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FeatherM4CAN VS TOOL1RR

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* Pins_FeatherM4CAN.h

* TOOL1RR.h

* Created on: 6 Oct 2023

* Author: David

#ifndef SRC_CONFIG_TOOL1RR_H_

#ifndef SRC_CONFIG_PINS_FEATHERM4CAN_H_

#define SRC_CONFIG_TOOL1RR_H_

#define SRC_CONFIG_PINS_FEATHERM4CAN_H_

#include <Hardware/PinDescription.h>

#define BOARD_TYPE_NAME "TOOL1RR"

#define BOARD_TYPE_NAME "FeatherM4CAN"

#define BOOTLOADER_NAME "SAME5x"

// General features

#define HAS_VREF_MONITOR 0

#define HAS_VREF_MONITOR 1

#define HAS_VOLTAGE_MONITOR 0

#define HAS_VOLTAGE_MONITOR 1

#define HAS_12V_MONITOR 0

#define HAS_CPU_TEMP_SENSOR 1

#define HAS_ADDRESS_SWITCHES 0

#define HAS_BUTTONS 0

// Drivers configuration

#define SUPPORT_DRIVERS 1

#define HAS_SMART_DRIVERS 0

#define HAS_SMART_DRIVERS 1

#define HAS_STALL_DETECT 0

#define HAS_STALL_DETECT 1

#define SINGLE_DRIVER 1

#define SUPPORT_SLOW_DRIVERS 1

#define SUPPORT_SLOW_DRIVERS 0

#define DEDICATED_STEP_TIMER 1

#define SUPPORT_INPUT_SHAPING 0

#define SUPPORT_INPUT_SHAPING 1

#define ACTIVE_HIGH_STEP 1

#define ACTIVE_HIGH_STEP 1 // 1 = active high, 0 = active low

#define ACTIVE_HIGH_DIR 1

#define ACTIVE_HIGH_DIR 1 // 1 = active high, 0 = active low

#define ACTIVE_HIGH_ENABLE 0

#define SUPPORT_TMC51xx 0

#define SUPPORT_TMC2660 0

#define SUPPORT_TMC22xx 0

#define SUPPORT_TMC22xx 1

#define SUPPORT_TMC2208 0

#define SUPPORT_TMC2209 0

#define SUPPORT_TMC2240 0

#define SUPPORT_TMC2240 1

constexpr size_t NumDrivers = 1;

constexpr size_t MaxSmartDrivers = 1;

PortGroup * const StepPio = &(PORT->Group[0]);

#define TMC22xx_USES_SERCOM 1

constexpr Pin StepPins[NumDrivers] = { PortAPin(16) };

#define TMC22xx_HAS_MUX 0

constexpr Pin DirectionPins[NumDrivers] = { PortAPin(17) };

#define TMC22xx_SINGLE_DRIVER 1

constexpr Pin EnablePins[NumDrivers] = { PortAPin(18) };

#define TMC22xx_HAS_ENABLE_PINS 0

#define TMC22xx_VARIABLE_NUM_DRIVERS 0

#define TMC22xx_USE_SLAVEADDR 0

constexpr Pin GlobalTmc22xxEnablePin = PortAPin(0);

#define SUPPORT_THERMISTORS 0

constexpr uint8_t TMC22xxSercomNumber = 0;

Sercom * const SERCOM_TMC22xx = SERCOM0;

constexpr Pin TMC22xxSercomTxPin = PortAPin(8);

constexpr GpioPinFunction TMC22xxSercomTxPinPeriphMode = GpioPinFunction::C;

constexpr Pin TMC22xxSercomRxPin = PortAPin(9);

constexpr GpioPinFunction TMC22xxSercomRxPinPeriphMode = GpioPinFunction::C;

constexpr uint8_t TMC22xxSercomRxPad = 1;

// Define the baud rate used to send/receive data to/from the drivers.

// If we assume a worst case clock frequency of 8MHz then the maximum baud rate is 8MHz/16 = 500kbaud.

// We send data via a 1K series resistor. Even if we assume a 200pF load on the shared UART line, this gives a 200ns time constant, which is much less than the 2us bit time @ 500kbaud.

// To write a register we need to send 8 bytes. To read a register we send 4 bytes and receive 8 bytes after a programmable delay.

// So at 500kbaud it takes about 128us to write a register, and 192us+ to read a register.

// In testing I found that 500kbaud was not reliable on the Duet Maestro, so now using 200kbaud.

constexpr uint32_t DriversBaudRate = 200000;

constexpr uint32_t TransferTimeout = 10; // any transfer should complete within 10 ticks @ 1ms/tick

constexpr uint32_t Tmc2240CurrentRange = 0x01; // which current range we set the TMC2240 to (2A)

constexpr uint32_t Tmc2240SlopeControl = 0x01; // which slope control we set the TMC2240 to (200V/us)

constexpr float Tmc2240Rref = 15.0; // TMC2240 reference resistor in Kohms

constexpr float DriverFullScaleCurrent = 24000/Tmc2240Rref; // in mA, assuming we set the range bits in the DRV_CONF register to 0x01

constexpr float DriverCsMultiplier = 32.0/DriverFullScaleCurrent; // with RRef = 15K this works out as 1.6A so this is the maximum current we can ask for

#if 1

// New current limits (RRF 3.6 and later)

constexpr float MaximumMotorCurrent = 1600.0;

constexpr float MaximumStandstillCurrent = 1130.0;

#else

// Original current limits for normal use (RRF 3.5.x and earlier)

constexpr float MaximumMotorCurrent = 1000.0; // peak current per phase, only one phase gets this at a time

constexpr float MaximumStandstillCurrent = 800.0; // peak current in a single phase at standstill

#endif

constexpr uint32_t DefaultStandstillCurrentPercent = 75;

PortGroup * const StepPio = &(PORT->Group[1]); // the PIO that all the step pins are on

constexpr Pin StepPins[NumDrivers] = { PortBPin(23) };

constexpr Pin DirectionPins[NumDrivers] = { PortAPin(10) };

constexpr Pin DriverDiagPins[NumDrivers] = { PortAPin(21) };

#define SUPPORT_THERMISTORS 1

#define SUPPORT_SPI_SENSORS 0

#define SUPPORT_DMA_NEOPIXEL 0

#define SUPPORT_LDC1612 1

#define SUPPORT_I2C_SENSORS 0

#define SUPPORT_AS5601 1 // support direct-connected magnetic filament monitor encoder chip

#define SUPPORT_LIS3DH 0

#define SUPPORT_TCA6408A 1 // support button and LEDs on filament monitor via TCA6408A chip

#define SUPPORT_LDC1612 0

#define SUPPORT_DMA_NEOPIXEL 0 // can't get SERCOM SPI working due to output state when not transmitting - case opened with Microchip

#ifdef DEBUG

# define SUPPORT_I2C_SENSORS 0 // in debug mode the SERCOM is used for debugging

# define SUPPORT_LIS3DH 0

#else

# define SUPPORT_I2C_SENSORS 1

# define SUPPORT_LIS3DH 1

#endif

#define SUPPORT_DHT_SENSOR 0

#define NUM_SERIAL_PORTS 0

#define USE_MPU 0

#define USE_CACHE 1

constexpr bool UseAlternateCanPins = true;

constexpr Pin CanTxPin = PortBPin(14);

constexpr Pin CanRxPin = PortBPin(15);

constexpr Pin CanStandbyPin = PortBPin(12); // PB12

constexpr Pin CanBoostEnablePin = PortBPin(13); // PB13

constexpr GpioPinFunction CanPinsMode = GpioPinFunction::H;

constexpr size_t MaxPortsPerHeater = 1;

constexpr Pin LedPins[] = { PortAPin(23) };

constexpr size_t NumThermistorInputs = 3;

constexpr bool LedActiveHigh = true;

constexpr float DefaultThermistorSeriesR = 2200.0;

constexpr float DefaultThermistorR25_TOOL1RR_temp2 = 10000;

constexpr float DefaultThermistorBeta_TOOL1RR_temp2 = 3425.0;

constexpr float DefaultThermistorC_TOOL1RR_temp2 = 1.68e-7;

constexpr float VrefTopResistor = 27.0;

constexpr float MinVrefLoadR = (DefaultThermistorSeriesR / NumThermistorInputs) * 4700.0/((DefaultThermistorSeriesR / NumThermistorInputs) + 4700.0);

constexpr Pin VrefPin = PortAPin(6);

constexpr Pin VssaPin = PortBPin(9);

constexpr Pin BoardTypePin = PortAPin(3);

// Diagnostic LEDs

constexpr Pin LedPins[] = { PortAPin(30), PortAPin(31) };

constexpr bool LedActiveHigh = false;

constexpr Pin VinMonitorPin = PortAPin(2);

constexpr float VinDividerRatio = (60.4 + 4.7)/4.7;

constexpr float VinMonitorVoltageRange = VinDividerRatio * 3.3;

constexpr Pin TempSensePins[NumThermistorInputs] = { PortBPin(8), PortAPin(7), PortAPin(11) };

#if SUPPORT_I2C_SENSORS

// I2C using pins PA12,13

constexpr uint8_t I2CSercomNumber = 2;

constexpr Pin I2CSDAPin = PortAPin(12);

constexpr GpioPinFunction I2CSDAPinPeriphMode = GpioPinFunction::C;

constexpr Pin I2CSCLPin = PortAPin(13);

constexpr GpioPinFunction I2CSCLPinPeriphMode = GpioPinFunction::C;

# define I2C_HANDLER0 SERCOM2_0_Handler

# define I2C_HANDLER1 SERCOM2_1_Handler

# define I2C_HANDLER2 SERCOM2_2_Handler

# define I2C_HANDLER3 SERCOM2_3_Handler

#endif

#if SUPPORT_LIS3DH

# define ACCELEROMETER_USES_SPI (0) // accelerometer is connected via I2C

constexpr Pin Lis3dhInt1Pin = PortAPin(27);

#endif

#if SUPPORT_LDC1612

constexpr uint16_t LDC1612_I2CAddress = 0x2A; // pin 4 is tied low

constexpr unsigned int Ldc1612GClkNumber = 5;

constexpr Pin LDC1612ClockGenPin = PortBPin(11);

constexpr Pin LDC1612InterruptPin = PortAPin(25);

#endif

#if SUPPORT_AS5601

constexpr uint16_t AS5601_I2CAddress = 0x36; // I2C address of the AS5601

#endif

#if SUPPORT_TCA6408A

constexpr uint16_t TCA6408A_I2CAddress = 0x20; // I2C address of the TCA6408A (ADDR pin is tied to ground)

#endif

const auto sercom1cPad3 = SercomIo::sercom1c + SercomIo::pad3;

const auto sercom5dpad0 = SercomIo::sercom5d + SercomIo::pad0;

const auto sercom5dpad1 = SercomIo::sercom5d + SercomIo::pad1;

// Table of pin functions that we are allowed to use

constexpr PinDescription PinTable[] =

{

// TC TCC ADC SERCOM in SERCOM out Exint PinNames

// TC TCC ADC SERCOM in SERCOM out Exint PinName

// Port A

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA00 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA00 driver ENN

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA01 NC

{ TcOutput::tc2_1, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "out1" }, // PA01 OUT0

{ TcOutput::none, TccOutput::none, AdcInput::adc0_0, SercomIo::none, SercomIo::none, 2, "pa02" }, // PA02

{ TcOutput::none, TccOutput::none, AdcInput::adc0_0, SercomIo::none, SercomIo::none, Nx, "ate.vin" }, // PA02 VIN monitor

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA03 NC

{ TcOutput::none, TccOutput::none, AdcInput::adc0_1, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA03 board type

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA04

{ TcOutput::none, TccOutput::none, AdcInput::adc0_4, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA04 spare analog in (strain gauge?)

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA05

{ TcOutput::none, TccOutput::none, AdcInput::adc0_5, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA05 spare

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA06

{ TcOutput::none, TccOutput::none, AdcInput::adc0_6, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA06 VRefMon

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA07 NC

{ TcOutput::none, TccOutput::none, AdcInput::adc0_7, SercomIo::none, SercomIo::none, 7, "temp1" }, // PA07 TEMP1

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA08 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA08 driver UART Tx

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA09 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA09 driver UART Rx

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA10 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "ate.d0.dir" }, // PA10 driver DIR and reset jumper

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA11 NC

{ TcOutput::none, TccOutput::none, AdcInput::adc0_11, SercomIo::none, SercomIo::none, Nx, "temp2,coiltemp" }, // PA11 TEMP2

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 12, "pa12" }, // PA12

{ TcOutput::none, TccOutput::tcc1_2F, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA12 I2C SDA

{ TcOutput::tc2_0, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "pa13" }, // PA13

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA13 I2C SCL

{ TcOutput::none, TccOutput::tcc1_2G, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "pa14" }, // PA14

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA14 crystal

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA15 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA15 crystal

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA16 STEP

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 0, "io3.in" }, // PA16 IO1 in

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA17 DIR

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 1, "io1.in" }, // PA17 IO2 in

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA18 ENA

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 2, "out1.tach" }, // PA18 OUT2 tacho

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA19

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, sercom1cPad3, Nx, "led" }, // PA19 Neopixel out

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA20

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "out2" }, // PA20 OUT2

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA21

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 5, "ate.d0.diag" }, // PA21 driver DIAG

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA22

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA22 CAN0 Tx

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA23 LED

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA23 CAN0 Rx

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA24 USB D-

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 8, "io2.in" }, // PA24 IO3 in

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA25 USB D+

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 9, nullptr }, // PA25 LDC1612 interrupt

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA26 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA26 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA27 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 11, nullptr }, // PA27 accelerometer interrupt

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA28 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA28 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA29 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA29 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA30 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA30 swclk and LED0

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA31 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PA31 swdio and LED1

// Port B

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB00 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB00 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB01 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB01 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB02 NC

{ TcOutput::none, TccOutput::tcc2_2F, AdcInput::none, SercomIo::none, sercom5dpad0, Nx, "io0.out" }, // PB02 IO0 out, UART available

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB03 NC

{ TcOutput::none, TccOutput::none, AdcInput::adc0_15, sercom5dpad1, SercomIo::none, 3, "io0.in" }, // PB03 IO0 in, UART available

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB04 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB04 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB05 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB05 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB06 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB06 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB07 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB07 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB08

{ TcOutput::none, TccOutput::none, AdcInput::adc0_2, SercomIo::none, SercomIo::none, Nx, "temp0" }, // PB08 TEMP0

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB09

{ TcOutput::none, TccOutput::none, AdcInput::adc0_3, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB09 VSSA monitor

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB10 NC

{ TcOutput::none, TccOutput::tcc0_4F, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "out0" }, // PB10 OUT1

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB11 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB11 GCLK for LDC1612

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB12 CAN STANDBY

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB12 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB13 CAN BOOST

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB13 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB14 CAN_TX CAN1TX

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB14 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB15 CAN_RX CAN1RX

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB15 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB16

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB16 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB17

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB17 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB18 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB18 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB19 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB19 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB20 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB20 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB21 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB21 not on chip

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB22 CRYSTAL

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, 6, "out2.tach" }, // PB22 OUT2 tacho

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB23 CRYSTAL

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "ate.d0.step" }, // PB23 driver STEP

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB24 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB25 NC

// Virtual pins

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB26 NC

#if SUPPORT_LIS3DH

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB27 NC

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "i2c.lis3dh,i2c.lis2dw" }, // LIS3DH sensor connected via I2C

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB28 NC

#endif

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB29 NC

#if SUPPORT_LDC1612

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB30 NC

{ TcOutput::none, TccOutput::none, AdcInput::ldc1612, SercomIo::none, SercomIo::none, Nx, "i2c.ldc1612" }, // LDC1612 sensor connected via I2C

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, nullptr }, // PB31 NC

#endif

#if SUPPORT_AS5601

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "i2c.mfm" }, // AS5601+TCA6408A filament monitor connected via I2C

#endif

#if SUPPORT_TCA6408A

{ TcOutput::none, TccOutput::none, AdcInput::none, SercomIo::none, SercomIo::none, Nx, "i2c.mfm.button" }, // AS5601+TCA6408A filament monitor connected via I2C

#endif

};

constexpr size_t NumPins = ARRAY_SIZE(PinTable);

static constexpr size_t NumPins = ARRAY_SIZE(PinTable);

constexpr size_t NumNamedPins = ARRAY_SIZE(PinTable);

static constexpr size_t NumRealPins = 32 + 24; // 32 pins on port A (some missing), 24 on port B (many missing)

constexpr size_t NumRealPins = 32 + 32;

constexpr size_t NumVirtualPins = SUPPORT_LIS3DH + SUPPORT_LDC1612 + SUPPORT_AS5601 + SUPPORT_TCA6408A;

constexpr size_t NumVirtualPins = 0;

static_assert(NumPins == NumRealPins + NumVirtualPins);

#if SUPPORT_AS5601

constexpr Pin MfmPin = NumRealPins + SUPPORT_LIS3DH + SUPPORT_LDC1612; // pin number when the user selects magnetic filament monitor on I2C bus

#endif

#if SUPPORT_TCA6408A

constexpr Pin MfmButtonPin = NumRealPins + SUPPORT_LIS3DH + SUPPORT_LDC1612 + 1; // pin number when the user selects magnetic filament monitor button on I2C bus

#endif

// Timer/counter used to generate step pulses and other sub-millisecond timings

TcCount32 * const StepTc = &(TC0->COUNT32);

constexpr IRQn StepTcIRQn = TC0_IRQn;

constexpr unsigned int StepTcNumber = 0;

#define STEP_TC_HANDLER TC0_Handler

// Available UART ports

#define NUM_SERIAL_PORTS 0

// DMA channel assignments

constexpr DmaChannel DmacChanTmcTx = 0;

constexpr DmaChannel DmacChanTmcRx = 1;

constexpr DmaChannel DmacChanAdc0Rx = 2;

constexpr DmaChannel DmacChanLedTx = 3;

constexpr unsigned int NumDmaChannelsUsed = 4; // must be at least the number of channels used, may be larger. Max 12 on the SAME5x.

constexpr DmaPriority DmacPrioTmcTx = 0;

constexpr DmaPriority DmacPrioTmcRx = 3;

constexpr DmaPriority DmacPrioAdcRx = 2;

constexpr DmaPriority DmacPrioLed = 1;

// Interrupt priorities, lower means higher priority. 0-2 can't make RTOS calls.

const NvicPriority NvicPriorityStep = 3; // step interrupt is next highest, it can preempt most other interrupts

const NvicPriority NvicPriorityUart = 3; // serial driver makes RTOS calls

const NvicPriority NvicPriorityI2C = 3;

const NvicPriority NvicPriorityPins = 3; // priority for GPIO pin interrupts

const NvicPriority NvicPriorityCan = 4;

const NvicPriority NvicPriorityDmac = 5; // priority for DMA complete interrupts

const NvicPriority NvicPriorityAdc = 5;

#endif /* SRC_CONFIG_PINS_FEATHERM4CAN_H_ */

#endif /* SRC_CONFIG_TOOL1RR_H_ */

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/*
 * Pins_FeatherM4CAN.h

#ifndef SRC_CONFIG_PINS_FEATHERM4CAN_H_
#define SRC_CONFIG_PINS_FEATHERM4CAN_H_

#include <Hardware/PinDescription.h>

#define BOARD_TYPE_NAME			"FeatherM4CAN"
#define BOOTLOADER_NAME			"SAME5x"

// General features
#define HAS_VREF_MONITOR		0					
#define HAS_VOLTAGE_MONITOR		0					
#define HAS_12V_MONITOR			0					
#define HAS_CPU_TEMP_SENSOR		1					
#define HAS_ADDRESS_SWITCHES	0					
#define HAS_BUTTONS				0

// Drivers configuration
#define SUPPORT_DRIVERS			1
#define HAS_SMART_DRIVERS		0					
#define HAS_STALL_DETECT		0
#define SINGLE_DRIVER			1					
#define SUPPORT_SLOW_DRIVERS	1
#define DEDICATED_STEP_TIMER	1					
#define SUPPORT_INPUT_SHAPING	0

#define ACTIVE_HIGH_STEP		1
#define ACTIVE_HIGH_DIR			1
#define ACTIVE_HIGH_ENABLE		0

#define SUPPORT_TMC51xx			0
#define SUPPORT_TMC2660			0
#define SUPPORT_TMC22xx			0
#define SUPPORT_TMC2208			0
#define SUPPORT_TMC2209			0
#define SUPPORT_TMC2240			0

constexpr size_t NumDrivers = 1;

PortGroup * const StepPio = &(PORT->Group[0]);
constexpr Pin StepPins[NumDrivers] = { PortAPin(16) };
constexpr Pin DirectionPins[NumDrivers] = { PortAPin(17) };
constexpr Pin EnablePins[NumDrivers] = { PortAPin(18) };

#define SUPPORT_THERMISTORS		0
#define SUPPORT_SPI_SENSORS		0
#define SUPPORT_DMA_NEOPIXEL    0 
#define SUPPORT_I2C_SENSORS		0
#define SUPPORT_LIS3DH			0
#define SUPPORT_LDC1612			0
#define SUPPORT_DHT_SENSOR		0

#define USE_MPU					0
#define USE_CACHE				1

constexpr bool UseAlternateCanPins = true;			
constexpr Pin CanTxPin = PortBPin(14);
constexpr Pin CanRxPin = PortBPin(15);
constexpr Pin CanStandbyPin = PortBPin(12);    // PB12
constexpr Pin CanBoostEnablePin = PortBPin(13); // PB13
constexpr GpioPinFunction CanPinsMode = GpioPinFunction::H;

constexpr size_t MaxPortsPerHeater = 1;

constexpr Pin LedPins[] = { PortAPin(23) };
constexpr bool LedActiveHigh = true;
constexpr PinDescription PinTable[] =
{
	//	TC					TCC					ADC					SERCOM in			SERCOM out	  Exint 				PinNames
	// Port A
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA00 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA01 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_0,   SercomIo::none,		SercomIo::none,		2,     "pa02"       	},	// PA02
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx, 	nullptr      	},	// PA03 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,	    SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA04
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,	    SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA05
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,	    SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA06
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA07 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA08 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr     	},	// PA09 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr      	},	// PA10 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA11 NC 
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		12,		"pa12"			},	// PA12
	{ TcOutput::tc2_0,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		"pa13"			},	// PA13
	{ TcOutput::none,	TccOutput::tcc1_2G,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		"pa14"			},	// PA14
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA15 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA16 STEP
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA17 DIR
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA18 ENA
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA19
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA20
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA21
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr     	},	// PA22
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr     	},	// PA23 LED
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA24 USB D-
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA25 USB D+
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA26 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr	        },	// PA27 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA28 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA29 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA30 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PA31 NC

// Port B
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr	        },	// PB00 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr         },	// PB01 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB02 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr	        },	// PB03 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,	    SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB04 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,	    SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB05 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none, 	SercomIo::none,		SercomIo::none,		Nx,		nullptr		    },	// PB06 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none, 	SercomIo::none,		SercomIo::none,		Nx,		nullptr		    },	// PB07 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none, 	SercomIo::none,		SercomIo::none,		Nx,		nullptr	        },	// PB08
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr	        },	// PB09
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr	        },	// PB10 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB11 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr         },	// PB12 CAN STANDBY
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB13 CAN BOOST
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB14 CAN_TX CAN1TX
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB15 CAN_RX CAN1RX
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr		    },	// PB16
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB17
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB18 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB19 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none, 	Nx,		nullptr			},	// PB20 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB21 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB22 CRYSTAL
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr			},	// PB23 CRYSTAL
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none, 	SercomIo::none,		Nx,		nullptr		    },	// PB24 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none, 	Nx,		nullptr		    },	// PB25 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr		    },	// PB26 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr		    },	// PB27 NC 
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr	        },	// PB28 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,		nullptr      	},	// PB29 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none, 	SercomIo::none,		Nx,		nullptr		    },	// PB30 NC
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none, 	Nx,		nullptr		    },	// PB31 NC
};

constexpr size_t NumPins = ARRAY_SIZE(PinTable);
constexpr size_t NumNamedPins = ARRAY_SIZE(PinTable);
constexpr size_t NumRealPins = 32 + 32;
constexpr size_t NumVirtualPins = 0;

// Timer/counter used to generate step pulses and other sub-millisecond timings
TcCount32 * const StepTc = &(TC0->COUNT32);
constexpr IRQn StepTcIRQn = TC0_IRQn;
constexpr unsigned int StepTcNumber = 0;
#define STEP_TC_HANDLER			TC0_Handler

// Available UART ports
#define NUM_SERIAL_PORTS		0

// DMA channel assignments
constexpr DmaChannel DmacChanTmcTx = 0;
constexpr DmaChannel DmacChanTmcRx = 1;
constexpr DmaChannel DmacChanAdc0Rx = 2;
constexpr DmaChannel DmacChanLedTx = 3;

constexpr unsigned int NumDmaChannelsUsed = 4;			// must be at least the number of channels used, may be larger. Max 12 on the SAME5x.

constexpr DmaPriority DmacPrioTmcTx = 0;
constexpr DmaPriority DmacPrioTmcRx = 3;
constexpr DmaPriority DmacPrioAdcRx = 2;
constexpr DmaPriority DmacPrioLed = 1;

// Interrupt priorities, lower means higher priority. 0-2 can't make RTOS calls.
const NvicPriority NvicPriorityStep = 3;				// step interrupt is next highest, it can preempt most other interrupts
const NvicPriority NvicPriorityUart = 3;				// serial driver makes RTOS calls
const NvicPriority NvicPriorityI2C = 3;
const NvicPriority NvicPriorityPins = 3;				// priority for GPIO pin interrupts
const NvicPriority NvicPriorityCan = 4;
const NvicPriority NvicPriorityDmac = 5;				// priority for DMA complete interrupts
const NvicPriority NvicPriorityAdc = 5;

#endif /* SRC_CONFIG_PINS_FEATHERM4CAN_H_ */

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/*
 * TOOL1RR.h
 *
 *  Created on: 6 Oct 2023
 *      Author: David
 */

#ifndef SRC_CONFIG_TOOL1RR_H_
#define SRC_CONFIG_TOOL1RR_H_

#include <Hardware/PinDescription.h>

#define BOARD_TYPE_NAME		"TOOL1RR"
#define BOOTLOADER_NAME		"SAME5x"

// General features
#define HAS_VREF_MONITOR		1
#define HAS_VOLTAGE_MONITOR		1
#define HAS_12V_MONITOR			0
#define HAS_CPU_TEMP_SENSOR		1
#define HAS_ADDRESS_SWITCHES	0
#define HAS_BUTTONS				0

// Drivers configuration
#define SUPPORT_DRIVERS			1
#define HAS_SMART_DRIVERS		1
#define HAS_STALL_DETECT		1
#define SINGLE_DRIVER			1
#define SUPPORT_SLOW_DRIVERS	0
#define DEDICATED_STEP_TIMER	1
#define SUPPORT_INPUT_SHAPING	1

#define ACTIVE_HIGH_STEP		1		// 1 = active high, 0 = active low
#define ACTIVE_HIGH_DIR			1		// 1 = active high, 0 = active low

#define SUPPORT_TMC51xx			0
#define SUPPORT_TMC2660			0
#define SUPPORT_TMC22xx			1
#define SUPPORT_TMC2208			0
#define SUPPORT_TMC2209			0
#define SUPPORT_TMC2240			1

constexpr size_t NumDrivers = 1;
constexpr size_t MaxSmartDrivers = 1;

#define TMC22xx_USES_SERCOM				1
#define TMC22xx_HAS_MUX					0
#define TMC22xx_SINGLE_DRIVER			1
#define TMC22xx_HAS_ENABLE_PINS			0
#define TMC22xx_VARIABLE_NUM_DRIVERS	0
#define TMC22xx_USE_SLAVEADDR			0

constexpr Pin GlobalTmc22xxEnablePin = PortAPin(0);

constexpr uint8_t TMC22xxSercomNumber = 0;
Sercom * const SERCOM_TMC22xx = SERCOM0;

constexpr Pin TMC22xxSercomTxPin = PortAPin(8);
constexpr GpioPinFunction TMC22xxSercomTxPinPeriphMode = GpioPinFunction::C;
constexpr Pin TMC22xxSercomRxPin = PortAPin(9);
constexpr GpioPinFunction TMC22xxSercomRxPinPeriphMode = GpioPinFunction::C;
constexpr uint8_t TMC22xxSercomRxPad = 1;

// Define the baud rate used to send/receive data to/from the drivers.
// If we assume a worst case clock frequency of 8MHz then the maximum baud rate is 8MHz/16 = 500kbaud.
// We send data via a 1K series resistor. Even if we assume a 200pF load on the shared UART line, this gives a 200ns time constant, which is much less than the 2us bit time @ 500kbaud.
// To write a register we need to send 8 bytes. To read a register we send 4 bytes and receive 8 bytes after a programmable delay.
// So at 500kbaud it takes about 128us to write a register, and 192us+ to read a register.
// In testing I found that 500kbaud was not reliable on the Duet Maestro, so now using 200kbaud.
constexpr uint32_t DriversBaudRate = 200000;
constexpr uint32_t TransferTimeout = 10;									// any transfer should complete within 10 ticks @ 1ms/tick

constexpr uint32_t Tmc2240CurrentRange = 0x01;								// which current range we set the TMC2240 to (2A)
constexpr uint32_t Tmc2240SlopeControl = 0x01;								// which slope control we set the TMC2240 to (200V/us)
constexpr float Tmc2240Rref = 15.0;											// TMC2240 reference resistor in Kohms
constexpr float DriverFullScaleCurrent = 24000/Tmc2240Rref;					// in mA, assuming we set the range bits in the DRV_CONF register to 0x01
constexpr float DriverCsMultiplier = 32.0/DriverFullScaleCurrent;			// with RRef = 15K this works out as 1.6A so this is the maximum current we can ask for

#if 1
// New current limits (RRF 3.6 and later)
constexpr float MaximumMotorCurrent = 1600.0;
constexpr float MaximumStandstillCurrent = 1130.0;
#else
// Original current limits for normal use (RRF 3.5.x and earlier)
constexpr float MaximumMotorCurrent = 1000.0;								// peak current per phase, only one phase gets this at a time
constexpr float MaximumStandstillCurrent = 800.0;							// peak current in a single phase at standstill
#endif

constexpr uint32_t DefaultStandstillCurrentPercent = 75;

PortGroup * const StepPio = &(PORT->Group[1]);								// the PIO that all the step pins are on
constexpr Pin StepPins[NumDrivers] = { PortBPin(23) };
constexpr Pin DirectionPins[NumDrivers] = { PortAPin(10) };
constexpr Pin DriverDiagPins[NumDrivers] = { PortAPin(21) };

#define SUPPORT_THERMISTORS		1
#define SUPPORT_SPI_SENSORS		0
#define SUPPORT_LDC1612			1
#define SUPPORT_AS5601			1											// support direct-connected magnetic filament monitor encoder chip
#define SUPPORT_TCA6408A		1											// support button and LEDs on filament monitor via TCA6408A chip
#define SUPPORT_DMA_NEOPIXEL	0											// can't get SERCOM SPI working due to output state when not transmitting - case opened with Microchip

#ifdef DEBUG
# define SUPPORT_I2C_SENSORS	0											// in debug mode the SERCOM is used for debugging
# define SUPPORT_LIS3DH			0
#else
# define SUPPORT_I2C_SENSORS	1
# define SUPPORT_LIS3DH			1
#endif

#define SUPPORT_DHT_SENSOR		0
#define NUM_SERIAL_PORTS		0

#define USE_MPU					0
#define USE_CACHE				1

constexpr bool UseAlternateCanPins = true;

constexpr size_t MaxPortsPerHeater = 1;

constexpr size_t NumThermistorInputs = 3;
constexpr float DefaultThermistorSeriesR = 2200.0;
constexpr float DefaultThermistorR25_TOOL1RR_temp2 = 10000;
constexpr float DefaultThermistorBeta_TOOL1RR_temp2 = 3425.0;
constexpr float DefaultThermistorC_TOOL1RR_temp2 = 1.68e-7;

constexpr float VrefTopResistor = 27.0;
constexpr float MinVrefLoadR = (DefaultThermistorSeriesR / NumThermistorInputs) * 4700.0/((DefaultThermistorSeriesR / NumThermistorInputs) + 4700.0);

constexpr Pin VrefPin = PortAPin(6);
constexpr Pin VssaPin = PortBPin(9);

constexpr Pin BoardTypePin = PortAPin(3);

// Diagnostic LEDs
constexpr Pin LedPins[] = { PortAPin(30), PortAPin(31) };
constexpr bool LedActiveHigh = false;

constexpr Pin VinMonitorPin = PortAPin(2);
constexpr float VinDividerRatio = (60.4 + 4.7)/4.7;
constexpr float VinMonitorVoltageRange = VinDividerRatio * 3.3;

constexpr Pin TempSensePins[NumThermistorInputs] = { PortBPin(8), PortAPin(7), PortAPin(11) };

#if SUPPORT_I2C_SENSORS

// I2C using pins PA12,13
constexpr uint8_t I2CSercomNumber = 2;
constexpr Pin I2CSDAPin = PortAPin(12);
constexpr GpioPinFunction I2CSDAPinPeriphMode = GpioPinFunction::C;
constexpr Pin I2CSCLPin = PortAPin(13);
constexpr GpioPinFunction I2CSCLPinPeriphMode = GpioPinFunction::C;
# define I2C_HANDLER0		SERCOM2_0_Handler
# define I2C_HANDLER1		SERCOM2_1_Handler
# define I2C_HANDLER2		SERCOM2_2_Handler
# define I2C_HANDLER3		SERCOM2_3_Handler

#endif

#if SUPPORT_LIS3DH
#  define ACCELEROMETER_USES_SPI			(0)				// accelerometer is connected via I2C
constexpr Pin Lis3dhInt1Pin = PortAPin(27);
#endif

#if SUPPORT_LDC1612
constexpr uint16_t LDC1612_I2CAddress = 0x2A;				// pin 4 is tied low
constexpr unsigned int Ldc1612GClkNumber = 5;
constexpr Pin LDC1612ClockGenPin = PortBPin(11);
constexpr Pin LDC1612InterruptPin = PortAPin(25);
#endif

#if SUPPORT_AS5601
constexpr uint16_t AS5601_I2CAddress = 0x36;				// I2C address of the AS5601
#endif

#if SUPPORT_TCA6408A
constexpr uint16_t TCA6408A_I2CAddress = 0x20;				// I2C address of the TCA6408A (ADDR pin is tied to ground)
#endif

const auto sercom1cPad3 = SercomIo::sercom1c + SercomIo::pad3;
const auto sercom5dpad0 = SercomIo::sercom5d + SercomIo::pad0;
const auto sercom5dpad1 = SercomIo::sercom5d + SercomIo::pad1;

// Table of pin functions that we are allowed to use
constexpr PinDescription PinTable[] =
{
	//	TC					TCC					ADC					SERCOM in			SERCOM out	  Exint PinName
	// Port A
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA00 driver ENN
	{ TcOutput::tc2_1,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"out1"			},	// PA01 OUT0
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_0,	SercomIo::none,		SercomIo::none,		Nx,	"ate.vin"		},	// PA02 VIN monitor
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_1,	SercomIo::none,		SercomIo::none,		Nx, nullptr			},	// PA03 board type
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_4,	SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA04 spare analog in (strain gauge?)
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_5,	SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA05 spare
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_6,	SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA06 VRefMon
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_7,	SercomIo::none,		SercomIo::none,		7,	"temp1"			},	// PA07 TEMP1
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA08 driver UART Tx
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA09 driver UART Rx
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"ate.d0.dir"	},	// PA10 driver DIR and reset jumper
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_11,	SercomIo::none,		SercomIo::none,		Nx,	"temp2,coiltemp" },	// PA11 TEMP2
	{ TcOutput::none,	TccOutput::tcc1_2F,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr 		},	// PA12 I2C SDA
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA13 I2C SCL
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA14 crystal
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA15 crystal
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		0,	"io3.in"		},	// PA16 IO1 in
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		1,	"io1.in"		},	// PA17 IO2 in
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		2,	"out1.tach"		},	// PA18 OUT2 tacho
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		sercom1cPad3,		Nx, "led"			},	// PA19 Neopixel out
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"out2"			},	// PA20 OUT2
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		5,	"ate.d0.diag"	},	// PA21 driver DIAG
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA22 CAN0 Tx
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA23 CAN0 Rx
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		8,	"io2.in"		},	// PA24 IO3 in
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		9,	nullptr			},	// PA25 LDC1612 interrupt
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA26 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		11,	nullptr			},	// PA27 accelerometer interrupt
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA28 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA29 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA30 swclk and LED0
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PA31 swdio and LED1

// Port B
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB00 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB01 not on chip
	{ TcOutput::none,	TccOutput::tcc2_2F,	AdcInput::none,		SercomIo::none,		sercom5dpad0,		Nx, "io0.out"		},	// PB02 IO0 out, UART available
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_15,	sercom5dpad1,		SercomIo::none,		3, "io0.in"			},	// PB03 IO0 in, UART available
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB04 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB05 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB06 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB07 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_2,	SercomIo::none,		SercomIo::none,		Nx,	"temp0"			},	// PB08 TEMP0
	{ TcOutput::none,	TccOutput::none,	AdcInput::adc0_3,	SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB09 VSSA monitor
	{ TcOutput::none,	TccOutput::tcc0_4F,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"out0"			},	// PB10 OUT1
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB11 GCLK for LDC1612
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB12 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB13 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB14 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB15 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB16 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB17 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB18 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB19 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB20 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	nullptr			},	// PB21 not on chip
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		6,	"out2.tach"		},	// PB22 OUT2 tacho
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"ate.d0.step"	},	// PB23 driver STEP

// Virtual pins
#if SUPPORT_LIS3DH
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"i2c.lis3dh,i2c.lis2dw"	},	// LIS3DH sensor connected via I2C
#endif
#if SUPPORT_LDC1612
	{ TcOutput::none,	TccOutput::none,	AdcInput::ldc1612,	SercomIo::none,		SercomIo::none,		Nx,	"i2c.ldc1612"	},	// LDC1612 sensor connected via I2C
#endif
#if SUPPORT_AS5601
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"i2c.mfm"		},	// AS5601+TCA6408A filament monitor connected via I2C
#endif
#if SUPPORT_TCA6408A
	{ TcOutput::none,	TccOutput::none,	AdcInput::none,		SercomIo::none,		SercomIo::none,		Nx,	"i2c.mfm.button" },	// AS5601+TCA6408A filament monitor connected via I2C
#endif
};

static constexpr size_t NumPins = ARRAY_SIZE(PinTable);
static constexpr size_t NumRealPins = 32 + 24;			// 32 pins on port A (some missing), 24 on port B (many missing)
constexpr size_t NumVirtualPins = SUPPORT_LIS3DH + SUPPORT_LDC1612 + SUPPORT_AS5601 + SUPPORT_TCA6408A;

static_assert(NumPins == NumRealPins + NumVirtualPins);

#if SUPPORT_AS5601
constexpr Pin MfmPin = NumRealPins + SUPPORT_LIS3DH + SUPPORT_LDC1612;				// pin number when the user selects magnetic filament monitor on I2C bus
#endif

#if SUPPORT_TCA6408A
constexpr Pin MfmButtonPin = NumRealPins + SUPPORT_LIS3DH + SUPPORT_LDC1612 + 1;	// pin number when the user selects magnetic filament monitor button on I2C bus
#endif

// Available UART ports
#define NUM_SERIAL_PORTS		0

// DMA channel assignments
constexpr DmaChannel DmacChanTmcTx = 0;
constexpr DmaChannel DmacChanTmcRx = 1;
constexpr DmaChannel DmacChanAdc0Rx = 2;
constexpr DmaChannel DmacChanLedTx = 3;

constexpr unsigned int NumDmaChannelsUsed = 4;			// must be at least the number of channels used, may be larger. Max 12 on the SAME5x.

constexpr DmaPriority DmacPrioTmcTx = 0;
constexpr DmaPriority DmacPrioTmcRx = 3;
constexpr DmaPriority DmacPrioAdcRx = 2;
constexpr DmaPriority DmacPrioLed = 1;

#endif /* SRC_CONFIG_TOOL1RR_H_ */