diff options
Diffstat (limited to 'Marlin/src/HAL/DUE/fastio')
| -rw-r--r-- | Marlin/src/HAL/DUE/fastio/G2_PWM.cpp | 206 | ||||
| -rw-r--r-- | Marlin/src/HAL/DUE/fastio/G2_PWM.h | 78 | ||||
| -rw-r--r-- | Marlin/src/HAL/DUE/fastio/G2_pins.h | 278 |
3 files changed, 562 insertions, 0 deletions
diff --git a/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp b/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp new file mode 100644 index 0000000..d9fbabc --- /dev/null +++ b/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp @@ -0,0 +1,206 @@ +/** + * 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/>. + * + */ + +/** + * The PWM module is only used to generate interrupts at specified times. It + * is NOT used to directly toggle pins. The ISR writes to the pin assigned to + * that interrupt. + * + * All PWMs use the same repetition rate. The G2 needs about 10KHz min in order to + * not have obvious ripple on the Vref signals. + * + * The data structures are setup to minimize the computation done by the ISR which + * minimizes ISR execution time. Execution times are 0.8 to 1.1 microseconds. + * + * FIve PWM interrupt sources are used. Channel 0 sets the base period. All Vref + * signals are set active when this counter overflows and resets to zero. The compare + * values in channels 1-4 are set to give the desired duty cycle for that Vref pin. + * When counter 0 matches the compare value then that channel generates an interrupt. + * The ISR checks the source of the interrupt and sets the corresponding pin inactive. + * + * Some jitter in the Vref signal is OK so the interrupt priority is left at its default value. + */ + +#include "../../../inc/MarlinConfig.h" + +#if MB(PRINTRBOARD_G2) + +#include "G2_PWM.h" + +#if PIN_EXISTS(MOTOR_CURRENT_PWM_X) + #define G2_PWM_X 1 +#else + #define G2_PWM_X 0 +#endif +#if PIN_EXISTS(MOTOR_CURRENT_PWM_Y) + #define G2_PWM_Y 1 +#else + #define G2_PWM_Y 0 +#endif +#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + #define G2_PWM_Z 1 +#else + #define G2_PWM_Z 0 +#endif +#if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + #define G2_PWM_E 1 +#else + #define G2_PWM_E 0 +#endif +#define G2_MASK_X(V) (G2_PWM_X * (V)) +#define G2_MASK_Y(V) (G2_PWM_Y * (V)) +#define G2_MASK_Z(V) (G2_PWM_Z * (V)) +#define G2_MASK_E(V) (G2_PWM_E * (V)) + +volatile uint32_t *SODR_A = &PIOA->PIO_SODR, + *SODR_B = &PIOB->PIO_SODR, + *CODR_A = &PIOA->PIO_CODR, + *CODR_B = &PIOB->PIO_CODR; + +PWM_map ISR_table[NUM_PWMS] = PWM_MAP_INIT; + +void Stepper::digipot_init() { + + #if PIN_EXISTS(MOTOR_CURRENT_PWM_X) + OUT_WRITE(MOTOR_CURRENT_PWM_X_PIN, 0); // init pins + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y) + OUT_WRITE(MOTOR_CURRENT_PWM_Y_PIN, 0); + #endif + #if G2_PWM_Z + OUT_WRITE(MOTOR_CURRENT_PWM_Z_PIN, 0); + #endif + #if G2_PWM_E + OUT_WRITE(MOTOR_CURRENT_PWM_E_PIN, 0); + #endif + + #define WPKEY (0x50574D << 8) // “PWM” in ASCII + #define WPCMD_DIS_SW 0 // command to disable Write Protect SW + #define WPRG_ALL (PWM_WPCR_WPRG0 | PWM_WPCR_WPRG1 | PWM_WPCR_WPRG2 | PWM_WPCR_WPRG3 | PWM_WPCR_WPRG4 | PWM_WPCR_WPRG5) // all Write Protect Groups + + #define PWM_CLOCK_F F_CPU / 1000000UL // set clock to 1MHz + + PMC->PMC_PCER1 = PMC_PCER1_PID36; // enable PWM controller clock (disabled on power up) + + PWM->PWM_WPCR = WPKEY | WPRG_ALL | WPCMD_DIS_SW; // enable setting of all PWM registers + PWM->PWM_CLK = PWM_CLOCK_F; // enable CLK_A and set it to 1MHz, leave CLK_B disabled + PWM->PWM_CH_NUM[0].PWM_CMR = 0b1011; // set channel 0 to Clock A input & to left aligned + if (G2_PWM_X) PWM->PWM_CH_NUM[1].PWM_CMR = 0b1011; // set channel 1 to Clock A input & to left aligned + if (G2_PWM_Y) PWM->PWM_CH_NUM[2].PWM_CMR = 0b1011; // set channel 2 to Clock A input & to left aligned + if (G2_PWM_Z) PWM->PWM_CH_NUM[3].PWM_CMR = 0b1011; // set channel 3 to Clock A input & to left aligned + if (G2_PWM_E) PWM->PWM_CH_NUM[4].PWM_CMR = 0b1011; // set channel 4 to Clock A input & to left aligned + + PWM->PWM_CH_NUM[0].PWM_CPRD = PWM_PERIOD_US; // set channel 0 Period + + PWM->PWM_IER2 = PWM_IER1_CHID0; // generate interrupt when counter0 overflows + PWM->PWM_IER2 = PWM_IER2_CMPM0 + | G2_MASK_X(PWM_IER2_CMPM1) + | G2_MASK_Y(PWM_IER2_CMPM2) + | G2_MASK_Z(PWM_IER2_CMPM3) + | G2_MASK_E(PWM_IER2_CMPM4) + ; // generate interrupt on compare event + + if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 1 PWM inactive + if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[0])); // interrupt when counter0 == CMPV - used to set Motor 2 PWM inactive + if (G2_PWM_Z) PWM->PWM_CMP[3].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[1])); // interrupt when counter0 == CMPV - used to set Motor 3 PWM inactive + if (G2_PWM_E) PWM->PWM_CMP[4].PWM_CMPV = 0x010000000LL | G2_VREF_COUNT(G2_VREF(motor_current_setting[2])); // interrupt when counter0 == CMPV - used to set Motor 4 PWM inactive + + if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPM = 0x0001; // enable compare event + if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPM = 0x0001; // enable compare event + if (G2_PWM_Z) PWM->PWM_CMP[3].PWM_CMPM = 0x0001; // enable compare event + if (G2_PWM_E) PWM->PWM_CMP[4].PWM_CMPM = 0x0001; // enable compare event + + PWM->PWM_SCM = PWM_SCM_UPDM_MODE0 | PWM_SCM_SYNC0 + | G2_MASK_X(PWM_SCM_SYNC1) + | G2_MASK_Y(PWM_SCM_SYNC2) + | G2_MASK_Z(PWM_SCM_SYNC3) + | G2_MASK_E(PWM_SCM_SYNC4) + ; // sync 1-4 with 0, use mode 0 for updates + + PWM->PWM_ENA = PWM_ENA_CHID0 + | G2_MASK_X(PWM_ENA_CHID1) + | G2_MASK_Y(PWM_ENA_CHID2) + | G2_MASK_Z(PWM_ENA_CHID3) + | G2_MASK_E(PWM_ENA_CHID4) + ; // enable channels used by G2 + + PWM->PWM_IER1 = PWM_IER1_CHID0 + | G2_MASK_X(PWM_IER1_CHID1) + | G2_MASK_Y(PWM_IER1_CHID2) + | G2_MASK_Z(PWM_IER1_CHID3) + | G2_MASK_E(PWM_IER1_CHID4) + ; // enable interrupts for channels used by G2 + + NVIC_EnableIRQ(PWM_IRQn); // Enable interrupt handler + NVIC_SetPriority(PWM_IRQn, NVIC_EncodePriority(0, 10, 0)); // normal priority for PWM module (can stand some jitter on the Vref signals) +} + +void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) { + + if (!(PWM->PWM_CH_NUM[0].PWM_CPRD == PWM_PERIOD_US)) digipot_init(); // Init PWM system if needed + + switch (driver) { + case 0: + if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update X & Y + if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); + if (G2_PWM_X) PWM->PWM_CMP[1].PWM_CMPMUPD = 0x0001; // enable compare event + if (G2_PWM_Y) PWM->PWM_CMP[2].PWM_CMPMUPD = 0x0001; // enable compare event + if (G2_PWM_X || G2_PWM_Y) PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle + break; + case 1: + if (G2_PWM_Z) { + PWM->PWM_CMP[3].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update Z + PWM->PWM_CMP[3].PWM_CMPMUPD = 0x0001; // enable compare event + PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle + } + break; + default: + if (G2_PWM_E) { + PWM->PWM_CMP[4].PWM_CMPVUPD = 0x010000000LL | G2_VREF_COUNT(G2_VREF(current)); // update E + PWM->PWM_CMP[4].PWM_CMPMUPD = 0x0001; // enable compare event + PWM->PWM_SCUC = PWM_SCUC_UPDULOCK; // tell the PWM controller to update the values on the next cycle + } + break; + } +} + +volatile uint32_t PWM_ISR1_STATUS, PWM_ISR2_STATUS; + +void PWM_Handler() { + PWM_ISR1_STATUS = PWM->PWM_ISR1; + PWM_ISR2_STATUS = PWM->PWM_ISR2; + if (PWM_ISR1_STATUS & PWM_IER1_CHID0) { // CHAN_0 interrupt + if (G2_PWM_X) *ISR_table[0].set_register = ISR_table[0].write_mask; // set X to active + if (G2_PWM_Y) *ISR_table[1].set_register = ISR_table[1].write_mask; // set Y to active + if (G2_PWM_Z) *ISR_table[2].set_register = ISR_table[2].write_mask; // set Z to active + if (G2_PWM_E) *ISR_table[3].set_register = ISR_table[3].write_mask; // set E to active + } + else { + if (G2_PWM_X && (PWM_ISR2_STATUS & PWM_IER2_CMPM1)) *ISR_table[0].clr_register = ISR_table[0].write_mask; // set X to inactive + if (G2_PWM_Y && (PWM_ISR2_STATUS & PWM_IER2_CMPM2)) *ISR_table[1].clr_register = ISR_table[1].write_mask; // set Y to inactive + if (G2_PWM_Z && (PWM_ISR2_STATUS & PWM_IER2_CMPM3)) *ISR_table[2].clr_register = ISR_table[2].write_mask; // set Z to inactive + if (G2_PWM_E && (PWM_ISR2_STATUS & PWM_IER2_CMPM4)) *ISR_table[3].clr_register = ISR_table[3].write_mask; // set E to inactive + } + return; +} + +#endif // PRINTRBOARD_G2 diff --git a/Marlin/src/HAL/DUE/fastio/G2_PWM.h b/Marlin/src/HAL/DUE/fastio/G2_PWM.h new file mode 100644 index 0000000..dc4edff --- /dev/null +++ b/Marlin/src/HAL/DUE/fastio/G2_PWM.h @@ -0,0 +1,78 @@ +/** + * 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 + +/** + * This module is stripped down version of the LPC1768_PWM.h file from + * PR #7500. It is hardwired for the PRINTRBOARD_G2 Motor Current needs. + */ + +#include "../../../inc/MarlinConfigPre.h" +#include "../../../module/stepper.h" +//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\module\stepper.h +//C:\Users\bobku\Documents\GitHub\Marlin-Bob-2\Marlin\src\HAL\HAL_DUE\G2_PWM.h + +#define PWM_PERIOD_US 100 // base repetition rate in micro seconds + +typedef struct { // holds the data needed by the ISR to control the Vref pin + volatile uint32_t* set_register; + volatile uint32_t* clr_register; + uint32_t write_mask; +} PWM_map; + +#define G2_VREF(I) (uint32_t)(I * 5 * 0.15) // desired Vref * 1000 (scaled so don't loose accuracy in next step) + +#define G2_VREF_COUNT(Q) (uint32_t)map(constrain(Q, 500, 3.3 * 1000), 0, 3.3 * 1000, 0, PWM_PERIOD_US) // under 500 the results are very non-linear + +extern volatile uint32_t *SODR_A, *SODR_B, *CODR_A, *CODR_B; + +#define _PIN(IO) (DIO ## IO ## _PIN) + +#define PWM_MAP_INIT_ROW(IO,ZZ) { ZZ == 'A' ? SODR_A : SODR_B, ZZ == 'A' ? CODR_A : CODR_B, 1 << _PIN(IO) } + + +#define PWM_MAP_INIT { PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_X_PIN, 'B'), \ + PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_Y_PIN, 'B'), \ + PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_Z_PIN, 'B'), \ + PWM_MAP_INIT_ROW(MOTOR_CURRENT_PWM_E_PIN, 'A'), \ + }; + +#define NUM_PWMS 4 + +extern PWM_map ISR_table[NUM_PWMS]; + +extern uint32_t motor_current_setting[3]; + +#define IR_BIT(p) (WITHIN(p, 0, 3) ? (p) : (p) + 4) +#define COPY_ACTIVE_TABLE() do{ LOOP_L_N(i, 6) work_table[i] = active_table[i]; }while(0) + +#define PWM_MR0 19999 // base repetition rate minus one count - 20mS +#define PWM_PR 24 // prescaler value - prescaler divide by 24 + 1 - 1 MHz output +#define PWM_PCLKSEL0 0x00 // select clock source for prescaler - defaults to 25MHz on power up + // 0: 25MHz, 1: 100MHz, 2: 50MHz, 3: 12.5MHZ to PWM1 prescaler +#define MR0_MARGIN 200 // if channel value too close to MR0 the system locks up + +extern bool PWM_table_swap; // flag to tell the ISR that the tables have been swapped + +#define HAL_G2_PWM_ISR void PWM_Handler() + +extern volatile uint32_t PWM_ISR1_STATUS, PWM_ISR2_STATUS; diff --git a/Marlin/src/HAL/DUE/fastio/G2_pins.h b/Marlin/src/HAL/DUE/fastio/G2_pins.h new file mode 100644 index 0000000..80c87bd --- /dev/null +++ b/Marlin/src/HAL/DUE/fastio/G2_pins.h @@ -0,0 +1,278 @@ +/** + * 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 + +#include <stdint.h> + +/** + * This file contains the custom port/pin definitions for the PRINTRBOARD_G2 + * motherboard. This motherboard uses the SAM3X8C which is a subset of the + * SAM3X8E used in the DUE board. It uses port/pin pairs that are not + * available using the DUE definitions. + * + * The first part is a copy of the pin descriptions in the + * "variants\arduino_due_x\variant.cpp" file but with pins 34-41 replaced by + * the G2 pins. + * + * The second part is the FASTIO port/pin definitions. + * + * THESE PINS CAN ONLY BE ACCESSED VIA FASTIO COMMANDS. + */ + +/* + Copyright (c) 2011 Arduino. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library 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 Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +typedef struct _G2_PinDescription { + Pio* pPort; + uint32_t ulPin; + uint32_t ulPeripheralId; + EPioType ulPinType; + uint32_t ulPinConfiguration; + uint32_t ulPinAttribute; + EAnalogChannel ulAnalogChannel; /* Analog pin in the Arduino context (label on the board) */ + EAnalogChannel ulADCChannelNumber; /* ADC Channel number in the SAM device */ + EPWMChannel ulPWMChannel; + ETCChannel ulTCChannel; +} G2_PinDescription; + +/** + * This section is a copy of the pin descriptions in the "variants\arduino_due_x\variant.cpp" file + * with pins 34-41 replaced by the G2 pins. + */ + +/** + * Pins descriptions + */ +const G2_PinDescription G2_g_APinDescription[] = { + // 0 .. 53 - Digital pins + // ---------------------- + // 0/1 - UART (Serial) + { PIOA, PIO_PA8A_URXD, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // URXD + { PIOA, PIO_PA9A_UTXD, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // UTXD + + // 2 + { PIOB, PIO_PB25B_TIOA0, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM, TC0_CHA0 }, // TIOA0 + { PIOC, PIO_PC28B_TIOA7, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM, TC2_CHA7 }, // TIOA7 + { PIOC, PIO_PC26B_TIOB6, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM, TC2_CHB6 }, // TIOB6 + + // 5 + { PIOC, PIO_PC25B_TIOA6, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM, TC2_CHA6 }, // TIOA6 + { PIOC, PIO_PC24B_PWML7, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_PWM), NO_ADC, NO_ADC, PWM_CH7, NOT_ON_TIMER }, // PWML7 + { PIOC, PIO_PC23B_PWML6, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_PWM), NO_ADC, NO_ADC, PWM_CH6, NOT_ON_TIMER }, // PWML6 + { PIOC, PIO_PC22B_PWML5, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_PWM), NO_ADC, NO_ADC, PWM_CH5, NOT_ON_TIMER }, // PWML5 + { PIOC, PIO_PC21B_PWML4, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_PWM), NO_ADC, NO_ADC, PWM_CH4, NOT_ON_TIMER }, // PWML4 + // 10 + { PIOC, PIO_PC29B_TIOB7, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM, TC2_CHB7 }, // TIOB7 + { PIOD, PIO_PD7B_TIOA8, ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM, TC2_CHA8 }, // TIOA8 + { PIOD, PIO_PD8B_TIOB8, ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM, TC2_CHB8 }, // TIOB8 + + // 13 - AMBER LED + { PIOB, PIO_PB27B_TIOB0, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_TIMER), NO_ADC, NO_ADC, NOT_ON_PWM, TC0_CHB0 }, // TIOB0 + + // 14/15 - USART3 (Serial3) + { PIOD, PIO_PD4B_TXD3, ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // TXD3 + { PIOD, PIO_PD5B_RXD3, ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // RXD3 + + // 16/17 - USART1 (Serial2) + { PIOA, PIO_PA13A_TXD1, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // TXD1 + { PIOA, PIO_PA12A_RXD1, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // RXD1 + + // 18/19 - USART0 (Serial1) + { PIOA, PIO_PA11A_TXD0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // TXD0 + { PIOA, PIO_PA10A_RXD0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // RXD0 + + // 20/21 - TWI1 + { PIOB, PIO_PB12A_TWD1, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // TWD1 - SDA0 + { PIOB, PIO_PB13A_TWCK1, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // TWCK1 - SCL0 + + // 22 + { PIOB, PIO_PB26, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 22 + { PIOA, PIO_PA14, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 23 + { PIOA, PIO_PA15, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 24 + { PIOD, PIO_PD0, ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 25 + + // 26 + { PIOD, PIO_PD1, ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 26 + { PIOD, PIO_PD2, ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 27 + { PIOD, PIO_PD3, ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 28 + { PIOD, PIO_PD6, ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 29 + + // 30 + { PIOD, PIO_PD9, ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 30 + { PIOA, PIO_PA7, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 31 + { PIOD, PIO_PD10, ID_PIOD, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 32 + { PIOC, PIO_PC1, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 33 + + // 34 + + // start of custom pins + { PIOA, PIO_PA29, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 34 Y_STEP_PIN + { PIOB, PIO_PB1, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 35 Y_DIR_PIN + { PIOB, PIO_PB0, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 36 Y_ENABLE_PIN + { PIOB, PIO_PB22, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 37 E0_ENABLE_PIN + { PIOB, PIO_PB11, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 38 E0_MS1_PIN + { PIOB, PIO_PB10, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 39 E0_MS3_PIN + { PIOA, PIO_PA5, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 40 HEATER_0_PIN + { PIOB, PIO_PB24, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 41 HEATER_BED_PIN + // end of custom pins + + // 42 + { PIOA, PIO_PA19, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 42 + { PIOA, PIO_PA20, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 43 + { PIOC, PIO_PC19, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 44 + { PIOC, PIO_PC18, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 45 + + // 46 + { PIOC, PIO_PC17, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 46 + { PIOC, PIO_PC16, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 47 + { PIOC, PIO_PC15, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 48 + { PIOC, PIO_PC14, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 49 + + // 50 + { PIOC, PIO_PC13, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 50 + { PIOC, PIO_PC12, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 51 + { PIOB, PIO_PB21, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 52 + { PIOB, PIO_PB14, ID_PIOB, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // PIN 53 + + + // 54 .. 65 - Analog pins + // ---------------------- + { PIOA, PIO_PA16X1_AD7, ID_PIOA, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC0, ADC7, NOT_ON_PWM, NOT_ON_TIMER }, // AD0 + { PIOA, PIO_PA24X1_AD6, ID_PIOA, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC1, ADC6, NOT_ON_PWM, NOT_ON_TIMER }, // AD1 + { PIOA, PIO_PA23X1_AD5, ID_PIOA, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC2, ADC5, NOT_ON_PWM, NOT_ON_TIMER }, // AD2 + { PIOA, PIO_PA22X1_AD4, ID_PIOA, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC3, ADC4, NOT_ON_PWM, NOT_ON_TIMER }, // AD3 + // 58 + { PIOA, PIO_PA6X1_AD3, ID_PIOA, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC4, ADC3, NOT_ON_PWM, TC0_CHB2 }, // AD4 + { PIOA, PIO_PA4X1_AD2, ID_PIOA, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC5, ADC2, NOT_ON_PWM, NOT_ON_TIMER }, // AD5 + { PIOA, PIO_PA3X1_AD1, ID_PIOA, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC6, ADC1, NOT_ON_PWM, TC0_CHB1 }, // AD6 + { PIOA, PIO_PA2X1_AD0, ID_PIOA, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC7, ADC0, NOT_ON_PWM, TC0_CHA1 }, // AD7 + // 62 + { PIOB, PIO_PB17X1_AD10, ID_PIOB, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC8, ADC10, NOT_ON_PWM, NOT_ON_TIMER }, // AD8 + { PIOB, PIO_PB18X1_AD11, ID_PIOB, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC9, ADC11, NOT_ON_PWM, NOT_ON_TIMER }, // AD9 + { PIOB, PIO_PB19X1_AD12, ID_PIOB, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC10, ADC12, NOT_ON_PWM, NOT_ON_TIMER }, // AD10 + { PIOB, PIO_PB20X1_AD13, ID_PIOB, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC11, ADC13, NOT_ON_PWM, NOT_ON_TIMER }, // AD11 + + // 66/67 - DAC0/DAC1 + { PIOB, PIO_PB15X1_DAC0, ID_PIOB, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC12, DA0, NOT_ON_PWM, NOT_ON_TIMER }, // DAC0 + { PIOB, PIO_PB16X1_DAC1, ID_PIOB, PIO_INPUT, PIO_DEFAULT, PIN_ATTR_ANALOG, ADC13, DA1, NOT_ON_PWM, NOT_ON_TIMER }, // DAC1 + + // 68/69 - CANRX0/CANTX0 + { PIOA, PIO_PA1A_CANRX0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, ADC14, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // CANRX + { PIOA, PIO_PA0A_CANTX0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, ADC15, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // CANTX + + // 70/71 - TWI0 + { PIOA, PIO_PA17A_TWD0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // TWD0 - SDA1 + { PIOA, PIO_PA18A_TWCK0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // TWCK0 - SCL1 + + // 72/73 - LEDs + { PIOC, PIO_PC30, ID_PIOC, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // LED AMBER RXL + { PIOA, PIO_PA21, ID_PIOA, PIO_OUTPUT_0, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // LED AMBER TXL + + // 74/75/76 - SPI + { PIOA, PIO_PA25A_SPI0_MISO,ID_PIOA,PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // MISO + { PIOA, PIO_PA26A_SPI0_MOSI,ID_PIOA,PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // MOSI + { PIOA, PIO_PA27A_SPI0_SPCK,ID_PIOA,PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // SPCK + + // 77 - SPI CS0 + { PIOA, PIO_PA28A_SPI0_NPCS0,ID_PIOA,PIO_PERIPH_A,PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // NPCS0 + + // 78 - SPI CS3 (unconnected) + { PIOB, PIO_PB23B_SPI0_NPCS3,ID_PIOB,PIO_PERIPH_B,PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // NPCS3 + + // 79 .. 84 - "All pins" masks + + // 79 - TWI0 all pins + { PIOA, PIO_PA17A_TWD0|PIO_PA18A_TWCK0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, + // 80 - TWI1 all pins + { PIOB, PIO_PB12A_TWD1|PIO_PB13A_TWCK1, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, + // 81 - UART (Serial) all pins + { PIOA, PIO_PA8A_URXD|PIO_PA9A_UTXD, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, + // 82 - USART0 (Serial1) all pins + { PIOA, PIO_PA11A_TXD0|PIO_PA10A_RXD0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, + // 83 - USART1 (Serial2) all pins + { PIOA, PIO_PA13A_TXD1|PIO_PA12A_RXD1, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, + // 84 - USART3 (Serial3) all pins + { PIOD, PIO_PD4B_TXD3|PIO_PD5B_RXD3, ID_PIOD, PIO_PERIPH_B, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, + + // 85 - USB + { PIOB, PIO_PB11A_UOTGID|PIO_PB10A_UOTGVBOF, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL,NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // ID - VBOF + + // 86 - SPI CS2 + { PIOB, PIO_PB21B_SPI0_NPCS2, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // NPCS2 + + // 87 - SPI CS1 + { PIOA, PIO_PA29A_SPI0_NPCS1, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // NPCS1 + + // 88/89 - CANRX1/CANTX1 (same physical pin for 66/53) + { PIOB, PIO_PB15A_CANRX1, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // CANRX1 + { PIOB, PIO_PB14A_CANTX1, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, PIN_ATTR_DIGITAL, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, // CANTX1 + + // 90 .. 91 - "All CAN pins" masks + // 90 - CAN0 all pins + { PIOA, PIO_PA1A_CANRX0|PIO_PA0A_CANTX0, ID_PIOA, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, + // 91 - CAN1 all pins + { PIOB, PIO_PB15A_CANRX1|PIO_PB14A_CANTX1, ID_PIOB, PIO_PERIPH_A, PIO_DEFAULT, (PIN_ATTR_DIGITAL|PIN_ATTR_COMBO), NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER }, + + // END + { nullptr, 0, 0, PIO_NOT_A_PIN, PIO_DEFAULT, 0, NO_ADC, NO_ADC, NOT_ON_PWM, NOT_ON_TIMER } +}; + +// This section replaces the FASTIO definitions of pins 34-41 + +#define DIO34_PIN 29 +#define DIO34_WPORT PIOA // only available via FASTIO // 34 PA29 - Y_STEP_PIN + +#define DIO35_PIN 1 +#define DIO35_WPORT PIOB // only available via FASTIO // 35 PAB1 - Y_DIR_PIN + +#define DIO36_PIN 0 +#define DIO36_WPORT PIOB // only available via FASTIO // 36 PB0 - Y_ENABLE_PIN + +#define DIO37_PIN 22 +#define DIO37_WPORT PIOB // only available via FASTIO // 37 PB22 - E0_ENABLE_PIN + +#define DIO38_PIN 11 +#define DIO38_WPORT PIOB // only available via FASTIO // 38 PB11 - E0_MS1_PIN + +#define DIO39_PIN 10 +#define DIO39_WPORT PIOB // only available via FASTIO // 39 PB10 - E0_MS3_PIN + +#define DIO40_PIN 5 +#define DIO40_WPORT PIOA // only available via FASTIO // 40 PA5 - HEATER_0_PIN + +#define DIO41_PIN 24 +#define DIO41_WPORT PIOB // only available via FASTIO // 41 PB24 - HEATER_BED_PIN |