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klipper/klippy/pins.py

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# Pin name to pin number definitions
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import re
######################################################################
# Hardware pin names
######################################################################
def port_pins(port_count, bit_count=8):
pins = {}
for port in range(port_count):
portchr = chr(65 + port)
if portchr == 'I':
continue
for portbit in range(bit_count):
pins['P%c%d' % (portchr, portbit)] = port * bit_count + portbit
return pins
def named_pins(fmt, port_count, bit_count=32):
return { fmt % (port, portbit) : port * bit_count + portbit
for port in range(port_count)
for portbit in range(bit_count) }
def beaglebone_pins():
gpios = named_pins("gpio%d_%d", 4)
gpios.update({"AIN%d" % i: i+4*32 for i in range(8)})
return gpios
MCU_PINS = {
"atmega168": port_pins(4), "atmega328": port_pins(4),
"atmega644p": port_pins(4), "at90usb1286": port_pins(6),
"atmega1280": port_pins(12), "atmega2560": port_pins(12),
"sam3x8e": port_pins(4, 32),
"pru": beaglebone_pins(),
}
######################################################################
# Arduino mappings
######################################################################
Arduino_standard = [
"PD0", "PD1", "PD2", "PD3", "PD4", "PD5", "PD6", "PD7", "PB0", "PB1",
"PB2", "PB3", "PB4", "PB5", "PC0", "PC1", "PC2", "PC3", "PC4", "PC5",
]
Arduino_analog_standard = [
"PC0", "PC1", "PC2", "PC3", "PC4", "PC5", "PE0", "PE1",
]
Arduino_mega = [
"PE0", "PE1", "PE4", "PE5", "PG5", "PE3", "PH3", "PH4", "PH5", "PH6",
"PB4", "PB5", "PB6", "PB7", "PJ1", "PJ0", "PH1", "PH0", "PD3", "PD2",
"PD1", "PD0", "PA0", "PA1", "PA2", "PA3", "PA4", "PA5", "PA6", "PA7",
"PC7", "PC6", "PC5", "PC4", "PC3", "PC2", "PC1", "PC0", "PD7", "PG2",
"PG1", "PG0", "PL7", "PL6", "PL5", "PL4", "PL3", "PL2", "PL1", "PL0",
"PB3", "PB2", "PB1", "PB0", "PF0", "PF1", "PF2", "PF3", "PF4", "PF5",
"PF6", "PF7", "PK0", "PK1", "PK2", "PK3", "PK4", "PK5", "PK6", "PK7",
]
Arduino_analog_mega = [
"PF0", "PF1", "PF2", "PF3", "PF4", "PF5",
"PF6", "PF7", "PK0", "PK1", "PK2", "PK3", "PK4", "PK5", "PK6", "PK7",
]
Sanguino = [
"PB0", "PB1", "PB2", "PB3", "PB4", "PB5", "PB6", "PB7", "PD0", "PD1",
"PD2", "PD3", "PD4", "PD5", "PD6", "PD7", "PC0", "PC1", "PC2", "PC3",
"PC4", "PC5", "PC6", "PC7", "PA0", "PA1", "PA2", "PA3", "PA4", "PA5",
"PA6", "PA7"
]
Sanguino_analog = [
"PA0", "PA1", "PA2", "PA3", "PA4", "PA5", "PA6", "PA7"
]
Arduino_Due = [
"PA8", "PA9", "PB25", "PC28", "PA29", "PC25", "PC24", "PC23", "PC22", "PC21",
"PA28", "PD7", "PD8", "PB27", "PD4", "PD5", "PA13", "PA12", "PA11", "PA10",
"PB12", "PB13", "PB26", "PA14", "PA15", "PD0", "PD1", "PD2", "PD3", "PD6",
"PD9", "PA7", "PD10", "PC1", "PC2", "PC3", "PC4", "PC5", "PC6", "PC7",
"PC8", "PC9", "PA19", "PA20", "PC19", "PC18", "PC17", "PC16", "PC15", "PC14",
"PC13", "PC12", "PB21", "PB14", "PA16", "PA24", "PA23", "PA22", "PA6", "PA4",
"PA3", "PA2", "PB17", "PB18", "PB19", "PB20", "PB15", "PB16", "PA1", "PA0",
"PA17", "PA18", "PC30", "PA21", "PA25", "PA26", "PA27", "PA28", "PB23"
]
Arduino_Due_analog = [
"PA16", "PA24", "PA23", "PA22", "PA6", "PA4", "PA3", "PA2", "PB17", "PB18",
"PB19", "PB20"
]
Arduino_from_mcu = {
"atmega168": (Arduino_standard, Arduino_analog_standard),
"atmega644p": (Sanguino, Sanguino_analog),
"atmega1280": (Arduino_mega, Arduino_analog_mega),
"atmega2560": (Arduino_mega, Arduino_analog_mega),
"sam3x8e": (Arduino_Due, Arduino_Due_analog),
}
def update_map_arduino(pins, mcu):
dpins, apins = Arduino_from_mcu.get(mcu, ([], []))
for i in range(len(dpins)):
pins['ar' + str(i)] = pins[dpins[i]]
for i in range(len(apins)):
pins['analog%d' % (i,)] = pins[apins[i]]
######################################################################
# Beaglebone mappings
######################################################################
beagleboneblack_mappings = {
'P8_3': 'gpio1_6', 'P8_4': 'gpio1_7', 'P8_5': 'gpio1_2',
'P8_6': 'gpio1_3', 'P8_7': 'gpio2_2', 'P8_8': 'gpio2_3',
'P8_9': 'gpio2_5', 'P8_10': 'gpio2_4', 'P8_11': 'gpio1_13',
'P8_12': 'gpio1_12', 'P8_13': 'gpio0_23', 'P8_14': 'gpio0_26',
'P8_15': 'gpio1_15', 'P8_16': 'gpio1_14', 'P8_17': 'gpio0_27',
'P8_18': 'gpio2_1', 'P8_19': 'gpio0_22', 'P8_20': 'gpio1_31',
'P8_21': 'gpio1_30', 'P8_22': 'gpio1_5', 'P8_23': 'gpio1_4',
'P8_24': 'gpio1_1', 'P8_25': 'gpio1_0', 'P8_26': 'gpio1_29',
'P8_27': 'gpio2_22', 'P8_28': 'gpio2_24', 'P8_29': 'gpio2_23',
'P8_30': 'gpio2_25', 'P8_31': 'gpio0_10', 'P8_32': 'gpio0_11',
'P8_33': 'gpio0_9', 'P8_34': 'gpio2_17', 'P8_35': 'gpio0_8',
'P8_36': 'gpio2_16', 'P8_37': 'gpio2_14', 'P8_38': 'gpio2_15',
'P8_39': 'gpio2_12', 'P8_40': 'gpio2_13', 'P8_41': 'gpio2_10',
'P8_42': 'gpio2_11', 'P8_43': 'gpio2_8', 'P8_44': 'gpio2_9',
'P8_45': 'gpio2_6', 'P8_46': 'gpio2_7', 'P9_11': 'gpio0_30',
'P9_12': 'gpio1_28', 'P9_13': 'gpio0_31', 'P9_14': 'gpio1_18',
'P9_15': 'gpio1_16', 'P9_16': 'gpio1_19', 'P9_17': 'gpio0_5',
'P9_18': 'gpio0_4', 'P9_19': 'gpio0_13', 'P9_20': 'gpio0_12',
'P9_21': 'gpio0_3', 'P9_22': 'gpio0_2', 'P9_23': 'gpio1_17',
'P9_24': 'gpio0_15', 'P9_25': 'gpio3_21', 'P9_26': 'gpio0_14',
'P9_27': 'gpio3_19', 'P9_28': 'gpio3_17', 'P9_29': 'gpio3_15',
'P9_30': 'gpio3_16', 'P9_31': 'gpio3_14', 'P9_41': 'gpio0_20',
'P9_42': 'gpio3_20', 'P9_43': 'gpio0_7', 'P9_44': 'gpio3_18',
'P9_33': 'AIN4', 'P9_35': 'AIN6', 'P9_36': 'AIN5', 'P9_37': 'AIN2',
'P9_38': 'AIN3', 'P9_39': 'AIN0', 'P9_40': 'AIN1',
}
def update_map_beaglebone(pins, mcu):
for pin, gpio in beagleboneblack_mappings.items():
pins[pin] = pins[gpio]
######################################################################
# Command translation
######################################################################
# Obtains the pin mappings
def get_pin_map(mcu, mapping_name=None):
pins = dict(MCU_PINS.get(mcu, {}))
if mapping_name == 'arduino':
update_map_arduino(pins, mcu)
elif mapping_name == 'beaglebone':
update_map_beaglebone(pins, mcu)
return pins
# Translate pin names and tick times in a firmware command
re_pin = re.compile(r'(?P<prefix>[ _]pin=)(?P<name>[^ ]*)')
re_ticks = re.compile(r'TICKS\((?P<ticks>[^)]*)\)')
def update_command(cmd, mcu_freq, pmap):
def pin_fixup(m):
return m.group('prefix') + str(pmap[m.group('name')])
def ticks_fixup(m):
return str(int(mcu_freq * float(m.group('ticks'))))
return re_ticks.sub(ticks_fixup, re_pin.sub(pin_fixup, cmd))
######################################################################
# Pin to chip mapping
######################################################################
class error(Exception):
pass
class PrinterPins:
error = error
def __init__(self):
self.chips = {}
def parse_pin_desc(self, pin_desc, can_invert=False, can_pullup=False):
pullup = invert = 0
if can_pullup and pin_desc.startswith('^'):
pullup = 1
pin_desc = pin_desc[1:].strip()
if can_invert and pin_desc.startswith('!'):
invert = 1
pin_desc = pin_desc[1:].strip()
if ':' not in pin_desc:
chip_name, pin = 'mcu', pin_desc
else:
chip_name, pin = [s.strip() for s in pin_desc.split(':', 1)]
if chip_name not in self.chips:
raise error("Unknown pin chip name '%s'" % (chip_name,))
return {'chip': self.chips[chip_name], 'pin': pin,
'invert': invert, 'pullup': pullup}
def register_chip(self, chip_name, chip):
chip_name = chip_name.strip()
if chip_name in self.chips:
raise error("Duplicate chip name '%s'" % (chip_name,))
self.chips[chip_name] = chip
def add_printer_objects(printer, config):
printer.add_object('pins', PrinterPins())
def get_printer_pins(printer):
return printer.objects['pins']
def setup_pin(printer, pin_type, pin_desc):
ppins = get_printer_pins(printer)
can_invert = pin_type in ['stepper', 'endstop', 'digital_out', 'pwm']
can_pullup = pin_type == 'endstop'
pin_params = ppins.parse_pin_desc(pin_desc, can_invert, can_pullup)
pin_params['type'] = pin_type
return pin_params['chip'].setup_pin(pin_params)
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