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/**
* 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
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