added XGIGA config for giga experimental

MotorDriver.cpp

@@ -35,12 +35,21 @@ unsigned long MotorDriver::globalOverloadStart = 0;
 volatile portreg_t shadowPORTA;
 volatile portreg_t shadowPORTB;
 volatile portreg_t shadowPORTC;
-#if defined(ARDUINO_ARCH_STM32)
+#if defined(ARDUINO_ARCH_STM32) || (defined(ARDUINO_GIGA) && defined(XGIGA))
 volatile portreg_t shadowPORTD;
 volatile portreg_t shadowPORTE;
 volatile portreg_t shadowPORTF;
 #endif
 
+#if defined(ARDUINO_GIGA) && defined(XGIGA)
+#define STM_PORT(X) (((uint32_t)(X) >> 4) & 0xF)
+#define STM_PIN(X)  ((uint32_t)(X) & 0xF)
+#define STM_GPIO_PIN(X) ((uint16_t)(1<<STM_PIN(X)))
+#define digitalPinToBitMask(p)      (STM_GPIO_PIN(digitalPinToPinName(p)))
+#define portOutputRegister(P)       (&(P->ODR))
+#define portInputRegister(P)        (&(P->IDR))
+#endif
+
 MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin,
                          byte current_pin, float sense_factor, unsigned int trip_milliamps, int16_t fault_pin) {
   const FSH * warnString = F("** WARNING **");
@@ -58,7 +67,7 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
   getFastPin(F("SIG"),signalPin,fastSignalPin);
   pinMode(signalPin, OUTPUT);
 
-  #ifndef ARDUINO_GIGA // no giga
+  #if !defined(ARDUINO_GIGA) || (defined(ARDUINO_GIGA) && defined(XGIGA)) // no giga
   fastSignalPin.shadowinout = NULL;
   if (HAVE_PORTA(fastSignalPin.inout == &PORTA)) {
     DIAG(F("Found PORTA pin %d"),signalPin);
@@ -97,7 +106,7 @@ MotorDriver::MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, i
     getFastPin(F("SIG2"),signalPin2,fastSignalPin2);
     pinMode(signalPin2, OUTPUT);
 
-    #ifndef ARDUINO_GIGA // no giga
+    #if !defined(ARDUINO_GIGA) || (defined(ARDUINO_GIGA) && defined(XGIGA)) // no giga
     fastSignalPin2.shadowinout = NULL;
     if (HAVE_PORTA(fastSignalPin2.inout == &PORTA)) {
       DIAG(F("Found PORTA pin %d"),signalPin2);
@@ -508,7 +517,7 @@ unsigned int MotorDriver::mA2raw( unsigned int mA) {
 
 void  MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & result) {
     // DIAG(F("MotorDriver %S Pin=%d,"),type,pin);
-#if defined(ARDUINO_GIGA) // yes giga
+#if defined(ARDUINO_GIGA) && !defined(XGIGA) // yes giga
     (void)type;
     (void)input; // no warnings please
 
@@ -520,6 +529,8 @@ void  MotorDriver::getFastPin(const FSH* type,int pin, bool input, FASTPIN & res
     PortGroup *port = digitalPinToPort(pin);
 #elif defined(ARDUINO_ARCH_STM32)
     GPIO_TypeDef *port = digitalPinToPort(pin);
+#elif defined(ARDUINO_GIGA)
+    auto * port = ((GPIO_TypeDef *)(GPIOA_BASE + (GPIOB_BASE - GPIOA_BASE) * (digitalPinToPinName(pin) >> 4)));
 #else
     uint8_t port = digitalPinToPort(pin);
 #endif

MotorDriver.h

@@ -31,7 +31,7 @@
 // use powers of two so we can do logical and/or on the track modes in if clauses.
 enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
                         TRACK_MODE_DC = 8, TRACK_MODE_DCX = 16, TRACK_MODE_EXT = 32};
-#if defined(ARDUINO_GIGA) // yes giga
+#if defined(ARDUINO_GIGA) && !defined(XGIGA) // yes giga
 
 #define setHIGH(fastpin)  digitalWrite(fastpin,1)
 #define setLOW(fastpin) digitalWrite(fastpin,0)
@@ -39,7 +39,7 @@ enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PRO
 #define setHIGH(fastpin)  *fastpin.inout |= fastpin.maskHIGH
 #define setLOW(fastpin)   *fastpin.inout &= fastpin.maskLOW
 #endif // giga
-#if defined(ARDUINO_GIGA) // yes giga
+#if defined(ARDUINO_GIGA) && !defined(XGIGA) // yes giga
 #define isHIGH(fastpin) ((PinStatus)digitalRead(fastpin)==1)
 #define isLOW(fastpin) ((PinStatus)digitalRead(fastpin)==0)
 #else // no giga
@@ -82,6 +82,25 @@ enum TRACK_MODE : byte {TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PRO
 #endif
 #endif
 
+#if defined(ARDUINO_GIGA) && defined(XGIGA)
+#define PORTA GPIOA->ODR
+#define HAVE_PORTA(X) X
+#define PORTB GPIOB->ODR
+#define HAVE_PORTB(X) X
+#define PORTC GPIOC->ODR
+#define HAVE_PORTC(X) X
+#define PORTD GPIOD->ODR
+#define HAVE_PORTD(X) X
+#if defined(GPIOE)
+#define PORTE GPIOE->ODR
+#define HAVE_PORTE(X) X
+#endif
+#if defined(GPIOF)
+#define PORTF GPIOF->ODR
+#define HAVE_PORTF(X) X
+#endif
+#endif
+
 // if macros not defined as pass-through we define
 // them here as someting that is valid as a
 // statement and evaluates to false.
@@ -121,13 +140,13 @@ public:
   byte invpin = UNUSED_PIN;
 };
 
-#if defined(__IMXRT1062__) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
+#if defined(__IMXRT1062__) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32) || (defined(ARDUINO_GIGA) && defined(XGIGA))
 typedef uint32_t portreg_t;
 #else
 typedef uint8_t portreg_t;
 #endif
 
-#if defined(ARDUINO_GIGA) // yes giga
+#if defined(ARDUINO_GIGA) && !defined(XGIGA) // yes giga
 typedef int FASTPIN;
 
 
@@ -165,7 +184,7 @@ class MotorDriver {
     // otherwise the call from interrupt context can undo whatever we do
     // from outside interrupt
     void setBrake( bool on, bool interruptContext=false);
-    #if defined(ARDUINO_GIGA) // yes giga
+    #if defined(ARDUINO_GIGA) && !defined(XGIGA) // yes giga
     __attribute__((always_inline)) inline void setSignal( bool high) {
       digitalWrite(signalPin, high);
       if (dualSignal) digitalWrite(signalPin2, !high);