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262 lines
7.3 KiB
262 lines
7.3 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../inc/MarlinConfigPre.h"
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#if ENABLED(DIRECT_STEPPING)
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#include "direct_stepping.h"
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#include "../MarlinCore.h"
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#define CHECK_PAGE(I, R) do{ \
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if (I >= sizeof(page_states) / sizeof(page_states[0])) { \
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fatal_error = true; \
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return R; \
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} \
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}while(0)
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#define CHECK_PAGE_STATE(I, R, S) do { \
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CHECK_PAGE(I, R); \
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if (page_states[I] != S) { \
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fatal_error = true; \
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return R; \
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} \
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}while(0)
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namespace DirectStepping {
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template<typename Cfg>
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State SerialPageManager<Cfg>::state;
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template<typename Cfg>
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volatile bool SerialPageManager<Cfg>::fatal_error;
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template<typename Cfg>
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volatile PageState SerialPageManager<Cfg>::page_states[Cfg::NUM_PAGES];
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template<typename Cfg>
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volatile bool SerialPageManager<Cfg>::page_states_dirty;
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template<typename Cfg>
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uint8_t SerialPageManager<Cfg>::pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE];
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template<typename Cfg>
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uint8_t SerialPageManager<Cfg>::checksum;
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template<typename Cfg>
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typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_byte_idx;
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template<typename Cfg>
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typename Cfg::page_idx_t SerialPageManager<Cfg>::write_page_idx;
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template<typename Cfg>
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typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_page_size;
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template <typename Cfg>
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void SerialPageManager<Cfg>::init() {
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for (int i = 0 ; i < Cfg::NUM_PAGES ; i++)
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page_states[i] = PageState::FREE;
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fatal_error = false;
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state = State::NEWLINE;
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page_states_dirty = false;
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SERIAL_ECHOLNPGM("pages_ready");
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}
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template<typename Cfg>
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FORCE_INLINE bool SerialPageManager<Cfg>::maybe_store_rxd_char(uint8_t c) {
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switch (state) {
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default:
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case State::MONITOR:
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switch (c) {
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case '\n':
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case '\r':
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state = State::NEWLINE;
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default:
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return false;
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}
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case State::NEWLINE:
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switch (c) {
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case Cfg::CONTROL_CHAR:
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state = State::ADDRESS;
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return true;
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case '\n':
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case '\r':
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state = State::NEWLINE;
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return false;
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default:
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state = State::MONITOR;
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return false;
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}
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case State::ADDRESS:
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//TODO: 16 bit address, State::ADDRESS2
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write_page_idx = c;
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write_byte_idx = 0;
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checksum = 0;
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CHECK_PAGE(write_page_idx, true);
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if (page_states[write_page_idx] == PageState::FAIL) {
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// Special case for fail
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state = State::UNFAIL;
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return true;
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}
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set_page_state(write_page_idx, PageState::WRITING);
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state = Cfg::DIRECTIONAL ? State::COLLECT : State::SIZE;
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return true;
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case State::SIZE:
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// Zero means full page size
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write_page_size = c;
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state = State::COLLECT;
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return true;
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case State::COLLECT:
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pages[write_page_idx][write_byte_idx++] = c;
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checksum ^= c;
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// check if still collecting
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if (Cfg::PAGE_SIZE == 256) {
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// special case for 8-bit, check if rolled back to 0
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if (Cfg::DIRECTIONAL || !write_page_size) { // full 256 bytes
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if (write_byte_idx) return true;
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} else {
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if (write_byte_idx < write_page_size) return true;
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}
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} else if (Cfg::DIRECTIONAL) {
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if (write_byte_idx != Cfg::PAGE_SIZE) return true;
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} else {
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if (write_byte_idx < write_page_size) return true;
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}
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state = State::CHECKSUM;
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return true;
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case State::CHECKSUM: {
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const PageState page_state = (checksum == c) ? PageState::OK : PageState::FAIL;
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set_page_state(write_page_idx, page_state);
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state = State::MONITOR;
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return true;
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}
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case State::UNFAIL:
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if (c == 0) {
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set_page_state(write_page_idx, PageState::FREE);
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} else {
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fatal_error = true;
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}
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state = State::MONITOR;
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return true;
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}
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}
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template <typename Cfg>
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void SerialPageManager<Cfg>::write_responses() {
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if (fatal_error) {
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kill(GET_TEXT(MSG_BAD_PAGE));
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return;
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}
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if (!page_states_dirty) return;
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page_states_dirty = false;
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SERIAL_ECHO(Cfg::CONTROL_CHAR);
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constexpr int state_bits = 2;
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constexpr int n_bytes = Cfg::NUM_PAGES >> state_bits;
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volatile uint8_t bits_b[n_bytes] = { 0 };
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for (page_idx_t i = 0 ; i < Cfg::NUM_PAGES ; i++) {
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bits_b[i >> state_bits] |= page_states[i] << ((i * state_bits) & 0x7);
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}
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uint8_t crc = 0;
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for (uint8_t i = 0 ; i < n_bytes ; i++) {
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crc ^= bits_b[i];
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SERIAL_ECHO(bits_b[i]);
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}
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SERIAL_ECHO(crc);
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SERIAL_EOL();
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}
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template <typename Cfg>
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FORCE_INLINE void SerialPageManager<Cfg>::set_page_state(const page_idx_t page_idx, const PageState page_state) {
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CHECK_PAGE(page_idx,);
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page_states[page_idx] = page_state;
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page_states_dirty = true;
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}
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template <>
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FORCE_INLINE uint8_t *PageManager::get_page(const page_idx_t page_idx) {
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CHECK_PAGE(page_idx, nullptr);
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return pages[page_idx];
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}
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template <>
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FORCE_INLINE void PageManager::free_page(const page_idx_t page_idx) {
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set_page_state(page_idx, PageState::FREE);
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}
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};
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DirectStepping::PageManager page_manager;
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const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS] PROGMEM = {
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#if STEPPER_PAGE_FORMAT == SP_4x4D_128
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{ 1, 1, 1, 1, 1, 1, 1 }, // 0 = -7
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{ 1, 1, 1, 0, 1, 1, 1 }, // 1 = -6
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{ 1, 1, 1, 0, 1, 0, 1 }, // 2 = -5
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{ 1, 1, 0, 1, 0, 1, 0 }, // 3 = -4
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{ 1, 1, 0, 0, 1, 0, 0 }, // 4 = -3
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{ 0, 0, 1, 0, 0, 0, 1 }, // 5 = -2
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{ 0, 0, 0, 1, 0, 0, 0 }, // 6 = -1
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{ 0, 0, 0, 0, 0, 0, 0 }, // 7 = 0
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{ 0, 0, 0, 1, 0, 0, 0 }, // 8 = 1
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{ 0, 0, 1, 0, 0, 0, 1 }, // 9 = 2
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{ 1, 1, 0, 0, 1, 0, 0 }, // 10 = 3
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{ 1, 1, 0, 1, 0, 1, 0 }, // 11 = 4
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{ 1, 1, 1, 0, 1, 0, 1 }, // 12 = 5
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{ 1, 1, 1, 0, 1, 1, 1 }, // 13 = 6
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{ 1, 1, 1, 1, 1, 1, 1 }, // 14 = 7
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{ 0 }
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#elif STEPPER_PAGE_FORMAT == SP_4x2_256
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{ 0, 0, 0 }, // 0
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{ 0, 1, 0 }, // 1
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{ 1, 0, 1 }, // 2
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{ 1, 1, 1 }, // 3
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#elif STEPPER_PAGE_FORMAT == SP_4x1_512
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{0} // Uncompressed format, table not used
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#endif
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};
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#endif // DIRECT_STEPPING
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