From e8701195e66f2d27ffe17fb514eae8173795aaf7 Mon Sep 17 00:00:00 2001
From: Georgiy Bondarenko <69736697+nehilo@users.noreply.github.com>
Date: Thu, 4 Mar 2021 22:54:23 +0500
Subject: Initial commit

---
 Marlin/src/feature/direct_stepping.h | 133 +++++++++++++++++++++++++++++++++++
 1 file changed, 133 insertions(+)
 create mode 100644 Marlin/src/feature/direct_stepping.h

(limited to 'Marlin/src/feature/direct_stepping.h')

diff --git a/Marlin/src/feature/direct_stepping.h b/Marlin/src/feature/direct_stepping.h
new file mode 100644
index 0000000..b300773
--- /dev/null
+++ b/Marlin/src/feature/direct_stepping.h
@@ -0,0 +1,133 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include "../inc/MarlinConfig.h"
+
+namespace DirectStepping {
+
+  enum State : char {
+    MONITOR, NEWLINE, ADDRESS, SIZE, COLLECT, CHECKSUM, UNFAIL
+  };
+
+  enum PageState : uint8_t {
+    FREE, WRITING, OK, FAIL
+  };
+
+  // Static state used for stepping through direct stepping pages
+  struct page_step_state_t {
+    // Current page
+    uint8_t *page;
+    // Current segment
+    uint16_t segment_idx;
+    // Current steps within segment
+    uint8_t segment_steps;
+    // Segment delta
+    xyze_uint8_t sd;
+    // Block delta
+    xyze_int_t bd;
+  };
+
+  template<typename Cfg>
+  class SerialPageManager {
+  public:
+
+    typedef typename Cfg::page_idx_t page_idx_t;
+
+    static bool maybe_store_rxd_char(uint8_t c);
+    static void write_responses();
+
+    // common methods for page managers
+    static void init();
+    static uint8_t *get_page(const page_idx_t page_idx);
+    static void free_page(const page_idx_t page_idx);
+
+  protected:
+
+    typedef typename Cfg::write_byte_idx_t write_byte_idx_t;
+
+    static State state;
+    static volatile bool fatal_error;
+
+    static volatile PageState page_states[Cfg::NUM_PAGES];
+    static volatile bool page_states_dirty;
+
+    static uint8_t pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE];
+    static uint8_t checksum;
+    static write_byte_idx_t write_byte_idx;
+    static page_idx_t write_page_idx;
+    static write_byte_idx_t write_page_size;
+
+    static void set_page_state(const page_idx_t page_idx, const PageState page_state);
+  };
+
+  template<bool b, typename T, typename F> struct TypeSelector { typedef T type;} ;
+  template<typename T, typename F> struct TypeSelector<false, T, F> { typedef F type; };
+
+  template <int num_pages, int num_axes, int bits_segment, bool dir, int segments>
+  struct config_t {
+    static constexpr char CONTROL_CHAR  = '!';
+
+    static constexpr int NUM_PAGES      = num_pages;
+    static constexpr int NUM_AXES       = num_axes;
+    static constexpr int BITS_SEGMENT   = bits_segment;
+    static constexpr int DIRECTIONAL    = dir ? 1 : 0;
+    static constexpr int SEGMENTS       = segments;
+
+    static constexpr int NUM_SEGMENTS   = _BV(BITS_SEGMENT);
+    static constexpr int SEGMENT_STEPS  = _BV(BITS_SEGMENT - DIRECTIONAL) - 1;
+    static constexpr int TOTAL_STEPS    = SEGMENT_STEPS * SEGMENTS;
+    static constexpr int PAGE_SIZE      = (NUM_AXES * BITS_SEGMENT * SEGMENTS) / 8;
+
+    typedef typename TypeSelector<(PAGE_SIZE>256), uint16_t, uint8_t>::type write_byte_idx_t;
+    typedef typename TypeSelector<(NUM_PAGES>256), uint16_t, uint8_t>::type page_idx_t;
+  };
+
+  template <uint8_t num_pages>
+  using SP_4x4D_128 = config_t<num_pages, 4, 4, true,  128>;
+
+  template <uint8_t num_pages>
+  using SP_4x2_256  = config_t<num_pages, 4, 2, false, 256>;
+
+  template <uint8_t num_pages>
+  using SP_4x1_512  = config_t<num_pages, 4, 1, false, 512>;
+
+  // configured types
+  typedef STEPPER_PAGE_FORMAT<STEPPER_PAGES> Config;
+
+  template class PAGE_MANAGER<Config>;
+  typedef PAGE_MANAGER<Config> PageManager;
+};
+
+#define SP_4x4D_128 1
+//#define SP_4x4_128 2
+//#define SP_4x2D_256 3
+#define SP_4x2_256 4
+#define SP_4x1_512 5
+
+typedef typename DirectStepping::Config::page_idx_t page_idx_t;
+
+// TODO: use config
+typedef DirectStepping::page_step_state_t page_step_state_t;
+
+extern const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS];
+extern DirectStepping::PageManager page_manager;
-- 
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