From 42c2eb5123c96199e2145ca614f22322667ed882 Mon Sep 17 00:00:00 2001 From: Matt Staniszewski Date: Thu, 31 Oct 2019 11:32:38 -0400 Subject: [PATCH] Fixed up persistence files to get compile up and running --- g2core/board/G2v9.mk | 1 + g2core/cycle_feedhold.cpp | 4 +- g2core/g2core.cppproj | 4 +- g2core/persistence.cpp | 37 +++++++++------ g2core/persistence.h | 1 + g2core/util.cpp | 99 +++++++++++++++++++++++++++++++++++++++ g2core/util.h | 1 + g2core/xio.cpp | 32 ++++++++----- g2core/xio.h | 2 +- 9 files changed, 151 insertions(+), 30 deletions(-) diff --git a/g2core/board/G2v9.mk b/g2core/board/G2v9.mk index d9337954..f3fdd229 100755 --- a/g2core/board/G2v9.mk +++ b/g2core/board/G2v9.mk @@ -47,6 +47,7 @@ ifeq ("$(BASE_BOARD)","g2v9") include $(PLATFORM_BASE).mk ifeq ("$(BANTAM)", "1") + SOURCE_DIRS += device/sd_card device/sd_card/fatfs CUSTOM_LINKER_SCRIPT := board/G2v9/bantam-checksum-flash.ld ALL_ADDITIONS += $(OUTPUT_BIN)-summed.bin define ADDITIONAL_RECIPES diff --git a/g2core/cycle_feedhold.cpp b/g2core/cycle_feedhold.cpp index ebb9d072..78cfbc0b 100644 --- a/g2core/cycle_feedhold.cpp +++ b/g2core/cycle_feedhold.cpp @@ -404,9 +404,11 @@ void cm_request_queue_flush() static void _start_queue_flush() { + devflags_t flags = DEV_IS_DATA; + // Don't initiate the queue until in HOLD state (this also means that runtime is idle) if ((cm1.queue_flush_state == QUEUE_FLUSH_REQUESTED) && (cm1.hold_state == FEEDHOLD_HOLD)) { - xio_flush_device(DEV_IS_DATA); + xio_flush_device(flags); if (cm1.hold_type == FEEDHOLD_TYPE_ACTIONS) { op.add_action(_feedhold_restart_with_actions); } else { diff --git a/g2core/g2core.cppproj b/g2core/g2core.cppproj index 4f42ceb0..fbf29b7a 100644 --- a/g2core/g2core.cppproj +++ b/g2core/g2core.cppproj @@ -56,7 +56,7 @@ - + @@ -2153,4 +2153,4 @@ - \ No newline at end of file + diff --git a/g2core/persistence.cpp b/g2core/persistence.cpp index cbffa83a..12f32be0 100644 --- a/g2core/persistence.cpp +++ b/g2core/persistence.cpp @@ -28,7 +28,7 @@ #include "persistence.h" #include "canonical_machine.h" #include "report.h" -//#include "util.h" +#include "util.h" /*********************************************************************************** **** STRUCTURE ALLOCATIONS ******************************************************** @@ -45,6 +45,14 @@ stat_t write_persistent_values(); stat_t validate_persistence_file(); uint8_t active_file_index(); +// Leaving this in for now in case bugs come up; we can remove it when we're confident +// it's stable +#if 0 +# define DEBUG_PRINT(...) printf(__VA_ARGS__); +#else +# define DEBUG_PRINT(...) do {} while (0) +#endif + // Analogous to ritorno(a), but for the FatFS return codes and with optional debug output #define fs_ritorno(a, msg) if((status_code=a) != FR_OK) \ { DEBUG_PRINT("%s res: %i\n", msg, status_code); return(STAT_PERSISTENCE_ERROR); } @@ -72,7 +80,7 @@ const char* filenames[PERSISTENCE_FILENAME_CNT] = { void persistence_init() { nvm.file_index = 0; - nvm.last_write_systick = SysTickTimer_getValue(); + nvm.last_write_systick = Motate::SysTickTimer.getValue(); nvm.write_failures = 0; return; } @@ -85,7 +93,6 @@ void persistence_init() stat_t read_persistent_value(nvObj_t *nv) { - nv->value_flt = 0; ritorno(prepare_persistence_file()); DEBUG_PRINT("file opened for reading\n"); fs_ritorno(f_lseek(&nvm.file, nv->index * NVM_VALUE_LEN), "f_lseek during read"); @@ -94,8 +101,8 @@ stat_t read_persistent_value(nvObj_t *nv) if (br != NVM_VALUE_LEN) { return (STAT_PERSISTENCE_ERROR); } - memcpy(&nv->value, &nvm.io_buffer, NVM_VALUE_LEN); - DEBUG_PRINT("value copied from address %i in file: %f\n", nv->index * NVM_VALUE_LEN, nv->value); + memcpy(&nv->value_flt, &nvm.io_buffer, NVM_VALUE_LEN); + DEBUG_PRINT("value copied from address %i in file: %f\n", nv->index * NVM_VALUE_LEN, nv->value_flt); return (STAT_OK); } @@ -108,15 +115,15 @@ stat_t read_persistent_value(nvObj_t *nv) stat_t write_persistent_value(nvObj_t *nv) { - nvm.tmp_value = nv->value; + nvm.tmp_value = nv->value_flt; if (read_persistent_value(nv) != STAT_OK || - (isnan((double)nv->value)) || - (isinf((double)nv->value)) || - (nv->value != nvm.tmp_value)) { // use a bitwise equality check rather than fp_EQ + (isnan((double)nv->value_flt)) || + (isinf((double)nv->value_flt)) || + (fp_NE(nv->value_flt, nvm.tmp_value))) { // use a bitwise equality check rather than fp_EQ // since underlying value might not really be a float nvm.write_cache[nv->index] = nvm.tmp_value; } - nv->value =nvm.tmp_value; // always restore value + nv->value_flt =nvm.tmp_value; // always restore value return (STAT_OK); } @@ -132,9 +139,9 @@ stat_t write_persistent_values_callback() // FIXME: it would be much better to do this with an interrupt! f_polldisk(); if (nvm.write_cache.size()) { - if (SysTickTimer_getValue() - nvm.last_write_systick < MIN_WRITE_INTERVAL) return (STAT_NOOP); + if (Motate::SysTickTimer.getValue() - nvm.last_write_systick < MIN_WRITE_INTERVAL) return (STAT_NOOP); // this check may not be necessary on ARM, but just in case... - if (cm.cycle_state != CYCLE_OFF) return(STAT_NOOP); // can't write when machine is moving + if (cm->cycle_type != CYCLE_NONE) return(STAT_NOOP); // can't write when machine is moving if(write_persistent_values() == STAT_OK) { nvm.write_cache.clear(); @@ -148,7 +155,7 @@ stat_t write_persistent_values_callback() return(rpt_exception(STAT_PERSISTENCE_ERROR, NULL)); } } - nvm.last_write_systick = SysTickTimer_getValue(); + nvm.last_write_systick = Motate::SysTickTimer.getValue(); return STAT_OK; } return STAT_NOOP; @@ -221,7 +228,7 @@ stat_t prepare_persistence_file() stat_t validate_persistence_file() { uint32_t crc = 0; - uint32_t filecrc = NAN; + uint32_t filecrc = -1; UINT br, br_sum = 0; fs_ritorno(f_lseek(&nvm.file, 0), "crc check seek"); while (!f_eof(&nvm.file)) { @@ -273,7 +280,7 @@ stat_t write_persistent_values() uint16_t step = IO_BUFFER_SIZE/NVM_VALUE_LEN; for (index_t cnt = 0; cnt < nv_index_max(); cnt += step) { // try to read old values from existing file - uint16_t io_byte_count = std::min(IO_BUFFER_SIZE, (nv_index_max()-cnt) * NVM_VALUE_LEN); + uint16_t io_byte_count = std::min((float)IO_BUFFER_SIZE, (float)((nv_index_max()-cnt) * NVM_VALUE_LEN)); UINT br = 0; f_read(&nvm.file, &nvm.io_buffer, io_byte_count, &br); DEBUG_PRINT("read %i bytes from old file\n", br); diff --git a/g2core/persistence.h b/g2core/persistence.h index d49c9648..93c7c712 100644 --- a/g2core/persistence.h +++ b/g2core/persistence.h @@ -43,6 +43,7 @@ //**** persistence singleton **** typedef struct nvmSingleton { + float tmp_value; FATFS fat_fs; FIL file; uint8_t file_index; diff --git a/g2core/util.cpp b/g2core/util.cpp index 377fbfbb..13f3517b 100644 --- a/g2core/util.cpp +++ b/g2core/util.cpp @@ -218,6 +218,105 @@ uint16_t compute_checksum(char const *string, const uint16_t length) return (h % HASHMASK); } +/*- + * COPYRIGHT (C) 1986 Gary S. Brown. You may use this program, or + * code or tables extracted from it, as desired without restriction. + * + * First, the polynomial itself and its table of feedback terms. The + * polynomial is + * X^32+X^26+X^23+X^22+X^16+X^12+X^11+X^10+X^8+X^7+X^5+X^4+X^2+X^1+X^0 + * + * Note that we take it "backwards" and put the highest-order term in + * the lowest-order bit. The X^32 term is "implied"; the LSB is the + * X^31 term, etc. The X^0 term (usually shown as "+1") results in + * the MSB being 1 + * + * Note that the usual hardware shift register implementation, which + * is what we're using (we're merely optimizing it by doing eight-bit + * chunks at a time) shifts bits into the lowest-order term. In our + * implementation, that means shifting towards the right. Why do we + * do it this way? Because the calculated CRC must be transmitted in + * order from highest-order term to lowest-order term. UARTs transmit + * characters in order from LSB to MSB. By storing the CRC this way + * we hand it to the UART in the order low-byte to high-byte; the UART + * sends each low-bit to hight-bit; and the result is transmission bit + * by bit from highest- to lowest-order term without requiring any bit + * shuffling on our part. Reception works similarly + * + * The feedback terms table consists of 256, 32-bit entries. Notes + * + * The table can be generated at runtime if desired; code to do so + * is shown later. It might not be obvious, but the feedback + * terms simply represent the results of eight shift/xor opera + * tions for all combinations of data and CRC register values + * + * The values must be right-shifted by eight bits by the "updcrc + * logic; the shift must be unsigned (bring in zeroes). On some + * hardware you could probably optimize the shift in assembler by + * using byte-swap instructions + * polynomial $edb88320 + * + * + * CRC32 code derived from work by Gary S. Brown. + */ + +static uint32_t crc32_tab[] = { + 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, + 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, + 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2, + 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, + 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, + 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, + 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c, + 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, + 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, + 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, + 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106, + 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, + 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, + 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, + 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950, + 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, + 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, + 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, + 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa, + 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, + 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, + 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, + 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84, + 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, + 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, + 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, + 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e, + 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, + 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, + 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, + 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28, + 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, + 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, + 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, + 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242, + 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, + 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, + 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, + 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc, + 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, + 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, + 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, + 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d +}; + +uint32_t crc32(uint32_t crc, const void *buf, size_t size) +{ + const uint8_t *p = (uint8_t*)buf; + crc = crc ^ ~0U; + + while (size--) + crc = crc32_tab[(crc ^ *p++) & 0xFF] ^ (crc >> 8); + + return crc ^ ~0U; +} + /****************************************** **** Fast Number to ASCII Conversions **** ******************************************/ diff --git a/g2core/util.h b/g2core/util.h index 7c18a6ea..8fc3a629 100644 --- a/g2core/util.h +++ b/g2core/util.h @@ -95,6 +95,7 @@ float *set_vector_by_axis(float value, uint8_t axis); uint8_t isnumber(char c); char *escape_string(char *dst, char *src); uint16_t compute_checksum(char const *string, const uint16_t length); +uint32_t crc32(uint32_t crc, const void *buf, size_t size); char floattoa(char *buffer, float in, int precision, int maxlen = 16); char inttoa(char *str, int n); diff --git a/g2core/xio.cpp b/g2core/xio.cpp index e75b39b1..3ba73d52 100644 --- a/g2core/xio.cpp +++ b/g2core/xio.cpp @@ -168,6 +168,7 @@ struct xioDeviceWrapperBase { // C++ base class for device primit virtual int16_t write(const char *buffer, int16_t len) { return -1; }; virtual char *readline(devflags_t limit_flags, uint16_t &size) { return nullptr; }; + virtual void flushDevice() {}; #if MARLIN_COMPAT_ENABLED == true virtual void exitFakeBootloaderMode() {}; @@ -392,6 +393,17 @@ struct xio_t { return (NULL); }; + void flushDevice(devflags_t &flags) + { + for (uint8_t dev=0; dev < _dev_count; dev++) { + if(!DeviceWrappers[dev]->isActive()) + continue; + if(!(DeviceWrappers[dev]->flags & flags)) + continue; + DeviceWrappers[dev]->flushRead(); + } + }; + #if MARLIN_COMPAT_ENABLED == true void exitFakeBootloaderMode() { for (int8_t i = 0; i < _dev_count; ++i) { @@ -403,17 +415,6 @@ struct xio_t { uint16_t magic_end; }; -void xio_flush_device(devflags_t flags) -{ - or( uint8_t dev=0; dev < DEV_MAX; dev++) { - if(!xio.d[dev]->isActive()) - continue; - if(!(xio.d[dev]->flags & flags)) - continue; - DeviceWrappers[dev]->flushRead(); - } -} - // Declare (but don't define) the xio singleton object now, define it later // Why? xioDeviceWrapper uses it, but we need to define it to contain xioDeviceWrapper objects. extern xio_t xio; @@ -1415,6 +1416,15 @@ void xio_flush_to_command() { return xio.flushToCommand(); } +/* + * xio_flush_device() - flush reads on all devices except those that are active or have flags provided + */ + +void xio_flush_device(devflags_t &flags) +{ + xio.flushDevice(flags); +} + #if MARLIN_COMPAT_ENABLED == true /* * xio_end_fake_bootloader() - end the fake bootloader mode diff --git a/g2core/xio.h b/g2core/xio.h index 5f780145..676b018e 100644 --- a/g2core/xio.h +++ b/g2core/xio.h @@ -118,13 +118,13 @@ stat_t xio_test_assertions(void); size_t xio_write(const char *buffer, size_t size, bool only_to_muted = false); char *xio_readline(devflags_t &flags, uint16_t &size); -void xio_flush_device(devflags_t flags); int16_t xio_writeline(const char *buffer, bool only_to_muted = false); bool xio_connected(); void xio_flush_to_command(); #if MARLIN_COMPAT_ENABLED == true void xio_exit_fake_bootloader(); #endif +void xio_flush_device(devflags_t &flags); stat_t xio_set_spi(nvObj_t *nv);