138 lines
4.4 KiB
C++
138 lines
4.4 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfig.h"
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namespace DirectStepping {
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enum State : char {
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MONITOR, NEWLINE, ADDRESS, SIZE, COLLECT, CHECKSUM, UNFAIL
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};
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enum PageState : uint8_t {
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FREE, WRITING, OK, FAIL
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};
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// Static state used for stepping through direct stepping pages
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struct page_step_state_t {
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// Current page
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uint8_t *page;
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// Current segment
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uint16_t segment_idx;
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// Current steps within segment
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uint8_t segment_steps;
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// Segment delta
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xyze_uint8_t sd;
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// Block delta
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xyze_int_t bd;
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};
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template<typename Cfg>
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class SerialPageManager {
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public:
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typedef typename Cfg::page_idx_t page_idx_t;
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static bool maybe_store_rxd_char(uint8_t c);
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static void write_responses();
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// common methods for page managers
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static void init();
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static uint8_t *get_page(const page_idx_t page_idx);
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static void free_page(const page_idx_t page_idx);
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protected:
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typedef typename Cfg::write_byte_idx_t write_byte_idx_t;
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static State state;
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static volatile bool fatal_error;
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static volatile PageState page_states[Cfg::NUM_PAGES];
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static volatile bool page_states_dirty;
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static millis_t next_response;
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static uint8_t pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE];
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static uint8_t checksum;
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static write_byte_idx_t write_byte_idx;
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static page_idx_t write_page_idx;
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static write_byte_idx_t write_page_size;
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static void set_page_state(const page_idx_t page_idx, const PageState page_state);
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};
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template<bool b, typename T, typename F> struct TypeSelector { typedef T type;} ;
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template<typename T, typename F> struct TypeSelector<false, T, F> { typedef F type; };
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template <int num_pages, int num_axes, int bits_segment, bool dir, int segments>
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struct config_t {
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static constexpr char CONTROL_CHAR = '!';
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static constexpr int NUM_PAGES = num_pages;
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static constexpr int NUM_AXES = num_axes;
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static constexpr int BITS_SEGMENT = bits_segment;
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static constexpr int DIRECTIONAL = dir ? 1 : 0;
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static constexpr int SEGMENTS = segments;
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static constexpr int RAW = (BITS_SEGMENT == 1) ? 1 : 0;
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static constexpr int NUM_SEGMENTS = 1 << BITS_SEGMENT;
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static constexpr int SEGMENT_STEPS = 1 << (BITS_SEGMENT - DIRECTIONAL - RAW);
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static constexpr int TOTAL_STEPS = SEGMENT_STEPS * SEGMENTS;
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static constexpr int PAGE_SIZE = (NUM_AXES * BITS_SEGMENT * SEGMENTS) / 8;
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static constexpr millis_t RESPONSE_INTERVAL_MS = 50;
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typedef typename TypeSelector<(PAGE_SIZE>256), uint16_t, uint8_t>::type write_byte_idx_t;
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typedef typename TypeSelector<(NUM_PAGES>256), uint16_t, uint8_t>::type page_idx_t;
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};
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template <uint8_t num_pages>
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using SP_4x4D_128 = config_t<num_pages, 4, 4, true, 128>;
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template <uint8_t num_pages>
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using SP_4x2_256 = config_t<num_pages, 4, 2, false, 256>;
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template <uint8_t num_pages>
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using SP_4x1_512 = config_t<num_pages, 4, 1, false, 512>;
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// configured types
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typedef STEPPER_PAGE_FORMAT<STEPPER_PAGES> Config;
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template class PAGE_MANAGER<Config>;
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typedef PAGE_MANAGER<Config> PageManager;
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};
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#define SP_4x4D_128 1
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//#define SP_4x4_128 2
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//#define SP_4x2D_256 3
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#define SP_4x2_256 4
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#define SP_4x1_512 5
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typedef typename DirectStepping::Config::page_idx_t page_idx_t;
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// TODO: use config
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typedef DirectStepping::page_step_state_t page_step_state_t;
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extern const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS];
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extern DirectStepping::PageManager page_manager;
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