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G6 Direct Stepping (MarlinFirmware#17853)
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| Original file line number | Diff line number | Diff line change |
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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 <http://www.gnu.org/licenses/>. | ||
| * | ||
| */ | ||
| #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{ \ | ||
| if (I >= sizeof(page_states) / sizeof(page_states[0])) { \ | ||
| fatal_error = true; \ | ||
| return R; \ | ||
| } \ | ||
| }while(0) | ||
|
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| #define CHECK_PAGE_STATE(I, R, S) do { \ | ||
| CHECK_PAGE(I, R); \ | ||
| if (page_states[I] != S) { \ | ||
| fatal_error = true; \ | ||
| return R; \ | ||
| } \ | ||
| }while(0) | ||
|
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| namespace DirectStepping { | ||
|
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| template<typename Cfg> | ||
| State SerialPageManager<Cfg>::state; | ||
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| template<typename Cfg> | ||
| volatile bool SerialPageManager<Cfg>::fatal_error; | ||
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| template<typename Cfg> | ||
| volatile PageState SerialPageManager<Cfg>::page_states[Cfg::NUM_PAGES]; | ||
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| template<typename Cfg> | ||
| volatile bool SerialPageManager<Cfg>::page_states_dirty; | ||
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| template<typename Cfg> | ||
| millis_t SerialPageManager<Cfg>::next_response; | ||
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| template<typename Cfg> | ||
| uint8_t SerialPageManager<Cfg>::pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE]; | ||
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| template<typename Cfg> | ||
| uint8_t SerialPageManager<Cfg>::checksum; | ||
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| template<typename Cfg> | ||
| typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_byte_idx; | ||
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| template<typename Cfg> | ||
| typename Cfg::page_idx_t SerialPageManager<Cfg>::write_page_idx; | ||
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| template<typename Cfg> | ||
| typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_page_size; | ||
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| template <typename Cfg> | ||
| void SerialPageManager<Cfg>::init() { | ||
| for (int i = 0 ; i < Cfg::NUM_PAGES ; i++) | ||
| page_states[i] = PageState::FREE; | ||
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| fatal_error = false; | ||
| next_response = 0; | ||
| state = State::NEWLINE; | ||
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| page_states_dirty = false; | ||
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| SERIAL_ECHOLNPGM("pages_ready"); | ||
| } | ||
|
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| 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; | ||
|
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| CHECK_PAGE(write_page_idx, true); | ||
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| if (page_states[write_page_idx] == PageState::FAIL) { | ||
| // Special case for fail | ||
| state = State::UNFAIL; | ||
| return true; | ||
| } | ||
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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; | ||
| 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; | ||
|
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| // 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; | ||
| } | ||
|
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| 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; | ||
| } | ||
| } | ||
|
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| template <typename Cfg> | ||
| void SerialPageManager<Cfg>::write_responses() { | ||
| if (fatal_error) { | ||
| kill(GET_TEXT(MSG_BAD_PAGE)); | ||
| return; | ||
| } | ||
|
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| // Runs on a set interval also, as responses may get lost. | ||
| if (next_response && next_response < millis()) { | ||
| page_states_dirty = true; | ||
| } | ||
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| if (!page_states_dirty) return; | ||
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| page_states_dirty = false; | ||
| next_response = millis() + Cfg::RESPONSE_INTERVAL_MS; | ||
|
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| 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 }; | ||
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| for (page_idx_t i = 0 ; i < Cfg::NUM_PAGES ; i++) { | ||
| bits_b[i >> state_bits] |= page_states[i] << ((i * state_bits) & 0x7); | ||
| } | ||
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| uint8_t crc = 0; | ||
| for (uint8_t i = 0 ; i < n_bytes ; i++) { | ||
| crc ^= bits_b[i]; | ||
| SERIAL_ECHO(bits_b[i]); | ||
| } | ||
|
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| SERIAL_ECHO(crc); | ||
| SERIAL_EOL(); | ||
| } | ||
|
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| 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,); | ||
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| page_states[page_idx] = page_state; | ||
| page_states_dirty = true; | ||
| } | ||
|
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| template <> | ||
| FORCE_INLINE uint8_t *PageManager::get_page(const page_idx_t page_idx) { | ||
| CHECK_PAGE(page_idx, nullptr); | ||
|
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| return pages[page_idx]; | ||
| } | ||
|
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| template <> | ||
| FORCE_INLINE void PageManager::free_page(const page_idx_t page_idx) { | ||
| set_page_state(page_idx, PageState::FREE); | ||
| } | ||
|
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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 }, // 0 = -7 | ||
| { 1, 1, 1, 0, 1, 1, 1, 0 }, // 1 = -6 | ||
| { 0, 1, 1, 0, 1, 0, 1, 1 }, // 2 = -5 | ||
| { 0, 1, 0, 1, 0, 1, 0, 1 }, // 3 = -4 | ||
| { 0, 1, 0, 0, 1, 0, 0, 1 }, // 4 = -3 | ||
| { 0, 0, 1, 0, 0, 0, 1, 0 }, // 5 = -2 | ||
| { 0, 0, 0, 0, 1, 0, 0, 0 }, // 6 = -1 | ||
| { 0, 0, 0, 0, 0, 0, 0, 0 }, // 7 = 0 | ||
| { 0, 0, 0, 0, 1, 0, 0, 0 }, // 8 = 1 | ||
| { 0, 0, 1, 0, 0, 0, 1, 0 }, // 9 = 2 | ||
| { 0, 1, 0, 0, 1, 0, 0, 1 }, // 10 = 3 | ||
| { 0, 1, 0, 1, 0, 1, 0, 1 }, // 11 = 4 | ||
| { 0, 1, 1, 0, 1, 0, 1, 1 }, // 12 = 5 | ||
| { 1, 1, 1, 0, 1, 1, 1, 0 }, // 13 = 6 | ||
| { 1, 1, 1, 1, 1, 1, 1, 0 }, // 14 = 7 | ||
| { 0 } | ||
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| #elif STEPPER_PAGE_FORMAT == SP_4x2_256 | ||
|
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| { 0, 0, 0, 0 }, // 0 | ||
| { 0, 1, 0, 0 }, // 1 | ||
| { 1, 0, 1, 0 }, // 2 | ||
| { 1, 1, 1, 0 }, // 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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