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/*
* PortControl.cpp
*
* Created on: 15 Jun 2017
* Author: David
*/
#include "PortControl.h"
#include "GCodes/GCodeBuffer.h"
#include "Movement/Move.h"
#include "Movement/DDA.h"
#if SUPPORT_IOBITS
PortControl::PortControl()
{
}
void PortControl::Init()
{
numConfiguredPorts = 0;
advanceMillis = 0;
advanceClocks = 0;
currentPortState = 0;
}
void PortControl::Exit()
{
UpdatePorts(0);
numConfiguredPorts = 0;
}
void PortControl::Spin(bool full)
{
if (numConfiguredPorts != 0)
{
cpu_irq_disable();
const DDA * cdda = reprap.GetMove().GetCurrentDDA();
if (cdda == nullptr)
{
// Movement has stopped, so turn all ports off
cpu_irq_enable();
UpdatePorts(0);
}
else
{
const uint32_t now = Platform::GetInterruptClocks() + advanceClocks;
uint32_t moveEndTime = cdda->GetMoveStartTime();
DDA::DDAState st = cdda->GetState();
do
{
moveEndTime += cdda->GetClocksNeeded();
if ((int32_t)(moveEndTime - now) >= 0)
{
break;
}
cdda = cdda->GetNext();
st = cdda->GetState();
} while (st == DDA::executing || st == DDA::frozen);
cpu_irq_enable();
const IoBits_t bits = (st == DDA::executing || st == DDA::frozen || st == DDA::provisional) ? cdda->GetIoBits() : 0;
UpdatePorts(bits);
}
}
}
bool PortControl::Configure(GCodeBuffer& gb, const StringRef& reply)
{
bool seen = false;
if (gb.Seen('P'))
{
seen = true;
UpdatePorts(0);
numConfiguredPorts = 0;
uint32_t portNumbers[MaxPorts];
size_t numPorts = MaxPorts;
gb.GetUnsignedArray(portNumbers, numPorts, false);
for (size_t i = 0; i < numPorts; ++i)
{
const uint32_t pnum = portNumbers[i];
if (pnum > HighestLogicalPin)
{
reply.printf("Port number %ld out of range", pnum);
return true;
}
IoPort& pm = portMap[i];
if (!pm.Set((LogicalPin)pnum, PinAccess::write, false))
{
reply.printf("Port number %ld is not available", pnum);
return true;
}
pm.WriteDigital(false); // ensure the port is off
if (i >= numConfiguredPorts)
{
numConfiguredPorts = i + 1;
}
}
}
if (gb.Seen('T'))
{
seen = true;
advanceMillis = (unsigned int)constrain<int>(gb.GetIValue(), 0, 1000);
advanceClocks = (advanceMillis * (uint64_t)DDA::stepClockRate)/1000;
}
if (!seen)
{
reply.printf("Advance %ums, ", advanceMillis);
if (numConfiguredPorts == 0)
{
reply.cat("no port mapping configured");
}
else
{
reply.cat("port numbers");
for (size_t i = 0; i < numConfiguredPorts; ++i)
{
reply.catf(" %u", (unsigned int)portMap[i].GetLogicalPin());
}
}
}
return false;
}
void PortControl::UpdatePorts(IoBits_t newPortState)
{
if (newPortState != currentPortState)
{
const IoBits_t bitsToClear = currentPortState & ~newPortState;
const IoBits_t bitsToSet = newPortState & ~currentPortState;
for (size_t i = 0; i < numConfiguredPorts; ++i)
{
const IoBits_t mask = 1u << i;
if (bitsToClear & mask)
{
portMap[i].WriteDigital(false);
}
else if (bitsToSet & mask)
{
portMap[i].WriteDigital(true);
}
}
currentPortState = newPortState;
}
}
#endif
// End
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