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/*
* PortControl.cpp
*
* Created on: 15 Jun 2017
* Author: David
*/
#include "PortControl.h"
#include "GCodes/GCodeBuffer/GCodeBuffer.h"
#include "Movement/Move.h"
#include "Movement/DDA.h"
#include "Movement/StepTimer.h"
#if SUPPORT_IOBITS
PortControl::PortControl()
{
}
void PortControl::Init()
{
numConfiguredPorts = 0;
advanceMillis = 0;
advanceClocks = 0;
currentPortState = 0;
}
void PortControl::Exit()
{
UpdatePorts(0);
numConfiguredPorts = 0;
}
// Update the IO bits. Return the number of milliseconds before we need to be called again, or 0 to be called when movement restarts.
uint32_t PortControl::UpdatePorts()
{
if (numConfiguredPorts == 0)
{
return 0;
}
SetBasePriority(NvicPriorityStep);
const DDA * cdda = reprap.GetMove().GetMainDDARing().GetCurrentDDA();
if (cdda == nullptr)
{
// Movement has stopped, so turn all ports off
SetBasePriority(0);
UpdatePorts(0);
return 0;
}
// Find the DDA whose IO port bits we should set now
const uint32_t now = StepTimer::GetTimerTicks() + advanceClocks;
uint32_t moveEndTime = cdda->GetMoveStartTime();
DDA::DDAState st = cdda->GetState();
do
{
moveEndTime += cdda->GetClocksNeeded();
if ((int32_t)(moveEndTime - now) >= 0)
{
SetBasePriority(0);
UpdatePorts(cdda->GetIoBits());
return (moveEndTime - now + StepTimer::StepClockRate/1000 - 1)/(StepTimer::StepClockRate/1000);
}
cdda = cdda->GetNext();
st = cdda->GetState();
} while (st == DDA::executing || st == DDA::frozen);
SetBasePriority(0);
UpdatePorts(0);
return 0;
}
// Set up the GPIO ports returning true if error
bool PortControl::Configure(GCodeBuffer& gb, const StringRef& reply)
{
bool seen = false;
if (gb.Seen('C'))
{
seen = true;
UpdatePorts(0);
IoPort * portAddresses[MaxPorts];
PinAccess access[MaxPorts];
for (size_t i = 0; i < MaxPorts; ++i)
{
portAddresses[i] = &portMap[i];
access[i] = PinAccess::write0;
}
numConfiguredPorts = IoPort::AssignPorts(gb, reply, PinUsedBy::gpio, MaxPorts, portAddresses, access);
if (numConfiguredPorts == 0)
{
return true;
}
}
if (gb.Seen('T'))
{
seen = true;
advanceMillis = (unsigned int)constrain<int>(gb.GetIValue(), 0, 1000);
advanceClocks = (advanceMillis * (uint64_t)StepTimer::StepClockRate)/1000;
}
if (!seen)
{
reply.printf("Advance %ums, ", advanceMillis);
if (numConfiguredPorts == 0)
{
reply.cat("no port mapping configured");
}
else
{
reply.cat("ports");
for (size_t i = 0; i < numConfiguredPorts; ++i)
{
reply.cat(' ');
portMap[i].AppendPinName(reply);
}
}
}
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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