater 5
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PC09 Y_EN
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PC10 Z_EN
{ TcOutput::tioa8, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "exp.heater6,exp.23,!duex.e5heat,!duex.pwm4"}, // PC11 Heater 6
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_8, PinCapability::ainr, "e1temp" }, // PC12 Thermistor 2
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_6, PinCapability::ainr, "bedtemp" }, // PC13 Thermistor 0
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "xstop" }, // PC14 X_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_7, PinCapability::ainr, "e0temp" }, // PC15 Thermistor 1
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "e1stop" }, // PC16 E1_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PC17 E0_EN
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "spi.cs2" }, // PC18 SPI0_CS2
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "spi.cs3" }, // PC19 SPI0 CS3
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "spi.cs4" }, // PC20 SPI0 CS4
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PC21 SD_CD
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PC22 USB_PWR_MON
{ TcOutput::tioa3, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "fan0" }, // PC23 Fan 0
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PC24 SPI0_CS0
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PC25 E1_EN
{ TcOutput::tioa4, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "fan1" }, // PC26 Fan 1
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_13, PinCapability::ainr, "e5temp,duex.e5temp,exp.thermistor6,exp.38" }, // PC27 Thermistor 6
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PC28 EN_11 (was LCD_RS)
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_9, PinCapability::ainr, "e2temp,duex.e2temp,exp.thermistor3,exp.35" }, // PC29 Thermistor 3
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_10, PinCapability::ainr, "e3temp,duex.e3temp,exp.thermistor4,exp.36" }, // PC30 Thermistor 4
{ TcOutput::none, PwmOutput::none, AdcInput::adc0_11, PinCapability::ainr, "e4temp,duex.e4temp,exp.thermistor5,exp.37" }, // PC31 Thermistor 5
// PORT D
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD00 E4_STEP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD01 E3_STEP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD02 E2_STEP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD03 E5_STEP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD04 E1_STEP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD05 E0_STEP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD06 X_STEP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD07 Y_STEP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD08 Z_STEP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD09 E1_Dir
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "e0stop" }, // PD10 E0_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD11 X_Dir
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD12 Y_Dir
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD13 Z_Dir
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD14 X_EN
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::write, "pson" }, // PD15 PS_ON
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD16 E4_Dir
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD17 E5_Dir
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD18 EN_10 (was LCD DB7)
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD19 DIR_10 (was LCD DB6)
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD20 STEP 10 (was LCD DB5)
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD21 STEP_11 and LCD buzzer (was LCD DB4)
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD22 E3_Dir
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD23 E2_EN
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD24 E3_EN
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD25 E4_EN
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD26 E5_EN
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD27 E6_STEP Expansion PD27
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD28 E2_Dir
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "zstop" }, // PD29 Z_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD30 SAM_TFR_RDY
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PD31 ESP_DATA_RDY
// Port E
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "exp.e2stop,exp.4" }, // PE00 E2_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "exp.e3stop,exp.9,spi.cs6,duex.cs6" }, // PE01 E3_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "exp.e4stop,exp.14,spi.cs7,duex.cs7" }, // PE02 E4_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rw, "exp.e5stop,exp.19,spi.cs8,duex.cs8" }, // PE03 E5_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PE04 ESP_RST
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // PE05 ESP_EN
// Expansion Header 134-149
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "duex.e2stop" }, // E2_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "duex.e5stop" }, // E5_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "duex.e4stop" }, // E4_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "duex.e3stop" }, // E3_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "duex.fan7" }, // Fan 7
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "duex.fan6" }, // Fan 6
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "duex.fan5" }, // Fan 5
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "duex.fan4" }, // Fan 4
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "duex.gp4" }, // DueX GP4
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "duex.gp3" }, // DueX GP3
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "duex.gp2" }, // DueX GP2
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "duex.gp1" }, // DueX GP1
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "duex.fan3" }, // Fan 3
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::read, "duex.e6stop" }, // E6_STOP
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::none, nullptr }, // DUMMY 214
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::wpwm, "duex.fan8" }, // Fan 8
// SX1509B 150-166
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.0" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.1" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.2" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.3" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.4" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.5" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.6" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.7" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.8" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.9" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.10" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.11" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.12" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.13" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.14" },
{ TcOutput::none, PwmOutput::none, AdcInput::none, PinCapability::rwpwm, "sx1509b.15" },
};
constexpr unsigned int NumNamedPins = ARRAY_SIZE(PinTable);
static_assert(NumNamedPins == 32+32+32+32+6+16+16);
// Function to look up a pin name pass back the corresponding index into the pin table
bool LookupPinName(const char *pn, LogicalPin& lpin, bool& hardwareInverted) noexcept;
// USARTs used for SPI
constexpr Pin APIN_USART_SSPI_MOSI = PortBPin(1);
constexpr GpioPinFunction USARTSPIMosiPeriphMode = GpioPinFunction::C;
constexpr Pin APIN_USART_SSPI_MISO = PortBPin(0);
constexpr GpioPinFunction USARTSPIMisoPeriphMode = GpioPinFunction::C;
constexpr Pin APIN_USART_SSPI_SCK = PortBPin(13);
constexpr GpioPinFunction USARTSPISckPeriphMode = GpioPinFunction::C;
// SD Card
constexpr Pin HsmciClockPin = PortAPin(29);
constexpr Pin HsmciOtherPins[] = { PortAPin(28), PortAPin(30), PortAPin(31), PortAPin(26), PortAPin(27) };
constexpr auto HsmciPinsFunction = GpioPinFunction::C;
/*
* TWI Interfaces
*/
constexpr Pin TWI_Data = PortAPin(3);
constexpr Pin TWI_CK = PortAPin(4);
constexpr GpioPinFunction TWIPeriphMode = GpioPinFunction::A;
#define WIRE_INTERFACE TWI0
#define WIRE_INTERFACE_ID ID_TWI0
#define WIRE_ISR_HANDLER TWI0_Handler
#define WIRE_ISR_ID TWI0_IRQn
// Serial
constexpr Pin APIN_Serial0_RXD = PortAPin(9);
constexpr Pin APIN_Serial0_TXD = PortAPin(10);
constexpr GpioPinFunction Serial0PeriphMode = GpioPinFunction::A;
// Serial1
constexpr Pin APIN_Serial1_RXD = PortAPin(5);
constexpr Pin APIN_Serial1_TXD = PortAPin(6);
constexpr GpioPinFunction Serial1PeriphMode = GpioPinFunction::C;
// Duet pin numbers to control the WiFi interface on the Duet WiFi
#define ESP_SPI SPI
#define ESP_SPI_INTERFACE_ID ID_SPI
#define ESP_SPI_IRQn SPI_IRQn
#define ESP_SPI_HANDLER SPI_Handler
// Hardware IDs of the SPI transmit and receive DMA interfaces. See atsam datasheet.
const uint32_t DMA_HW_ID_SPI_TX = 1;
const uint32_t DMA_HW_ID_SPI_RX = 2;
constexpr Pin SPI_MOSI = PortAPin(13);
constexpr Pin SPI_MISO = PortAPin(12);
constexpr Pin SPI_SCK = PortAPin(14);
constexpr Pin SPI_SS0 = PortAPin(11);
constexpr GpioPinFunction SPIPeriphMode = GpioPinFunction::A;
constexpr Pin APIN_ESP_SPI_MOSI = SPI_MOSI;
constexpr Pin APIN_ESP_SPI_MISO = SPI_MISO;
constexpr Pin APIN_ESP_SPI_SCK = SPI_SCK;
constexpr Pin APIN_ESP_SPI_SS0 = SPI_SS0;
constexpr Pin EspResetPin = PortEPin(4); // Low on this in holds the WiFi module in reset (ESP_RESET)
constexpr Pin EspEnablePin = PortEPin(5); // High to enable the WiFi module, low to power it down (ESP_CH_PD)
constexpr Pin EspDataReadyPin = PortDPin(31); // Input from the WiFi module indicating that it wants to transfer data (ESP GPIO0)
constexpr Pin SamTfrReadyPin = PortDPin(30); // Output from the SAM to the WiFi module indicating we can accept a data transfer (ESP GPIO4 via 7474)
constexpr Pin SamCsPin = PortAPin(11); // SPI NPCS pin, input from WiFi module
// Duet pin numbers to control the W5500 interface on the Duet Ethernet
#define W5500_SPI SPI
#define W5500_SPI_INTERFACE_ID ID_SPI
#define W5500_SPI_IRQn SPI_IRQn
#define W5500_SPI_HANDLER SPI_Handler
constexpr Pin APIN_W5500_SPI_MOSI = SPI_MOSI;
constexpr Pin APIN_W5500_SPI_MISO = SPI_MISO;
constexpr Pin APIN_W5500_SPI_SCK = SPI_SCK;
constexpr Pin APIN_W5500_SPI_SS0 = SPI_SS0;
constexpr Pin W5500ResetPin = PortEPin(4); // Low on this in holds the W5500 module in reset (ESP_RESET)
constexpr Pin W5500InterruptPin = PortDPin(31); // W5500 interrupt output, active low
constexpr Pin W5500ModuleSensePin = PortAPin(5); // URXD1, tied to ground on the Ethernet module
constexpr Pin W5500SsPin = PortAPin(11); // SPI NPCS pin, input from W5500 module
// Duet pin numbers for the SBC interface
#define SBC_SPI SPI
#define SBC_SPI_INTERFACE_ID ID_SPI
#define SBC_SPI_IRQn SPI_IRQn
#define SBC_SPI_HANDLER SPI_Handler
constexpr Pin APIN_SBC_SPI_MOSI = SPI_MOSI;
constexpr Pin APIN_SBC_SPI_MISO = SPI_MISO;
constexpr Pin APIN_SBC_SPI_SCK = SPI_SCK;
constexpr Pin APIN_SBC_SPI_SS0 = SPI_SS0;
constexpr GpioPinFunction SBCPinPeriphMode = SPIPeriphMode;
constexpr Pin SbcTfrReadyPin = PortDPin(31);
// Timer allocation (no network timer on DuetNG)
// TC0 channel 0 is used for FAN2
// TC0 channel 1 is currently unused (may use it for a heater or a fan)
// TC0 channel 2 is available for us to use
#define STEP_TC (TC0)
#define STEP_TC_CHAN (2)
#define STEP_TC_IRQN TC2_IRQn
#define STEP_TC_HANDLER TC2_Handler
#define STEP_TC_ID ID_TC2
// DMA channel allocation
#if HAS_LINUX_INTERFACE
constexpr DmaChannel DmacChanSbcTx = 1;
constexpr DmaChannel DmacChanSbcRx = 2;
#endif
#if HAS_WIFI_NETWORKING
constexpr DmaChannel DmacChanWiFiTx = 1;
constexpr DmaChannel DmacChanWiFiRx = 2;
#endif
namespace StepPins
{
// *** These next three functions must use the same bit assignments in the drivers bitmap ***
// Each stepper driver must be assigned one bit in a 32-bit word, in such a way that multiple drivers can be stepped efficiently
// and more or less simultaneously by doing parallel writes to several bits in one or more output ports.
// All our step pins are on port D, so the bitmap is just the map of step bits in port D.
// Calculate the step bit for a driver. This doesn't need to be fast. It must return 0 if the driver is remote.
static inline uint32_t CalcDriverBitmap(size_t driver) noexcept
{
return (driver < NumDirectDrivers)
? 1u << (STEP_PINS[driver] & 0x1Fu)
: 0;
}
// Set the specified step pins high. This needs to be fast.
static inline __attribute__((always_inline)) void StepDriversHigh(uint32_t driverMap) noexcept
{
PIOD->PIO_SODR = driverMap; // on Duet WiFi/Ethernet all step pins are on port D
}
// Set all step pins low. This needs to be fast.
static inline __attribute__((always_inline)) void StepDriversLow(uint32_t driverMap) noexcept
{
PIOD->PIO_CODR = driverMap; // on Duet WiFi/Ethernet all step pins are on port D
}
}
#endif
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