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klipper/klippy/pins.py

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# Pin name to pin number definitions
#
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import re
class error(Exception):
pass
######################################################################
# 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),
"atmega328": (Arduino_standard, Arduino_analog_standard),
"atmega328p": (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 get_aliases_arduino(mcu):
if mcu not in Arduino_from_mcu:
raise error("Arduino aliases not supported on mcu '%s'" % (mcu,))
dpins, apins = Arduino_from_mcu[mcu]
aliases = {}
for i in range(len(dpins)):
aliases['ar' + str(i)] = dpins[i]
for i in range(len(apins)):
aliases['analog%d' % (i,)] = apins[i]
return aliases
######################################################################
# 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 get_aliases_beaglebone(mcu):
if mcu != 'pru':
raise error("Beaglebone aliases not supported on mcu '%s'" % (mcu,))
return beagleboneblack_mappings
######################################################################
# Command translation
######################################################################
re_pin = re.compile(r'(?P<prefix>[ _]pin=)(?P<name>[^ ]*)')
class PinResolver:
def __init__(self, mcu_type, reserved_pins, validate_aliases=True):
self.mcu_type = mcu_type
self.reserved_pins = reserved_pins
self.validate_aliases = validate_aliases
self.aliases = {}
self.active_pins = {}
def update_aliases(self, mapping_name):
if mapping_name == 'arduino':
self.aliases = get_aliases_arduino(self.mcu_type)
elif mapping_name == 'beaglebone':
self.aliases = get_aliases_beaglebone(self.mcu_type)
else:
raise error("Unknown pin alias mapping '%s'" % (mapping_name,))
def update_command(self, cmd):
def pin_fixup(m):
name = m.group('name')
pin_id = self.aliases.get(name, name)
if (name != self.active_pins.setdefault(pin_id, name)
and self.validate_aliases):
raise error("pin %s is an alias for %s" % (
name, self.active_pins[pin_id]))
if pin_id in self.reserved_pins:
raise error("pin %s is reserved for %s" % (
name, self.reserved_pins[pin_id]))
return m.group('prefix') + str(pin_id)
return re_pin.sub(pin_fixup, cmd)
######################################################################
# Pin to chip mapping
######################################################################
class PrinterPins:
error = error
def __init__(self):
self.chips = {}
self.active_pins = {}
self.reserved_pins = {}
def lookup_pin(self, pin_desc, can_invert=False, can_pullup=False,
share_type=None):
desc = pin_desc.strip()
pullup = invert = 0
if can_pullup and (desc.startswith('^') or desc.startswith('~')):
pullup = 1
if desc.startswith('~'):
pullup = -1
desc = desc[1:].strip()
if can_invert and desc.startswith('!'):
invert = 1
desc = desc[1:].strip()
if ':' not in desc:
chip_name, pin = 'mcu', desc
else:
chip_name, pin = [s.strip() for s in desc.split(':', 1)]
if chip_name not in self.chips:
raise error("Unknown pin chip name '%s'" % (chip_name,))
if [c for c in '^~!: ' if c in pin]:
format = ""
if can_pullup:
format += "[^~] "
if can_invert:
format += "[!] "
raise error("Invalid pin description '%s'\n"
"Format is: %s[chip_name:] pin_name" % (
pin_desc, format))
share_name = "%s:%s" % (chip_name, pin)
if share_name in self.active_pins:
pin_params = self.active_pins[share_name]
if share_type is None or share_type != pin_params['share_type']:
raise error("pin %s used multiple times in config" % (pin,))
if invert != pin_params['invert'] or pullup != pin_params['pullup']:
raise error("Shared pin %s must have same polarity" % (pin,))
return pin_params
pin_params = {'chip': self.chips[chip_name], 'chip_name': chip_name,
'pin': pin, 'share_type': share_type,
'invert': invert, 'pullup': pullup}
self.active_pins[share_name] = pin_params
return pin_params
def setup_pin(self, pin_type, pin_desc):
can_invert = pin_type in ['stepper', 'endstop', 'digital_out', 'pwm']
can_pullup = pin_type in ['endstop']
pin_params = self.lookup_pin(pin_desc, can_invert, can_pullup)
return pin_params['chip'].setup_pin(pin_type, pin_params)
def reset_pin_sharing(self, pin_params):
share_name = "%s:%s" % (pin_params['chip_name'], pin_params['pin'])
del self.active_pins[share_name]
def reserve_pin(self, chip_name, pin, reserve_name):
chip_reserve = self.reserved_pins.setdefault(chip_name, {})
if pin in chip_reserve and chip_reserve[pin] != reserve_name:
raise error("Pin %s:%s reserved for %s - can't reserve for %s" % (
chip_name, pin, chip_reserve[pin], reserve_name))
chip_reserve[pin] = reserve_name
def get_reserved_pins(self, chip_name):
return self.reserved_pins.get(chip_name, {})
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(config):
config.get_printer().add_object('pins', PrinterPins())
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