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Diffstat (limited to 'Marlin/src/HAL/DUE/fastio.h')
| -rw-r--r-- | Marlin/src/HAL/DUE/fastio.h | 565 |
1 files changed, 565 insertions, 0 deletions
diff --git a/Marlin/src/HAL/DUE/fastio.h b/Marlin/src/HAL/DUE/fastio.h new file mode 100644 index 0000000..f375cb6 --- /dev/null +++ b/Marlin/src/HAL/DUE/fastio.h @@ -0,0 +1,565 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <https://www.gnu.org/licenses/>. + * + */ +#pragma once + +/** + * Fast I/O Routines for SAM3X8E + * Use direct port manipulation to save scads of processor time. + * Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al. + */ + +/** + * Description: Fast IO functions for Arduino Due and compatible (SAM3X8E) + * + * For ARDUINO_ARCH_SAM + * Note the code here was specifically crafted by disassembling what GCC produces + * out of it, so GCC is able to optimize it out as much as possible to the least + * amount of instructions. Be very carefull if you modify them, as "clean code" + * leads to less efficient compiled code!! + */ + +#include <pins_arduino.h> + +#include "../../inc/MarlinConfigPre.h" + +/** + * Utility functions + */ + +// Due has 12 PWMs assigned to logical pins 2-13. +// 6, 7, 8 & 9 come from the PWM controller. The others come from the timers. +#define PWM_PIN(P) WITHIN(P, 2, 13) + +#ifndef MASK + #define MASK(PIN) _BV(PIN) +#endif + +/** + * Magic I/O routines + * + * Now you can simply SET_OUTPUT(STEP); WRITE(STEP, HIGH); WRITE(STEP, LOW); + * + * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/cpp/Stringification.html + */ + +// Read a pin +#define _READ(IO) bool(DIO ## IO ## _WPORT -> PIO_PDSR & MASK(DIO ## IO ## _PIN)) + +// Write to a pin +#define _WRITE(IO,V) do { \ + volatile Pio* port = (DIO ## IO ## _WPORT); \ + const uint32_t mask = MASK(DIO ## IO ## _PIN); \ + if (V) port->PIO_SODR = mask; \ + else port->PIO_CODR = mask; \ +}while(0) + +// Toggle a pin +#define _TOGGLE(IO) _WRITE(IO, !READ(IO)) + +#if MB(PRINTRBOARD_G2) + + #include "fastio/G2_pins.h" + + // Set pin as input + #define _SET_INPUT(IO) do{ \ + pmc_enable_periph_clk(G2_g_APinDescription[IO].ulPeripheralId); \ + PIO_Configure((DIO ## IO ## _WPORT), PIO_INPUT, MASK(DIO ## IO ## _PIN), 0); \ + }while(0) + + // Set pin as output + #define _SET_OUTPUT(IO) do{ \ + uint32_t mask = MASK(G2_g_APinDescription[IO].ulPeripheralId); \ + if ((PMC->PMC_PCSR0 & mask) != (mask)) PMC->PMC_PCER0 = mask; \ + volatile Pio* port = (DIO ## IO ## _WPORT); \ + mask = MASK(DIO ## IO ## _PIN); \ + if (_READ(IO)) port->PIO_SODR = mask; \ + else port->PIO_CODR = mask; \ + port->PIO_IDR = mask; \ + const uint32_t pin_config = G2_g_APinDescription[IO].ulPinConfiguration; \ + if (pin_config & PIO_PULLUP) port->PIO_PUER = mask; \ + else port->PIO_PUDR = mask; \ + if (pin_config & PIO_OPENDRAIN) port->PIO_MDER = mask; \ + else port->PIO_MDDR = mask; \ + port->PIO_PER = mask; \ + port->PIO_OER = mask; \ + g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT; \ + }while(0) + + /** + * Set pin as output with comments + * #define _SET_OUTPUT(IO) do{ \ + * uint32_t mask = MASK(G2_g_APinDescription[IO].ulPeripheralId); \ + * if ((PMC->PMC_PCSR0 & mask ) != (mask)) PMC->PMC_PCER0 = mask; \ // enable PIO clock if not already enabled + * + * volatile Pio* port = (DIO ## IO ## _WPORT); \ + * const uint32_t mask = MASK(DIO ## IO ## _PIN); \ + * if (_READ(IO)) port->PIO_SODR = mask; \ // set output to match input BEFORE setting direction or will glitch the output + * else port->PIO_CODR = mask; \ + * + * port->PIO_IDR = mask; \ // disable interrupt + * + * uint32_t pin_config = G2_g_APinDescription[IO].ulPinConfiguration; \ + * if (pin_config & PIO_PULLUP) pPio->PIO_PUER = mask; \ // enable pullup if necessary + * else pPio->PIO_PUDR = mask; \ + * + * if (pin_config & PIO_OPENDRAIN) port->PIO_MDER = mask; \ // Enable multi-drive if necessary + * else port->PIO_MDDR = mask; \ + * + * port->PIO_PER = mask; \ + * port->PIO_OER = mask; \ // set to output + * + * g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT; \ + * }while(0) + */ + +#else + + // Set pin as input + #define _SET_INPUT(IO) do{ \ + pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \ + PIO_Configure(digitalPinToPort(IO), PIO_INPUT, digitalPinToBitMask(IO), 0); \ + }while(0) + + // Set pin as output + #define _SET_OUTPUT(IO) do{ \ + pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \ + PIO_Configure(digitalPinToPort(IO), _READ(IO) ? PIO_OUTPUT_1 : PIO_OUTPUT_0, digitalPinToBitMask(IO), g_APinDescription[IO].ulPinConfiguration); \ + g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT; \ + }while(0) +#endif + +// Set pin as input with pullup mode +#define _PULLUP(IO,V) pinMode(IO, (V) ? INPUT_PULLUP : INPUT) + +// Read a pin (wrapper) +#define READ(IO) _READ(IO) + +// Write to a pin (wrapper) +#define WRITE(IO,V) _WRITE(IO,V) + +// Toggle a pin (wrapper) +#define TOGGLE(IO) _TOGGLE(IO) + +// Set pin as input (wrapper) +#define SET_INPUT(IO) _SET_INPUT(IO) +// Set pin as input with pullup (wrapper) +#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0) +// Set pin as input with pulldown (substitution) +#define SET_INPUT_PULLDOWN SET_INPUT + +// Set pin as output (wrapper) - reads the pin and sets the output to that value +#define SET_OUTPUT(IO) _SET_OUTPUT(IO) +// Set pin as PWM +#define SET_PWM SET_OUTPUT + +// Check if pin is an input +#define IS_INPUT(IO) ((digitalPinToPort(IO)->PIO_OSR & digitalPinToBitMask(IO)) == 0) +// Check if pin is an output +#define IS_OUTPUT(IO) ((digitalPinToPort(IO)->PIO_OSR & digitalPinToBitMask(IO)) != 0) + +// Shorthand +#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0) + +// digitalRead/Write wrappers +#define extDigitalRead(IO) digitalRead(IO) +#define extDigitalWrite(IO,V) digitalWrite(IO,V) + +/** + * Ports and functions + * Added as necessary or if I feel like it- not a comprehensive list! + */ + +// UART +#define RXD DIO0 +#define TXD DIO1 + +// TWI (I2C) +#define SCL DIO21 +#define SDA DIO20 + +/** + * pins + */ + +#define DIO0_PIN 8 +#define DIO0_WPORT PIOA + +#define DIO1_PIN 9 +#define DIO1_WPORT PIOA + +#define DIO2_PIN 25 +#define DIO2_WPORT PIOB + +#define DIO3_PIN 28 +#define DIO3_WPORT PIOC + +#define DIO4_PIN 26 +#define DIO4_WPORT PIOC + +#define DIO5_PIN 25 +#define DIO5_WPORT PIOC + +#define DIO6_PIN 24 +#define DIO6_WPORT PIOC + +#define DIO7_PIN 23 +#define DIO7_WPORT PIOC + +#define DIO8_PIN 22 +#define DIO8_WPORT PIOC + +#define DIO9_PIN 21 +#define DIO9_WPORT PIOC + +#define DIO10_PIN 29 +#define DIO10_WPORT PIOC + +#define DIO11_PIN 7 +#define DIO11_WPORT PIOD + +#define DIO12_PIN 8 +#define DIO12_WPORT PIOD + +#define DIO13_PIN 27 +#define DIO13_WPORT PIOB + +#define DIO14_PIN 4 +#define DIO14_WPORT PIOD + +#define DIO15_PIN 5 +#define DIO15_WPORT PIOD + +#define DIO16_PIN 13 +#define DIO16_WPORT PIOA + +#define DIO17_PIN 12 +#define DIO17_WPORT PIOA + +#define DIO18_PIN 11 +#define DIO18_WPORT PIOA + +#define DIO19_PIN 10 +#define DIO19_WPORT PIOA + +#define DIO20_PIN 12 +#define DIO20_WPORT PIOB + +#define DIO21_PIN 13 +#define DIO21_WPORT PIOB + +#define DIO22_PIN 26 +#define DIO22_WPORT PIOB + +#define DIO23_PIN 14 +#define DIO23_WPORT PIOA + +#define DIO24_PIN 15 +#define DIO24_WPORT PIOA + +#define DIO25_PIN 0 +#define DIO25_WPORT PIOD + +#define DIO26_PIN 1 +#define DIO26_WPORT PIOD + +#define DIO27_PIN 2 +#define DIO27_WPORT PIOD + +#define DIO28_PIN 3 +#define DIO28_WPORT PIOD + +#define DIO29_PIN 6 +#define DIO29_WPORT PIOD + +#define DIO30_PIN 9 +#define DIO30_WPORT PIOD + +#define DIO31_PIN 7 +#define DIO31_WPORT PIOA + +#define DIO32_PIN 10 +#define DIO32_WPORT PIOD + +#define DIO33_PIN 1 +#define DIO33_WPORT PIOC + +#if !MB(PRINTRBOARD_G2) // normal DUE pin mapping + + #define DIO34_PIN 2 + #define DIO34_WPORT PIOC + + #define DIO35_PIN 3 + #define DIO35_WPORT PIOC + + #define DIO36_PIN 4 + #define DIO36_WPORT PIOC + + #define DIO37_PIN 5 + #define DIO37_WPORT PIOC + + #define DIO38_PIN 6 + #define DIO38_WPORT PIOC + + #define DIO39_PIN 7 + #define DIO39_WPORT PIOC + + #define DIO40_PIN 8 + #define DIO40_WPORT PIOC + + #define DIO41_PIN 9 + #define DIO41_WPORT PIOC + +#endif // !PRINTRBOARD_G2 + +#define DIO42_PIN 19 +#define DIO42_WPORT PIOA + +#define DIO43_PIN 20 +#define DIO43_WPORT PIOA + +#define DIO44_PIN 19 +#define DIO44_WPORT PIOC + +#define DIO45_PIN 18 +#define DIO45_WPORT PIOC + +#define DIO46_PIN 17 +#define DIO46_WPORT PIOC + +#define DIO47_PIN 16 +#define DIO47_WPORT PIOC + +#define DIO48_PIN 15 +#define DIO48_WPORT PIOC + +#define DIO49_PIN 14 +#define DIO49_WPORT PIOC + +#define DIO50_PIN 13 +#define DIO50_WPORT PIOC + +#define DIO51_PIN 12 +#define DIO51_WPORT PIOC + +#define DIO52_PIN 21 +#define DIO52_WPORT PIOB + +#define DIO53_PIN 14 +#define DIO53_WPORT PIOB + +#define DIO54_PIN 16 +#define DIO54_WPORT PIOA + +#define DIO55_PIN 24 +#define DIO55_WPORT PIOA + +#define DIO56_PIN 23 +#define DIO56_WPORT PIOA + +#define DIO57_PIN 22 +#define DIO57_WPORT PIOA + +#define DIO58_PIN 6 +#define DIO58_WPORT PIOA + +#define DIO59_PIN 4 +#define DIO59_WPORT PIOA + +#define DIO60_PIN 3 +#define DIO60_WPORT PIOA + +#define DIO61_PIN 2 +#define DIO61_WPORT PIOA + +#define DIO62_PIN 17 +#define DIO62_WPORT PIOB + +#define DIO63_PIN 18 +#define DIO63_WPORT PIOB + +#define DIO64_PIN 19 +#define DIO64_WPORT PIOB + +#define DIO65_PIN 20 +#define DIO65_WPORT PIOB + +#define DIO66_PIN 15 +#define DIO66_WPORT PIOB + +#define DIO67_PIN 16 +#define DIO67_WPORT PIOB + +#define DIO68_PIN 1 +#define DIO68_WPORT PIOA + +#define DIO69_PIN 0 +#define DIO69_WPORT PIOA + +#define DIO70_PIN 17 +#define DIO70_WPORT PIOA + +#define DIO71_PIN 18 +#define DIO71_WPORT PIOA + +#define DIO72_PIN 30 +#define DIO72_WPORT PIOC + +#define DIO73_PIN 21 +#define DIO73_WPORT PIOA + +#define DIO74_PIN 25 +#define DIO74_WPORT PIOA + +#define DIO75_PIN 26 +#define DIO75_WPORT PIOA + +#define DIO76_PIN 27 +#define DIO76_WPORT PIOA + +#define DIO77_PIN 28 +#define DIO77_WPORT PIOA + +#define DIO78_PIN 23 +#define DIO78_WPORT PIOB + +#define DIO79_PIN 17 +#define DIO79_WPORT PIOA + +#define DIO80_PIN 12 +#define DIO80_WPORT PIOB + +#define DIO81_PIN 8 +#define DIO81_WPORT PIOA + +#define DIO82_PIN 11 +#define DIO82_WPORT PIOA + +#define DIO83_PIN 13 +#define DIO83_WPORT PIOA + +#define DIO84_PIN 4 +#define DIO84_WPORT PIOD + +#define DIO85_PIN 11 +#define DIO85_WPORT PIOB + +#define DIO86_PIN 21 +#define DIO86_WPORT PIOB + +#define DIO87_PIN 29 +#define DIO87_WPORT PIOA + +#define DIO88_PIN 15 +#define DIO88_WPORT PIOB + +#define DIO89_PIN 14 +#define DIO89_WPORT PIOB + +#define DIO90_PIN 1 +#define DIO90_WPORT PIOA + +#define DIO91_PIN 15 +#define DIO91_WPORT PIOB + +#ifdef ARDUINO_SAM_ARCHIM + + #define DIO92_PIN 11 + #define DIO92_WPORT PIOC + + #define DIO93_PIN 2 + #define DIO93_WPORT PIOB + + #define DIO94_PIN 1 + #define DIO94_WPORT PIOB + + #define DIO95_PIN 0 + #define DIO95_WPORT PIOB + + #define DIO96_PIN 10 + #define DIO96_WPORT PIOC + + #define DIO97_PIN 24 + #define DIO97_WPORT PIOB + + #define DIO98_PIN 7 + #define DIO98_WPORT PIOB + + #define DIO99_PIN 6 + #define DIO99_WPORT PIOB + + #define DIO100_PIN 8 + #define DIO100_WPORT PIOB + + #define DIO101_PIN 5 + #define DIO101_WPORT PIOB + + #define DIO102_PIN 4 + #define DIO102_WPORT PIOB + + #define DIO103_PIN 3 + #define DIO103_WPORT PIOB + + #define DIO104_PIN 20 + #define DIO104_WPORT PIOC + + #define DIO105_PIN 22 + #define DIO105_WPORT PIOB + + #define DIO106_PIN 27 + #define DIO106_WPORT PIOC + + #define DIO107_PIN 10 + #define DIO107_WPORT PIOB + + #define DIO108_PIN 9 + #define DIO108_WPORT PIOB + +#else // !ARDUINO_SAM_ARCHIM + + #define DIO92_PIN 5 + #define DIO92_WPORT PIOA + + #define DIO93_PIN 12 + #define DIO93_WPORT PIOB + + #define DIO94_PIN 22 + #define DIO94_WPORT PIOB + + #define DIO95_PIN 23 + #define DIO95_WPORT PIOB + + #define DIO96_PIN 24 + #define DIO96_WPORT PIOB + + #define DIO97_PIN 20 + #define DIO97_WPORT PIOC + + #define DIO98_PIN 27 + #define DIO98_WPORT PIOC + + #define DIO99_PIN 10 + #define DIO99_WPORT PIOC + + #define DIO100_PIN 11 + #define DIO100_WPORT PIOC + +#endif // !ARDUINO_SAM_ARCHIM |