1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
|
/*
* GpOutPort.cpp
*
* Created on: 11 Feb 2020
* Author: David
*/
#include "GpOutPort.h"
#include <GCodes/GCodeBuffer/GCodeBuffer.h>
#include <Platform/RepRap.h>
#include <Platform/Platform.h>
#if SUPPORT_CAN_EXPANSION
# include <CAN/CanInterface.h>
# include <CAN/CanMessageGenericConstructor.h>
# include <CanMessageGenericTables.h>
#endif
#if SUPPORT_REMOTE_COMMANDS
# include <CanMessageGenericParser.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 == CanInterface::GetCanAddress() &&
#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 != CanInterface::GetCanAddress())
{
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 = CanInterface::GetCanAddress();
}
#endif
port.Release();
if (!seenFreq)
{
freq = (isServo) ? ServoRefreshFrequency : DefaultPinWritePwmFreq;
}
GCodeResult rslt;
#if SUPPORT_CAN_EXPANSION
boardAddress = IoPort::RemoveBoardAddress(pinName.GetRef());
if (boardAddress != CanInterface::GetCanAddress())
{
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 != CanInterface::GetCanAddress())
{
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 != CanInterface::GetCanAddress())
{
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 != CanInterface::GetCanAddress())
{
return CanInterface::WriteGpio(boardAddress, gpioPortNumber, pwm, isServo, &gb, reply);
}
#endif
port.WriteAnalog(pwm);
return GCodeResult::ok;
}
#if SUPPORT_REMOTE_COMMANDS
GCodeResult GpOutputPort::AssignFromRemote(uint32_t gpioPortNumber, const CanMessageGenericParser& parser, const StringRef& reply) noexcept
{
bool isServo;
if (!parser.GetBoolParam('S', isServo))
{
isServo = false;
}
PwmFrequency freq;
const bool seenFreq = parser.GetUintParam('Q', freq);
if (!seenFreq)
{
freq = (isServo) ? ServoRefreshFrequency : DefaultPinWritePwmFreq;
}
String<StringLength50> pinName;
if (parser.GetStringParam('C', pinName.GetRef()))
{
// Creating or destroying a port
boardAddress = CanInterface::GetCanAddress();
const bool ok = port.AssignPort(pinName.c_str(), reply, PinUsedBy::gpout, (isServo) ? PinAccess::servo : PinAccess::pwm);
if (ok && port.IsValid())
{
port.SetFrequency(freq);
}
return (ok) ? GCodeResult::ok : GCodeResult::error;
}
else
{
// Changing frequency, or reporting on a port
if (!port.IsValid() || boardAddress != CanInterface::GetCanAddress())
{
reply.printf("Board %u does not have GPIO/servo port %" PRIu32, CanInterface::GetCanAddress(), gpioPortNumber);
return GCodeResult::error;
}
if (seenFreq)
{
port.SetFrequency(freq);
}
else
{
reply.printf("GPIO/servo port %" PRIu32, gpioPortNumber);
port.AppendDetails(reply);
}
return GCodeResult::ok;
}
}
void GpOutputPort::WriteAnalog(float pwm) noexcept
{
if (boardAddress == CanInterface::GetCanAddress())
{
lastPwm = pwm;
port.WriteAnalog(pwm);
}
}
#endif
#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
|
