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Diffstat (limited to 'Marlin/src/feature/direct_stepping.cpp')
| -rw-r--r-- | Marlin/src/feature/direct_stepping.cpp | 262 |
1 files changed, 262 insertions, 0 deletions
diff --git a/Marlin/src/feature/direct_stepping.cpp b/Marlin/src/feature/direct_stepping.cpp new file mode 100644 index 0000000..9766d14 --- /dev/null +++ b/Marlin/src/feature/direct_stepping.cpp @@ -0,0 +1,262 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <https://www.gnu.org/licenses/>. + * + */ +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(DIRECT_STEPPING) + +#include "direct_stepping.h" + +#include "../MarlinCore.h" + +#define CHECK_PAGE(I, R) do{ \ + if (I >= sizeof(page_states) / sizeof(page_states[0])) { \ + fatal_error = true; \ + return R; \ + } \ +}while(0) + +#define CHECK_PAGE_STATE(I, R, S) do { \ + CHECK_PAGE(I, R); \ + if (page_states[I] != S) { \ + fatal_error = true; \ + return R; \ + } \ +}while(0) + +namespace DirectStepping { + + template<typename Cfg> + State SerialPageManager<Cfg>::state; + + template<typename Cfg> + volatile bool SerialPageManager<Cfg>::fatal_error; + + template<typename Cfg> + volatile PageState SerialPageManager<Cfg>::page_states[Cfg::NUM_PAGES]; + + template<typename Cfg> + volatile bool SerialPageManager<Cfg>::page_states_dirty; + + template<typename Cfg> + uint8_t SerialPageManager<Cfg>::pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE]; + + template<typename Cfg> + uint8_t SerialPageManager<Cfg>::checksum; + + template<typename Cfg> + typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_byte_idx; + + template<typename Cfg> + typename Cfg::page_idx_t SerialPageManager<Cfg>::write_page_idx; + + template<typename Cfg> + typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_page_size; + + template <typename Cfg> + void SerialPageManager<Cfg>::init() { + for (int i = 0 ; i < Cfg::NUM_PAGES ; i++) + page_states[i] = PageState::FREE; + + fatal_error = false; + state = State::NEWLINE; + + page_states_dirty = false; + + SERIAL_ECHOLNPGM("pages_ready"); + } + + template<typename Cfg> + FORCE_INLINE bool SerialPageManager<Cfg>::maybe_store_rxd_char(uint8_t c) { + switch (state) { + default: + case State::MONITOR: + switch (c) { + case '\n': + case '\r': + state = State::NEWLINE; + default: + return false; + } + case State::NEWLINE: + switch (c) { + case Cfg::CONTROL_CHAR: + state = State::ADDRESS; + return true; + case '\n': + case '\r': + state = State::NEWLINE; + return false; + default: + state = State::MONITOR; + return false; + } + case State::ADDRESS: + //TODO: 16 bit address, State::ADDRESS2 + write_page_idx = c; + write_byte_idx = 0; + checksum = 0; + + CHECK_PAGE(write_page_idx, true); + + if (page_states[write_page_idx] == PageState::FAIL) { + // Special case for fail + state = State::UNFAIL; + return true; + } + + set_page_state(write_page_idx, PageState::WRITING); + + state = Cfg::DIRECTIONAL ? State::COLLECT : State::SIZE; + + return true; + case State::SIZE: + // Zero means full page size + write_page_size = c; + state = State::COLLECT; + return true; + case State::COLLECT: + pages[write_page_idx][write_byte_idx++] = c; + checksum ^= c; + + // check if still collecting + if (Cfg::PAGE_SIZE == 256) { + // special case for 8-bit, check if rolled back to 0 + if (Cfg::DIRECTIONAL || !write_page_size) { // full 256 bytes + if (write_byte_idx) return true; + } else { + if (write_byte_idx < write_page_size) return true; + } + } else if (Cfg::DIRECTIONAL) { + if (write_byte_idx != Cfg::PAGE_SIZE) return true; + } else { + if (write_byte_idx < write_page_size) return true; + } + + state = State::CHECKSUM; + return true; + case State::CHECKSUM: { + const PageState page_state = (checksum == c) ? PageState::OK : PageState::FAIL; + set_page_state(write_page_idx, page_state); + state = State::MONITOR; + return true; + } + case State::UNFAIL: + if (c == 0) { + set_page_state(write_page_idx, PageState::FREE); + } else { + fatal_error = true; + } + state = State::MONITOR; + return true; + } + } + + template <typename Cfg> + void SerialPageManager<Cfg>::write_responses() { + if (fatal_error) { + kill(GET_TEXT(MSG_BAD_PAGE)); + return; + } + + if (!page_states_dirty) return; + page_states_dirty = false; + + SERIAL_ECHO(Cfg::CONTROL_CHAR); + constexpr int state_bits = 2; + constexpr int n_bytes = Cfg::NUM_PAGES >> state_bits; + volatile uint8_t bits_b[n_bytes] = { 0 }; + + for (page_idx_t i = 0 ; i < Cfg::NUM_PAGES ; i++) { + bits_b[i >> state_bits] |= page_states[i] << ((i * state_bits) & 0x7); + } + + uint8_t crc = 0; + for (uint8_t i = 0 ; i < n_bytes ; i++) { + crc ^= bits_b[i]; + SERIAL_ECHO(bits_b[i]); + } + + SERIAL_ECHO(crc); + SERIAL_EOL(); + } + + template <typename Cfg> + FORCE_INLINE void SerialPageManager<Cfg>::set_page_state(const page_idx_t page_idx, const PageState page_state) { + CHECK_PAGE(page_idx,); + + page_states[page_idx] = page_state; + page_states_dirty = true; + } + + template <> + FORCE_INLINE uint8_t *PageManager::get_page(const page_idx_t page_idx) { + CHECK_PAGE(page_idx, nullptr); + + return pages[page_idx]; + } + + template <> + FORCE_INLINE void PageManager::free_page(const page_idx_t page_idx) { + set_page_state(page_idx, PageState::FREE); + } + +}; + +DirectStepping::PageManager page_manager; + +const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS] PROGMEM = { + + #if STEPPER_PAGE_FORMAT == SP_4x4D_128 + + { 1, 1, 1, 1, 1, 1, 1 }, // 0 = -7 + { 1, 1, 1, 0, 1, 1, 1 }, // 1 = -6 + { 1, 1, 1, 0, 1, 0, 1 }, // 2 = -5 + { 1, 1, 0, 1, 0, 1, 0 }, // 3 = -4 + { 1, 1, 0, 0, 1, 0, 0 }, // 4 = -3 + { 0, 0, 1, 0, 0, 0, 1 }, // 5 = -2 + { 0, 0, 0, 1, 0, 0, 0 }, // 6 = -1 + { 0, 0, 0, 0, 0, 0, 0 }, // 7 = 0 + { 0, 0, 0, 1, 0, 0, 0 }, // 8 = 1 + { 0, 0, 1, 0, 0, 0, 1 }, // 9 = 2 + { 1, 1, 0, 0, 1, 0, 0 }, // 10 = 3 + { 1, 1, 0, 1, 0, 1, 0 }, // 11 = 4 + { 1, 1, 1, 0, 1, 0, 1 }, // 12 = 5 + { 1, 1, 1, 0, 1, 1, 1 }, // 13 = 6 + { 1, 1, 1, 1, 1, 1, 1 }, // 14 = 7 + { 0 } + + #elif STEPPER_PAGE_FORMAT == SP_4x2_256 + + { 0, 0, 0 }, // 0 + { 0, 1, 0 }, // 1 + { 1, 0, 1 }, // 2 + { 1, 1, 1 }, // 3 + + #elif STEPPER_PAGE_FORMAT == SP_4x1_512 + + {0} // Uncompressed format, table not used + + #endif + +}; + +#endif // DIRECT_STEPPING |