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Merged
terjeio merged 2 commits into from
Mar 18, 2026
Merged

Homing Alarm 11 Not Asserted Following E-Stop #858

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6f029b0
Test changes
engigeer Mar 18, 2026
cb70830
Add init for RP2040 based flexgpio i2c expander
engigeer Mar 8, 2026
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134 changes: 125 additions & 9 deletions crossbar.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@

Part of grblHAL

Copyright (c) 2021-2025 Terje Io
Copyright (c) 2021-2026 Terje Io

grblHAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
Expand All @@ -24,6 +24,22 @@

#include "nuts_bolts.h"

#if !defined N_AUX_AIN || defined __DOXYGEN__
#define N_AUX_AIN 8
#endif

#if !defined N_AUX_AOUT || defined __DOXYGEN__
#define N_AUX_AOUT 8
#endif

#if !defined N_AUX_DIN || defined __DOXYGEN__
#define N_AUX_DIN 24
#endif

#if !defined N_AUX_DOUT || defined __DOXYGEN__
#define N_AUX_DOUT 24
#endif

typedef enum {
// NOTE: the sequence of the following enums MUST match the control_signals_t layout
Input_Reset = 0,
Expand Down Expand Up @@ -113,6 +129,7 @@ typedef enum {
Input_Aux13,
Input_Aux14,
Input_Aux15,
#if N_AUX_DIN > 16
Input_Aux16,
Input_Aux17,
Input_Aux18,
Expand All @@ -121,7 +138,22 @@ typedef enum {
Input_Aux21,
Input_Aux22,
Input_Aux23,
#endif
#if N_AUX_DIN > 24
Input_Aux24,
Input_Aux25,
Input_Aux26,
Input_Aux27,
Input_Aux28,
Input_Aux29,
Input_Aux30,
Input_Aux31,
Input_AuxMax = Input_Aux31,
#elif N_AUX_DIN > 16
Input_AuxMax = Input_Aux23,
#elif
Input_AuxMax = Input_Aux15,
#endif
Input_Analog_Aux0,
Input_Analog_Aux1,
Input_Analog_Aux2,
Expand All @@ -130,7 +162,19 @@ typedef enum {
Input_Analog_Aux5,
Input_Analog_Aux6,
Input_Analog_Aux7,
#if N_AUX_AIN > 8
Input_Analog_Aux8,
Input_Analog_Aux9,
Input_Analog_Aux10,
Input_Analog_Aux11,
Input_Analog_Aux12,
Input_Analog_Aux13,
Input_Analog_Aux14,
Input_Analog_Aux15,
Input_Analog_AuxMax = Input_Analog_Aux15,
#else
Input_Analog_AuxMax = Input_Analog_Aux7,
#endif
// Output pins
Output_StepX,
Outputs = Output_StepX,
Expand Down Expand Up @@ -213,6 +257,7 @@ typedef enum {
Output_Aux13,
Output_Aux14,
Output_Aux15,
#if N_AUX_DOUT > 16
Output_Aux16,
Output_Aux17,
Output_Aux18,
Expand All @@ -221,7 +266,22 @@ typedef enum {
Output_Aux21,
Output_Aux22,
Output_Aux23,
#endif
#if N_AUX_DOUT > 24
Output_Aux24,
Output_Aux25,
Output_Aux26,
Output_Aux27,
Output_Aux28,
Output_Aux29,
Output_Aux30,
Output_Aux31,
Output_AuxMax = Output_Aux31,
#elif N_AUX_DOUT > 16
Output_AuxMax = Output_Aux23,
#elif
Output_AuxMax = Output_Aux15,
#endif
Output_Analog_Aux0,
Output_Analog_Aux1,
Output_Analog_Aux2,
Expand All @@ -230,7 +290,19 @@ typedef enum {
Output_Analog_Aux5,
Output_Analog_Aux6,
Output_Analog_Aux7,
#if N_AUX_AOUT > 8
Output_Analog_Aux8,
Output_Analog_Aux9,
Output_Analog_Aux10,
Output_Analog_Aux11,
Output_Analog_Aux12,
Output_Analog_Aux13,
Output_Analog_Aux14,
Output_Analog_Aux15,
Output_Analog_AuxMax = Output_Analog_Aux15,
#else
Output_Analog_AuxMax = Output_Analog_Aux7,
#endif
Output_LED,
Output_LED_R,
Output_LED_G,
Expand Down Expand Up @@ -347,6 +419,7 @@ PROGMEM static const pin_name_t pin_names[] = {
{ .function = Input_Aux13, .name = "Aux in 13" },
{ .function = Input_Aux14, .name = "Aux in 14" },
{ .function = Input_Aux15, .name = "Aux in 15" },
#if N_AUX_DIN > 16
{ .function = Input_Aux16, .name = "Aux in 16" },
{ .function = Input_Aux17, .name = "Aux in 17" },
{ .function = Input_Aux18, .name = "Aux in 18" },
Expand All @@ -355,6 +428,17 @@ PROGMEM static const pin_name_t pin_names[] = {
{ .function = Input_Aux21, .name = "Aux in 21" },
{ .function = Input_Aux22, .name = "Aux in 22" },
{ .function = Input_Aux23, .name = "Aux in 23" },
#endif
#if N_AUX_DIN > 24
{ .function = Input_Aux24, .name = "Aux in 24" },
{ .function = Input_Aux25, .name = "Aux in 25" },
{ .function = Input_Aux26, .name = "Aux in 26" },
{ .function = Input_Aux27, .name = "Aux in 27" },
{ .function = Input_Aux28, .name = "Aux in 28" },
{ .function = Input_Aux29, .name = "Aux in 29" },
{ .function = Input_Aux30, .name = "Aux in 30" },
{ .function = Input_Aux31, .name = "Aux in 31" },
#endif
{ .function = Input_Analog_Aux0, .name = "Aux analog in 0" },
{ .function = Input_Analog_Aux1, .name = "Aux analog in 1" },
{ .function = Input_Analog_Aux2, .name = "Aux analog in 2" },
Expand All @@ -363,6 +447,16 @@ PROGMEM static const pin_name_t pin_names[] = {
{ .function = Input_Analog_Aux5, .name = "Aux analog in 5" },
{ .function = Input_Analog_Aux6, .name = "Aux analog in 6" },
{ .function = Input_Analog_Aux7, .name = "Aux analog in 7" },
#if N_AUX_AIN > 8
{ .function = Input_Analog_Aux8, .name = "Aux analog in 8" },
{ .function = Input_Analog_Aux9, .name = "Aux analog in 9" },
{ .function = Input_Analog_Aux10, .name = "Aux analog in 10" },
{ .function = Input_Analog_Aux11, .name = "Aux analog in 11" },
{ .function = Input_Analog_Aux12, .name = "Aux analog in 12" },
{ .function = Input_Analog_Aux13, .name = "Aux analog in 13" },
{ .function = Input_Analog_Aux14, .name = "Aux analog in 14" },
{ .function = Input_Analog_Aux15, .name = "Aux analog in 15" },
#endif
{ .function = Output_StepX, .name = "X step" },
{ .function = Output_StepX2, .name = "X2 step" },
{ .function = Output_StepY, .name = "Y step" },
Expand Down Expand Up @@ -469,14 +563,26 @@ PROGMEM static const pin_name_t pin_names[] = {
{ .function = Output_Aux13, .name = "Aux out 13" },
{ .function = Output_Aux14, .name = "Aux out 14" },
{ .function = Output_Aux15, .name = "Aux out 15" },
{ .function = Output_Aux15, .name = "Aux out 16" },
{ .function = Output_Aux16, .name = "Aux out 17" },
{ .function = Output_Aux17, .name = "Aux out 18" },
{ .function = Output_Aux18, .name = "Aux out 19" },
{ .function = Output_Aux19, .name = "Aux out 20" },
{ .function = Output_Aux20, .name = "Aux out 21" },
{ .function = Output_Aux21, .name = "Aux out 22" },
{ .function = Output_Aux22, .name = "Aux out 23" },
#if N_AUX_DOUT > 16
{ .function = Output_Aux16, .name = "Aux out 16" },
{ .function = Output_Aux17, .name = "Aux out 17" },
{ .function = Output_Aux18, .name = "Aux out 18" },
{ .function = Output_Aux19, .name = "Aux out 19" },
{ .function = Output_Aux20, .name = "Aux out 20" },
{ .function = Output_Aux21, .name = "Aux out 21" },
{ .function = Output_Aux22, .name = "Aux out 22" },
{ .function = Output_Aux23, .name = "Aux out 23" },
#endif
#if N_AUX_DOUT > 24
{ .function = Output_Aux24, .name = "Aux out 24" },
{ .function = Output_Aux25, .name = "Aux out 25" },
{ .function = Output_Aux26, .name = "Aux out 26" },
{ .function = Output_Aux27, .name = "Aux out 27" },
{ .function = Output_Aux28, .name = "Aux out 28" },
{ .function = Output_Aux29, .name = "Aux out 29" },
{ .function = Output_Aux30, .name = "Aux out 30" },
{ .function = Output_Aux31, .name = "Aux out 31" },
#endif
{ .function = Output_Analog_Aux0, .name = "Aux analog out 0" },
{ .function = Output_Analog_Aux1, .name = "Aux analog out 1" },
{ .function = Output_Analog_Aux2, .name = "Aux analog out 2" },
Expand All @@ -485,6 +591,16 @@ PROGMEM static const pin_name_t pin_names[] = {
{ .function = Output_Analog_Aux5, .name = "Aux analog out 5" },
{ .function = Output_Analog_Aux6, .name = "Aux analog out 6" },
{ .function = Output_Analog_Aux7, .name = "Aux analog out 7" },
#if N_AUX_AOUT > 8
{ .function = Output_Analog_Aux8, .name = "Aux analog out 8" },
{ .function = Output_Analog_Aux9, .name = "Aux analog out 9" },
{ .function = Output_Analog_Aux10, .name = "Aux analog out 10" },
{ .function = Output_Analog_Aux11, .name = "Aux analog out 11" },
{ .function = Output_Analog_Aux12, .name = "Aux analog out 12" },
{ .function = Output_Analog_Aux13, .name = "Aux analog out 13" },
{ .function = Output_Analog_Aux14, .name = "Aux analog out 14" },
{ .function = Output_Analog_Aux15, .name = "Aux analog out 15" },
#endif
{ .function = Output_LED, .name = "LED" },
{ .function = Output_LED_R, .name = "LED R" },
{ .function = Output_LED_G, .name = "LED G" },
Expand Down
10 changes: 9 additions & 1 deletion expanders_init.h
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ extern void board_ports_init (void); // default is a weak function

// I2C expanders

#if PCA9654E_ENABLE || MCP3221_ENABLE || MCP4725_ENABLE
#if PCA9654E_ENABLE || MCP3221_ENABLE || MCP4725_ENABLE || FLEXGPIO_ENABLE

#if defined(I2C_ENABLE) && !I2C_ENABLE
#undef I2C_ENABLE
Expand All @@ -55,6 +55,10 @@ extern void pca9654e_init(void);

// Third party I2C expander plugins goes after this line

#if FLEXGPIO_ENABLE
extern void flexgpio_init(void);
#endif

#endif // I2C expanders

// SPI expanders
Expand Down Expand Up @@ -117,6 +121,10 @@ static inline void io_expanders_init (void)
pca9654e_init();
#endif

#if FLEXGPIO_ENABLE
flexgpio_init();
#endif

#if PICOHAL_IO_ENABLE
picohal_io_init();
#endif
Expand Down
23 changes: 17 additions & 6 deletions ioports.c
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Original file line number Diff line number Diff line change
Expand Up @@ -85,24 +85,35 @@ static on_settings_changed_ptr on_settings_changed;
static io_ports_private_t ports_cfg[] = {
{
.type = Port_AnalogIn, .count = -1, .free = -1, .min_fn = Input_Analog_Aux0, .max_fn = Input_Analog_AuxMax,
.n_max = (Input_Analog_AuxMax - Input_Analog_Aux0 + 1), .last_claimed = (Input_Analog_AuxMax - Input_Analog_Aux0)
.n_max = N_AUX_AIN_MAX, .last_claimed = N_AUX_AIN_MAX - 1
},
{
.type = Port_AnalogOut, .count = -1, .free = -1, .min_fn = Output_Analog_Aux0, .max_fn = Output_Analog_AuxMax,
.n_max = (Output_Analog_AuxMax - Output_Analog_Aux0 + 1), .last_claimed = (Output_Analog_AuxMax - Output_Analog_Aux0)
.n_max = N_AUX_AOUT_MAX, .last_claimed = N_AUX_AOUT_MAX - 1
},
{
.type = Port_DigitalIn, .count = -1, .free = -1, .min_fn = Input_Aux0, .max_fn = Input_AuxMax,
.n_max = (Input_AuxMax - Input_Aux0 + 1), .last_claimed = (Input_AuxMax - Input_Aux0)
.n_max = N_AUX_DIN_MAX, .last_claimed = N_AUX_DIN_MAX - 1
},
{
.type = Port_DigitalOut, .count = -1, .free = -1, .min_fn = Output_Aux0, .max_fn = Output_AuxMax,
.n_max = (Output_AuxMax - Output_Aux0 + 1), .last_claimed = (Output_AuxMax - Output_Aux0)
.n_max = N_AUX_DOUT_MAX, .last_claimed = N_AUX_DOUT_MAX - 1
}
};

PROGMEM static const char apnum[] = "E0\0E1\0E2\0E3\0E4\0E5\0E6\0E7\0E8\0E9\0E10\0E11\0E12\0E13\0E14\0E15";
PROGMEM static const char dpnum[] = "P0\0P1\0P2\0P3\0P4\0P5\0P6\0P7\0P8\0P9\0P10\0P11\0P12\0P13\0P14\0P15\0P16\0P17\0P18\0P19\0P20\0P21\0P22\0P23";
PROGMEM static const char apnum[] = "E0\0E1\0E2\0E3\0E4\0E5\0E6\0E7"
#if N_AUX_AIN > 8 || N_AUX_AOUT > 8
"\0E8\0E9\0E10\0E11\0E12\0E13\0E14\0E15";
#endif
;
PROGMEM static const char dpnum[] = "P0\0P1\0P2\0P3\0P4\0P5\0P6\0P7\0P8\0P9\0P10\0P11\0P12\0P13\0P14\0P15"
#if N_AUX_DIN > 16 || N_AUX_DOUT > 16
"\0P16\0P17\0P18\0P19\0P20\0P21\0P22\0P23"
#endif
#if N_AUX_DIN > 24 || N_AUX_DOUT > 24
"\0P24\0P25\0P26\0P27\0P28\0P29\0P30\0P31"
#endif
;

__STATIC_FORCEINLINE io_ports_private_t *get_port_data (io_port_type_t type, io_port_direction_t dir)
{
Expand Down