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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::PAGE_COUNT];
-
- template<typename Cfg>
- volatile bool SerialPageManager<Cfg>::page_states_dirty;
-
- template<typename Cfg>
- uint8_t SerialPageManager<Cfg>::pages[Cfg::PAGE_COUNT][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::PAGE_COUNT ; 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_F(MSG_BAD_PAGE));
- return;
- }
-
- if (!page_states_dirty) return;
- page_states_dirty = false;
-
- SERIAL_CHAR(Cfg::CONTROL_CHAR);
- constexpr int state_bits = 2;
- constexpr int n_bytes = Cfg::PAGE_COUNT >> state_bits;
- volatile uint8_t bits_b[n_bytes] = { 0 };
-
- for (page_idx_t i = 0 ; i < Cfg::PAGE_COUNT ; 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_CHAR(bits_b[i]);
- }
-
- SERIAL_CHAR(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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