diff options
166 files changed, 28350 insertions, 9286 deletions
@@ -14,8 +14,6 @@ <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - - <stringMacro name="GccPath" type="VALUE_TEXT" value="/home/christian/duet/gcc-arm-none-eabi-7-2018-q2-update/bin"/> </macros> @@ -41,19 +39,19 @@ <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850" name="Duet085" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> + <configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850" name="Duet085" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf" "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin""> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.947353540" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> - <option id="cdt.managedbuild.option.gnu.cross.path.1742191832" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> + <option id="cdt.managedbuild.option.gnu.cross.path.1742191832" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${ArmGccPath}" valueType="string"/> <option id="cdt.managedbuild.option.gnu.cross.prefix.1660769040" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" useByScannerDiscovery="false" value="arm-none-eabi-" valueType="string"/> <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.223860525" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/> - <builder buildPath="${workspace_loc:/RepRapFirmware}/Release" id="cdt.managedbuild.builder.gnu.cross.13059261" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/> + <builder buildPath="${workspace_loc:/RepRapFirmware}/Duet085" id="cdt.managedbuild.builder.gnu.cross.1509050538" keepEnvironmentInBuildfile="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/> <tool id="cdt.managedbuild.tool.gnu.cross.assembler.163742171" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler"> @@ -111,6 +109,8 @@ </option> + <option id="gnu.c.compiler.option.dialect.std.768817228" name="Language standard" superClass="gnu.c.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.c.compiler.dialect.default" valueType="enumerated"/> + <inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1642892736" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/> </tool> @@ -126,12 +126,16 @@ <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.75045718" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/SAM3X8E/}""/> + + <listOptionValue builtIn="false" value=""${workspace_loc:/RRFLibraries/SAM3X}""/> </option> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.libs.1995000942" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" useByScannerDiscovery="false" valueType="libs"> <listOptionValue builtIn="false" value="${CoreName}"/> + + <listOptionValue builtIn="false" value="RRFLibraries"/> </option> @@ -223,7 +227,7 @@ <sourceEntries> - <entry excluding="src/Alligator|src/Duet/Lwip/lwip/src/core/ipv6|src/Duet/Lwip/lwip/test|src/Display|src/Networking|src/Pccb|src/DuetNG|src/Duet3|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/SAME70xpld|src/Alligator|src/Duet/Lwip/lwip/src/core/ipv6|src/Duet/Lwip/lwip/test|src/Display|src/Networking|src/Pccb|src/DuetNG|src/Duet3|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> @@ -237,7 +241,7 @@ <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289"> - <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289" moduleId="org.eclipse.cdt.core.settings" name="RADDS"> + <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289" moduleId="org.eclipse.cdt.core.settings" name="RADDS_RTOS"> <macros> @@ -246,8 +250,6 @@ <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - - <stringMacro name="GccPath" type="VALUE_TEXT" value="/home/christian/duet/gcc-arm-none-eabi-7-2018-q2-update/bin"/> </macros> @@ -273,13 +275,13 @@ <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="${ProjName}-RADDS" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289" name="RADDS" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> + <configuration artifactExtension="elf" artifactName="${ProjName}-RADDS" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289" name="RADDS_RTOS" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf" "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin""> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.1973208555" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> - <option id="cdt.managedbuild.option.gnu.cross.path.2092504710" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> + <option id="cdt.managedbuild.option.gnu.cross.path.2092504710" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${ArmGccPath}" valueType="string"/> <option id="cdt.managedbuild.option.gnu.cross.prefix.1606498191" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" useByScannerDiscovery="false" value="arm-none-eabi-" valueType="string"/> @@ -334,6 +336,8 @@ <listOptionValue builtIn="false" value="__SAM3X8E__"/> <listOptionValue builtIn="false" value="__RADDS__"/> + + <listOptionValue builtIn="false" value="RTOS"/> </option> @@ -345,19 +349,27 @@ <tool id="cdt.managedbuild.tool.gnu.cross.archiver.1755453550" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/RADDS/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1176271302" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/RADDS_RTOS/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1176271302" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.706270025" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.1160723414" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> - <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/RADDS/}""/> + <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/RADDS_RTOS/}""/> + + <listOptionValue builtIn="false" value=""${workspace_loc:/FreeRTOS/SAM3X}""/> + + <listOptionValue builtIn="false" value=""${workspace_loc:/RRFLibraries/SAM3X_RTOS}""/> </option> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.libs.1006761104" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" useByScannerDiscovery="false" valueType="libs"> <listOptionValue builtIn="false" value="${CoreName}"/> + + <listOptionValue builtIn="false" value="FreeRTOS"/> + + <listOptionValue builtIn="false" value="RRFLibraries"/> </option> @@ -421,6 +433,10 @@ <listOptionValue builtIn="false" value=""${workspace_loc:/${ProjName}/src/RADDS}""/> + <listOptionValue builtIn="false" value=""${workspace_loc:/FreeRTOS/src/include}""/> + + <listOptionValue builtIn="false" value=""${workspace_loc:/FreeRTOS/src/portable/GCC/ARM_CM3}""/> + <listOptionValue builtIn="false" value=""${workspace_loc:/RRFLibraries/src}""/> </option> @@ -431,6 +447,8 @@ <listOptionValue builtIn="false" value="__RADDS__"/> + <listOptionValue builtIn="false" value="RTOS"/> + <listOptionValue builtIn="false" value="_XOPEN_SOURCE"/> </option> @@ -445,7 +463,7 @@ <sourceEntries> - <entry excluding="src/Alligator|src/Display|src/Duet|src/Networking|src/Pccb|src/DuetNG|src/Duet3|src/DuetM" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/SAME70xpld|src/Alligator|src/Display|src/Duet|src/Networking|src/Pccb|src/DuetNG|src/Duet3|src/DuetM" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> @@ -468,8 +486,6 @@ <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - - <stringMacro name="GccPath" type="VALUE_TEXT" value="/home/christian/duet/gcc-arm-none-eabi-7-2018-q2-update/bin"/> </macros> @@ -479,15 +495,15 @@ <extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/> - <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> - - <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/> - <extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> <extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> <extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> + + <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> + + <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/> </extensions> @@ -495,19 +511,19 @@ <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="${ProjName}-Alligator" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887" name="Alligator" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> + <configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887" name="Alligator" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf" "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin""> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.623324432" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> - <option id="cdt.managedbuild.option.gnu.cross.path.645044151" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> + <option id="cdt.managedbuild.option.gnu.cross.path.645044151" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${ArmGccPath}" valueType="string"/> <option id="cdt.managedbuild.option.gnu.cross.prefix.629438941" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" useByScannerDiscovery="false" value="arm-none-eabi-" valueType="string"/> <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.878309876" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/> - <builder buildPath="${workspace_loc:/RepRapFirmware}/Release" id="cdt.managedbuild.builder.gnu.cross.56178753" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/> + <builder buildPath="${workspace_loc:/RepRapFirmware}/Alligator" id="cdt.managedbuild.builder.gnu.cross.1518897616" keepEnvironmentInBuildfile="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/> <tool id="cdt.managedbuild.tool.gnu.cross.assembler.384615201" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler"> @@ -583,17 +599,21 @@ <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.1593340130" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> - <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/Alligator/}""/> + <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/Alligator}""/> + + <listOptionValue builtIn="false" value=""${workspace_loc:/RRFLibraries/SAM3X}""/> </option> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.libs.1260510068" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" useByScannerDiscovery="false" valueType="libs"> <listOptionValue builtIn="false" value="${CoreName}"/> + + <listOptionValue builtIn="false" value="RRFLibraries"/> </option> - <option id="gnu.cpp.link.option.flags.1376831701" name="Linker flags" superClass="gnu.cpp.link.option.flags" useByScannerDiscovery="false" value="-Os -Wl,--gc-sections -Wl,--fatal-warnings -mcpu=cortex-m3 -T"${workspace_loc:/${CoreName}/variants/alligator/linker_scripts/gcc/flash.ld" -Wl,-Map,"${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.map"" valueType="string"/> + <option id="gnu.cpp.link.option.flags.1376831701" name="Linker flags" superClass="gnu.cpp.link.option.flags" useByScannerDiscovery="false" value="-Os -Wl,--gc-sections -Wl,--fatal-warnings -mcpu=cortex-m3 -T"${workspace_loc:/${CoreName}/variants/alligator/linker_scripts/gcc/flash.ld}" -Wl,-Map,"${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.map"" valueType="string"/> <inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1951368129" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input"> @@ -613,7 +633,7 @@ <option id="gnu.cpp.compiler.option.other.verbose.68487747" name="Verbose (-v)" superClass="gnu.cpp.compiler.option.other.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/> - <option id="gnu.cpp.compiler.option.other.other.1532821901" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -std=gnu++17 -mcpu=cortex-m3 -mthumb -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib -Wdouble-promotion -fsingle-precision-constant "-Wa,-ahl=$*.s"" valueType="string"/> + <option id="gnu.cpp.compiler.option.other.other.1532821901" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -std=gnu++17 -mcpu=cortex-m3 -mthumb -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib -Wdouble-promotion -fsingle-precision-constant -Wa,-ahl="$*.s"" valueType="string"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1825159078" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath"> @@ -689,7 +709,7 @@ <sourceEntries> - <entry excluding="src/Duet/Lwip/lwip/src/core/ipv6|src/Networking|src/DuetNG|src/Alligator/Lwip/lwip/src/include/ipv6|src/Alligator/Lwip/lwip/test|src/Duet/MCP4461|src/Duet/Lwip/lwip/test|src/Display|src/Pccb|src/Duet3|src/DuetM|src/Alligator/Lwip/lwip/src/core/ipv6|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/SAME70xpld|src/Duet/Lwip/lwip/src/core/ipv6|src/Networking|src/DuetNG|src/Alligator/Lwip/lwip/src/include/ipv6|src/Alligator/Lwip/lwip/test|src/Duet/MCP4461|src/Duet/Lwip/lwip/test|src/Display|src/Pccb|src/Duet3|src/DuetM|src/Alligator/Lwip/lwip/src/core/ipv6|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> @@ -712,8 +732,6 @@ <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - - <stringMacro name="GccPath" type="VALUE_TEXT" value="/home/christian/duet/gcc-arm-none-eabi-7-2018-q2-update/bin"/> </macros> @@ -739,13 +757,13 @@ <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="Duet2CombinedFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622" name="Duet2_RTOS" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> + <configuration artifactExtension="elf" artifactName="Duet2CombinedFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622" name="Duet2_RTOS" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf" "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin""> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.435431950" name="Cross GCC" nonInternalBuilderId="cdt.managedbuild.builder.gnu.cross" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> - <option id="cdt.managedbuild.option.gnu.cross.path.1881231799" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> + <option id="cdt.managedbuild.option.gnu.cross.path.1881231799" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${ArmGccPath}" valueType="string"/> <option id="cdt.managedbuild.option.gnu.cross.prefix.172065168" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" useByScannerDiscovery="false" value="arm-none-eabi-" valueType="string"/> @@ -935,7 +953,7 @@ <sourceEntries> - <entry excluding="src/Alligator|src/Display|src/Duet|src/Pccb|src/Networking/LwipEthernet|src/Duet3|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/SAME70xpld|src/Alligator|src/Duet|src/Pccb|src/Networking/LwipEthernet|src/Duet3|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> @@ -958,8 +976,6 @@ <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - - <stringMacro name="GccPath" type="VALUE_TEXT" value="/home/christian/duet/gcc-arm-none-eabi-7-2018-q2-update/bin"/> </macros> @@ -985,13 +1001,13 @@ <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="DuetMaestroFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786" name="DuetM_RTOS" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> + <configuration artifactExtension="elf" artifactName="DuetMaestroFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786" name="DuetM_RTOS" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf" "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin""> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.1494327638" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> - <option id="cdt.managedbuild.option.gnu.cross.path.1101985181" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> + <option id="cdt.managedbuild.option.gnu.cross.path.1101985181" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${ArmGccPath}" valueType="string"/> <option id="cdt.managedbuild.option.gnu.cross.prefix.455634880" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" useByScannerDiscovery="false" value="arm-none-eabi-" valueType="string"/> @@ -1181,7 +1197,7 @@ <sourceEntries> - <entry excluding="src/Alligator|src/Duet|src/Networking/ESP8266WiFi|src/Pccb|src/Networking/LwipEthernet|src/DuetNG|src/Duet3|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/SAME70xpld|src/Alligator|src/Duet|src/Networking/ESP8266WiFi|src/Pccb|src/Networking/LwipEthernet|src/DuetNG|src/Duet3|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> @@ -1204,8 +1220,6 @@ <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - - <stringMacro name="GccPath" type="VALUE_TEXT" value="/home/christian/duet/gcc-arm-none-eabi-7-2018-q2-update/bin"/> </macros> @@ -1231,13 +1245,13 @@ <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="Duet3Firmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" name="Duet3" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> + <configuration artifactExtension="elf" artifactName="Duet3Firmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203" name="Duet3" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf" "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin""> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116.1852610203." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.5959303" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> - <option id="cdt.managedbuild.option.gnu.cross.path.163568524" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> + <option id="cdt.managedbuild.option.gnu.cross.path.163568524" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${ArmGccPath}" valueType="string"/> <option id="cdt.managedbuild.option.gnu.cross.prefix.308380201" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" useByScannerDiscovery="false" value="arm-none-eabi-" valueType="string"/> @@ -1459,7 +1473,7 @@ <sourceEntries> - <entry excluding="src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Duet|src/Networking/LwipEthernet/Lwip/src/apps/httpd|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/W5500Ethernet|src/Alligator|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/DuetM|src/RADDS|src/Networking/LwipEthernet/Lwip/doc" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/SAME70xpld|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Duet|src/Networking/LwipEthernet/Lwip/src/apps/httpd|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/W5500Ethernet|src/Alligator|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/DuetM|src/RADDS|src/Networking/LwipEthernet/Lwip/doc" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> @@ -1482,8 +1496,6 @@ <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - - <stringMacro name="GccPath" type="VALUE_TEXT" value="/home/christian/duet/gcc-arm-none-eabi-7-2018-q2-update/bin"/> </macros> @@ -1509,13 +1521,13 @@ <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="PccbFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396" name="PCCB" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> + <configuration artifactExtension="elf" artifactName="PccbFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396" name="PCCB" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf" "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin""> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.1017317107" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> - <option id="cdt.managedbuild.option.gnu.cross.path.1932906636" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> + <option id="cdt.managedbuild.option.gnu.cross.path.1932906636" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${ArmGccPath}" valueType="string"/> <option id="cdt.managedbuild.option.gnu.cross.prefix.1572241044" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" useByScannerDiscovery="false" value="arm-none-eabi-" valueType="string"/> @@ -1703,7 +1715,7 @@ <sourceEntries> - <entry excluding="src/Alligator|src/Display|src/Duet|src/Networking|src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/DuetNG|src/Duet3|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/SAME70xpld|src/Alligator|src/Display|src/Duet|src/Networking|src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/DuetNG|src/Duet3|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> @@ -1726,8 +1738,6 @@ <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - - <stringMacro name="GccPath" type="VALUE_TEXT" value="/home/christian/duet/gcc-arm-none-eabi-7-2018-q2-update/bin"/> </macros> @@ -1753,13 +1763,13 @@ <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="PccbFirmware_X5" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396.239853003" name="PCCB_X5" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin"> + <configuration artifactExtension="elf" artifactName="PccbFirmware_X5" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396.239853003" name="PCCB_X5" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf" "${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin""> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396.239853003." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.2113529528" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> - <option id="cdt.managedbuild.option.gnu.cross.path.1216992967" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> + <option id="cdt.managedbuild.option.gnu.cross.path.1216992967" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${ArmGccPath}" valueType="string"/> <option id="cdt.managedbuild.option.gnu.cross.prefix.2115296403" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" useByScannerDiscovery="false" value="arm-none-eabi-" valueType="string"/> @@ -1951,7 +1961,7 @@ <sourceEntries> - <entry excluding="src/Alligator|src/Display|src/Duet|src/Networking|src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/DuetNG|src/Duet3|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="src/SAME70xpld|src/Alligator|src/Display|src/Duet|src/Networking|src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/DuetNG|src/Duet3|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> @@ -1974,8 +1984,6 @@ <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - - <stringMacro name="GccPath" type="VALUE_TEXT" value="/home/christian/duet/gcc-arm-none-eabi-7-2018-q2-update/bin"/> </macros> @@ -2001,13 +2009,13 @@ <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="SAME70XPLDFirmware" 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+2505,26 @@ <storageModule moduleId="refreshScope" versionNumber="2"> + <configuration configurationName="RADDS_RTOS"/> + <configuration configurationName="DuetM_RTOS"/> - <configuration configurationName="Alligator"/> + <configuration configurationName="Duet085_RTOS"/> <configuration configurationName="SAME70"/> <configuration configurationName="RADDS"/> - <configuration configurationName="Duet2_RTOS"/> - <configuration configurationName="Duet2"/> <configuration configurationName="Duet3"/> + <configuration configurationName="SAME70XPLD"/> + + <configuration configurationName="Alligator"/> + + <configuration configurationName="Duet2_RTOS"/> + <configuration configurationName="PCCB"/> <configuration configurationName="DuetM"/> @@ -2272,8 +2532,6 @@ <configuration configurationName="PCCB_X5"/> <configuration configurationName="Duet085"/> - - <configuration configurationName="SAME70XPLD"/> </storageModule> @@ -2291,11 +2549,23 @@ </scannerConfigBuildInfo> + <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887;cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887.;cdt.managedbuild.tool.gnu.cross.c.compiler.429394189;cdt.managedbuild.tool.gnu.c.compiler.input.1737201945"> + + <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> + + </scannerConfigBuildInfo> + <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.516195201;cdt.managedbuild.config.gnu.cross.exe.release.516195201.;cdt.managedbuild.tool.gnu.cross.c.compiler.220085372;cdt.managedbuild.tool.gnu.c.compiler.input.1345445195"> <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC"/> </scannerConfigBuildInfo> + + <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887;cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1533537470;cdt.managedbuild.tool.gnu.cpp.compiler.input.667323948"> + + <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/> + + </scannerConfigBuildInfo> </storageModule> @@ -1,16 +1,21 @@ *.d *.o +*.s +*.map !Release/*.bin !Release/*/*.bin !Release/*/*/*.bin *~ *orig -/Duet2_RTOS/ /Alligator/ -/SAME70/ -/SAME70_RTOS/ /Duet085/ -/Duet2/ +/Duet2_RTOS/ +/Duet3/ /DuetM/ /DuetM_RTOS/ +/PCCB/ +/PCCB_X5/ /RADDS/ +/RADDS_RTOS/ +/SAME70_RTOS/ +.settings/language.settings.xml @@ -3,6 +3,9 @@ <name>RepRapFirmware</name> <comment></comment> <projects> + <project>CoreNG</project> + <project>FreeRTOS</project> + <project>RRFLibraries</project> </projects> <buildSpec> <buildCommand> diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml deleted file mode 100644 index 747eb342..00000000 --- a/.settings/language.settings.xml +++ /dev/null @@ -1,202 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" standalone="no"?> -<project> - - <configuration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850" name="Duet085"> - - <extension point="org.eclipse.cdt.core.LanguageSettingsProvider"> - - <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> - - <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> - - <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1426937548715061090" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E 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@@ -Instructions for building dc42 fork of RepRapFirmware under Windows -=================================================================== +Instructions for building dc42 fork of RepRapFirmware +===================================================== + +**Important!** + +RepRapFirmware is built from several Github projects. You need to use compatible branches of these projects. As at 27 December 2018, the current (version 2.02) source code is on these branches: + +- ReprapFirmware: main +- CoreNG: main +- FreeRTOS: main +- RRFLibraries: main +- DuetWiFiSocketServer: dev + +**Instructions for building under Windows** 1. Download and install the gcc cross-compiler: @@ -9,28 +21,33 @@ Instructions for building dc42 fork of RepRapFirmware under Windows - To build firmware version 1.20alpha2 and earlier you need version arm-none-eabi-4.8.3-2014q1. A simple way of doing this is to download Arduino version 1.5.8 and install it into folder C:/Arduino-1.5.8. The compiler and associated tools will then be in folder C:\Arduino-1.5.8\hardware\tools\gcc-arm-none-eabi-4.8.3-2014q1\bin. If you already have a later version of Arduino installed including the add-on for SAM processors, you will find the compiler and tools in a different folder, for example C:\Users\<YOUR USER NAME>\AppData\Local\Arduino15\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1\bin. -2. Download and install Eclipse Oxygen for C/C++ Developers, from http://www.eclipse.org/downloads/eclipse-packages/. You do not need the Arduino add-on. +2. Download and install Eclipse IDE for C/C++ Developers version 2018-09, from http://www.eclipse.org/downloads/eclipse-packages/. You do not need the Arduino add-on. + +3. Download and install GNU Arm Eclipse from https://sourceforge.net/projects/gnuarmeclipse/files/Build%20Tools/gnuarmeclipse-build-tools-win64-2.6-201507152002-setup.exe/download. This provides versions of make.exe, rm.exe and other tools without the 8192-character command line limitation of some other versions. + +4. Modify your PATH environment variable to include the 'bin' folder of the GNU ARM Eclipse installation. + +5. Run "which rm" and "which make" to make sure that rm and make will be fetched from that folder. -3. In Eclipse create new workspace C:/Eclipse/Firmware. Then exit Eclipse. +6. In Eclipse create new workspace C:/Eclipse/Firmware. Then exit Eclipse. -4. Download this github project as a zip file and unzip it into C:/Eclipse/Firmware. Then rename folder ReprapFirmware-dev in that folder to RepRapFirmware. +7. Download this github project as a zip file and unzip it into C:/Eclipse/Firmware. Then rename folder ReprapFirmware-dev in that folder to RepRapFirmware. -5. Repeat for github project CoreNG. The folder name should be left as CoreNG (or renamed from CoreNG-dev to CoreNG if you downloaded a dev build). +8. Repeat the previous step for github project CoreNG. The folder name should be left as CoreNG (or renamed from CoreNG-dev to CoreNG if you downloaded a dev build). -5a. If you want to build version 1.19 or later of the Duet WiFi build of RepRapFirmware then you also need to download and add project DuetWiFiSocketServer. Alternatively, just download file src/include/MessageFormats.h from that project and put it somewhere on the include path for RepRapFirmware. +9. If you want to build version 1.19 or later of the Duet WiFi build of RepRapFirmware then you also need to download and add project DuetWiFiSocketServer. Alternatively, just download file src/include/MessageFormats.h from that project and put it somewhere on the include path for RepRapFirmware. -5b. If you want to build a RTOS-enabled configuration of the v2-dev branch, also download and project FreeRTOS from my github repo and add that project to the workspace. +10. If you want to build a RTOS-enabled configuration of the v2-dev branch, also download project FreeRTOS from my github repo and add that project to the workspace. -6. Load Eclipse and tell it to import the CoreNG and ReprapFirmware projects (and DuetWiFiSocketServer if you have included it). +11. If you want to build firmware versions later than 2.02RC1, also download and project RRFLibraries from my github repo and add that project to the workspace. -7. If your compiler and tools are in a folder other than C:\Program Files (x86)\GNU Tools ARM Embedded\6 2017-q2-update\bin (if building 1.20alpha3 or later) or C:\Arduino-1.5.8\hardware\tools\gcc-arm-none-eabi-4.8.3-2014q1\bin (if building earlier versions), configure the path to the tools in both projects. You will find this in the project settings under C/C++ Build -> Settings -> Cross Settings. +12. Load Eclipse and tell it to import the CoreNG and RepRapFirmware projects (and DuetWiFiSocketServer and RRFLibraries if you have included them). -8. Ensure there is a copy of make.exe on your PATH. If you installed Arduino 1.5.8 into C:/Arduino-1.5.8 then there will be one in C:\Arduino-1.5.8\hardware\arduino\sam\system\CMSIS\Examples\cmsis_example\gcc_arm. +13. If your compiler and tools are in a folder other than C:\Program Files (x86)\GNU Tools ARM Embedded\7 2018-q2-update\bin, configure the path to the tools in both projects by changing the GccPath build variable. -9. Build CoreNG first, then build FreeRTOS if needed. Then clean and build RepRapFirmware (the clean step is needed to make Eclipse notice that the CoreNG library has been built). The Duet WiFi and Duet Ethernet builds of RRF use the SAM4E build of CoreNG. The Duet085 build of RRF (which also runs on the Duet06) uses the SAM3X build of CoreNG. The RADDS and Alligator builds of RRF have their own builds of CoreNG. +14. Build CoreNG first, also build FreeRTOS and RRFLibraries if needed. Then clean and build RepRapFirmware (the clean step is needed to make Eclipse notice that the output library files in the other projects have been built). The Duet WiFi and Duet Ethernet builds of RRF use the SAM4E_RTOS builds of CoreNG and RRFLibraries and the SAM4E build of FreeRTOS. The Duet Maestro uses the SAM4S_RTOS build of CoreNG and RRFLibraries, and the SAM4S build of FreeRTOS. The Duet085 build of RRF (which also runs on the Duet06) uses the SAM3X build of CoreNG and RRFLibraries. The RADDS build of RRF uses the RADDS_RTOS build of CoreNG and the SAM3X_RTOS build of RRFLibraries. -Instructions for building dc42 fork of RepRapFirmware under macOS -================================================================= +**Instructions for building under macOS** Using Homebrew-Cask makes it very easy to install new software on macOS: https://caskroom.github.io/ @@ -38,12 +55,12 @@ Using Homebrew-Cask makes it very easy to install new software on macOS: https:/ 3. Download and install Eclipse for C++ : brew cask install eclipse-cpp -4. Download or clone the RepRapFirmware, CoreNG, FreeRTOS and DuetWiFiSocketServer projects into your workspace. Keep the folder names as is. +4. Download or clone the RepRapFirmware, CoreNG, FreeRTOS, RRFLibraries and DuetWiFiSocketServer projects into your workspace. Keep the folder names as is. -5. Open Eclipse and import RepRapFirmware, FreeRTOS and CoreNG projects. +5. Open Eclipse and import RepRapFirmware, FreeRTOS, RRFLibraries and CoreNG projects. 6. Right click "RepRapFirmware" project and select Properties. Go To "C/C++ Build -> Settings" and change the path: /usr/local/bin/ (or some other other path where arm-none-eabi-g++ and other binaries are located) 7. Do the same for CoreNG project. -8. Build CoreNG and FreeRTOS first, then RepRapFirmware. The Duet WiFi and Duet Ethernet builds of RRF use the SAM4E build of CoreNG. The Duet085 build of RRF (which also runs on the Duet06) uses the SAM3X build of CoreNG. The RADDS build of RRF has its own build of CoreNG. +8. Build CoreNG, FreeRTOS and RRFLibraries first, then RepRapFirmware. See the instructions for Windows (above) for the configurations needed. diff --git a/EdgeRelease/Readme.md b/EdgeRelease/Readme.md deleted file mode 100644 index 03fc6bd6..00000000 --- a/EdgeRelease/Readme.md +++ /dev/null @@ -1,3 +0,0 @@ -**IMPORTANT**! To download these files, **follow** the link to the file you want, then press the Download button. - -Please see https://github.com/dc42/RepRapFirmware/blob/v2-dev/WHATS_NEW.md for the release notes. @@ -1,4 +1,22 @@ -This is firmware for controlling 3D printers and related devices using electronics based on ATSAM main processors. +This is firmware for controlling 3D printers and related devices using electronics based on ATSAM main processors. The current processors supported are the ATSAM4E, ATSAM4S and SAME70. The legacy SAM3X processor is also supported. There is a fork of this firmware that supports LPC1768/1769 processors. The SAME5x processor is supported in the related project Duet3Expansion. + +Documentation +============= +For documentation on supported gcodes and configuration, see https://duet3d.com/wiki. There is a tool for generating the config.g file and homing files at https://configurator.reprapfirmware.org/. + +Support, issues and suggestions +=============================== +If you wish to obtain support, report suspected firmware issues or make suggestions for improvements, please use the forum at https://forum.duet3d.com/ so that other users of RepRapFirmware can help you or comment on your suggestions. **I am not accepting any new Issues via github** due to repeated inappropriate use of this facility. + +Pull requests +============= +If you wish to submit a pull request that changes the existing behaviour of RepRapFirmware, please discuss the change with me and other users first via the forum at https://forum.duet3d.com/. RepRapFirmware is used in a wide variery of different machines and a change that may suit you may cause difficulties for other users. **I will reject any PRs that have not been discussed with me unless they are trivial bug fixes.** + +Overview and history +==================== +RepRapFirmware was developed originally by Adrian Bowyer and his collaborators at RepRapPro Ltd. It has been in use since late 2013, first in the open-source Ormerod, Mendel and Huxley 3D printer kits supplied by RepRapPro, and subsequently in a wide variery of 3D printers. Several current kit suppliers and many manufacturers of commercial 3D printers use RepRapFirmware. + +Unlike most other 3D printer firmwares, RepRapFirmware is not intended to be run on outdated 8-bit processors with limited CPU power and RAM. So it makes good use of the power of modern inexpensive ARM processors to implement advanced features. RepRapFirmware has pioneered a number of advances in 3D printing including: @@ -8,19 +26,30 @@ RepRapFirmware has pioneered a number of advances in 3D printing including: * Segmentation-free delta motion (January 2015) * Simulation mode, for establishing an accurate print time before committing to a print (January 2015) * Least-squares auto calibration of delta printers (April 2015) +* Support for SPI-configured stepper drivers (August 2016) +* Resume-after-power fail as a standard feature of the firmware (October 2017) * Compensation for the variation in extruder steps/mm with speed that is a feature of common types of extruder (January 2018) +* Compensation of heater power for changes in power supply voltage +* Dynamic acceleration control to control ringing + +Supported hardware +================== +Version 2 of this fork of RepRapFirmware supports electronics based on SAM4E, SAM4S and SAME70 processors; in particular the Duet WiFi, Duet Ethernet, Duet Maestro, the forthcoming Duet 3 range, and some specialist OEM boards. There is another fork that supports electronics that use the LPC1768/1769 processors. There is also an untested (by me) build for Arduino Due/RADDS -General design principles of RepRapFirmware: +Version 1 of this fork also supports hardware built around the SAM3X8E processor, such as Duet 06, Duet 085, Arduino Due/RADDS and Alligator. I no longer develop version 1 but if someone else wants to continue development of version 1 or add support for these processors in version 2, I will consider accepting related pull requests. Please note, version 2 uses FreeRTOS, and the additional memory requirement makes it difficult to fit both RTOS and LWIP network support into the 96Kb RAM limit of the SAM3X8E. One way to resolve this might be to use the TCP/IP stack that is available with FreeRTOS. -* Unlike most other 3D printer firmwares, it is not intended to be run on outdated 8-bit processors with limited CPU power and RAM. So make good use of the power of modern inexpensive ARM processors to implement advanced features. The minimum specification processor it is intended for is ARM Cortex M3 with 96Kb RAM such as the SAM3X8E. +General design principles +========================= * "One binary to rule them all". For a given electronics board, all features of interest to most 3D printer owners are supported by a single binary. Users do not need to recompile the firmware unless they have unusual requirements. * "G-code everywhere". All firmware configuration is done using gcodes in the config.g file. Most types of changes can be done on the fly so that you can experiment with different configurations without even having to restart the printer. * Use high-integrity coding standards to help ensure that the firmware is reliable. In particular, don't use dynamic memory allocation during normal operation, use it only during the initialisation and configuration phases. The MISRA-C++ 2008 coding standard serves as a guide as to what is acceptable practice, but compliance to it is not rigidly enforced in order to allow features from later versions of the C++ language to be used. * Use an appropriate degree of modularity. Too little modularity makes the code hard to understand and maintain. Too much makes it hard to introduce new features when the existing module boundaries turn out to be inappropriate. * Use object-based and object-oriented design principles where it is appropriate. In particular, class data should normally be private. Use 'friend' sparingly or not at all. -For documentation on supported gcodes and configuration, see https://duet3d.com/wiki. There is a tool for generating the config.g file and homing files at https://configurator.reprapfirmware.org/. - +Compiling +========= For compiling from source, see separate file BuildInstructions.md. -Licence: GPLv3, see http://www.gnu.org/licenses/gpl-3.0.en.html +Licence +======= +The source files in this project (RepRapFirmware) are licensed under GPLv3, see http://www.gnu.org/licenses/gpl-3.0.en.html. The associated CoreNG project, which provides a partial hardware abstraction layer, includes files derived from the Advanced Software Framework (formerly Atmel Software Framework) from Microchip. Those files have a more restrictive license, in particular they may only be used for code that targets Atmel/Microchip processors. diff --git a/WHATS_NEW.md b/WHATS_NEW.md index 9c5d8a54..f50c0f1d 100644 --- a/WHATS_NEW.md +++ b/WHATS_NEW.md @@ -1,11 +1,233 @@ Summary of important changes in recent versions =============================================== +Version 2.03beta1 +================= + +Upgrade notes: +- If you have a CoreXY or other Core architecture printer, and you were using any axis factor parameters in your M667 command in config.g, those parameters are no longer supported. You will need to use M669 matrix parameters instead. +- ***Caution:*** the support for CoreXY and other Core kinematics has been rewritten. Please exercise caution if your machine uses Core kinematics. Reduce motor current and test small relative movements of each axis, until you are satisfied that everything is working. +- ***Caution:*** some of the code that supports stall-detection endstops has been rewritten. If your printer uses stall detection endstops, test homing carefully. + +New features/changed behaviour: +- Support for generalised Cartesian/Core kinematics inc. MarkForged and variants thereof +- Support for different rod lengths on each tower of a delta printer +- Support for additional towers on delta printers (up to 6 in total) +- When the first move on a machine with CoreXY or similar kinematics is a diagonal move, all relevant motors are now enabled, in order to lock them even if only one of them needs to move +- G2/G3 commands using the R (radius) parameter instead of IJ arc centre parameters are now supported +- When dynamic acceleration adjustment (DAA) is activated, if the maximum acceleration was configured lower than the required value, DAA was not applied. Now it checks to see whether the acceleration can be halved to still get some benefit from DAA. +- M572 and M221 with no extruder drive number now sets all extruders used by the current tool, https://forum.duet3d.com/topic/8444/setting-pressure-advance-in-filament-file +- On the 12864 display, the default column for an item is now 1 extra pixel past the end of the previous item, so as to leave a thin space between them +- On the 12864 display, when displaying print files, filenames beginning with '.' are no longer displayed +- The SPI clock frequency of the 12864 display can now be configured using the M918 F parameter +- Slicer PE changed the comment string it uses to provide estimated print times. RRF now recognises the new format as well as the old one, https://forum.duet3d.com/topic/8440/rrf-2-02-slic3r-pe-1-41-2-filament-used-and-print-times-wrong +- Reworked some of the filament monitor code to try to reduce the tolerance needed when using 'good' filaments, also added support for experimental v2 laser filament sensor firmware +- Disabled mdns in legacy Duets because of code quality issues causing reboots, https://forum.duet3d.com/topic/8352/duet-0-6-randomly-reboots/5 +- rr_fileinfo and M36 with no filename now include estimated print time and simulation time in the response for DWC2 +- In CNC and laser mode the user Z coordinate is updated after a tool change, https://forum.duet3d.com/topic/8181/tool-offset-honored-but-not-displayed-correctly +- On SCARA and delta printers, geometric limits are now applied even when not applying M208 limits due to use of M564 S0 +- New S-3 function for G30 command. G30 S-3 probes the bed and sets the Z probe trigger height to the stopped height. +- M92 command now includes an optional S parameter to specify the microstepping that the steps/mm is quotes at. If the actual microstepping in use is different, the specified steps/mm will be adjusted accordingly (thanks wikriker). +- M575 command L parameter for inverting probe logic level is supported (thanks chrishamm) +- The M408 S2 and http status responses now include the bed standby temperature (thanks gtjoseph) +- The M669 parameters to define SCARA kinematics now include an R (minimum radius) parameter, to handle machines for which the minimum available radius is sometimes higher than the radius when the distal axis is homed +- G17 is implemented (it does nothing), and G17/G17 report an error +- The segment length used by G2/G3 now depends on both the radius and the speed of the move, not just the radius as in RRF 2.02. So small segment lengths are used when doing CNC milling at low speeds. +- If a print is paused and then cancelled while the printer is still heating up, heating is cancelled +- Added M122 P105 subfunction to display the sizes of various objects allocated by RRF + +Bug fixes: +- G1 X1E1 no longer gets treated as if it also has an E parameter +- Setting M558 A parameter to anything >31 set it to 0 instead of to 31 +- G92 should not constrain the passed coordinates to the M208 limits if M564 S0 has been used to disable limits +- On Polar printers, moves that crossed the boundary between -180deg and +180deg turntable positions were executed very slowly +- On the 12864 display, fields that became visible and then became hidden again were not erased from the screen +- If an assertion failure occurred in the FreeRTOS kernel when no task was active, or a stack overflow was detected when no task was active, the crash handler itself crashed while trying to retrieve the task name, so the stored software reset data was incorrect +- On a few 12864 displays, Kanji characters were displayed on tpo of the graphics display +- On delta printers, the code to limit the height at the end of a move to the reachable height didn't always ensure that the heights of the intermediate positions were reachable +- When height map and filament files were written, the month number in the date written in the header was too low by 1 +- If a M106 Pnn Snn command is received, and fan #nn is being used as a print cooling fan, the reported print cooling fan speed is now updated +- When the WiFi firmware was being updated, general status responses are no longer sent to USB or PanelDue, so that the firmware update progress messages are clearer +- M453 switches to CNC mode even if the P parameter was not valid + +Minor changes: +- MBytes/sec -> Mbytes/sec in M122 P104 report +- Remove 'RTOS' from firmware name. All 2.0 series firmware uses RTOS. + +Internal changes: +- The Cartesian, CoreXY, CoreXZ, CoreXYU and CoreXYUV kinematics classes have been replaced by a single CoreKinematics class. This class uses matrices to define the mapping between motors and axes, so it supports any kinematics for which the axis movements are a linear combination of motor movements. The matrices can be adjusted using the M669 command. +- Improve efficiency of debug print in WiFiInterface: don't keep calling cat and strlen +- Allocation of DriveMovement objects is deferred until DDAs are frozen and prepared for execution, in preparation for implementing S-curve acceleration. This also reduces the number of DriveMovement objects needed. +- Refactored the network responder classes to reduce memory usage + +Version 2.02 (Duet 2 series) and 1.23 (Duet 06/085) +=================================================== + +Upgrade notes: +- **Very important!** If you use M452 to put your machine into Laser mode, you must replace all S parameters in G1 commands in homing files etc. by H parameters. This is because S is now used to control laser power. +- Previously, you could omit the P0 parameter when configuring fan 0. The P0 parameter is now compulsory when configuring fan 0. The only parameters now recognised in M106 commands with no P parameter are S and R. +- If you use the G53 command, note that this now causes tool offsets not to be applied +- If you use a 12864 display, you may wish to add a 'value N501' item to your menus to allow M117 messages to be displayed. +- Please note, the Duet 06/085 release has undergone mimimal testing. + +Changes to how G, M and T codes are executed: +- G0 and G1: The primary parameter letter used to control the move type has been changed from S to H. This is because S is the standard parameter to control laser power on a laser cutter or engraver. However, unless you use M452 to put the firmware into Laser mode, you can continue to use S to set the move type. +- When switched into Laser mode (M452), the S parameter on G1 commands sets the laser power. A G1 command with no S parameter keeps the previous laser power. A G0 move always turns the laser off. +- G2/G3 commands now only require that a nonzero I or J parameter is provided; and if the final XY coordinates are not specified, or are equal to the initial XY coordinates, then the firmware generates a complete circle +- In CNC mode, a GCode line that either starts with an axis letter and follows a G0/1/2/3 command or starts with I or J and follows a G2/3 command is assumed to repeat the previous command using the new parameters +- G2 and G3 moves now use a variable segment length that depends on the arc radius +- G10 L2 and G10 L20 can now be used with no P parameter, meaning use the current coordinate system +- If G30 S-2 is commanded when no tool is selected, the command is not executed and an error message is generated +- When G53 is in effect, tool offsets and axis mapping are no longer applied +- G60 now saves the current tool as well as the current user coordinates +- M106 supports a new X parameter to set the maximum allowed fan PWM (thanks @wikriker) +- M106 supports a new A parameter to map the fan to a different fan output or a heater output, or to re-enable a disabled fan +- M116 now accepts an optional S parameter to specify the acceptable temperature difference +- M122 has an additional "power good" report to indicate whether the internal stepper drivers can be used +- M122 now has P103 subfunction to measure the sin + cosine calculation time +- M122 now has P104 subfunction to perform SD card write timing +- M205 is supported to set the jerk limits (in mm/sec) as an alternative to M566 +- M208 now accepts Xaa:bb Ycc:dd etc. as an alternative to separate M208 S0 and M208 s1 commands +- M206 now sets the offsets for the current workplace instead of workplace 0 +- M226 is now supported even when no file is being printed +- M260 can now receive I2C bytes as well as send them, use the new R parameter to specify how many +- In M260 and M261, I2C addresses can be specified in hex format in quotes, e.g. "0x71" or "x71" +- M291 no longer allows S0 and T0 together because that would create a message that can never time out of be dismissed +- M302 now allows the minimum extrusion and retraction temperatures to be configured (thanks @wikriker) +- M305 temperature sensor type 300-307 now supports a C parameter to select the input channel and a D parameter to select differential mode +- M408 now accepts a P parameter. P0 (default) gives the previous behaviour. P1 S"filter" now returns those parts of the object model that match "filter". +- The mapped fan speed is now sent at the start of the fan speed list in the M408 response so that PanelDue can display it +- If G31 parameters were read from config-override.g (M501) then a subsequent M500 command saves them too +- M500 information saved to config-override.g now includes the workplace coordinate offsets +- When M500 is used the current date/time if known is included in the header comment in config-override.g +- M555 P6 selects nanoDLP compatibility mode +- M557 now supports a P parameter to set the number of X and Y points, as an alternative to using the S parameter to set the spacing +- M558: zero or negative Z probe tolerance (S parameter) with A parameter > 1 now means always average all readings +- M558 now accepts a C parameter to select the endstop number when the mode is 4. M558 P6 is translated to M558 P4 C4, and M558 P7 is translated to M558 P4 C2. +- Added M569 parameters B, H and V to configure blanking time value, hysteresis values (2 or 3 of them) and stealthchop/spreadCycle switchover register value. Also added these values to the M569 report when only a P parameter is given. +- M569 accepts a new F parameter for the off-time. Valid values are 1 to 15. +- M569 now rejects disallowed combinations of TOFF and TBL in the chopper control register of TMC2660 or TMC22xx drivers are rejected +- M584 can now use dummy (high) driver numbers to assign an axis or extruder to no driver +- M591 responses have been shortened by removing unnecessary text +- The M591 report for a simple (switch) filament monitor now includes the filament present/not present status +- M600 is supported +- M650 and M651 are supported (for nanDLP) +- M703 is supported (thanks chrishamm) +- M851 is supported for Marlin compatibility. M851 Znn is equivalent to G31 Z-nn except that is also causes a subsequent M500 command to include the G31 parameters in config-override.g, as if M500 P31 had been used instead. +- In M906 if you set the motor idle current percentage to 0 then all drives will be disabled when all motors have been idle for the idle timeout and all axes will be flagged as not homed +- M918 now resets and initialises the 12864 display +- M918 with no parameters now reports current display and encoder settings +- T R# (where # is a restore point number) is now supported + +Motion control changes: +- After attempting to apply babystepping to existing queued moves, any residual babystepping is now actioned immediately instead of waiting for another move +- When TMC22xx drivers on the Duet Maestro are configured in stealthChop mode, the driver is programmed to switch over to spreadCycle automatically at high speeds +- Added special support for coast-to-end in RecalculateMove (but pressure advance should work better than coast-to-end) +- A message is displayed when the stepper drivers report open-circuit motors +- Dynamic acceleration control/dynamic ringing cancellation is supported. Use M593 to configure it. +- If you try to move motors connected to internal drivers when VIN is too low or too high, a warning message is generated + +Web server changes: +- The HTTP reject message now includes a CORS header, for future versions of DWC +- A content-length header is included whenever a file is returned, for future versions of DWC +- HTTP requests to fetch a directory are redirected to index.html in /www, for future versions of DWC +- The HTTP index page is now index.html, but it falls back to reprap.htm if index.html is not found +- When uploading a file via HTTP the firmware now pre-allocates SD card storage for it +- If the HTTP server runs out of buffers while trying to service a request it now returns a 503 http error +- Improved the HTTP 'page not found' message +- Http responses now use \r\n as the line ending, not \n + +Duet Maestro 12864 display changes: +- Support for 12864 displays on Duet Maestro greatly improved (thanks to M3D for much of this) +- 12864 display items 510-518 now display user position, not machine position +- 12864 display can now show 1-line M117 messages +- 12864 display can now show M291 messages boxes and the dialog for and manual Z-probing +- 12864 now supports adjusting baby stepping and XYZ position directly using the encoder +- 12864 display now allows you to left-, centre- or right-align 'text', 'value' and 'alter' items, and the text within buttons is centre-aligned +- 12864 menu files are now allowed to start with letters G, M and T as well as all other letters +- On the 12864 display, error messages can be acknowledged by a button press +- The maximum length of a menu file line for the Duet Maestro 12864 display has been increased from 80 to 100 characters + +Other new features and changed behaviour: +- When the WiFi module is in client mode it tries to auto-reconnect continuously if the connection is lost +- If a file delete request fails because the file or the path is not found, the firmware no longer generates a global error message (but it still returns an error to the caller) +- Changed "Resume-after-power-fail state saved" message to "Resume state saved" +- When delta auto calibration produces NaNs, calibration is abandoned and an error message is produced +- Emergency stop commands sent by PanelDue running latest firmware are acted on immediately +- Added 'deprecated' message when legacy 3-, 4- or 5-point bed compensation is used +- The Idle task is now included in task list +- When storage module debug is enabled, failing to open a file is now a warning not an error because it is a normal occurrence when optional files are not present (e.g. tool change files, start.g, stop.g) +- Increased number of restore points from 3 to 6 +- Implemented the object model framework and a few variables +- Z leadscrew or manual be levelling adjustment results are now logged even if the process failed, if logging is enabled +- Mesh probing results are now logged, if logging is enabled +- Error and warning messages generated by incorrect GCode commands are now logged, if logging is enabled +- Added paused coordinates to 'printing paused' message +- If a bad curve fit occurs during tuning, the values found are displayed as A, C and D instead of G, tc and td to better relate to M307 +- Hardware configurations with more or fewer endstop inputs than motor drivers are supported +- When a print is paused, the coordinates of the pause point are included in the "Printing paused" message +- If heater tuning fails due to a bad curve fit, the parameters measured are reported as A, C and D (to match the M307 parameter letters) instead of G, tc and td +- On Duet Ethernet and Duet Maestro the physical link speed and half/full duplex status is included in the Network section of the M122 report +- The total number of axes is now passed to DWC and PanelDue as well as the number of visible axes + +Internal changes: +- Memory for a 12864 display and the associated menu system is not allocated until M918 is processed +- Upgraded to latest version of FatFS + +Bug fixes: +- During printing, the count of layers printed was sometimes incorrect. +- On the Duet Maestro, the step timer clock sometimes returned the incorrect value. This could cause occasional jerky movement and possibly lost steps. +- Homing a CoreXY machine with both DDA and Move debug enabled caused a crash (thanks @sdavi) +- Fixed behaviour when moves call for extrusion amounts smaller than one microstep +- On the Duet Maestro the 12864 display CS pin is now set low at startup, to avoid spurious characters being displayed if other SPI activity occurs before the display is initialised +- On the 12864 display, multi-line images did not display correctly +- On the 12864 display, the last byte of images didn't display correctly +- On the 12864 display, when entering a subfolder from a file list, the screen did not update until you rotated the encoder +- On the 12864 display, buttons sometimes disappeared when moving between them +- On the 12864 display, item numbers 79, 179 and 279 were not implemented +- On the 12864 display, after displaying an error message the 20-second inactivity timeout was used before reverting to the main menu instead of the 6-second error message timeout +- On the Duet 2 Maestro, if the SD card menu on the 12864 display was used then the network kept disconnecting +- 12864 display of speed factor was wrong +- Fixed potential buffer overflow issues in 12864 menu code +- The scheduled move count was too high by 1 after an emergency pause +- The print progress calculated from filament used was incorrect when using a mixing tool if the sum of mix values was not 1 (e.g. when ditto printing) +- On SCARA printers, a G30 command immediately after homing the proximal and distal arms could fail due to rounding errors +- Heaters were turning on momentarily when the Duet was reset +- M106 Svv and M106 Pn Svv were always setting max PWM if vv > 1 and there were additional parameters in the command e.g. F +- G30 H parameters didn't work if deployprobe.g or retractprobe.g files were present +- A processor timing issue could cause the watchdog to trigger and reset the Duet as soon as it was enabled. This caused some Duet+DueX configurations to take several attempts to start up. +- After using G30 S-2 the tool offset was set in the wrong direction +- After using G30 S-2 the user coordinates were not updated to account for new tool offset +- Under some conditions the M400 command could greatly slow down movements, making it look as if the print had stalled +- Lookahead errors were occasionally reported because of small rounding errors +- Further limited the amount of CPU time used to refresh the 12864 display +- Fixed incorrect check for G2/G3 missing parameter +- Fix CoreXYUV stall detection +- Absolute babystepping was restricted to 1mm change +- After using G10 L2 or G10 L20 to change workplace coordinate offsets, the user positions of axes other than X and Y were not updated +- M915 now recognises the E parameter +- M915 output was truncated if no drives were specified +- On the Duet 2 Maestro, if a BLTouch Z probe was used then the pin didn't always stay retracted after the probe was triggered +- If G30 S-1 was sent with the Z probe type set to zero then reported trigger height was an undefined value +- Additional axes on delta printers were not coordinated with XYZ movement +- DWC disconnected when a message box and a beep were pending at the same time +- The code to report overheating TMC22xx or TMC2660 drivers to Duet Web Control, Panel Due console and USB hosts wasn't working +- On a delta printer, if you created additional axes then the movement of these axes was not coordinated with the effector movement +- If your GCode generated a beep (M300) and a dialog box (M291) in quick succession, a bad JSON response was constructed, causing Duet Web Control to disconnect +- The list of GCode files and folders displayed by DWC was incomplete if there were too many files. The list is now complete if DWC 1.22.1 or later is used. +- I2C errors sometimes occurred if there was a task switch in the middle of an I2C transaction +- The E parameter was ignored in G0 commands +- Fixed bad JSON response when the 'first' parameter of a rr_filelist HTML command was non-zero +- M106 Snn commands with no P parameter failed if fan 0 had been disabled but the print cooling fan was mapped to another fan in the current tool definition +- If config.g invoked a macro then final values were copied to GCode sources too early and a subsequent M501 command wasn't acted on (thanks chrishamm) +- If an emergency stop occurred during execution of a macro, an internal seek error message was sometimes generated. Emergency stop now closes any active print files and macro files. + Version 2.01 (Duet 2 series) and 1.22 (Duet 06/085) =================================================== Upgrade notes: - Compatible files are DuetWiFiserver 1.21 and DuetWebControl 1.21.2-dc42. Use of DWC 1.21 or earlier may result in "Not authorized" disconnections if you have a password set. +- On the Duet WiFi and Duet Ethernet, in previous versions drivers 3 to 11 inclusive defaulted to being extruder drives. In this version, only drivers 2 to 9 inclusive default to extruder drives. This is to avoid issues when users try to change microstepping on all extruder drives. If you want to use drivers 10 and 11 as extruder drive,s you will have to assign them explicitly using M584. Also if have not used M584 to assign drives and you are listing all the extruder drives in a command (e.g. M906 E1000:1000:1000:1000:1000:1000:1000:1000:1000) then you will need to reduce the number of E values listed from 9 to 7. Bug fixes: - The assumed Z position at power up had an undefined value @@ -908,4 +1130,4 @@ Upgrade notes: - If you are using Windows, please install the driver at [https://github.com/dc42/RepRapFirmware/tree/dev/Driver]. This driver does not install any new binaries, it simply tells Windows to use its usbser.sys driver to communicate with a Duet. If you are using Windows 10 then you don't need to install the driver if you don't want to, but then the Duet will show up as "USB Serial Device". - If you print with hot end temperatures above 260C then you will need to add a M143 command in config.g, for example M143 S280 will increase the temperature limit to 280C. -- The recommended web interface is DWC 1.11.
\ No newline at end of file +- The recommended web interface is DWC 1.11. diff --git a/src/Alligator/Microstepping.cpp b/src/Alligator/Microstepping.cpp index baf62efc..af83e759 100644 --- a/src/Alligator/Microstepping.cpp +++ b/src/Alligator/Microstepping.cpp @@ -11,7 +11,7 @@ //*************************************************************************************************** // Alligator Microstepping static class -uint8_t microsteppingPins[ DRIVES - MinAxes ]; +uint8_t microsteppingPins[ NumDirectDrivers - MinAxes ]; void Microstepping::Init() { @@ -19,7 +19,7 @@ void Microstepping::Init() { static_assert(sizeof(microsteppingPins) == sizeof(MICROSTEPPING_PINS), "Incompatible array types"); memcpy(microsteppingPins, MICROSTEPPING_PINS, sizeof(MICROSTEPPING_PINS)); - for(uint8_t pin=0; pin < (DRIVES-MinAxes); pin++ ) { + for(uint8_t pin=0; pin < (NumDirectDrivers - MinAxes); pin++ ) { pinMode( microsteppingPins[pin], OUTPUT_HIGH); } } @@ -27,7 +27,7 @@ void Microstepping::Init() { bool Microstepping::Set(uint8_t drive, uint8_t value) { // Do not exceed the maximum value - if ( drive >= (DRIVES - MinAxes) ) + if ( drive >= (NumDirectDrivers - MinAxes) ) { return false; } @@ -45,7 +45,7 @@ bool Microstepping::Set(uint8_t drive, uint8_t value) { uint8_t Microstepping::Read( uint8_t drive ) { // Do not exceed the maximum value - if ( drive < (DRIVES - MinAxes) ) + if ( drive < (NumDirectDrivers - MinAxes) ) { return ( digitalRead(microsteppingPins[drive]) == LOW ? 16 : 32 ); } diff --git a/src/Alligator/Pins_Alligator.h b/src/Alligator/Pins_Alligator.h index 6cdc61ce..859efd6b 100644 --- a/src/Alligator/Pins_Alligator.h +++ b/src/Alligator/Pins_Alligator.h @@ -27,11 +27,10 @@ const size_t NumFirmwareUpdateModules = 1; // The physical capabilities of the machine // Alligator + Piggy module max 7 stepper driver -const size_t DRIVES = 7; // The number of drives in the machine, including X, Y, and Z plus extruder drives -#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g } -const size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis -// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES -#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f } +constexpr size_t NumDirectDrivers = 7; // The number of drives in the machine, including X, Y, and Z plus extruder drives +constexpr size_t MaxTotalDrivers = NumDirectDrivers; + +constexpr size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis constexpr size_t NumEndstops = 6; // The number of inputs we have for endstops, filament sensors etc. // Alligator + Piggy module max 5 heaters @@ -42,21 +41,22 @@ constexpr size_t NumThermistorInputs = 5; constexpr size_t MaxAxes = 7; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES constexpr size_t MinAxes = 3; // The minimum and default number of axes -constexpr size_t MaxExtruders = DRIVES - MinAxes; // The maximum number of extruders +constexpr size_t MaxExtruders = NumDirectDrivers - MinAxes; // The maximum number of extruders constexpr size_t NUM_SERIAL_CHANNELS = 3; // The number of serial IO channels (USB and two auxiliary UARTs) #define SERIAL_MAIN_DEVICE SerialUSB #define SERIAL_AUX_DEVICE Serial #define SERIAL_AUX2_DEVICE Serial1 -// The numbers of entries in each array must correspond with the values of DRIVES, AXES, or HEATERS. Set values to NoPin to flag unavailability. -// DRIVES -const Pin ENABLE_PINS[DRIVES] = { 24, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; -const Pin STEP_PINS[DRIVES] = { X16, X14, X1, 5, 28, 11, X9 }; -const Pin DIRECTION_PINS[DRIVES] = { 2, 78, X13, 4, 27, 29, 12}; +constexpr Pin UsbVBusPin = NoPin; // Pin used to monitor VBUS on USB port. Not needed for SAM3X. + +// The numbers of entries in each array must correspond with the values of NumDirectDrivers, MaxAxes, or NumHeaters. Set values to NoPin to flag unavailability. +const Pin ENABLE_PINS[NumDirectDrivers] = { 24, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin }; +const Pin STEP_PINS[NumDirectDrivers] = { X16, X14, X1, 5, 28, 11, X9 }; +const Pin DIRECTION_PINS[NumDirectDrivers] = { 2, 78, X13, 4, 27, 29, 12}; // MICROSTEPPING Pins -const Pin MICROSTEPPING_PINS[DRIVES - MinAxes] = { X12, X10, 44, 45 }; +const Pin MICROSTEPPING_PINS[NumDirectDrivers - MinAxes] = { X12, X10, 44, 45 }; // Motor FAULT Pin const Pin MotorFaultDetectPin = 22; diff --git a/src/BugList.txt b/src/BugList.txt index 94665734..32edf1df 100644 --- a/src/BugList.txt +++ b/src/BugList.txt @@ -48,20 +48,7 @@ Done in 2.02RC2: - [done] If a bad curve fit occurs during tuning, display the values as A, C and D instead of G, tc and td to better relate to M307 - [done, M3D testing] Merge in Matt's display changes -Investigations: -**- 3 independent Z motors, https://forum.duet3d.com/topic/6974/problem-with-3-independent-z-axis-motors-and-endstops/26 -- incorrect babystepping, https://forum.duet3d.com/topic/6888/babystep-bug-w-incorrect-motion/2 (already fixed 1mm limit) -- [tested, pause/resume works as intended] Check M106 R1 parameter, see https://forum.duet3d.com/topic/6538/resuming-print-fan-after-pause -- M226 not working? https://forum.duet3d.com/topic/6860/filament-change-no-reaction/3 -- Weird height map, https://forum.duet3d.com/topic/6472/mesh-grid-compensation/28 -- Full stepping problem, https://forum.duet3d.com/topic/6433/how-to-reduce-the-speed-of-extrusion/14 -- Print time estimation problem, see https://forum.duet3d.com/topic/5572/it-s-out-reprapfirmware-2-0-and-1-21-1-released/64 and https://forum.duet3d.com/topic/5572/it-s-out-reprapfirmware-2-0-and-1-21-1-released/73 -- Disconnections, https://forum.duet3d.com/topic/6487/running-bed-mesh-compensation/19 -- M122, https://forum.duet3d.com/topic/6725/m122-does-not-work-from-dwc-console -- DueX5 LEDs flashing at boot time, https://forum.duet3d.com/topic/6970/led-strip-flashing-on-boot-duex5 -- M24 after heater fault pause, https://forum.duet3d.com/topic/7154/firmware-2-01-resume-after-heater-fault-isn-t-working - -Remaining: +Done in 2.02RC3: - [done, test] Zero or negative Z probe tolerance means always average all readings (G30 and G29) - [done, test] When storage debug enabled, failing to open a file is a warning not an error - [done, test] Improve motor phase open circuit message and make it a warning not an error @@ -92,50 +79,301 @@ Remaining: - [done, ok] G30 S-1 when no Z probe, https://forum.duet3d.com/topic/6510/a-couple-of-dwc-odd-things/2 - [done] Log Z leadscrew/manual adjustment calibration results even if calibration failed - [done] Log mesh probing results to file +- [done] Fix 12864 fan speed display issue (displays 3000 after processing M106 S30) +Closed investigations: +- [no fault] stall detect on Z axis +- [re-test using new DuetWiFiServer] "Failed to change mode" messages after M552 S2/S0/S1 cycle +- [can't reproduce] "Attempt to seek on a non-open file", https://www.duet3d.com/forum/thread.php?pid=41175#p41175 +- [hopefully this is fixed by the DHCP fixes, or else there is a DueX involved] https://www.duet3d.com/forum/thread.php?pid=37797#p37797 (Duet Ethernet long delays between moves) +- [no idea, bus fault in pbuf_cat] Look at https://www.duet3d.com/forum/thread.php?pid=37551#p37551 - [no fault located, re-test] Fix Duet 3 ABC axes - [no fault located, re-test] Wait for all moves to stop before M584 -- check DAA working as intended, results are inconsistent. Problem when used with segmented kinematics because the acceleration is in multiple segments. -- Allow extruder movement in tpre? https://forum.duet3d.com/topic/7263/controlling-stepper-motors-via-drive-numbers-eg-g1-d4-700-f100/4 - [no, it already adds 22 checksum bits] Add check digit to serial number - [no, we don't record print time] Distinguish between estimated/simulated/actual print time in M36 -- M207 per-tool values, https://forum.duet3d.com/topic/6855/add-drive-extruder-parameter-to-m207/6 - [problem gone away] chrishamm's watchdog issue, see his email of 2018-08-01 +- [tested, pause/resume works as intended] Check M106 R1 parameter, see https://forum.duet3d.com/topic/6538/resuming-print-fan-after-pause +- [tested 2018-10-30, ok] Test extruder stall detection, https://forum.duet3d.com/topic/7300/issues-using-stall-detection-when-loading-filament +- [no fault] Limits wrong when using workplace coordinates, also in thread https://forum.duet3d.com/topic/7523/g30-s-2-not-working-anymore + +Open investigations: +- [check] if a homing command in an SD print file is aborted due to e.g. G1 Z5 in the homing file, error message should be written to both DWC and PanelDue +- [tested, no fault found] incorrect babystepping, https://forum.duet3d.com/topic/6888/babystep-bug-w-incorrect-motion/2 (already fixed 1mm limit) +- [tested, no fault found] M226 not working? https://forum.duet3d.com/topic/6860/filament-change-no-reaction/3 +- [replied] Weird height map, https://forum.duet3d.com/topic/6472/mesh-grid-compensation/28 +- [tested, no fault] Full stepping problem, https://forum.duet3d.com/topic/6433/how-to-reduce-the-speed-of-extrusion/14 +- [I2C issue, hopefully resolved] DueX5 LEDs flashing at boot time, https://forum.duet3d.com/topic/6970/led-strip-flashing-on-boot-duex5 +- [tested, no fault found] M24 after heater fault pause, https://forum.duet3d.com/topic/7154/firmware-2-01-resume-after-heater-fault-isn-t-working +- check DAA working as intended, results are inconsistent. Problem when used with segmented kinematics because the acceleration is in multiple segments. +- [is a DWC issue] Javascript error, https://forum.duet3d.com/topic/7489/auto-bed-compensation-javascript-error/12 +- [no fault] Babystepping not working, https://forum.duet3d.com/topic/7445/baby-stepping-not-working/20 +- [no fault] Look at GCode file filament estimation in https://forum.duet3d.com/topic/7584/time-estimates-not-working/6 + +Fixed in 2.02RC4: +- [done, ok] Send mapped fan speed at the start of the fan speed list in the M408 response for PanelDue +- [done, ok] PanelDue emergency stop interrupt from UART driver +- [done, ok] M408 P1 F"gcodes" returns an empty gcodes object +- [done, ok] Variable substitution in GCode commands +- [done, ok] In object model, "interface"->"interfaces" to look better in JSON response +- [done, ok in DWC and PanelDue, test on 12864] Object model returned wrong value for speed factor +- [done, ok] Support string-valued object model values in JSON report +- [done, ok] Array indices in variable substitution +- [done, ok] Support conversion from numeric or boolean to string in variable substitution +- [done, ok] G30 H parameters don't work if deployprobe.g or retractprobe.g file present +- [done, ok] Execute residual babystepping immediately +- [done] Special support for coast-to-end in RecalculateMove +- [done] Bring RADDS build up to date and use RTOS (not tested) +- [done, ok] Improved 'page not found' message +- [done, ok] Fix M600, it stops the machine +- [done, ok] Watchdog init +- [possible fix implemented in 2.02RC4] 3 independent Z motors, https://forum.duet3d.com/topic/6974/problem-with-3-independent-z-axis-motors-and-endstops/26 +- [done, ok] Use a I2C mutex instead of a critical section lock +- [done, tested DueX + extra SX1509B] Rewrote i2C driver +- [done, ok] M918 to do dispay reset, https://forum.duet3d.com/topic/7316/firmware-2-02-release-candidate-3-now-available/67 +- [done, ok] When simulating ELM-absolute on delta, it knows there are 26 layers but only counts to 13. ELM-Kossel only counts to 17. +- [done, ok] 12864 display buttons sometimes disappear when moving between them, https://forum.duet3d.com/topic/7641/duet-maestro-12864-lcd-button-display-glitches +- [done, ok] 12864 display: last byte of images didn't display correctly +- [done, ok] 12864 display: in button commands, "#0" should be substituted, not "menu" +- [done] http responses now use \r\n as the line ending, not \n +- [done] Lookahead errors were occasionally caused by rounding, https://forum.duet3d.com/topic/7644/lookahead-error-and-possibly-related-layer-shifting +- [done, ok] 12864 display item numbers 79, 179 and 279 were not implemented +- [done, ok] 12864 display corrected error message timeout, also error messages can be acknowledged by a button press +- [done, seems ok] DueX endstop not always updating, https://forum.duet3d.com/topic/7500/a-endstop-being-stuck-on/4 +- [done, ok] Use an interrupt to better track changes to the DueXn endstop input status +- [done, ok] M260 can now receive I2C bytes as well as send them +- [done, ok] Idle task is now included in task list +- [done, ok] Added 'deprecated' message when legacy 3-, 4- or 5-point bed compensation is used +- [done, ok] Warning message if trying to move motors on internal drivers but VIN too low or too high +- [done, ok] increase min fullsteps for motor open detection from 4 to 20 +- [done, ok] I2C addresses can be specified in hex format e.g. "0x71" or "x71" +- [done, ok] M584 can now use dummy (high) driver numbers to assign an axis or extruder to no driver +- [done, ok] M122 to tell you if the drivers are enabled (power good), or disabled and waiting for the correct voltage +- [done, partial fail] M557 P parameter not working, also not documented +- [done, partial fail] G30 S-2 tool offset is set in the wrong direction, https://forum.duet3d.com/topic/7523/g30-s-2-not-working-anymore +- [done, partial fail] After G30 S-2, update user coordinates to account for new tool offset +- [done, ok] Don't start executing a G30 S-2 command if no tool is selected + +Failed tests: +- [fixed, ok] G32 "Points must be in clockwise order starting near X=0 Y=0" => "starting near minimum X and Y" +- [fixed, ok] G30 S-2 works OK when initial tool Z offset is 0 but not otherwise +- [fixed, ok] M557 with even P parameter on circular bed does too few points +- [bad connection on hot end] Crane Quad hot end reads about 60C at room temperature + +To be investigated for 2.02RC5 or release: +- [tested, ok] Test error handling when the mesh is badly defined, https://forum.duet3d.com/topic/7759/solved-duet-2-wifi-java-error/10 +- [review M292 handling, even though can't reproduce - I can't see a problem] Investigate macros causing a hang, https://forum.duet3d.com/topic/7782/issues-with-macros-halting-the-printer/11 +- [can't reproduce] re-test M226, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/29 +- [was caused by spurious E0 in an travel move] investigate incorrect layer count, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/31 +- [probing speed was too high] Multiple G29 commands in succession, https://forum.duet3d.com/topic/7920/bed-compensation-g29-problems +- [may be fixed by possible fix for for Z and U moving at different speeds] investigate slow movement, https://forum.duet3d.com/topic/6974/problem-with-3-independent-z-axis-motors-and-endstops/32 + +Fixed in 2.02RC5: +- [done, ok] 12864 display of speed factor wrong, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/10 +- [done, ok] 12864 button menu handling wrong, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/14 +- [done, ok] 12864 items 510- display user position not machine position +- [done, ok] M117 on 12864, https://forum.duet3d.com/topic/7826/display-characters-text-in-macro/4 +- [done, ok] M291 and manual Z-probing on 12864, https://forum.duet3d.com/topic/7826/display-characters-text-in-macro/4 +- [done, ok] Live XYZ movement and baby stepping on 12864 +- [done, retest] Change "Resume-after-power-fail state saved" message to something appropriate for an ordinary pause, https://forum.duet3d.com/topic/7784/power-fail-triggers-unexpectedly/3 +- [done, ok] SCARA: after prox and distal are homed allow XY moves, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/24 +- [done, ok] Support M851, offset is negated + using M851 causes M500 to save Z probe parameters +- [done, ok] If G31 parameters were read from config-override.g (m501) then a subsequent M500 command saves them too +- [done, ok] Save workplace coordinate systems in M500 +- [done, ok] Shorten M591 response by removing unnecessary text +- [done, can't test] When delta auto calibration produces NaNs, abort calibration and emit an error message suggesting a smaller probing radius +- [done, ok] M106 Pnn Svv always set full PWM if vv > 1 and there were additional parameters e.g. F, https://forum.duet3d.com/topic/7810/question-about-m106/6 +- [done] Possible fix for Z and U moving at different speeds, https://forum.duet3d.com/topic/7755/drive-3-is-slower-as-drive-2-at-homing-in-z-solved/32 +- [done, ok] For SimpleFilamentMonitor, include filament present/not present status in M591 report +- [done, ok] Heaters turn on momentarily when Duet is reset +- [done, ok] When G53 is in effect, don't apply tool offsets or axis mapping +- [done, ok] Don't allow both S0 and T0 in M291, it creates a message that can't be dismissed + +Fixed in 2.02RC6: +- [done] When VIN power comes up (again), clear out open-load status bits to avoid spurious open load warnings +- [done, ok] Fix behaviour when extrusion per move is < 1 step, https://forum.duet3d.com/topic/7949/my-experience-with-relative-extrusion-problem-and-solution/13 +- [still can't reproduce] Investigate macro using M291 again, https://forum.duet3d.com/topic/7782/issues-with-macros-halting-the-printer/26 +- [done, ok] 12864 fallback: if 'menu' action is used with no parameter, use the F parameter +- [done, ok] Different U and Z homing speeds is back and worse, https://forum.duet3d.com/topic/7755/drive-3-is-slower-as-drive-2-at-homing-in-z-solved/30 +- [done, ok] A baby stepping move after an extruding move when the printer is idle replicates the same extrusion, https://forum.duet3d.com/topic/7940/firmware-2-02rc5-now-available +- [done, test] Suppress motor disconnected message if motor current is very low, https://forum.duet3d.com/topic/7994/possible-bug/4 +- [done, ok] When entering a subfolder on the 12864 display from a file list, the screen does not update until you rotate the encoder, https://forum.duet3d.com/topic/8014/12864-display-sd-print-subfolder-screen-update +- [done, ok] Add date/time if known to config-override.g +- [done, ok] Resume after pause doesn't use workplace coordinate offsets, https://forum.duet3d.com/topic/4557/cnc-coordinate-systems/29 and https://forum.duet3d.com/topic/7940/firmware-2-02rc5-now-available/16 +- [done, ok] Add nanoDLP to compatibility options, also add M650 and M651 support +- [done] Return a 503 http error when we run out of buffers while trying to compose a http reply +- [done] M206 now sets offsets for the current workplace, not workplace 0 +- [done] memory for 12864 display and menu system is not allocated until M918 is processed +- [done, test] scheduled vs. completed move count wrong, https://forum.duet3d.com/topic/8052/print-stopped-at-83-for-seemingly-no-reason/2 +- [done, ok] G2/G3 moves use a variable arg segment length +- [done, ok] Add sin + cosine calculation time +- [done, ok] New version of FatFS +- [done, ok] Allow M226 and M600 even when no file is being printed +- [done, test] Print progress based on requested extrusion *before* mixing, for ditto printing +- [done, ok] G30 after SCARA homing prox and distal sometimes failed due to rounding error in arm calculation, https://forum.duet3d.com/post/72199 + +Done in 2.02RC7: +- [done, ok] Pre-allocate SD card storage when doing HTTP file upload +- [done] Bug fix for homing CoreXY with DDA+Move debug enabled (thanks @sdavi) +- [done, ok] Set 12864 CS pin low at startup +- [done, ok] 12864 image display is wrong for multi-line images +- [done] Suppress global error message from file delete if the file or path doesn't exist, https://forum.duet3d.com/topic/8194/cura-duet-reprap-firmware-integration-question/4 +- [done] Add CORS header to http reject message, see email from chrishamm +- [done] Add content-length header to rr_download response +- [done] Redirect http directory requests to index.html +- [done, ok] HTML index file is now index.html, falls back to reprap.html +- [done, ok] Support Fanuc-style CNC commands? +- [done, ok] Support Fanuc-style G2/G3 whole circle moves +- [done, ok] Add SD card write timing + +Done in 2.02 release: +- [done] Step clock on Duet Maestro going backwards, https://forum.duet3d.com/topic/8264/steptimer-getinterruptclocks-isn-t-incrementing +- [can't reproduce] Investigate Duet Maestro socket behaviour when cable disconnected, see email from chris + +Done in 2.03beta1: +- [done, ok] MBytes/sec -> Mbytes/sec in M122 P104 report +- [done, ok] Remove 'RTOS' from firmware name? +- [done, ok] G1 X1E1 no longer gets treated as if it also has an E parameter +- [done, ok] On 12864 display increment default column by 1 extra to leave a space +- [done, ok] Bug: setting M558 A parameter to anything >31 sets it to 0 instead of to 31 +- [done, ok] Slicer PE time estimate string, https://forum.duet3d.com/topic/8440/rrf-2-02-slic3r-pe-1-41-2-filament-used-and-print-times-wrong and SodaStreamHolder gcode file +- [done, ok so far, poss homing issue] Generalised Cartesian/Core kinematics inc. markForged +- [done, ok] M572 and M221 with no extruder drive number to set all extruders used by the current tool, https://forum.duet3d.com/topic/8444/setting-pressure-advance-in-filament-file +- [done, ok with new filament monitor, test with old] Support filament sensor firmware v2 +- [done, ok] Improve efficiency of debug print in WiFiInterface: don't keep calling cat and strlen +- [done, ok] Filament monitor to use time since end of last nonprinting extruder move +- [done, ok] Fix continuous rotation speed error bug on Polar kinematics, https://forum.duet3d.com/topic/8747/polar-printing-polar-axis-rotation-issue/3 +- [done, ok, needs community test] Generalised Cartesian kinematics +- [done, ok] fixed a crash in the crash handler when no task was active +- [done, ok] Fix M3D Kanji problem on some displays +- [done, ok] 4-tower delta kinematics +- [done, ok] G2/G3 R parameter instead of IJ +- [done, ok] On delta, G1 Y-100 after homing hits endstops - new limit check not working properly +- [done, ok] Configurable 12864 SPI frequency +- [done, ok] PR to send standby bed temperature in M408 +- [done, ok but test with babystepping] Deferred DM allocation and removal of DM array +- [done] Support L parameter in M585, thanks chrishamm +- [done] Scara R parameter to set min radius, https://github.com/dc42/RepRapFirmware/issues/221 +- [done, test] Disable mdns in legacy Duets, https://forum.duet3d.com/topic/8352/duet-0-6-randomly-reboots/5 +- [done, test] rr_fileinfo and M36 with no filename to include estimated print time and simulation time in the response, as in the report with a filename +- [done, test] In CNC and laser mode update user Z coordinate after tool change, https://forum.duet3d.com/topic/8181/tool-offset-honored-but-not-displayed-correctly +- [done, test] On SCARA and delta printers, apply geometric limits even if not applying M208 limits +- [done, test] G92 should not constrain the passed coordinates to the M208 limits if M564 S0 has been used to disable limits +- [done, test] Bug fix: month number written to height map.csv and filament files was too low by 1 +- [done, test] wilriker PR to allow steps/mm to be quoted in M92, https://forum.duet3d.com/topic/8225/m92-parameter-to-indicate-microstepping/6 +- [done, test] G30 S-3 option, to set trigger height to stopped height +- [done, test] Bug: 12864 display needs to be refreshed when a change in printer state alters visibility +- [done, test] When M106 Pn Sxxx received, if n = current print cooling fan number, update the print cooling fan speed variable, https://forum.duet3d.com/topic/8540/part-fan-value-missing/6 +- [done, test] DAA to handle requested accel/decl > max +- [done, test] Suppress filenames starting with '.' in the 12864 display +- [done, test] Implement G17, error on G18/G19. +- [done, test] Core kinematics: enable all necessary motors +- [done, test] Make G2/G3 segment length lower at low speeds, https://forum.duet3d.com/post/79040 +- [done, test] Bug: M997 S1 sent from USB keeps returning M105 status reports while the wifi firmware is flashing, and PanelDue 'flashing' update messages get erased +- [done, test] M453 do the switch to CNC mode even if bad P parameter used +- [done, test] After pausing a print, if Cancel is pressed, cancel initial heating first like M108 does +- [done, test] M122 P105 prints object sizes + +Planned for 2.03: +- Test that M500 saves all delta rod lengths correctly +- Test with Duet 3 +- [could be related to visibility issue] Investigate 12864 display heater fault warning, https://forum.duet3d.com/topic/7718/12864-display-current-tool-temperatures/6 +- Slow startup move issue, https://forum.duet3d.com/topic/8284/firmware-2-02-released/7 (adding S2 fixes it) +- M291 issue, https://forum.duet3d.com/topic/8381/m291-s2-does-not-block-macro-execution/5 +- In laser mode allow M3 instead of S to control laser power? (wait for feedback, not as simple as it looked) +- [check latest forum response, possibly caused by M208 checks] Investigate @frafa's SCARA issue, https://forum.duet3d.com/post/76024 +- [await reply from Mario] Is there any benefit to setting RNDTF in M569? +- Danny's G1->G0 request? [added IntermediatePositionsReachable function] +- Warm up time not always displayed in 2.02 +- For PanelDue, send heater data for the first heater in each tool, https://forum.duet3d.com/topic/8458/hide-unused-heater-channels-paneldue-5/4 +- Deferred allocation of DMs: don't create DMs for nonlocal drives, pass #steps to CAN interface instead +- Reports that DueX5 endstops stop working after a while, https://forum.duet3d.com/topic/8284/firmware-2-02-released/9 +- I2C error recovery? +- Pressure advance issue? https://forum.duet3d.com/topic/8672/extruder-motors-skip-steps-with-pressure-advance-enabled/3 +- Command (M18/M84?) to enable specified motors or axes +- Add check for M208 min > max +- Don't keep sending "wifi reported error" messages during reconnection attempts, https://forum.duet3d.com/topic/8837/wifi-reported-error +- M24 in filament-change.g macro doesn't resume the print + +Investigations + +- [done, DWC bug, tell chrishamm] JSON (?), https://forum.duet3d.com/topic/8816/java-errors/5 +- HaqXY +- I2C, +- [investigated, awaiting feedback] Kulitorum segmented speed issue, https://forum.duet3d.com/topic/8789/max-actual-speed-at-high-path-detail/10 +- Low steps/mm and pressure advance, https://forum.duet3d.com/topic/8672/extruder-motors-skip-steps-with-pressure-advance-enabled/67 +- Retraction problem, https://forum.duet3d.com/post/79485 +- Icon generation, https://forum.duet3d.com/topic/8177/icon-generation/7 + +2.04 planned: +- Stop print after a short to ground report? https://forum.duet3d.com/topic/8239/duet-maestro-short-to-ground/10 +- Option to enable a trigger when not printing (C3?), https://forum.duet3d.com/topic/8459/m581-external-trigger +- Implement G43? +- What does M48 do in Marlin? +- Option in M452 to allow G1 S or M3 to control laser? Also whether S is sticky. +- Allow hex input everywhere +- On Maestro, delay between first enabling the driver and moving the motor; or a separate command to enable a motor. +- When installing DuetWiFiServer, PanelDue message keeps disappearing +- Overlap SD card write and network fetch, for faster file upload? +- Object model +- Conditionals, loops and maths in GCode commands +- S-curve acceleration +- Endstop assignment, including option for 1 endstop per motor +- Generalised CoreXY kinematics inc MarkForged +- Some features from the list below + +Future: +- New DuetWiFiServer using RTOS and a later Expressiv SDK version +- Remove string allocation from ActOnMCode to save stack space +- Easier way to support multiple endstops on axes (combine with facility to reassign endstop inputs) +- Junction deviation instead of jerk? Probably combine with S-curve acceleration. +- Add I2C success count to I2C stats +- Run script if thermal error? https://forum.duet3d.com/topic/8038/suggestion-run-script-in-case-of-thermal-error +- Run script on filament error? +- Option for an endstop input to trigger an emergency pause +- Count steps until homing switch is triggered compared to original, https://forum.duet3d.com/topic/8017/request-check-for-lost-steps +- In CNC or laser mode, don't segment G0 moves for mesh bed compensation, https://forum.duet3d.com/topic/7728/go-vs-g1-movement/11 +- Z homing switch offset in M208 or elsewhere, https://forum.duet3d.com/topic/7767/z-offset-is-negated-in-homing-g-macro +- After looking for G1 Z commands to find object height in gcode file analyser, check that there is extrusion after it +- M260 allow bytes to be specified in hex, more generally allow hex anywhere? +- Auto mount SD card when it is inserted +- Option to set an idle timer, https://forum.duet3d.com/topic/7758/configuring-idle-timeout +- Extruder motion until filament sensor senses motion stopped? +- Allow jerk between printing and non-printing moves, so that coast-to-end works? already made a change for coast-to-end. +- Error handling in [variable] parser in GCodeBuffer class +- WiFi auto reconnect should not log all unsuccessful connection attempts, just the first one +- Option to send M280 servo commands just a few times instead of continuously +- M3 R parameter so it can restore the spindle/laser after a pause (https://forum.duet3d.com/topic/5418/cnc-laser-m3-unpause-r-parameter) +- Adjust laser power during acceleration/deceleration +- First layer segmentation, to help with baby stepping? Or another way to implement live babystepping? +- Object model variables in 12864 display menus +- CNC shutdown when movement outside limits attempted not working well, https://forum.duet3d.com/topic/6186/stable-firmware-2-01-duet-2-and-1-22-duet-06-085-released/55 +- Better dead time measurement during auto tuning. Measure both turn-on and turn-off? +- Feedforward heater control for fan and extrusion speed changes +- If wifi module gets stuck in starting or changing mode state, reset it again +- At the end of a simulation, restore the original workplace coordinate selection +- CNC: look at G17/18/19, see https://forum.duet3d.com/topic/4669/ooznest-workbee-screw-driven +- Option in M92 to specify what microstepping the values are specified at, https://forum.duet3d.com/topic/8225/m92-parameter-to-indicate-microstepping/4 +- Trigger option to do emergency pause? https://forum.duet3d.com/topic/7846/pause-and-store-print-state-on-network-signal-ups/4 +- Allow extruder movement in tpre? https://forum.duet3d.com/topic/7263/controlling-stepper-motors-via-drive-numbers-eg-g1-d4-700-f100/4 +- M207 per-tool values, https://forum.duet3d.com/topic/6855/add-drive-extruder-parameter-to-m207/6 - Command to copy output from the following commands to the log file? - Track which devices use which pins - Hangprinter PRs - PR to have any enabled driver report 50C -- M116 parameter to set allowed temperature difference - Alternative G10 command to set offsets from known current tool position, see https://forum.duet3d.com/topic/6465/g92-g10-m585-for-setting-head-position-not-machine-position/4 - Keep sending M408 responses to PanelDue while waiting for movement to complete, or M400 or homing move or similar -- CNC shutdown when movement outside limits attempted not working well, https://forum.duet3d.com/topic/6186/stable-firmware-2-01-duet-2-and-1-22-duet-06-085-released/55 - -Future: -- Extra logging? https://forum.duet3d.com/topic/7103/extend-m929-logging-capabilities/5 -- Junction deviation instead of jerk? -- first layer segmentation, to help with baby stepping? Or another way to implement live babystepping? -- Still doesn't always find the DueX5, see https://forum.duet3d.com/topic/6239/unstable-after-firmware-upgrade/3. Is the Heat task affecting the timing? Need new I2C driver? -- [do in DuetWiFiServer] WiFi continuous auto reconnect in client mode, or extra M552 parameter? See https://forum.duet3d.com/topic/5765/wifi-module-auto-reconnect -- Better dead time measurement during auto tuning. Measure both turn-on and turn-off? -- Bezier speed curves or other S-curve acceleration, e.g. look at https://github.com/MarlinFirmware/Marlin/pull/10373/files -- Option to send M280 servo commands just a few times instead of continuously, for E3D +- Extra logging? [did some extra in 2.02RC3] https://forum.duet3d.com/topic/7103/extend-m929-logging-capabilities/5 - Danny's modified SCARA kinematics (workpiece is on a plate, extruder is fixed) - Look at pushover notification support, https://forum.duet3d.com/topic/169/notification-via-pushover-or-other-service/45 -- M3 R parameter so it can restore the spinder/laser after a pause (https://forum.duet3d.com/topic/5418/cnc-laser-m3-unpause-r-parameter) - M81: don't give low voltage warnings when main power has just been turned off - M81: option to invert polarity? -- M584 when assigning a drive, unmap any existing assignment? [sometimes we want dual mapping] Also allow an axis to be mapped to driver -1. - Add S4 option to G1 command, like S1 but no endstop checks (needed for CoreXY, CoreXZ) -- CNC: look at G17/18/19, see https://forum.duet3d.com/topic/4669/ooznest-workbee-screw-driven - M569 command to allow selection of smart/dumb driver (including on Duet M), also allow all 12 drivers to be smart - Apostrophe in quoted filename: can we make apostrophe special in SSIDs/passwords but not filenames? -- If wifi module gets stuck in starting or changing mode state, reset it again - M140 command to set default bed heaters for M140 S commands (e.g. M140 P0:1:2) - Consider: Heater faults to run M81 even when not doing a build (https://forum.duet3d.com/topic/6225/configure-action-on-heater-fault/7) - Option to repeat G32 until deviation/leadscrew adjustment is below a threshold or a retry count reached (and allow for probing failures) - Macro option when a motor stall is detected, https://forum.duet3d.com/topic/7026/more-options-for-stall-detection - -Other (some of these may be in 2.02): - Update PanelDue firmware via Duet - Use Heat task to read DHT sensors? - Add option R4 to M915 command, to do an emergency stop (useful for Z motor) @@ -146,50 +384,29 @@ Other (some of these may be in 2.02): - Unexpected heaters off/tool selection behaviour, https://www.duet3d.com/forum/thread.php?pid=43059#p43059 - warn when using : where ; was probably meant - Error message if you attempt movement with VIN < minimum +- When VIN power too low and stepper drivers turned off, flag axes as not homed? - min/max RSSI display? - report RSSI in M552? -- When VIN power too low and stepper drivers turned off, flag axes as not homed? - Auto mount main SD card when inserted -- Workplace offsets are supposed to be persistant (check NIST), https://www.duet3d.com/forum/thread.php?pid=43755#p43755 -- At the end of a simulation, restore the original workplace coordinate selection - Add warning message when print exceeds bounds - When uploading while a file is being printed, don't allow the currently-printing file to be replaced - Option to send stall warning messages when not printing from SD card, https://forum.duet3d.com/topic/6720/stall-protection-on-pyserial-print - Custom macros to execute on stall detection, including extruder stall detection https://forum.duet3d.com/topic/6730/stall-detection-custom-actions - -- [check] if a homing command in an SD print file is aborted due to e.g. G1 Z5 in the homing file, error message should be written to both DWC and PanelDue -- [no fault] stall detect on Z axis -- Files generated by Cura doesn't detect layer changes, see https://www.duet3d.com/forum/thread.php?pid=40865#p40865 -- [re-test using new DuetWiFiServer] "Failed to change mode" messages after M552 S2/S0/S1 cycle -- [can't reproduce] "Attempt to seek on a non-open file", https://www.duet3d.com/forum/thread.php?pid=41175#p41175 -- [hopefully this is fixed by the DHCP fixes] https://www.duet3d.com/forum/thread.php?pid=37797#p37797 (Duet Ethernet long delays between moves) -- [no idea, bus fault in pbuf_cat] Look at https://www.duet3d.com/forum/thread.php?pid=37551#p37551 - - When Z probe readings are out of tolerance, display the lowest difference seen between consecutive readings? - -- laser control, https://www.duet3d.com/forum/thread.php?pid=37891#p37891 -- slow DWC but fast FTP, https://www.duet3d.com/forum/thread.php?pid=38345#p38345 -- no stall detect on Z axis, https://www.duet3d.com/forum/thread.php?pid=38504#p38504, https://www.duet3d.com/forum/thread.php?pid=39484#p39484 -- check that we never enable the drivers before we set vsense - -- [don't do] Don't report the motor current for a non-existent extruder - dual extrusion layer counting, see https://www.duet3d.com/forum/thread.php?pid=34816#p34816 - M140/M190 with no P parameter sets all bed heater temperatures (same for M141/M191) - M291 to lock movement and wait for it to finish? -- Add timeout to hsmci_send_cmd_execute, see https://www.duet3d.com/forum/thread.php?pid=35654#p35654 -- Bug: pressure advance attempts high speed or acceleration extruder movements on bench setup (was it caused by hitting limits?) - Bug: https://www.duet3d.com/forum/thread.php?pid=34772#p34772 (needs RRF fix too?) -- M40 to run eject.g [don't do, not NIST standard?] - configurable minimum extrusion temperature (per extruder?) - case-insensitive http headers - - Send reduce power command to PanelDue when main power turned off? -- Document multiple bed and chamber heaters -- [mostly done] Check all classes for correct initialisation - -Bug investigations: -- [done] step errors, https://www.duet3d.com/forum/thread.php?pid=33741#p33741 -- [no fault, possibly related to low extruder steps/mm] SeeMeCNC scaling problem, see email of 2018-04-01 +- Option to not broadcast SSID? +- Support faster homing by using interrupts to check homing switch states +- Allow manual bed probing to be aborted +- Don't do pressure advance during accel/decel of sequences of short segments +- Add T parameter to M207 +- look at supporting SIZE in FTP +- Make mp.delta.hmz0sK, hmz0scK and dsk 64-bit in SAM4E versions, to increase movement limit - also increase K2? Investigations: @@ -203,16 +420,3 @@ Investigations: [done BUT still wrong in lwip 2] inconsistend oversize vs. len p->ref == 1 in WiFi -Later versions: - -- Check https://www.duet3d.com/forum/thread.php?pid=33951#p33951 - -- Option to not broadcast SSID? -- Support faster homing by using interrupts to check homing switch states -- Allow manual bed probing to be aborted -- Don't do pressure advance during accel/decel of sequences of short segments -- Arc move with same finish and start coordinates to do complete circle -- Add T parameter to M207 -- look at supporting SIZE in FTP -- Make mp.delta.hmz0sK, hmz0scK and dsk 64-bit in SAM4E versions, to increase movement limit - also increase K2? - diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp index 0ad18120..d77ee347 100644 --- a/src/CAN/CanInterface.cpp +++ b/src/CAN/CanInterface.cpp @@ -52,49 +52,46 @@ void CanInterface::StartMovement(const DDA& dda) } // This is called by DDA::Prepare for each active CAN DM in the move -void CanInterface::AddMovement(const DDA& dda, const PrepParams& params, size_t canDriver, const DriveMovement& dm) +// If steps == 0 then the drivers just need to be enabled +void CanInterface::AddMovement(const DDA& dda, const PrepParams& params, size_t canDriver, size_t steps) { - const size_t steps = dm.GetSteps(); - if (steps != 0) + const size_t expansionBoardNumber = canDriver/DriversPerCanBoard; + CanMessageBuffer*& buf = movementBuffers[expansionBoardNumber]; + if (buf == nullptr) { - const size_t expansionBoardNumber = canDriver/DriversPerCanBoard; - CanMessageBuffer*& buf = movementBuffers[expansionBoardNumber]; + buf = CanMessageBuffer::Allocate(); if (buf == nullptr) { - buf = CanMessageBuffer::Allocate(); - if (buf == nullptr) - { - return; //TODO error handling - } - - buf->expansionBoardId = expansionBoardNumber + 1; - - // Common parameters - buf->msg.accelerationClocks = lrintf(params.accelTime * StepTimer::StepClockRate); - buf->msg.steadyClocks = lrintf(params.steadyTime * StepTimer::StepClockRate); - buf->msg.decelClocks = lrintf(params.decelTime * StepTimer::StepClockRate); - buf->msg.initialSpeedFraction = params.initialSpeedFraction; - buf->msg.finalSpeedFraction = params.finalSpeedFraction; - buf->msg.flags.deltaDrives = 0; //TODO - buf->msg.flags.endStopsToCheck = 0; //TODO - buf->msg.flags.pressureAdvanceDrives = 0; //TODO - buf->msg.flags.stopAllDrivesOnEndstopHit = false; //TODO - // Additional parameters for delta movements - buf->msg.initialX = params.initialX; - buf->msg.finalX = params.finalX; - buf->msg.initialY = params.initialY; - buf->msg.finalY = params.finalY; - buf->msg.zMovement = params.zMovement; - - // Clear out the per-drive fields - for (size_t drive = 0; drive < DriversPerCanBoard; ++drive) - { - buf->msg.perDrive[drive].steps = 0; - } + return; //TODO error handling } - buf->msg.perDrive[canDriver % DriversPerCanBoard].steps = steps; + buf->expansionBoardId = expansionBoardNumber + 1; + + // Common parameters + buf->msg.accelerationClocks = lrintf(params.accelTime * StepTimer::StepClockRate); + buf->msg.steadyClocks = lrintf(params.steadyTime * StepTimer::StepClockRate); + buf->msg.decelClocks = lrintf(params.decelTime * StepTimer::StepClockRate); + buf->msg.initialSpeedFraction = params.initialSpeedFraction; + buf->msg.finalSpeedFraction = params.finalSpeedFraction; + buf->msg.flags.deltaDrives = 0; //TODO + buf->msg.flags.endStopsToCheck = 0; //TODO + buf->msg.flags.pressureAdvanceDrives = 0; //TODO + buf->msg.flags.stopAllDrivesOnEndstopHit = false; //TODO + // Additional parameters for delta movements + buf->msg.initialX = params.initialX; + buf->msg.finalX = params.finalX; + buf->msg.initialY = params.initialY; + buf->msg.finalY = params.finalY; + buf->msg.zMovement = params.zMovement; + + // Clear out the per-drive fields + for (size_t drive = 0; drive < DriversPerCanBoard; ++drive) + { + buf->msg.perDrive[drive].steps = 0; + } } + + buf->msg.perDrive[canDriver % DriversPerCanBoard].steps = steps; } // This is called by DDA::Prepare when all DMs for CAN drives` have been processed diff --git a/src/CAN/CanInterface.h b/src/CAN/CanInterface.h index a577d51c..677555ce 100644 --- a/src/CAN/CanInterface.h +++ b/src/CAN/CanInterface.h @@ -20,7 +20,7 @@ namespace CanInterface { void Init(); void StartMovement(const DDA& dda); - void AddMovement(const DDA& dda, const PrepParams& params, size_t canDriver, const DriveMovement& dm); + void AddMovement(const DDA& dda, const PrepParams& params, size_t canDriver, size_t steps); void FinishMovement(uint32_t moveStartTime); bool CanPrepareMove(); } diff --git a/src/Configuration.h b/src/Configuration.h index ce94c278..502f820a 100644 --- a/src/Configuration.h +++ b/src/Configuration.h @@ -47,6 +47,11 @@ constexpr float DefaultXYInstantDv = 15.0; // mm/sec constexpr float DefaultZInstantDv = 0.2; constexpr float DefaultEInstantDv = 2.0; +constexpr float DefaultAxisMinimum = 0.0; +constexpr float DefaultAxisMaximum = 200.0; + +constexpr float MinimumOpenLoadMotorCurrent = 300; // minimum current in mA for the open load status to be taken seriously + // Timeouts constexpr uint32_t FanCheckInterval = 500; // Milliseconds constexpr uint32_t OpenLoadTimeout = 500; // Milliseconds @@ -55,7 +60,7 @@ constexpr uint32_t LogFlushInterval = 15000; // Milliseconds constexpr uint32_t DriverCoolingTimeout = 4000; // Milliseconds constexpr float DefaultMessageTimeout = 10.0; // How long a message is displayed by default, in seconds -constexpr uint32_t MinimumOpenLoadFullStepsPerSec = 4; +constexpr uint32_t MinimumOpenLoadFullStepsPerSec = 20; // this is 4mm/sec @ 80steps/mm // FanCheckInterval must be lower than MinimumWarningInterval to avoid giving driver over temperature warnings too soon when thermostatic control of electronics cooling fans is used static_assert(FanCheckInterval < MinimumWarningInterval, "FanCheckInterval too large"); @@ -151,7 +156,7 @@ constexpr unsigned int FirstLinearAdcChannel = 300; // Temperature sensor chann constexpr unsigned int FirstDhtTemperatureChannel = 400; // Temperature sensor channel 400 for DHTxx temperature constexpr unsigned int FirstDhtHumidityChannel = 450; // Temperature sensor channel 401 for DHTxx humidity constexpr unsigned int FirstPT1000Channel = 500; // Temperature sensor channels 500... are PT1000 sensors connected to thermistor inputs -constexpr unsigned int CpuTemperatureSenseChannel = 1000; // Sensor 1000 is the MCJU's own temperature sensor +constexpr unsigned int CpuTemperatureSenseChannel = 1000; // Sensor 1000 is the MCU's own temperature sensor constexpr unsigned int FirstTmcDriversSenseChannel = 1001; // Sensors 1001..1002 are the TMC2660 driver temperature sense constexpr unsigned int NumTmcDriversSenseChannels = 2; // Sensors 1001..1002 are the TMC2660 driver temperature sense @@ -179,6 +184,18 @@ constexpr size_t MaxGridProbePoints = 121; // 121 allows us to probe 200x200 constexpr size_t MaxXGridPoints = 21; // Maximum number of grid points in one X row constexpr size_t MaxProbePoints = 32; // Maximum number of G30 probe points constexpr size_t MaxCalibrationPoints = 32; // Should a power of 2 for speed +#elif __LPC17xx__ +# if defined(LPC_NETWORKING) +constexpr size_t MaxGridProbePoints = 121; // 121 allows us to probe 200x200 at 20mm intervals +constexpr size_t MaxXGridPoints = 21; // Maximum number of grid points in one X row +constexpr size_t MaxProbePoints = 32; // Maximum number of G30 probe points +constexpr size_t MaxCalibrationPoints = 16; // Should a power of 2 for speed +# else +constexpr size_t MaxGridProbePoints = 441; // 441 allows us to probe e.g. 400x400 at 20mm intervals +constexpr size_t MaxXGridPoints = 41; // Maximum number of grid points in one X row +constexpr size_t MaxProbePoints = 32; // Maximum number of G30 probe points +constexpr size_t MaxCalibrationPoints = 32; // Should a power of 2 for speed +# endif #else # error #endif @@ -206,21 +223,9 @@ constexpr int DefaultZProbeADValue = 500; // Default trigger threshold constexpr float TRIANGLE_ZERO = -0.001; // Millimetres constexpr float SILLY_Z_VALUE = -9999.0; // Millimetres -// String lengths -constexpr size_t FORMAT_STRING_LENGTH = 256; -constexpr size_t MACHINE_NAME_LENGTH = 40; -constexpr size_t PASSWORD_LENGTH = 20; // must also be long enough to hold any homing file name - -#if SAM4E || SAM4S || SAME70 -// Increased GCODE_LENGTH on the SAM4 because M587 and M589 commands on the Duet WiFi can get very long -constexpr size_t GCODE_LENGTH = 161; // maximum number of non-comment characters in a line of GCode including the null terminator -constexpr size_t SHORT_GCODE_LENGTH = 61; // maximum length of a GCode that we can queue to synchronise it to a move -#else -constexpr size_t GCODE_LENGTH = 101; // maximum number of non-comment characters in a line of GCode including the null terminator -constexpr size_t SHORT_GCODE_LENGTH = 61; // maximum length of a GCode that we can queue to synchronise it to a move -#endif - +// String lengths. Try not to have too many different ones, because each one causes an instantiation of the String template constexpr size_t MaxMessageLength = 256; +constexpr size_t MaxTitleLength = 61; #if SAM4E || SAM4S || SAME70 constexpr size_t MaxFilenameLength = 120; // Maximum length of a filename including the path @@ -233,6 +238,21 @@ constexpr size_t MaxVariableNameLength = 100; constexpr size_t MaxHeaterNameLength = 20; // Maximum number of characters in a heater name constexpr size_t MaxFanNameLength = 20; // Maximum number of characters in a fan name +constexpr size_t FormatStringLength = 256; +constexpr size_t GCodeReplyLength = 256; // Maximum number of characters in a GCode reply that doesn't use an OutputBuffer +constexpr size_t MachineNameLength = 40; +constexpr size_t RepRapPasswordLength = 20; +constexpr size_t MediumStringLength = MaxFilenameLength; + +#if SAM4E || SAM4S || SAME70 +// Increased GCODE_LENGTH on the SAM4 because M587 and M589 commands on the Duet WiFi can get very long +constexpr size_t GCODE_LENGTH = 161; // maximum number of non-comment characters in a line of GCode including the null terminator +constexpr size_t SHORT_GCODE_LENGTH = 61; // maximum length of a GCode that we can queue to synchronise it to a move +#else +constexpr size_t GCODE_LENGTH = 101; // maximum number of non-comment characters in a line of GCode including the null terminator +constexpr size_t SHORT_GCODE_LENGTH = 61; // maximum length of a GCode that we can queue to synchronise it to a move +#endif + // Output buffer length and number of buffers // When using RTOS, it is best if it is possible to fit an HTTP response header in a single buffer. Our headers are currently about 230 bytes long. // A note on reserved buffers: the worst case is when a GCode with a long response is processed. After string the response, there must be enough buffer space @@ -249,6 +269,10 @@ constexpr size_t RESERVED_OUTPUT_BUFFERS = 4; // Number of reserved output buf constexpr size_t OUTPUT_BUFFER_SIZE = 256; // How many bytes does each OutputBuffer hold? constexpr size_t OUTPUT_BUFFER_COUNT = 16; // How many OutputBuffer instances do we have? constexpr size_t RESERVED_OUTPUT_BUFFERS = 2; // Number of reserved output buffers after long responses +#elif __LPC17xx__ +constexpr uint16_t OUTPUT_BUFFER_SIZE = 256; // How many bytes does each OutputBuffer hold? +constexpr size_t OUTPUT_BUFFER_COUNT = 15; // How many OutputBuffer instances do we have? +constexpr size_t RESERVED_OUTPUT_BUFFERS = 2; // Number of reserved output buffers after long responses. Must be enough for an HTTP header #else # error #endif @@ -262,7 +286,10 @@ constexpr float DefaultRetractSpeed = 1000.0; // The default firmware retracti constexpr float DefaultRetractLength = 2.0; constexpr float MinimumMovementSpeed = 0.5; // The minimum movement speed (extruding moves will go slower than this if the extrusion rate demands it) -constexpr float DefaultArcSegmentLength = 0.2; // G2 and G3 arc movement commands get split into segments this long +constexpr float MaxArcDeviation = 0.02; // maximum deviation from ideal arc due to segmentation +constexpr float MinArcSegmentLength = 0.1; // G2 and G3 arc movement commands get split into segments at least this long +constexpr float MaxArcSegmentLength = 2.0; // G2 and G3 arc movement commands get split into segments at most this long +constexpr float MinArcSegmentsPerSec = 50; constexpr uint32_t DefaultIdleTimeout = 30000; // Milliseconds constexpr float DefaultIdleCurrentFactor = 0.3; // Proportion of normal motor current that we use for idle hold @@ -284,8 +311,27 @@ constexpr size_t MaxSpindles = 4; // Maximum number of configurable spindle constexpr float DefaultMaxSpindleRpm = 10000; // Default spindle RPM at full PWM constexpr float DefaultMaxLaserPower = 255.0; // Power setting in M3 command for full power +// I2C +// A note on the i2C clock frequency. +// On a Duet WiFi attached to a DueX5 through 160mm of ribbon cable, the cable capacitance in combination with the 4K7 pullup resistors slows down the +// I2C signal rise time to about 500ns. This is above the 300ns maximum specified for both the ATSAM4E and the SX1509B. +// It appears that the slow rise time interferes with the watchdog timer resets, because at 200MHz clock frequency the system gets stuck +// in a boot loop caused by the watchdog timer going off. +// At 100kHz I2C clock frequency, these issues are rare. +constexpr uint32_t I2cClockFreq = 100000; // clock frequency in Hz. 100kHz is 10us per bit, so about 90us per byte if there is no clock stretching +constexpr size_t MaxI2cBytes = 32; // max bytes in M260 or M261 command + // File handling -constexpr size_t MAX_FILES = 10; // Must be large enough to handle the max number of simultaneous web requests + files being printed +#if defined(__LPC17xx__) +# if defined (ESP_NETWORKING) +constexpr size_t MAX_FILES = 10; // Must be large enough to handle the max number of concurrent web requests + file being printed + macros being executed + log file +# else +constexpr size_t MAX_FILES = 4; // Must be large enough to handle the max number of concurrent web requests + file being printed + macros being executed + log file +# endif +#else +constexpr size_t MAX_FILES = 10; // Must be large enough to handle the max number of concurrent web requests + file being printed + macros being executed + log file +#endif + constexpr size_t FILE_BUFFER_SIZE = 128; // Webserver stuff @@ -293,8 +339,9 @@ constexpr size_t FILE_BUFFER_SIZE = 128; #define DEFAULT_MACHINE_NAME "My Duet" // Default machine name #define DEFAULT_HOSTNAME "duet" // Default netbios name -#define INDEX_PAGE_FILE "reprap.htm" -#define FOUR04_PAGE_FILE "html404.htm" +#define INDEX_PAGE_FILE "index.html" +#define OLD_INDEX_PAGE_FILE "reprap.htm" +#define FOUR04_PAGE_FILE "html404.htm" // Filesystem and upload defaults #define FS_PREFIX "0:" @@ -317,7 +364,4 @@ constexpr char LIST_SEPARATOR = ':'; constexpr char FILE_LIST_SEPARATOR = ','; constexpr char FILE_LIST_BRACKET = '"'; -// Misc -constexpr size_t MaxI2cBytes = 32; - #endif diff --git a/src/Display/Display.cpp b/src/Display/Display.cpp index 094a7cad..5ee1d6de 100644 --- a/src/Display/Display.cpp +++ b/src/Display/Display.cpp @@ -7,6 +7,8 @@ #include "Display.h" +#if SUPPORT_12864_LCD + #include "GCodes/GCodes.h" #include "GCodes/GCodeBuffer.h" #include "IoPorts.h" @@ -17,83 +19,98 @@ constexpr int DefaultPulsesPerClick = -4; // values that work with displays I extern const LcdFont font11x14; extern const LcdFont font7x11; -const LcdFont& smallFont = font7x11; -const LcdFont& largeFont = font11x14; - const LcdFont * const fonts[] = { &font7x11, &font11x14 }; const size_t SmallFontNumber = 0; const size_t LargeFontNumber = 1; Display::Display() - : lcd(LcdCSPin, fonts, ARRAY_SIZE(fonts)), encoder(EncoderPinA, EncoderPinB, EncoderPinSw), menu(lcd), present(false), beepActive(false), updatingFirmware(false) -{ -} - -void Display::Init() -{ - lcd.Init(); - encoder.Init(DefaultPulsesPerClick); - IoPort::SetPinMode(LcdBeepPin, OUTPUT_PWM_LOW); -} - -void Display::Start() + : lcd(nullptr), menu(nullptr), encoder(nullptr), + mboxSeq(0), mboxActive(false), beepActive(false), updatingFirmware(false) { - lcd.SetFont(SmallFontNumber); - menu.Load("main"); } -void Display::Spin(bool full) +void Display::Spin() { - encoder.Poll(); - - if (full) + if (lcd != nullptr) { + encoder->Poll(); + if (!updatingFirmware) { // Check encoder and update display - const int ch = encoder.GetChange(); + const int ch = encoder->GetChange(); if (ch != 0) { - menu.EncoderAction(ch); + menu->EncoderAction(ch); } - else if (encoder.GetButtonPress()) + else if (encoder->GetButtonPress()) { - menu.EncoderAction(0); + menu->EncoderAction(0); } - menu.Refresh(); + + const MessageBox& mbox = reprap.GetMessageBox(); + if (mbox.active) + { + if (!mboxActive || mboxSeq != mbox.seq) + { + // New message box to display + if (!mboxActive) + { + menu->ClearHighlighting(); // cancel highlighting and adjustment + menu->Refresh(); + } + mboxActive = true; + mboxSeq = mbox.seq; + menu->DisplayMessageBox(mbox); + } + } + else if (mboxActive) + { + // Message box has been cancelled from this or another input channel + menu->ClearMessageBox(); + mboxActive = false; + } + + menu->Refresh(); } - lcd.FlushSome(); - } + lcd->FlushSome(); - if (beepActive && millis() - whenBeepStarted > beepLength) - { - IoPort::WriteAnalog(LcdBeepPin, 0.0, 0); - beepActive = false; + if (beepActive && millis() - whenBeepStarted > beepLength) + { + IoPort::WriteAnalog(LcdBeepPin, 0.0, 0); + beepActive = false; + } } } void Display::Exit() { - IoPort::WriteAnalog(LcdBeepPin, 0.0, 0); // stop any beep - if (!updatingFirmware) + if (lcd != nullptr) { - lcd.TextInvert(false); - lcd.Clear(); - lcd.SetFont(LargeFontNumber); - lcd.SetCursor(20, 0); - lcd.print("Shutting down..."); + IoPort::WriteAnalog(LcdBeepPin, 0.0, 0); // stop any beep + if (!updatingFirmware) + { + lcd->TextInvert(false); + lcd->Clear(); + lcd->SetFont(LargeFontNumber); + lcd->SetCursor(20, 0); + lcd->print("Shutting down..."); + } + lcd->FlushAll(); } - lcd.FlushAll(); } // NOTE: nothing enforces that this beep concludes before another is begun; // that is, in rapid succession of commands, only the last beep issued will be heard by the user void Display::Beep(unsigned int frequency, unsigned int milliseconds) { - whenBeepStarted = millis(); - beepLength = milliseconds; - beepActive = true; - IoPort::WriteAnalog(LcdBeepPin, 0.5, (uint16_t)frequency); + if (lcd != nullptr) + { + whenBeepStarted = millis(); + beepLength = milliseconds; + beepActive = true; + IoPort::WriteAnalog(LcdBeepPin, 0.5, (uint16_t)frequency); + } } void Display::SuccessBeep() @@ -108,22 +125,60 @@ void Display::ErrorBeep() GCodeResult Display::Configure(GCodeBuffer& gb, const StringRef& reply) { - if (gb.Seen('P') && gb.GetUIValue() == 1) + bool seen = false; + + if (gb.Seen('P')) { - // 12864 display configuration - present = true; - if (gb.Seen('E')) + seen = true; + switch (gb.GetUIValue()) { - encoder.Init(gb.GetIValue()); // configure encoder pulses per click and direction + case 1: // 12864 display + if (lcd == nullptr) + { + lcd = new Lcd7920(LcdCSPin, fonts, ARRAY_SIZE(fonts)); + } + if (gb.Seen('F')) + { + lcd->SetSpiClockFrequency(gb.GetUIValue()); + } + lcd->Init(); + IoPort::SetPinMode(LcdBeepPin, OUTPUT_PWM_LOW); + lcd->SetFont(SmallFontNumber); + + if (encoder == nullptr) + { + encoder = new RotaryEncoder(EncoderPinA, EncoderPinB, EncoderPinSw); + encoder->Init(DefaultPulsesPerClick); + } + if (menu == nullptr) + { + menu = new Menu(*lcd); + } + menu->Load("main"); + break; + + default: + reply.copy("Unknown display type"); + return GCodeResult::error; } } - else if (!present) + + if (gb.Seen('E') && encoder != nullptr) { - reply.copy("12864 display is not present or not configured"); + seen = true; + encoder->Init(gb.GetIValue()); // configure encoder pulses per click and direction } - else + + if (!seen) { - reply.printf("12864 display is configured, pulses-per-click is %d", encoder.GetPulsesPerClick()); + if (lcd != nullptr) + { + reply.printf("12864 display is configured, pulses-per-click is %d", encoder->GetPulsesPerClick()); + } + else + { + reply.copy("12864 display is not present or not configured"); + } } return GCodeResult::ok; } @@ -132,13 +187,18 @@ GCodeResult Display::Configure(GCodeBuffer& gb, const StringRef& reply) void Display::UpdatingFirmware() { updatingFirmware = true; - IoPort::WriteAnalog(LcdBeepPin, 0.0, 0); // stop any beep - lcd.TextInvert(false); - lcd.Clear(); - lcd.SetFont(LargeFontNumber); - lcd.SetCursor(20, 0); - lcd.print("Updating firmware..."); - lcd.FlushAll(); + if (lcd != nullptr) + { + IoPort::WriteAnalog(LcdBeepPin, 0.0, 0); // stop any beep + lcd->TextInvert(false); + lcd->Clear(); + lcd->SetFont(LargeFontNumber); + lcd->SetCursor(20, 0); + lcd->print("Updating firmware..."); + lcd->FlushAll(); + } } +#endif + // End diff --git a/src/Display/Display.h b/src/Display/Display.h index d72c8e05..b2c8aa1b 100644 --- a/src/Display/Display.h +++ b/src/Display/Display.h @@ -8,6 +8,10 @@ #ifndef SRC_DISPLAY_DISPLAY_H_ #define SRC_DISPLAY_DISPLAY_H_ +#include "RepRapFirmware.h" + +#if SUPPORT_12864_LCD + #include "RotaryEncoder.h" #include "ST7920/lcd7920.h" #include "Menu.h" @@ -18,26 +22,28 @@ class Display public: Display(); - void Init(); - void Start(); + void Init() { } GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply); - void Spin(bool full); + void Spin(); void Exit(); void Beep(unsigned int frequency, unsigned int milliseconds); void SuccessBeep(); void ErrorBeep(); - bool IsPresent() const { return present; } + bool IsPresent() const { return lcd != nullptr; } void UpdatingFirmware(); private: - Lcd7920 lcd; - RotaryEncoder encoder; - Menu menu; + Lcd7920 *lcd; + Menu *menu; + RotaryEncoder *encoder; uint32_t whenBeepStarted; uint32_t beepLength; - bool present; + uint16_t mboxSeq; + bool mboxActive; bool beepActive; bool updatingFirmware; }; +#endif + #endif /* SRC_DISPLAY_DISPLAY_H_ */ diff --git a/src/Display/Menu.cpp b/src/Display/Menu.cpp index d5634847..ea88a15f 100644 --- a/src/Display/Menu.cpp +++ b/src/Display/Menu.cpp @@ -66,10 +66,12 @@ */ #include "Menu.h" + +#if SUPPORT_12864_LCD + #include "ST7920/lcd7920.h" #include "RepRap.h" #include "Platform.h" -#include "PrintMonitor.h" #include "Display/Display.h" #include "GCodes/GCodes.h" #include "Heating/Heat.h" @@ -77,12 +79,13 @@ #include "Tools/Tool.h" const uint32_t InactivityTimeout = 20000; // inactivity timeout -const uint32_t ErrorTimeout = 6000; // how long wre display an error message for +const uint32_t ErrorTimeout = 6000; // how long we display an error message for Menu::Menu(Lcd7920& refLcd) : lcd(refLcd), timeoutValue(0), lastActionTime(0), - selectableItems(nullptr), unSelectableItems(nullptr), numNestedMenus(0), numSelectableItems(0), highlightedItem(0), itemIsSelected(false), displayingFixedMenu(false), + selectableItems(nullptr), unSelectableItems(nullptr), highlightedItem(nullptr), numNestedMenus(0), + itemIsSelected(false), displayingFixedMenu(false), displayingErrorMessage(false), displayingMessageBox(false), errorColumn(0), rowOffset(0) { } @@ -92,31 +95,8 @@ void Menu::Load(const char* filename) if (numNestedMenus < MaxMenuNesting) { filenames[numNestedMenus].copy(filename); - rowOffset = 0; - - if (numNestedMenus == 0) - { - currentMargin = 0; - lcd.Clear(); - } - else - { - currentMargin = 0; - const PixelNumber right = NumCols; - const PixelNumber bottom = NumRows; - lcd.Clear(currentMargin, currentMargin, bottom, right); - - // Draw the outline - // lcd.Line(currentMargin, currentMargin, bottom, currentMargin, PixelMode::PixelSet); - // lcd.Line(currentMargin, currentMargin, currentMargin, right, PixelMode::PixelSet); - // lcd.Line(bottom, currentMargin, bottom, right, PixelMode::PixelSet); - // lcd.Line(currentMargin, right, bottom, right, PixelMode::PixelSet); - - // currentMargin += InnerMargin; - } - ++numNestedMenus; - displayingFixedMenu = false; + rowOffset = 0; Reload(); } } @@ -158,6 +138,69 @@ void Menu::LoadFixedMenu() } } +// Display a M291 message box +void Menu::DisplayMessageBox(const MessageBox& mbox) +{ + ResetCache(); + displayingMessageBox = true; + timeoutValue = 0; + + const PixelNumber topBottomMargin = 4; + const PixelNumber sideMargin = 4; + + // Draw and a box and clear the interior + lcd.SetRightMargin(NumCols); + lcd.Line(topBottomMargin, sideMargin, topBottomMargin, NumCols - sideMargin - 1, PixelMode::PixelSet); + lcd.Line(topBottomMargin, NumCols - sideMargin - 1, NumRows - topBottomMargin - 1, NumCols - sideMargin - 1, PixelMode::PixelSet); + lcd.Line(NumRows - topBottomMargin - 1, sideMargin, NumRows - topBottomMargin - 1, NumCols - sideMargin - 1, PixelMode::PixelSet); + lcd.Line(topBottomMargin, sideMargin, NumRows - topBottomMargin - 1, sideMargin, PixelMode::PixelSet); + lcd.Clear(topBottomMargin + 1, sideMargin + 1, NumRows - topBottomMargin - 1, NumCols - sideMargin - 1); + + // We could draw the static text directly, but it is easier to use the existing classes + const uint8_t fontToUse = 0; + const PixelNumber insideMargin = 2; + const PixelNumber rowHeight = lcd.GetFontHeight(fontToUse) + 1; + const PixelNumber top = topBottomMargin + 1 + insideMargin; + const PixelNumber left = sideMargin + 1 + insideMargin; + const PixelNumber right = NumCols - left; + const PixelNumber availableWidth = right - left; + AddItem(new TextMenuItem(top, left, availableWidth, MenuItem::CentreAlign, fontToUse, MenuItem::AlwaysVisible, mbox.title.c_str()), false); + AddItem(new TextMenuItem(top + rowHeight, left, availableWidth, MenuItem::CentreAlign, fontToUse, MenuItem::AlwaysVisible, mbox.message.c_str()), false); // only 1 row for now + + // Add whichever XYZ jog buttons we have been asked to display - assume only XYZ for now + const PixelNumber axisButtonWidth = availableWidth/4; + const PixelNumber axisButtonStep = (availableWidth - 3 *axisButtonWidth)/2 + axisButtonWidth; + if (IsBitSet(mbox.controls, X_AXIS)) + { + AddItem(new ValueMenuItem(top + 2 * rowHeight, left, axisButtonWidth, MenuItem::CentreAlign, fontToUse, MenuItem::AlwaysVisible, true, 510, 1), true); + } + if (IsBitSet(mbox.controls, Y_AXIS)) + { + AddItem(new ValueMenuItem(top + 2 * rowHeight, left + axisButtonStep, axisButtonWidth, MenuItem::CentreAlign, fontToUse, MenuItem::AlwaysVisible, true, 511, 1), true); + } + if (IsBitSet(mbox.controls, Z_AXIS)) + { + AddItem(new ValueMenuItem(top + 2 * rowHeight, left + 2 * axisButtonStep, axisButtonWidth, MenuItem::CentreAlign, fontToUse, MenuItem::AlwaysVisible, true, 512, 2), true); + } + + const PixelNumber okCancelButtonWidth = 30; + if (mbox.mode & 2) + { + AddItem(new ButtonMenuItem(top + 3 * rowHeight, left, okCancelButtonWidth, fontToUse, MenuItem::AlwaysVisible, "OK", "M292 P0", nullptr), true); + } + if (mbox.mode & 1) + { + AddItem(new ButtonMenuItem(top + 3 * rowHeight, right - okCancelButtonWidth, okCancelButtonWidth, fontToUse, MenuItem::AlwaysVisible, "Cancel", "M292 P1", nullptr), true); + } +} + +// Clear the message box and display the menu underneath it +void Menu::ClearMessageBox() +{ + displayingMessageBox = false; + Reload(); +} + void Menu::Pop() { // currentMargin = 0; @@ -172,7 +215,7 @@ void Menu::LoadError(const char *msg, unsigned int line) // Remove selectable items that may obscure view of the error message ResetCache(); - lcd.Clear(currentMargin, currentMargin, NumRows - currentMargin, NumCols - currentMargin); + lcd.Clear(); lcd.SetFont(0); lcd.print("Error loading menu\nFile: "); lcd.print((numNestedMenus > 0) ? filenames[numNestedMenus - 1].c_str() : "(none)"); @@ -191,6 +234,7 @@ void Menu::LoadError(const char *msg, unsigned int line) lastActionTime = millis(); timeoutValue = ErrorTimeout; + displayingErrorMessage = true; } // Parse a line in a menu layout file returning any error message, or nullptr if there was no error. @@ -227,7 +271,8 @@ const char *Menu::ParseMenuLine(char * const commandWord) MenuItem::Visibility xVis = 0; unsigned int decimals = 0; unsigned int nparam = 0; - unsigned int width = DefaultNumberWidth; + unsigned int width = 0; + unsigned int alignment = 0; const char *text = "*"; const char *fname = "main"; const char *dirpath = ""; @@ -270,6 +315,14 @@ const char *Menu::ParseMenuLine(char * const commandWord) width = SafeStrtoul(args, &args); break; + case 'H': + alignment = SafeStrtoul(args, &args); + break; + + case '"': // a string with no letter is a T argument + ch = 'T'; + --args; + // no break case 'T': case 'L': case 'A': @@ -301,59 +354,46 @@ const char *Menu::ParseMenuLine(char * const commandWord) lcd.SetCursor(row + currentMargin, column + currentMargin); // Create an object resident in memory corresponding to the menu layout file's description - if (StringEquals(commandWord, "text")) + if (StringEqualsIgnoreCase(commandWord, "text")) { const char *const acText = AppendString(text); - MenuItem *pNewItem = new TextMenuItem(row, column, fontNumber, xVis, &(Menu::CheckVisibility), acText); + MenuItem * const pNewItem = new TextMenuItem(row, column, width, alignment, fontNumber, xVis, acText); AddItem(pNewItem, false); - - if (pNewItem->Visible()) - { - lcd.SetFont(fontNumber); - lcd.print(text); - row = lcd.GetRow() - currentMargin; - column = lcd.GetColumn() - currentMargin; - } + column += pNewItem->GetWidth() + 1; } - else if (StringEquals(commandWord, "image") && fname != nullptr) + else if (StringEqualsIgnoreCase(commandWord, "image") && fname != nullptr) { - ImageMenuItem *pNewItem = new ImageMenuItem(row, column, fname); + ImageMenuItem * const pNewItem = new ImageMenuItem(row, column, xVis, fname); AddItem(pNewItem, false); - column += pNewItem->GetWidth(); + column += pNewItem->GetWidth() + 1; } - else if (StringEquals(commandWord, "button")) + else if (StringEqualsIgnoreCase(commandWord, "button")) { const char * const textString = AppendString(text); const char * const actionString = AppendString(action); const char * const c_acFileString = AppendString(fname); - MenuItem::CheckFunction bF = &(Menu::CheckVisibility); - ButtonMenuItem *pNewItem = new ButtonMenuItem(row, column, fontNumber, xVis, bF, textString, actionString, c_acFileString); + ButtonMenuItem * const pNewItem = new ButtonMenuItem(row, column, width, fontNumber, xVis, textString, actionString, c_acFileString); AddItem(pNewItem, true); - - // Print the button as well so that we can update the column - if (pNewItem->Visible()) - { - lcd.SetFont(fontNumber); - lcd.print(text); - column = lcd.GetColumn() - currentMargin; - } + column += pNewItem->GetWidth() + 1; } - else if (StringEquals(commandWord, "value")) + else if (StringEqualsIgnoreCase(commandWord, "value")) { - AddItem(new ValueMenuItem(row, column, fontNumber, width, nparam, decimals), false); - column += width; + ValueMenuItem * const pNewItem = new ValueMenuItem(row, column, width, alignment, fontNumber, xVis, false, nparam, decimals); + AddItem(pNewItem, false); + column += pNewItem->GetWidth() + 1; } - else if (StringEquals(commandWord, "alter")) + else if (StringEqualsIgnoreCase(commandWord, "alter")) { - AddItem(new ValueMenuItem(row, column, fontNumber, width, nparam, decimals), true); - column += width; + ValueMenuItem * const pNewItem = new ValueMenuItem(row, column, width, alignment, fontNumber, xVis, true, nparam, decimals); + AddItem(pNewItem, true); + column += pNewItem->GetWidth() + 1; } - else if (StringEquals(commandWord, "files")) + else if (StringEqualsIgnoreCase(commandWord, "files")) { const char * const actionString = AppendString(action); const char *const dir = AppendString(dirpath); const char *const acFileString = AppendString(fname); - AddItem(new FilesMenuItem(row, 0, fontNumber, actionString, dir, acFileString, nparam), true); + AddItem(new FilesMenuItem(row, 0, NumCols, fontNumber, xVis, actionString, dir, acFileString, nparam), true); row += nparam * lcd.GetFontHeight(fontNumber); column = 0; } @@ -368,6 +408,8 @@ const char *Menu::ParseMenuLine(char * const commandWord) void Menu::ResetCache() { + highlightedItem = nullptr; + // Delete the existing items while (selectableItems != nullptr) { @@ -381,30 +423,44 @@ void Menu::ResetCache() unSelectableItems = unSelectableItems->GetNext(); delete current; } - numSelectableItems = 0; - highlightedItem = 0; - - return; } void Menu::Reload() { + displayingFixedMenu = false; + if (numNestedMenus == 1) + { + currentMargin = 0; + lcd.Clear(); + } + else + { + currentMargin = 0; + const PixelNumber right = NumCols; + const PixelNumber bottom = NumRows; + lcd.Clear(currentMargin, currentMargin, bottom, right); + + // Draw the outline + // lcd.Line(currentMargin, currentMargin, bottom, currentMargin, PixelMode::PixelSet); + // lcd.Line(currentMargin, currentMargin, currentMargin, right, PixelMode::PixelSet); + // lcd.Line(bottom, currentMargin, bottom, right, PixelMode::PixelSet); + // lcd.Line(currentMargin, right, bottom, right, PixelMode::PixelSet); + + // currentMargin += InnerMargin; + } + ResetCache(); + displayingErrorMessage = false; lcd.SetRightMargin(NumCols - currentMargin); const char * const fname = filenames[numNestedMenus - 1].c_str(); FileStore * const file = reprap.GetPlatform().OpenFile(MENU_DIR, fname, OpenMode::read); if (file == nullptr) { - LoadError("Can't open menu file", 0); + LoadError("File not found", 0); } else { -#if 0 - lcd.print("Menu"); - lcd.SetCursor(currentMargin + lcd.GetFontHeight() + 1, currentMargin); - lcd.print(fname); -#else row = 0; column = 0; fontNumber = 0; @@ -431,21 +487,15 @@ void Menu::Reload() break; } } -#endif + file->Close(); - //Refresh(); } } void Menu::AddItem(MenuItem *item, bool isSelectable) { - // NOTE: this works for rudimentary needs, but items will not "hop" from unselectable to selectable - // list, even when conditions warrant the same, without a reload of the menu - MenuItem::AppendToList((item->Visible() && isSelectable) ? &selectableItems : &unSelectableItems, item); - if (item->Visible() && isSelectable) - { - ++numSelectableItems; - } + item->UpdateWidthAndHeight(lcd); + MenuItem::AppendToList((isSelectable) ? &selectableItems : &unSelectableItems, item); } // Append a string to the string buffer and return its index @@ -464,42 +514,32 @@ const char *Menu::AppendString(const char *s) // TODO: there is no error handling if a command within a sequence cannot be accepted... void Menu::EncoderAction_ExecuteHelper(const char *const cmd) { - if (cmd[0] == 'G' || cmd[0] == 'M' || cmd[0] == 'T') + if (StringEqualsIgnoreCase(cmd, "return")) + { + Pop(); // up one level + } + else if (StringStartsWithIgnoreCase(cmd, "menu ")) + { + Load(cmd + 5); + } + else if (toupper(cmd[0]) == 'G' || toupper(cmd[0]) == 'M' || toupper(cmd[0]) == 'T') { const bool success = reprap.GetGCodes().ProcessCommandFromLcd(cmd); - if (success) - { - // reprap.GetDisplay().SuccessBeep(); - } - else + if (!success) { reprap.GetDisplay().ErrorBeep(); // long low beep } } - else - { - // "menu" returns the filename (e.g. "main") - // "return" returns the command itself ("return") - if (0 == strcmp("return", cmd)) - Pop(); // up one level - else - Load(cmd); - } } -void Menu::EncoderAction_EnterItemHelper() +void Menu::EncoderActionEnterItemHelper() { - MenuItem *const item = FindHighlightedItem(); - if (item != nullptr) + if (highlightedItem != nullptr && highlightedItem->IsVisible()) { - const char *const cmd = item->Select(); - if (cmd != nullptr) + String<MaxFilenameLength> command; + if (highlightedItem->Select(command.GetRef())) { - char acCurrentCommand[MaxFilenameLength + 20]; - SafeStrncpy(acCurrentCommand, cmd, strlen(cmd) + 1); - - char *pcCurrentCommand = acCurrentCommand; - + char *pcCurrentCommand = command.GetRef().Pointer(); int nNextCommandIndex = StringContains(pcCurrentCommand, "|"); while (-1 != nNextCommandIndex) { @@ -510,102 +550,100 @@ void Menu::EncoderAction_EnterItemHelper() } EncoderAction_ExecuteHelper(pcCurrentCommand); } - else if (item->CanAdjust()) + else if (highlightedItem->CanAdjust()) { itemIsSelected = true; } } } -void Menu::EncoderAction_AdjustItemHelper(int action) +void Menu::EncoderActionScrollItemHelper(int action) { // Based mainly on file listing requiring we handle list of unknown length // before moving on to the next selectable item at the Menu level, we let the // currently selected MenuItem try to handle the scroll action itself. It will // return the remainder of the scrolling that it was unable to accommodate. - - MenuItem * const oStartItem = FindHighlightedItem(); - - // Let the current menu item attempt to handle scroll wheel first - action = oStartItem->Advance(action); + if (highlightedItem != nullptr && highlightedItem->IsVisible()) + { + // Let the current menu item attempt to handle scroll wheel first + action = highlightedItem->Advance(action); + } if (action != 0) { // Otherwise we move through the remaining selectable menu items - highlightedItem += action; - while (highlightedItem < 0) - { - highlightedItem += numSelectableItems; - } - while (highlightedItem >= numSelectableItems) - { - highlightedItem -= numSelectableItems; - } + AdvanceHighlightedItem(action); - // Let the newly selected MenuItem handle any selection setup - MenuItem * const oNewItem = FindHighlightedItem(); - oNewItem->Enter(action > 0); + if (highlightedItem != nullptr) + { + // Let the newly selected MenuItem handle any selection setup + highlightedItem->Enter(action > 0); - PixelNumber tLastOffset = rowOffset; - rowOffset = oNewItem->GetVisibilityRowOffset(tLastOffset, lcd.GetFontHeight(oNewItem->GetFontNumber())); + PixelNumber tLastOffset = rowOffset; + rowOffset = highlightedItem->GetVisibilityRowOffset(tLastOffset, lcd.GetFontHeight(highlightedItem->GetFontNumber())); - if (rowOffset != tLastOffset) - { - // We have scrolled the whole menu, so redraw it - lcd.Clear(); - for (MenuItem *item = selectableItems; item != nullptr; item = item->GetNext()) - { - item->SetChanged(); - } - for (MenuItem *item = unSelectableItems; item != nullptr; item = item->GetNext()) + if (rowOffset != tLastOffset) { - item->SetChanged(); + // We have scrolled the whole menu, so redraw it + lcd.Clear(); + for (MenuItem *item = selectableItems; item != nullptr; item = item->GetNext()) + { + item->SetChanged(); + } + for (MenuItem *item = unSelectableItems; item != nullptr; item = item->GetNext()) + { + item->SetChanged(); + } } } } } -void Menu::EncoderAction_ExitItemHelper(int action) +// Perform the specified encoder action +// If 'action' is zero then the button was pressed, else 'action' is the number of clicks (+ve for clockwise) +// EncoderAction is what's called in response to all wheel/button actions; a convenient place to set new timeout values +void Menu::EncoderAction(int action) { - MenuItem * const item = FindHighlightedItem(); - if (item != nullptr) + if (displayingErrorMessage) { - const bool done = item->Adjust(action); - if (done) + // Allow the message to be cancelled by a push + if (action == 0) { - itemIsSelected = false; + timeoutValue = 1; // cancel the timeout at the next tick } } else { - // Should not get here - itemIsSelected = false; - } -} - -// Perform the specified encoder action -// If 'action' is zero then the button was pressed, else 'action' is the number of clicks (+ve for clockwise) -// EncoderAction is what's called in response to all wheel/button actions; a convenient place to set new timeout values -void Menu::EncoderAction(int action) -{ - if (numSelectableItems != 0) - { - if (itemIsSelected) // send the wheel action (scroll or click) to the item itself + if (itemIsSelected) // send the wheel action (scroll or click) to the item itself { - EncoderAction_ExitItemHelper(action); + if (highlightedItem != nullptr && highlightedItem->IsVisible()) + { + const bool done = highlightedItem->Adjust(action); + if (done) + { + itemIsSelected = false; + } + } + else + { + itemIsSelected = false; // should not get here + } } - else if (action != 0) // scroll without an item under selection + else if (action != 0) // scroll without an item under selection { - EncoderAction_AdjustItemHelper(action); + EncoderActionScrollItemHelper(action); } - else // click without an item under selection + else // click without an item under selection { - EncoderAction_EnterItemHelper(); + EncoderActionEnterItemHelper(); } - } - lastActionTime = millis(); - timeoutValue = InactivityTimeout; + if (!displayingErrorMessage && !displayingMessageBox) // if the operation did not result in an error and we are not displaying a message box + { + lastActionTime = millis(); + timeoutValue = InactivityTimeout; + } + } } /*static*/ const char *Menu::SkipWhitespace(const char *s) @@ -638,20 +676,33 @@ void Menu::Refresh() } else if (displayingFixedMenu || (timeoutValue != 0 && (millis() - lastActionTime > timeoutValue))) { - // Showing fixed menu but SD card is now mounted, or 10 seconds following latest user action + // Showing fixed menu but SD card is now mounted, or 6 seconds following latest user action // Go to the top menu (just discard information) + timeoutValue = 0; numNestedMenus = 0; Load("main"); - timeoutValue = 0; } + DrawAll(); +} - const PixelNumber rightMargin = NumCols - currentMargin; - int nItemBeingDrawnIndex = 0; +void Menu::DrawAll() +{ + // First erase any displayed items that should now be invisible + for (MenuItem *item = selectableItems; item != nullptr; item = item->GetNext()) + { + item->EraseIfInvisible(lcd, rowOffset); + } + for (MenuItem *item = unSelectableItems; item != nullptr; item = item->GetNext()) + { + item->EraseIfInvisible(lcd, rowOffset); + } + + // Now draw items + const PixelNumber rightMargin = NumCols - currentMargin; for (MenuItem *item = selectableItems; item != nullptr; item = item->GetNext()) { - item->Draw(lcd, rightMargin, (nItemBeingDrawnIndex == highlightedItem), rowOffset); - ++nItemBeingDrawnIndex; + item->Draw(lcd, rightMargin, (item == highlightedItem), rowOffset); } for (MenuItem *item = unSelectableItems; item != nullptr; item = item->GetNext()) @@ -660,71 +711,84 @@ void Menu::Refresh() } } -MenuItem *Menu::FindHighlightedItem() const +// Clear any highlighting. Call Refresh() after calling this to clear it on the display. +void Menu::ClearHighlighting() +{ + highlightedItem = nullptr; + itemIsSelected = false; +} + +// Move the highlighted item forwards or backwards through the selectable items, setting it to nullptr if nothing is selectable +// On entry, n is nonzero +void Menu::AdvanceHighlightedItem(int n) { - MenuItem *p = selectableItems; - for (int n = highlightedItem; n > 0 && p != nullptr; --n) + if (highlightedItem == nullptr) + { + // No item is selected, so pick the first selectable item + highlightedItem = FindNextSelectableItem(nullptr); + } + else if (n > 0) + { + for (;;) + { + MenuItem * const p = FindNextSelectableItem(highlightedItem); + if (n == 0 || p == nullptr || p == highlightedItem) + { + highlightedItem = p; + return; + } + --n; + } + } + else { - p = p->GetNext(); + for (;;) + { + MenuItem * const p = FindPrevSelectableItem(highlightedItem); + if (n == 0 || p == nullptr || p == highlightedItem) + { + highlightedItem = p; + return; + } + ++n; + } } - return p; } -bool Menu::CheckVisibility(MenuItem::Visibility xVis) +// FiNd the next selectable item, or the first one if nullptr is passed in +MenuItem *Menu::FindNextSelectableItem(MenuItem *p) const { - bool bVisible = false; - - switch (xVis) + MenuItem *current = (p == nullptr) ? p : p->GetNext(); // set search start point + do { - case 0: - bVisible = true; - break; - - case 2: - bVisible = reprap.GetGCodes().IsReallyPrinting(); - break; - - case 3: - bVisible = !reprap.GetGCodes().IsReallyPrinting(); - break; - - case 4: - bVisible = reprap.GetPrintMonitor().IsPrinting(); - break; - - case 5: - bVisible = !reprap.GetPrintMonitor().IsPrinting(); - break; - - case 6: - bVisible = reprap.GetGCodes().IsPaused() || reprap.GetGCodes().IsPausing(); - break; - - case 7: - bVisible = reprap.GetGCodes().IsReallyPrinting() || reprap.GetGCodes().IsResuming(); - break; - - case 10: - bVisible = reprap.GetPlatform().GetMassStorage()->IsDriveMounted(0); - break; - - case 11: - bVisible = !reprap.GetPlatform().GetMassStorage()->IsDriveMounted(0); - break; - - case 20: - bVisible = reprap.GetCurrentOrDefaultTool()->HasTemperatureFault(); - break; - - case 28: - bVisible = (Heat::HS_fault == reprap.GetHeat().GetStatus(reprap.GetHeat().GetBedHeater(0))); - break; + if (current == nullptr) + { + current = selectableItems; + } + if (current == nullptr || current->IsVisible()) + { + return current; + } + current = current->GetNext(); + } while (current != p); + return (current != nullptr && current->IsVisible()) ? current : nullptr; +} - default: - break; +MenuItem *Menu::FindPrevSelectableItem(MenuItem *p) const +{ + MenuItem *current = FindNextSelectableItem(nullptr); // get first selectable item + while (current != nullptr) + { + MenuItem * const n = FindNextSelectableItem(current); + if (n == p) + { + break; + } + current = n; } - - return bVisible; + return current; } +#endif + // End diff --git a/src/Display/Menu.h b/src/Display/Menu.h index 64db226e..e60657f8 100644 --- a/src/Display/Menu.h +++ b/src/Display/Menu.h @@ -8,8 +8,14 @@ #ifndef SRC_DISPLAY_MENU_H_ #define SRC_DISPLAY_MENU_H_ +#include "RepRapFirmware.h" + +#if SUPPORT_12864_LCD + #include "MenuItem.h" +class MessageBox; + // Class to represent either a full page menu or a popup menu. // For space reasons we store only a single instance of this class. Each nested menu is indented by a fixed margin from its parent. class Menu @@ -20,33 +26,38 @@ public: void Pop(); void EncoderAction(int action); void Refresh(); + void ClearHighlighting(); + void DisplayMessageBox(const MessageBox& mbox); + void ClearMessageBox(); private: void LoadFixedMenu(); void ResetCache(); void Reload(); + void DrawAll(); const char *ParseMenuLine(char * s); void LoadError(const char *msg, unsigned int line); void AddItem(MenuItem *item, bool isSelectable); const char *AppendString(const char *s); - MenuItem *FindHighlightedItem() const; - void EncoderAction_EnterItemHelper(); - void EncoderAction_AdjustItemHelper(int action); - void EncoderAction_ExitItemHelper(int action); + void EncoderActionEnterItemHelper(); + void EncoderActionScrollItemHelper(int action); void EncoderAction_ExecuteHelper(const char *const cmd); + void AdvanceHighlightedItem(int n); + MenuItem *FindNextSelectableItem(MenuItem *p) const; + MenuItem *FindPrevSelectableItem(MenuItem *p) const; + static const char *SkipWhitespace(const char *s); static char *SkipWhitespace(char *s); static bool CheckVisibility(MenuItem::Visibility vis); - static const size_t CommandBufferSize = 512; - static const size_t MaxMenuLineLength = 100; // adjusts behaviour in Reload() + static const size_t CommandBufferSize = 2500; + static const size_t MaxMenuLineLength = 120; // adjusts behaviour in Reload() static const size_t MaxMenuFilenameLength = 18; static const size_t MaxMenuNesting = 8; // maximum number of nested menus static const PixelNumber InnerMargin = 2; // how many pixels we keep clear inside the border static const PixelNumber OuterMargin = 8 + InnerMargin; // how many pixels of the previous menu we leave on each side - static const PixelNumber DefaultNumberWidth = 20; // default numeric field width Lcd7920& lcd; @@ -55,12 +66,13 @@ private: MenuItem *selectableItems; // selectable items at the innermost level MenuItem *unSelectableItems; // unselectable items at the innermost level + MenuItem *highlightedItem; // which item is selected, or nullptr if nothing selected String<MaxMenuFilenameLength> filenames[MaxMenuNesting]; size_t numNestedMenus; - int numSelectableItems; - int highlightedItem; bool itemIsSelected; bool displayingFixedMenu; + bool displayingErrorMessage; + bool displayingMessageBox; // Variables used while parsing size_t commandBufferIndex; @@ -74,4 +86,6 @@ private: char commandBuffer[CommandBufferSize]; }; +#endif + #endif /* SRC_DISPLAY_MENU_H_ */ diff --git a/src/Display/MenuItem.cpp b/src/Display/MenuItem.cpp index 43552fd1..5ab86e46 100644 --- a/src/Display/MenuItem.cpp +++ b/src/Display/MenuItem.cpp @@ -6,6 +6,9 @@ */ #include "MenuItem.h" + +#if SUPPORT_12864_LCD + #include "RepRap.h" #include "Heating/Heat.h" #include "Platform.h" @@ -14,9 +17,10 @@ #include "Display.h" #include "Tools/Tool.h" #include "Networking/Network.h" +#include "PrintMonitor.h" -MenuItem::MenuItem(PixelNumber r, PixelNumber c, FontNumber fn) - : row(r), column(c), fontNumber(fn), itemChanged(true), highlighted(false), next(nullptr) +MenuItem::MenuItem(PixelNumber r, PixelNumber c, PixelNumber w, Alignment a, FontNumber fn, Visibility vis) + : row(r), column(c), width(w), height(0), align(a), fontNumber(fn), visCase(vis), itemChanged(true), highlighted(false), drawn(false), next(nullptr) { } @@ -30,76 +34,171 @@ MenuItem::MenuItem(PixelNumber r, PixelNumber c, FontNumber fn) *root = item; } -TextMenuItem::TextMenuItem(PixelNumber r, PixelNumber c, FontNumber fn, Visibility xVis, CheckFunction bF, const char* t) - : MenuItem(r, c, fn), text(t), m_xVisCase(xVis), m_bF(bF) +// Print the item at the correct place with the correct alignment +void MenuItem::PrintAligned(Lcd7920& lcd, PixelNumber tOffset, PixelNumber rightMargin) +{ + PixelNumber colsToSkip = 0; + lcd.SetFont(fontNumber); + if (align != 0) + { + lcd.SetCursor(lcd.GetNumRows(), column); + lcd.SetRightMargin(min<PixelNumber>(rightMargin, column + width)); + CorePrint(lcd); + const PixelNumber w = lcd.GetColumn() - column; + if (w < width) + { + colsToSkip = (align == 2) + ? width - w - 1 // when right aligning, leave 1 pixel of space at the end + : (width - w)/2; + } + } + + lcd.SetCursor(row - tOffset, column); + lcd.SetRightMargin(min<PixelNumber>(rightMargin, column + width)); + lcd.TextInvert(highlighted); + if (colsToSkip != 0) + { + lcd.ClearToMargin(); + lcd.SetCursor(row, column + colsToSkip); + } + CorePrint(lcd); + if (align == 0) + { + lcd.ClearToMargin(); + } + lcd.TextInvert(false); +} + +bool MenuItem::IsVisible() const { + switch (visCase) + { + default: + case 0: return true; + case 2: return reprap.GetGCodes().IsReallyPrinting(); + case 3: return !reprap.GetGCodes().IsReallyPrinting(); + case 4: return reprap.GetPrintMonitor().IsPrinting(); + case 5: return !reprap.GetPrintMonitor().IsPrinting(); + case 6: return reprap.GetGCodes().IsPaused() || reprap.GetGCodes().IsPausing(); + case 7: return reprap.GetGCodes().IsReallyPrinting() || reprap.GetGCodes().IsResuming(); + case 10: return reprap.GetPlatform().GetMassStorage()->IsDriveMounted(0); + case 11: return !reprap.GetPlatform().GetMassStorage()->IsDriveMounted(0); + case 20: return reprap.GetCurrentOrDefaultTool()->HasTemperatureFault(); + case 28: return reprap.GetHeat().GetStatus(reprap.GetHeat().GetBedHeater(0)) == Heat::HS_fault; + } } -bool TextMenuItem::Visible() const +// Erase this item if it is drawn but should not be visible +void MenuItem::EraseIfInvisible(Lcd7920& lcd, PixelNumber tOffset) { - return m_bF(m_xVisCase); + if (drawn && !IsVisible()) + { + lcd.Clear(row - tOffset, column, row + height, column + width); + drawn = false; + } +} + +TextMenuItem::TextMenuItem(PixelNumber r, PixelNumber c, PixelNumber w, Alignment a, FontNumber fn, Visibility vis, const char* t) + : MenuItem(r, c, w, a, fn, vis), text(t) +{ +} + +void TextMenuItem::CorePrint(Lcd7920& lcd) +{ + lcd.print(text); } void TextMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, PixelNumber tOffset) { // We ignore the 'highlight' parameter because text items are not selectable - if (Visible() && itemChanged) + if (IsVisible() && itemChanged) + { + PrintAligned(lcd, tOffset, rightMargin); + itemChanged = false; + drawn = true; + } +} + +void TextMenuItem::UpdateWidthAndHeight(Lcd7920& lcd) +{ + if (width == 0) { lcd.SetFont(fontNumber); - lcd.SetCursor(row - tOffset, column); - lcd.SetRightMargin(rightMargin); + lcd.SetCursor(lcd.GetNumRows(), 0); + lcd.SetRightMargin(lcd.GetNumCols()); lcd.TextInvert(false); lcd.print(text); - itemChanged = false; + width = lcd.GetColumn(); + } + if (height == 0) + { + lcd.SetFont(fontNumber); + height = lcd.GetFontHeight(); } } -ButtonMenuItem::ButtonMenuItem(PixelNumber r, PixelNumber c, FontNumber fn, Visibility xVis, CheckFunction bF, const char* t, const char* cmd, char const* acFile) - : MenuItem(r, c, fn), text(t), command(cmd), m_acFile(acFile), m_xVisCase(xVis), m_bF(bF) +ButtonMenuItem::ButtonMenuItem(PixelNumber r, PixelNumber c, PixelNumber w, FontNumber fn, Visibility vis, const char* t, const char* cmd, char const* acFile) + : MenuItem(r, c, w, CentreAlign, fn, vis), text(t), command(cmd), m_acFile(acFile) { - m_acCommand[0] = '\0'; } -bool ButtonMenuItem::Visible() const +void ButtonMenuItem::CorePrint(Lcd7920& lcd) { - return m_bF(m_xVisCase); + lcd.WriteSpaces(1); // space at start in case highlighted + lcd.print(text); + lcd.WriteSpaces(1); // space at end to allow for highlighting } void ButtonMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, PixelNumber tOffset) { - if (Visible() && (itemChanged || highlight != highlighted) && column < NumCols) + if (IsVisible() && (itemChanged || highlight != highlighted) && column < lcd.GetNumCols()) { - lcd.SetFont(fontNumber); - lcd.SetCursor(row - tOffset, column); - lcd.SetRightMargin(rightMargin); - - lcd.TextInvert(highlight); - lcd.print(text); // TODO: create Print(char[], bool) to combine these two lines + highlighted = highlight; + PrintAligned(lcd, tOffset, rightMargin); + itemChanged = false; + drawn = true; + } +} +void ButtonMenuItem::UpdateWidthAndHeight(Lcd7920& lcd) +{ + if (width == 0) + { + lcd.SetFont(fontNumber); + lcd.SetCursor(lcd.GetNumRows(), 0); + lcd.SetRightMargin(lcd.GetNumCols()); lcd.TextInvert(false); - lcd.ClearToMargin(); - itemChanged = false; - highlighted = highlight; + CorePrint(lcd); + width = lcd.GetColumn(); + } + if (height == 0) + { + lcd.SetFont(fontNumber); + height = lcd.GetFontHeight(); } } // TODO WS1: if we overflow the command or directory string, we should probably offer a return value that tells the caller to do nothing... - -// NOTE: menu names must not begin with 'G', 'M' or 'T' -const char* ButtonMenuItem::Select() +bool ButtonMenuItem::Select(const StringRef& cmd) { - const int nReplacementIndex = StringContains(command, "menu"); + const int nReplacementIndex = StringContains(command, "#0"); if (-1 != nReplacementIndex) { - m_acCommand.copy(command, nReplacementIndex); - m_acCommand.cat(m_acFile); + cmd.copy(command, nReplacementIndex); + cmd.cat(m_acFile); } else { - m_acCommand.copy(command); + cmd.copy(command); + if (StringEqualsIgnoreCase(command, "menu") && strlen(m_acFile) != 0) + { + // For backwards compatibility, if 'menu' is used without any parameters, use the L parameter as the name of the menu file + cmd.cat(' '); + cmd.cat(m_acFile); + } } - return m_acCommand.c_str(); + return true; } PixelNumber ButtonMenuItem::GetVisibilityRowOffset(PixelNumber tCurrentOffset, PixelNumber fontHeight) const @@ -121,16 +220,49 @@ PixelNumber ButtonMenuItem::GetVisibilityRowOffset(PixelNumber tCurrentOffset, P return tOffsetRequest; } -ValueMenuItem::ValueMenuItem(PixelNumber r, PixelNumber c, FontNumber fn, PixelNumber w, unsigned int v, unsigned int d) - : MenuItem(r, c, fn), valIndex(v), currentValue(0.0), width(w), decimals(d), adjusting(false) +ValueMenuItem::ValueMenuItem(PixelNumber r, PixelNumber c, PixelNumber w, Alignment a, FontNumber fn, Visibility vis, bool adj, unsigned int v, unsigned int d) + : MenuItem(r, c, ((w != 0) ? w : DefaultWidth), a, fn, vis), valIndex(v), currentValue(0.0), decimals(d), adjusting(AdjustMode::displaying), adjustable(adj) +{ +} + +void ValueMenuItem::CorePrint(Lcd7920& lcd) { + if (adjustable) + { + lcd.WriteSpaces(1); + } + + if (error) + { + lcd.print("***"); + } + else if (textValue != nullptr) + { + lcd.print(textValue); + } + else + { + lcd.print(currentValue, decimals); + } } void ValueMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, PixelNumber tOffset) { - lcd.SetFont(fontNumber); - bool error = false; - if (!adjusting) + error = false; + textValue = nullptr; + + if (valIndex == 501) + { + // Item 501 is a special case because it is text, not a number. We store the current message sequence number in currentValue. + uint16_t newSeq; + textValue = reprap.GetLatestMessage(newSeq); + if (newSeq != (unsigned int)currentValue) + { + itemChanged = true; + currentValue = (float)newSeq; + } + } + else if (adjusting != AdjustMode::adjusting) { const unsigned int itemNumber = valIndex % 100; const float oldValue = currentValue; @@ -157,80 +289,41 @@ void ValueMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, break; case 4: // extruder % - currentValue = reprap.GetGCodes().GetExtrusionFactor(itemNumber) * 100.0; + currentValue = reprap.GetGCodes().GetExtrusionFactor(itemNumber); break; case 5: // misc switch (itemNumber) { case 0: - currentValue = reprap.GetGCodes().GetSpeedFactor() * 100.0; + currentValue = reprap.GetGCodes().GetSpeedFactor(); break; - case 10: // X - { - float m[MaxAxes]; - reprap.GetMove().GetCurrentMachinePosition(m, false); - currentValue = m[X_AXIS]; - } - break; + // case 1 is the latest message sent by M117, but it handled at the start + case 10: // X case 11: // Y - { - float m[MaxAxes]; - reprap.GetMove().GetCurrentMachinePosition(m, false); - currentValue = m[Y_AXIS]; - } - break; - case 12: // Z - { - float m[MaxAxes]; - reprap.GetMove().GetCurrentMachinePosition(m, false); - currentValue = m[Z_AXIS]; - } - break; - - case 13: // E0 - currentValue = reprap.GetGCodes().GetRawExtruderTotalByDrive(0); - break; - - case 14: // E1 - currentValue = reprap.GetGCodes().GetRawExtruderTotalByDrive(1); - break; - - case 15: // E2 - currentValue = reprap.GetGCodes().GetRawExtruderTotalByDrive(2); + case 13: // U + case 14: // V + case 15: // W + currentValue = reprap.GetGCodes().GetUserPosition()[itemNumber - 10]; break; - case 16: // E3 - currentValue = reprap.GetGCodes().GetRawExtruderTotalByDrive(3); + case 20: + currentValue = reprap.GetCurrentToolNumber(); break; - // TODO: drives on some configurations could go up to 519, avoid this collision: - case 19: // Z baby-step + case 21: // Z baby-step currentValue = reprap.GetGCodes().GetBabyStepOffset(); break; - case 20: - currentValue = reprap.GetCurrentToolNumber(); - break; - // Platform's IP address is the "planned", Network's IP address is the "actual" case 30: - currentValue = reprap.GetNetwork().GetIPAddress(0).GetQuad(0); - break; - case 31: - currentValue = reprap.GetNetwork().GetIPAddress(0).GetQuad(1); - break; - case 32: - currentValue = reprap.GetNetwork().GetIPAddress(0).GetQuad(2); - break; - case 33: - currentValue = reprap.GetNetwork().GetIPAddress(0).GetQuad(3); + currentValue = reprap.GetNetwork().GetIPAddress(0).GetQuad(itemNumber - 30); break; default: @@ -251,28 +344,27 @@ void ValueMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, if (itemChanged || (highlight != highlighted)) { - lcd.SetCursor(row - tOffset, column); - lcd.SetRightMargin(min<PixelNumber>(column + width, rightMargin)); - lcd.TextInvert(highlight); - - if (error) - { - lcd.print("***"); - } - else - { - lcd.print(currentValue, decimals); - } - lcd.ClearToMargin(); - itemChanged = false; highlighted = highlight; + PrintAligned(lcd, tOffset, rightMargin); + itemChanged = false; + drawn = true; } } -const char* ValueMenuItem::Select() +bool ValueMenuItem::Select(const StringRef& cmd) +{ + adjusting = AdjustMode::adjusting; + return false; +} + +void ValueMenuItem::UpdateWidthAndHeight(Lcd7920& lcd) { - adjusting = true; - return nullptr; + // The width is always set for a ValueMenuItem so we just need to determine the height + if (height == 0) + { + lcd.SetFont(fontNumber); + height = lcd.GetFontHeight(); + } } PixelNumber ValueMenuItem::GetVisibilityRowOffset(PixelNumber tCurrentOffset, PixelNumber fontHeight) const @@ -283,73 +375,76 @@ PixelNumber ValueMenuItem::GetVisibilityRowOffset(PixelNumber tCurrentOffset, Pi bool ValueMenuItem::Adjust_SelectHelper() { - const unsigned int itemNumber = GetReferencedToolNumber(); - - bool error = false; - switch (valIndex/100) + if (adjusting == AdjustMode::adjusting) { - case 1: // heater active temperature - if (1 > currentValue) // 0 is off - { - reprap.GetGCodes().SetItemActiveTemperature(itemNumber, -273.15f); - } - else // otherwise ensure the tool is made active at the same time (really only matters for 79) + const unsigned int itemNumber = GetReferencedToolNumber(); + + bool error = false; + switch (valIndex/100) { - if (80 > itemNumber) + case 1: // heater active temperature + if (1 > currentValue) // 0 is off { - reprap.SelectTool(itemNumber, false); + reprap.GetGCodes().SetItemActiveTemperature(itemNumber, -273.15f); } - reprap.GetGCodes().SetItemActiveTemperature(itemNumber, currentValue); - } - break; - - case 2: // heater standby temperature - reprap.GetGCodes().SetItemStandbyTemperature(itemNumber, (1 > currentValue) ? -273.15f : currentValue); - break; + else // otherwise ensure the tool is made active at the same time (really only matters for 79) + { + if (80 > itemNumber) + { + reprap.SelectTool(itemNumber, false); + } + reprap.GetGCodes().SetItemActiveTemperature(itemNumber, currentValue); + } + break; - case 3: // fan % - if (itemNumber == 99) - { - reprap.GetGCodes().SetMappedFanSpeed(currentValue * 0.01); - } - else - { - reprap.GetPlatform().SetFanValue(itemNumber, currentValue * 0.01); - } - break; + case 2: // heater standby temperature + reprap.GetGCodes().SetItemStandbyTemperature(itemNumber, (1 > currentValue) ? -273.15f : currentValue); + break; - case 4: // extruder % - reprap.GetGCodes().SetExtrusionFactor(itemNumber, currentValue * 0.01); - break; + case 3: // fan % + if (itemNumber == 99) + { + reprap.GetGCodes().SetMappedFanSpeed(currentValue * 0.01); + } + else + { + reprap.GetPlatform().SetFanValue(itemNumber, currentValue * 0.01); + } + break; - case 5: // misc. - switch (itemNumber) - { - case 0: - reprap.GetGCodes().SetSpeedFactor(currentValue * 0.01); + case 4: // extruder % + reprap.GetGCodes().SetExtrusionFactor(itemNumber, currentValue); break; - case 20: - reprap.SelectTool(currentValue, false); + case 5: // misc. + switch (itemNumber) + { + case 0: + reprap.GetGCodes().SetSpeedFactor(currentValue); + break; + + case 20: + reprap.SelectTool(currentValue, false); + break; + + default: + error = true; + break; + } break; default: error = true; break; } - break; - default: - error = true; - break; - } - - if (error) - { - reprap.GetDisplay().ErrorBeep(); + if (error) + { + reprap.GetDisplay().ErrorBeep(); + } } - adjusting = false; + adjusting = AdjustMode::displaying; return true; } @@ -364,6 +459,8 @@ unsigned int ValueMenuItem::GetReferencedToolNumber() const return uToolNumber; } +// Adjust the value of this item by 'clicks' click of the encoder. 'clicks' is nonzero. +// Return true if we have finished adjusting it. bool ValueMenuItem::Adjust_AlterHelper(int clicks) { itemChanged = true; // we will probably change the value, so it will need to be re-displayed @@ -372,64 +469,37 @@ bool ValueMenuItem::Adjust_AlterHelper(int clicks) switch (valIndex/100) { case 1: // heater active temperature + case 2: // heater standby temperature if (itemNumber < 80) // Tool heaters { // If we're decreasing, make any value smaller than 95 go to 0 // If we're increasing, make any value between 0 and 95 jump directly to 95 - // Also cap the maximum (currently 270) + // Also cap the maximum if (0 > clicks) // decrementing { currentValue += clicks; - if (95 > (int)currentValue) + if (95.0 > currentValue) { currentValue = 0; } } else // incrementing { - if (0 == currentValue) - { - currentValue = (95 - 1); - // --clicks; - } - currentValue = min<int>(currentValue + clicks, reprap.GetHeat().GetHighestTemperatureLimit(reprap.GetTool(itemNumber)->Heater(0))); - } - } - else - { - currentValue += clicks; - } - break; - - case 2: // heater standby temperature - if (itemNumber < 80) // Tool heaters - { - if (0 > clicks) // decrementing - { - currentValue += clicks; - - if (95 > (int)currentValue) - currentValue = 0; - } - else // incrementing - { - if (0 == currentValue) + if (0.0 == currentValue) { - currentValue = (95 - 1); - // --clicks; + currentValue = 95.0 - 1.0; } - currentValue = min<int>(currentValue + clicks, reprap.GetHeat().GetHighestTemperatureLimit(reprap.GetTool(itemNumber)->Heater(0))); } } else { - currentValue += clicks; + currentValue += (float)clicks; } break; case 3: // fan % - currentValue = constrain<int>(currentValue + clicks, 0, 100); + currentValue = constrain<int>(currentValue + (float)clicks, 0, 100); break; case 5: // misc. @@ -440,11 +510,27 @@ bool ValueMenuItem::Adjust_AlterHelper(int clicks) break; case 20: // 520 Tool Selection - currentValue = constrain<int>(currentValue + clicks, -1, 255); + currentValue = (float)constrain<int>((int)currentValue + clicks, -1, 255); + break; + + case 21: // 521 baby stepping + { + String<SHORT_GCODE_LENGTH> cmd; + cmd.printf("M290 Z%.2f", (double)(0.02 * clicks)); + (void) reprap.GetGCodes().ProcessCommandFromLcd(cmd.c_str()); + adjusting = AdjustMode::liveAdjusting; + } break; default: - // error = true; + if (itemNumber >= 10 && itemNumber < 10 + reprap.GetGCodes().GetVisibleAxes()) // 510-518 axis position adjustment + { + String<SHORT_GCODE_LENGTH> cmd; + const float amount = ((itemNumber == 12) ? 0.02 : 0.1) * clicks; // 0.02mm Z resolution, 0.1mm for other axes + cmd.printf("M120 G91 G1 F3000 %c%.2f M121", 'X' + (itemNumber - 10), (double)amount); + (void) reprap.GetGCodes().ProcessCommandFromLcd(cmd.c_str()); + adjusting = AdjustMode::liveAdjusting; + } break; } break; @@ -457,30 +543,27 @@ bool ValueMenuItem::Adjust_AlterHelper(int clicks) return false; } +// Adjust this element, returning true if we have finished adjustment. +// 'clicks' is the number of encoder clicks to adjust by, or 0 if the button was pushed. bool ValueMenuItem::Adjust(int clicks) { - if (clicks == 0) // if button has been pressed - { - return Adjust_SelectHelper(); - } - - // Wheel has scrolled: alter value - return Adjust_AlterHelper(clicks); + return (clicks == 0) // if button has been pressed + ? Adjust_SelectHelper() + : Adjust_AlterHelper(clicks); } -FilesMenuItem::FilesMenuItem(PixelNumber r, PixelNumber c, FontNumber fn, const char *cmd, const char *dir, const char *acFile, unsigned int nf) - : MenuItem(r, c, fn), numDisplayLines(nf), command(cmd), initialDirectory(dir), m_acFile(acFile), +FilesMenuItem::FilesMenuItem(PixelNumber r, PixelNumber c, PixelNumber w, FontNumber fn, Visibility vis, const char *cmd, const char *dir, const char *acFile, unsigned int nf) + : MenuItem(r, c, w, LeftAlign, fn, vis), numDisplayLines(nf), command(cmd), initialDirectory(dir), m_acFile(acFile), m_uListingFirstVisibleIndex(0), m_uListingSelectedIndex(0), m_oMS(reprap.GetPlatform().GetMassStorage()) { // There's no guarantee that initialDirectory has a trailing '/' - m_acCurrentDirectory.copy(initialDirectory); - const size_t len = m_acCurrentDirectory.strlen(); - if (len == 0 || '/' != m_acCurrentDirectory[len - 1]) + currentDirectory.copy(initialDirectory); + const size_t len = currentDirectory.strlen(); + if (len == 0 || '/' != currentDirectory[len - 1]) { - m_acCurrentDirectory.cat('/'); + currentDirectory.cat('/'); } - // We don't bother with m_uHardItemsInDirectory in init. list because -- EnterDirectory(); } @@ -493,10 +576,10 @@ void FilesMenuItem::vResetViewState() void FilesMenuItem::EnterDirectory() { vResetViewState(); - m_uHardItemsInDirectory = 0; + m_uHardItemsInDirectory = 0; FileInfo oFileInfo; - if (m_oMS->FindFirst(m_acCurrentDirectory.c_str(), oFileInfo)) + if (m_oMS->FindFirst(currentDirectory.c_str(), oFileInfo)) { do { @@ -504,11 +587,13 @@ void FilesMenuItem::EnterDirectory() } while (m_oMS->FindNext(oFileInfo)); } + + itemChanged = true; // force a redraw } bool FilesMenuItem::bInSubdirectory() const { - const char *pcPathElement = m_acCurrentDirectory.c_str(); + const char *pcPathElement = currentDirectory.c_str(); unsigned int uNumSlashes = 0; while ('\0' != *pcPathElement) @@ -567,10 +652,17 @@ void FilesMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, // Seek to the first file that is in view FileInfo oFileInfo; - bool gotFileInfo = m_oMS->FindFirst(m_acCurrentDirectory.c_str(), oFileInfo); - while (gotFileInfo && dirEntriesToSkip != 0) + bool gotFileInfo = m_oMS->FindFirst(currentDirectory.c_str(), oFileInfo); + while (gotFileInfo) { - --dirEntriesToSkip; + if (oFileInfo.fileName[0] != '.') + { + if (dirEntriesToSkip == 0) + { + break; + } + --dirEntriesToSkip; + } gotFileInfo = m_oMS->FindNext(oFileInfo); } @@ -587,7 +679,7 @@ void FilesMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, { lcd.print("./"); } - lcd.print(oFileInfo.fileName); + lcd.print(oFileInfo.fileName.c_str()); lcd.ClearToMargin(); if (highlight && m_uListingSelectedIndex == line + m_uListingFirstVisibleIndex) { @@ -605,12 +697,17 @@ void FilesMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, { break; // skip getting more file info for efficiency } - gotFileInfo = m_oMS->FindNext(oFileInfo); + + do + { + gotFileInfo = m_oMS->FindNext(oFileInfo); + } while (gotFileInfo && oFileInfo.fileName[0] == '.'); } m_oMS->AbandonFindNext(); // release the mutex, there may be more files that we don't have room to display itemChanged = false; + drawn = true; highlighted = highlight; } } @@ -678,10 +775,8 @@ int FilesMenuItem::Advance(int nCounts) return nCounts; } -const char* FilesMenuItem::Select() +bool FilesMenuItem::Select(const StringRef& cmd) { - const char* acReVal = nullptr; - // Several cases: // TEST 1. ".." entry - call EnterDirectory(), using saved state information // TEST 2. Directory - call EnterDirectory(), adding to saved state information @@ -693,11 +788,11 @@ const char* FilesMenuItem::Select() { // TODO: go up one level rather than to logical root // There's no guarantee that initialDirectory has a trailing '/' - m_acCurrentDirectory.copy(initialDirectory); - const size_t len = m_acCurrentDirectory.strlen(); - if (len == 0 || '/' != m_acCurrentDirectory[len - 1]) + currentDirectory.copy(initialDirectory); + const size_t len = currentDirectory.strlen(); + if (len == 0 || '/' != currentDirectory[len - 1]) { - m_acCurrentDirectory.cat('/'); + currentDirectory.cat('/'); } EnterDirectory(); } @@ -712,7 +807,7 @@ const char* FilesMenuItem::Select() // Seek to the selected file FileInfo oFileInfo; - bool gotFileInfo = m_oMS->FindFirst(m_acCurrentDirectory.c_str(), oFileInfo); + bool gotFileInfo = m_oMS->FindFirst(currentDirectory.c_str(), oFileInfo); while (gotFileInfo && dirEntriesToSkip != 0) { --dirEntriesToSkip; @@ -720,13 +815,13 @@ const char* FilesMenuItem::Select() } m_oMS->AbandonFindNext(); - if (gotFileInfo) // handles empty directory (no action) + if (gotFileInfo) // handles empty directory (no action) { if (oFileInfo.isDirectory) { // Build the new directory, and ensure it's terminated with a forward slash - m_acCurrentDirectory.cat(oFileInfo.fileName); - m_acCurrentDirectory.cat('/'); + currentDirectory.cat(oFileInfo.fileName.c_str()); + currentDirectory.cat('/'); EnterDirectory(); } else @@ -734,33 +829,43 @@ const char* FilesMenuItem::Select() int nReplacementIndex = StringContains(command, "#0"); if (nReplacementIndex != -1) { - m_acCommand.copy(command, nReplacementIndex); - m_acCommand.cat('"'); - m_acCommand.cat(m_acCurrentDirectory.c_str()); - m_acCommand.cat(oFileInfo.fileName); - m_acCommand.cat('"'); - m_acCommand.cat(command + nReplacementIndex + strlen("#0")); + cmd.copy(command, nReplacementIndex); + cmd.cat('"'); + cmd.cat(currentDirectory.c_str()); + cmd.cat(oFileInfo.fileName.c_str()); + cmd.cat('"'); + cmd.cat(command + nReplacementIndex + strlen("#0")); } else { - m_acCommand.copy(command); + cmd.copy(command); } // TODO: do this on the way in and it might be less work... // On the other hand, this only occurs when an item is selected so it's O(1) vs. O(n) - nReplacementIndex = StringContains(m_acCommand.c_str(), "menu"); + nReplacementIndex = StringContains(cmd.c_str(), "menu"); if (nReplacementIndex != -1) { - m_acCommand.Truncate(nReplacementIndex); - m_acCommand.cat(m_acFile); + cmd.Truncate(nReplacementIndex); + cmd.cat(m_acFile); } - acReVal = m_acCommand.c_str(); + return true; } } } - return acReVal; + return false; +} + +void FilesMenuItem::UpdateWidthAndHeight(Lcd7920& lcd) +{ + // The width is always set for a FilesMenuItem so we just need to determine the height + if (height == 0) + { + lcd.SetFont(fontNumber); + height = lcd.GetFontHeight() * numDisplayLines; + } } PixelNumber FilesMenuItem::GetVisibilityRowOffset(PixelNumber tCurrentOffset, PixelNumber fontHeight) const @@ -774,15 +879,14 @@ PixelNumber FilesMenuItem::GetVisibilityRowOffset(PixelNumber tCurrentOffset, Pi // Byte 0 = number of columns // Byte 1 = number of rows // Remaining bytes = data, 1 row at a time. If the number of columns is not a multiple of 8 then the data for each row is padded to a multiple of 8 bits. -ImageMenuItem::ImageMenuItem(PixelNumber r, PixelNumber c, const char *pFileName) - : MenuItem(r, c, 0) +ImageMenuItem::ImageMenuItem(PixelNumber r, PixelNumber c, Visibility vis, const char *pFileName) + : MenuItem(r, c, 0, 0, 0, vis) { fileName.copy(pFileName); } void ImageMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, PixelNumber tOffset) { - // Highlighting is ignored for this item type because it can't be selected if (itemChanged || highlight != highlighted) { FileStore * const fs = reprap.GetPlatform().OpenFile(MENU_DIR, fileName.c_str(), OpenMode::read); @@ -793,40 +897,44 @@ void ImageMenuItem::Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, { const PixelNumber cols = widthAndHeight[0]; const PixelNumber rows = widthAndHeight[1]; - if (cols != 0 && cols <= NumCols && rows != 0) + if (cols != 0 && cols <= lcd.GetNumCols() && rows != 0) { - lcd.SetRightMargin(rightMargin); const size_t bytesPerRow = (cols + 7)/8; for (PixelNumber irow = 0; irow < rows; ++irow) { - uint8_t buffer[NumCols/8]; + uint8_t buffer[lcd.GetNumCols()/8]; if (fs->Read(buffer, bytesPerRow) != (int)bytesPerRow) { break; } lcd.BitmapRow(row - tOffset + irow, column, cols, buffer, highlight); - ++irow; } } } fs->Close(); } itemChanged = false; + drawn = true; highlighted = highlight; } } -PixelNumber ImageMenuItem::GetWidth() const +void ImageMenuItem::UpdateWidthAndHeight(Lcd7920& lcd) { - FileStore * const fs = reprap.GetPlatform().OpenFile(MENU_DIR, fileName.c_str(), OpenMode::read); - if (fs == nullptr) + if (width == 0 || height == 0) { - return 0; + FileStore * const fs = reprap.GetPlatform().OpenFile(MENU_DIR, fileName.c_str(), OpenMode::read); + if (fs != nullptr) + { + uint8_t w[2]; + fs->Read(w, 2); // read the number of columns + fs->Close(); + width = w[0]; + height = w[1]; + } } - uint8_t width; - fs->Read(width); // read the number of columns - fs->Close(); - return width; } +#endif + // End diff --git a/src/Display/MenuItem.h b/src/Display/MenuItem.h index dae6238b..7bba6fac 100644 --- a/src/Display/MenuItem.h +++ b/src/Display/MenuItem.h @@ -8,8 +8,11 @@ #ifndef SRC_DISPLAY_MENUITEM_H_ #define SRC_DISPLAY_MENUITEM_H_ -#include "General/FreelistManager.h" #include "RepRapFirmware.h" + +#if SUPPORT_12864_LCD + +#include "General/FreelistManager.h" #include "ST7920/lcd7920.h" #include "Storage/MassStorage.h" @@ -17,71 +20,96 @@ class MenuItem { public: + typedef uint8_t Alignment; typedef uint8_t FontNumber; typedef uint8_t Visibility; - typedef bool (*CheckFunction) (uint8_t); + + static constexpr Alignment LeftAlign = 0, CentreAlign = 1, RightAlign = 2; + static constexpr Visibility AlwaysVisible = 0; // Draw this element on the LCD respecting 'maxWidth' and 'highlight' virtual void Draw(Lcd7920& lcd, PixelNumber maxWidth, bool highlight, PixelNumber tOffset) = 0; // Select this element with a push of the encoder. - // If it returns nullptr then go into adjustment mode, if we can adjust the item. - // Else execute the returned command. - virtual const char* Select() { return nullptr; } - - virtual bool Visible() const { return true; } + // If it returns nullptr false go into adjustment mode, if we can adjust the item. + // If it returns true, execute the command returned via the parameter. + virtual bool Select(const StringRef& cmd) { return false; } // Actions to be taken when the menu system selects this item - virtual void Enter(bool bForwardDirection) {}; + virtual void Enter(bool forwardDirection) {}; - // Actions to be taken when the menu system receives encoder counts - // and this item is currently selected + // Actions to be taken when the menu system receives encoder counts and this item is currently selected // TODO: may be able to merge down with Adjust() virtual int Advance(int nCounts) { return nCounts; } + // Return true if we can select this element for adjustment + virtual bool CanAdjust() { return false; } + // Adjust this element, returning true if we have finished adjustment. // 'clicks' is the number of encoder clicks to adjust by, or 0 if the button was pushed. - virtual bool CanAdjust() { return false; } virtual bool Adjust(int clicks) { return true; } + // If the width was specified as zero, update it with the actual width. Also update the height. + virtual void UpdateWidthAndHeight(Lcd7920& lcd) = 0; + + // DC: I don't know what this one is for, the person who wrote it didn't document it + virtual PixelNumber GetVisibilityRowOffset(PixelNumber tCurrentOffset, PixelNumber fontHeight) const { return 0; } + virtual ~MenuItem() { } MenuItem *GetNext() const { return next; } FontNumber GetFontNumber() const { return fontNumber; } void SetChanged() { itemChanged = true; } + bool IsVisible() const; - virtual PixelNumber GetVisibilityRowOffset(PixelNumber tCurrentOffset, PixelNumber fontHeight) const { return 0; } + // Erase this item if it is drawn but should not be visible + void EraseIfInvisible(Lcd7920& lcd, PixelNumber tOffset); + + // Return the width of this item in pixels + PixelNumber GetWidth() const { return width; } + PixelNumber GetHeight() const { return height; } static void AppendToList(MenuItem **root, MenuItem *item); protected: - MenuItem(PixelNumber r, PixelNumber c, FontNumber fn); + MenuItem(PixelNumber r, PixelNumber c, PixelNumber w, Alignment a, FontNumber fn, Visibility v); + + // Print the item starting at the current cursor position, which may be off screen. Used to find the width and also to really print the item. + // Overridden for items that support variable alignment + virtual void CorePrint(Lcd7920& lcd) { } + + // Print the item at the correct place with the correct alignment + void PrintAligned(Lcd7920& lcd, PixelNumber tOffset, PixelNumber rightMargin); const PixelNumber row, column; + PixelNumber width, height; + const Alignment align; const FontNumber fontNumber; + const Visibility visCase; bool itemChanged; bool highlighted; + bool drawn; private: MenuItem *next; }; -// TODO: this could be removed if we disallow text usage on scrolling screens class TextMenuItem : public MenuItem { public: void* operator new(size_t sz) { return Allocate<TextMenuItem>(); } void operator delete(void* p) { Release<TextMenuItem>(p); } - TextMenuItem(PixelNumber r, PixelNumber c, FontNumber fn, Visibility xVis, CheckFunction bF, const char *t); - bool Visible() const override; + TextMenuItem(PixelNumber r, PixelNumber c, PixelNumber w, Alignment a, FontNumber fn, Visibility vis, const char *t); void Draw(Lcd7920& lcd, PixelNumber maxWidth, bool highlight, PixelNumber tOffset) override; + void UpdateWidthAndHeight(Lcd7920& lcd) override; + +protected: + void CorePrint(Lcd7920& lcd) override; private: const char *text; - const Visibility m_xVisCase; - const CheckFunction m_bF; }; class ButtonMenuItem : public MenuItem @@ -90,24 +118,20 @@ public: void* operator new(size_t sz) { return Allocate<ButtonMenuItem>(); } void operator delete(void* p) { Release<ButtonMenuItem>(p); } - ButtonMenuItem(PixelNumber r, PixelNumber c, FontNumber fn, Visibility xVis, CheckFunction bF, const char *t, const char *cmd, const char *acFile); - bool Visible() const override; + ButtonMenuItem(PixelNumber r, PixelNumber c, PixelNumber w, FontNumber fn, Visibility vis, const char *t, const char *cmd, const char *acFile); void Draw(Lcd7920& lcd, PixelNumber maxWidth, bool highlight, PixelNumber tOffset) override; - const char* Select() override; + void UpdateWidthAndHeight(Lcd7920& lcd) override; + bool Select(const StringRef& cmd) override; PixelNumber GetVisibilityRowOffset(PixelNumber tCurrentOffset, PixelNumber fontHeight) const override; +protected: + void CorePrint(Lcd7920& lcd) override; + private: const char *text; const char *command; const char *m_acFile; // used when action ("command") is "menu" - - const Visibility m_xVisCase; - const CheckFunction m_bF; - - // Scratch -- consumer is required to use as soon as it's returned - // NOT THREAD SAFE! - String<MaxFilenameLength + 20> m_acCommand; // TODO fix to proper max length }; class ValueMenuItem : public MenuItem @@ -116,25 +140,35 @@ public: void* operator new(size_t sz) { return Allocate<ValueMenuItem>(); } void operator delete(void* p) { Release<ValueMenuItem>(p); } - ValueMenuItem(PixelNumber r, PixelNumber c, FontNumber fn, PixelNumber w, unsigned int v, unsigned int d); + ValueMenuItem(PixelNumber r, PixelNumber c, PixelNumber w, Alignment a, FontNumber fn, Visibility vis, bool adj, unsigned int v, unsigned int d); void Draw(Lcd7920& lcd, PixelNumber maxWidth, bool highlight, PixelNumber tOffset) override; - const char* Select() override; + bool Select(const StringRef& cmd) override; bool CanAdjust() override { return true; } bool Adjust(int clicks) override; + void UpdateWidthAndHeight(Lcd7920& lcd) override; PixelNumber GetVisibilityRowOffset(PixelNumber tCurrentOffset, PixelNumber fontHeight) const override; unsigned int GetReferencedToolNumber() const; +protected: + void CorePrint(Lcd7920& lcd) override; + private: + enum class AdjustMode : uint8_t { displaying, adjusting, liveAdjusting }; + bool Adjust_SelectHelper(); bool Adjust_AlterHelper(int clicks); - const unsigned int valIndex; // TODO: strong case for subclassing here -- each subclass can have a desired behavior + static constexpr PixelNumber DefaultWidth = 25; // default numeric field width + + const unsigned int valIndex; float currentValue; - PixelNumber width; + const char *textValue; // for temporary use when printing uint8_t decimals; - bool adjusting; + AdjustMode adjusting; + bool adjustable; + bool error; // for temporary use when printing }; class FilesMenuItem : public MenuItem @@ -143,11 +177,12 @@ public: void* operator new(size_t sz) { return Allocate<FilesMenuItem>(); } void operator delete(void* p) { Release<FilesMenuItem>(p); } - FilesMenuItem(PixelNumber r, PixelNumber c, FontNumber fn, const char *cmd, const char *dir, const char *acFile, unsigned int nf); + FilesMenuItem(PixelNumber r, PixelNumber c, PixelNumber w, FontNumber fn, Visibility vis, const char *cmd, const char *dir, const char *acFile, unsigned int nf); void Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, PixelNumber tOffset) override; void Enter(bool bForwardDirection) override; int Advance(int nCounts) override; - const char* Select() override; + bool Select(const StringRef& cmd) override; + void UpdateWidthAndHeight(Lcd7920& lcd) override; PixelNumber GetVisibilityRowOffset(PixelNumber tCurrentOffset, PixelNumber fontHeight) const override; @@ -164,15 +199,11 @@ private: const char *m_acFile; // used when action ("command") includes "menu" // Working - String<MaxFilenameLength> m_acCurrentDirectory; + String<MaxFilenameLength> currentDirectory; bool bInSubdirectory() const; unsigned int uListingEntries() const; - // Scratch -- consumer is required to use as soon as it's returned - // NOT THREAD SAFE! - String<MaxFilenameLength + 20> m_acCommand; // TODO fix to proper max length - // Files on the file system, real count i.e. no ".." included unsigned int m_uHardItemsInDirectory; @@ -189,13 +220,15 @@ public: void* operator new(size_t sz) { return Allocate<ImageMenuItem>(); } void operator delete(void* p) { Release<ImageMenuItem>(p); } - ImageMenuItem(PixelNumber r, PixelNumber c, const char *pFileName); + ImageMenuItem(PixelNumber r, PixelNumber c, Visibility vis, const char *pFileName); void Draw(Lcd7920& lcd, PixelNumber rightMargin, bool highlight, PixelNumber tOffset) override; - PixelNumber GetWidth() const; + void UpdateWidthAndHeight(Lcd7920& lcd) override; private: String<MaxFilenameLength> fileName; }; +#endif + #endif /* SRC_DISPLAY_MENUITEM_H_ */ diff --git a/src/Display/RotaryEncoder.cpp b/src/Display/RotaryEncoder.cpp index 33e9d702..c4ba8f6c 100644 --- a/src/Display/RotaryEncoder.cpp +++ b/src/Display/RotaryEncoder.cpp @@ -1,9 +1,8 @@ -#include "RepRapFirmware.h" -#include "Pins.h" +#include "RotaryEncoder.h" #if SUPPORT_12864_LCD -#include "RotaryEncoder.h" +#include "Pins.h" #include "IoPorts.h" RotaryEncoder::RotaryEncoder(Pin p0, Pin p1, Pin pb) diff --git a/src/Display/RotaryEncoder.h b/src/Display/RotaryEncoder.h index 097ff119..bbfbf30a 100644 --- a/src/Display/RotaryEncoder.h +++ b/src/Display/RotaryEncoder.h @@ -3,6 +3,8 @@ #include "RepRapFirmware.h" +#if SUPPORT_12864_LCD + // Class to manage a rotary encoder with a push button class RotaryEncoder { @@ -30,3 +32,5 @@ public: }; #endif + +#endif diff --git a/src/Display/ST7920/glcd11x14.cpp b/src/Display/ST7920/glcd11x14.cpp index f3212486..18e1d9fa 100644 --- a/src/Display/ST7920/glcd11x14.cpp +++ b/src/Display/ST7920/glcd11x14.cpp @@ -7,6 +7,8 @@ #include "lcd7920.h" +#if SUPPORT_12864_LCD + //Font Generated by MikroElektronika GLCD Font Creator 1.2.0.0 //MikroElektronika 2011 //http://www.mikroe.com @@ -252,4 +254,6 @@ extern const LcdFont font11x14 = 1 // number of space columns between characters before kerning }; +#endif + // End diff --git a/src/Display/ST7920/glcd7x11.cpp b/src/Display/ST7920/glcd7x11.cpp index 020946f0..cd7e5c1e 100644 --- a/src/Display/ST7920/glcd7x11.cpp +++ b/src/Display/ST7920/glcd7x11.cpp @@ -7,49 +7,8 @@ #include "lcd7920.h" -//Font Generated by MikroElektronika GLCD Font Creator 1.2.0.0 -//MikroElektronika 2011 -//http://www.mikroe.com - -//GLCD FontName : Liberation_Sans9x11 -//GLCD FontSize : 9 x 11 - - -//WARNING: This Font Require X-GLCD Lib. -// You can not use it with MikroE GLCD Lib. - -//Font Generated by MikroElektronika GLCD Font Creator 1.2.0.0 -//MikroElektronika 2011 -//http://www.mikroe.com - -//GLCD FontName : Liberation_Sans8x11 -//GLCD FontSize : 8 x 11 - +#if SUPPORT_12864_LCD -//WARNING: This Font Require X-GLCD Lib. -// You can not use it with MikroE GLCD Lib. - -//Font Generated by MikroElektronika GLCD Font Creator 1.2.0.0 -//MikroElektronika 2011 -//http://www.mikroe.com - -//GLCD FontName : Liberation_Sans7x11 -//GLCD FontSize : 7 x 11 - - -//WARNING: This Font Require X-GLCD Lib. -// You can not use it with MikroE GLCD Lib. - -//Font Generated by MikroElektronika GLCD Font Creator 1.2.0.0 -//MikroElektronika 2011 -//http://www.mikroe.com - -//GLCD FontName : Liberation_Sans7x11 -//GLCD FontSize : 7 x 11 - - -//WARNING: This Font Require X-GLCD Lib. -// You can not use it with MikroE GLCD Lib. //Font Generated by MikroElektronika GLCD Font Creator 1.2.0.0 //MikroElektronika 2011 @@ -296,4 +255,6 @@ extern const LcdFont font7x11 = 1 // number of space columns between characters before kerning }; +#endif + // End diff --git a/src/Display/ST7920/lcd7920.cpp b/src/Display/ST7920/lcd7920.cpp index 054c9866..cd137561 100644 --- a/src/Display/ST7920/lcd7920.cpp +++ b/src/Display/ST7920/lcd7920.cpp @@ -1,34 +1,33 @@ // Driver for 128x64 graphical LCD with ST7920 controller // D Crocker, Escher Technologies Ltd. -#include "RepRapFirmware.h" -#include "Pins.h" -#include "Tasks.h" +#include "lcd7920.h" #if SUPPORT_12864_LCD -#include "lcd7920.h" +#include "Pins.h" +#include "Tasks.h" -const uint32_t SpiClockFrequency = 2000000; // 2.0MHz (minimum clock cycle time for ST7920 is 400ns @ Vdd=4.5V, min. clock width 200ns high and 20ns low) +// The LCD SPI clock frequency is now defined in the Pins.h file for the configuration being built // LCD basic instructions. These all take 72us to execute except LcdDisplayClear, which takes 1.6ms -const uint8_t LcdDisplayClear = 0x01; -const uint8_t LcdHome = 0x02; -const uint8_t LcdEntryModeSet = 0x06; // move cursor right and increment address when writing data -const uint8_t LcdDisplayOff = 0x08; -const uint8_t LcdDisplayOn = 0x0C; // add 0x02 for cursor on and/or 0x01 for cursor blink on -const uint8_t LcdFunctionSetBasicAlpha = 0x20; -const uint8_t LcdFunctionSetBasicGraphic = 0x22; -const uint8_t LcdFunctionSetExtendedAlpha = 0x24; -const uint8_t LcdFunctionSetExtendedGraphic = 0x26; -const uint8_t LcdSetDdramAddress = 0x80; // add the address we want to set +constexpr uint8_t LcdDisplayClear = 0x01; +constexpr uint8_t LcdHome = 0x02; +constexpr uint8_t LcdEntryModeSet = 0x06; // move cursor right and increment address when writing data +constexpr uint8_t LcdDisplayOff = 0x08; +constexpr uint8_t LcdDisplayOn = 0x0C; // add 0x02 for cursor on and/or 0x01 for cursor blink on +constexpr uint8_t LcdFunctionSetBasicAlpha = 0x20; +constexpr uint8_t LcdFunctionSetBasicGraphic = 0x22; +constexpr uint8_t LcdFunctionSetExtendedAlpha = 0x24; +constexpr uint8_t LcdFunctionSetExtendedGraphic = 0x26; +constexpr uint8_t LcdSetDdramAddress = 0x80; // add the address we want to set // LCD extended instructions -const uint8_t LcdSetGdramAddress = 0x80; +constexpr uint8_t LcdSetGdramAddress = 0x80; -const unsigned int LcdCommandDelayMicros = 72 - 8; // 72us required, less 7us time to send the command @ 2.0MHz -const unsigned int LcdDataDelayMicros = 4; // delay between sending data bytes -const unsigned int LcdDisplayClearDelayMillis = 3; // 1.6ms should be enough +constexpr unsigned int LcdCommandDelayMicros = 72 - 8; // 72us required, less 7us time to send the command @ 2.0MHz +constexpr unsigned int LcdDataDelayMicros = 4; // delay between sending data bytes +constexpr unsigned int LcdDisplayClearDelayMillis = 3; // 1.6ms should be enough inline void Lcd7920::CommandDelay() { @@ -40,13 +39,22 @@ inline void Lcd7920::DataDelay() delayMicroseconds(LcdDataDelayMicros); } -Lcd7920::Lcd7920(uint8_t csPin, const LcdFont * const fnts[], size_t nFonts) +Lcd7920::Lcd7920(Pin csPin, const LcdFont * const fnts[], size_t nFonts) : fonts(fnts), numFonts(nFonts), currentFontNumber(0), numContinuationBytesLeft(0), textInverted(false) { device.csPin = csPin; device.csPolarity = true; // active high chip select device.spiMode = 0; - device.clockFrequency = SpiClockFrequency; + device.clockFrequency = LcdSpiClockFrequency; +#if __LPC17xx__ + device.sspChannel = LcdSpiChannel; +#endif +} + +// Set the SPI clock frequency +void Lcd7920::SetSpiClockFrequency(uint32_t freq) +{ + device.clockFrequency = freq; } void Lcd7920::Init() @@ -65,11 +73,13 @@ void Lcd7920::Init() delayMicroseconds(1); sendLcdCommand(LcdFunctionSetBasicAlpha); - delay(1); + delay(2); sendLcdCommand(LcdFunctionSetBasicAlpha); CommandDelay(); sendLcdCommand(LcdEntryModeSet); CommandDelay(); + sendLcdCommand(LcdDisplayClear); // need this on some displays to ensure that the alpha RAM is clear (M3D Kanji problem) + delay(LcdDisplayClearDelayMillis); sendLcdCommand(LcdFunctionSetExtendedGraphic); CommandDelay(); @@ -228,8 +238,7 @@ size_t Lcd7920::writeNative(uint16_t ch) const uint16_t cmask = (1u << currentFont->height) - 1; uint8_t nCols = *fontPtr++; - - if (lastCharColData != 0) // if we have written anything other than spaces + if (lastCharColData != 0) // if we have written anything other than spaces { uint8_t numSpaces = currentFont->numSpaces; @@ -308,6 +317,46 @@ size_t Lcd7920::writeNative(uint16_t ch) return 1; } +// Write a space +void Lcd7920::WriteSpaces(PixelNumber numPixels) +{ + const LcdFont * const currentFont = fonts[currentFontNumber]; + uint8_t ySize = currentFont->height; + if (row >= NumRows) + { + ySize = 0; // we still execute the code, so that the caller can tell how many columns the text will occupy by writing it off-screen + } + else if (row + ySize > NumRows) + { + ySize = NumRows - row; + } + + while (numPixels != 0 && column < NumCols) + { + if (ySize != 0) + { + const uint8_t mask = 0x80 >> (column & 7); + uint8_t *p = image + ((row * (NumCols/8)) + (column/8)); + for (uint8_t i = 0; i < ySize && p < (image + sizeof(image)); ++i) + { + const uint8_t oldVal = *p; + const uint8_t newVal = (textInverted) ? oldVal | mask : oldVal & ~mask; + if (newVal != oldVal) + { + *p = newVal; + SetDirty(row + i, column); + } + p += (NumCols/8); + } + } + --numPixels; + ++column; + } + + lastCharColData = 0; + justSetCursor = false; +} + // Set the left margin. This is where the cursor goes to when we print newline. void Lcd7920::SetLeftMargin(PixelNumber c) { @@ -360,42 +409,49 @@ void Lcd7920::TextInvert(bool b) if (b != textInverted) { textInverted = b; - lastCharColData = (justSetCursor && !textInverted) ? 0u : 0xFFFF; + if (!justSetCursor) + { + lastCharColData = 0xFFFF; // force a space when switching between normal and inverted text + } } } +// Clear a rectangular block of pixels starting at rows, scol ending just before erow, ecol void Lcd7920::Clear(PixelNumber sRow, PixelNumber sCol, PixelNumber eRow, PixelNumber eCol) { if (eCol > NumCols) { eCol = NumCols; } if (eRow > NumRows) { eRow = NumRows; } if (sCol < eCol && sRow < eRow) { + uint8_t sMask = ~(0xFF >> (sCol & 7)); // mask of bits we want to keep in the first byte of each row that we modify + const uint8_t eMask = 0xFF >> (eCol & 7); // mask of bits we want to keep in the last byte of each row that we modify + if ((sCol & ~7) == (eCol & ~7)) + { + sMask |= eMask; // special case of just clearing some middle bits + } for (PixelNumber row = sRow; row < eRow; ++row) { - PixelNumber col = sCol; - if ((col & 7) != 0) - { - uint8_t * const p = image + ((row * (NumCols/8)) + (col/8)); - *p &= ~(0xFF >> (col & 7)); - col = (col & ~7) + 1; - } - while (col < eCol) - { - image[(row * (NumCols/8)) + (col/8)] = 0; - col += 8; - } - if ((eCol & 7) != 0) + uint8_t * p = image + ((row * (NumCols/8)) + (sCol/8)); + uint8_t * const endp = image + ((row * (NumCols/8)) + (eCol/8)); + *p &= sMask; + if (p != endp) { - uint8_t * const p = image + ((row * (NumCols/8)) + (col/8)); - *p &= (0xFF >> (col & 7)); + while (++p < endp) + { + *p = 0; + } + if ((eCol & 7) != 0) + { + *p &= eMask; + } } } // Flag cleared part as dirty - startRow = sRow; - endRow = eRow; - startCol = sCol; - endCol = eCol; + if (sCol < startCol) { startCol = sCol; } + if (eCol >= endCol) { endCol = eCol; } + if (sRow < startRow) { startRow = sRow; } + if (eRow >= endRow) { endRow = eRow; } SetCursor(sRow, sCol); textInverted = false; @@ -416,7 +472,10 @@ void Lcd7920::Line(PixelNumber y0, PixelNumber x0, PixelNumber y1, PixelNumber x for (;;) { SetPixel(y0, x0, mode); - if (x0 == x1 && y0 == y1) break; + if (x0 == x1 && y0 == y1) + { + break; + } int e2 = err + err; if (e2 > -dy) { @@ -490,7 +549,7 @@ void Lcd7920::Bitmap(PixelNumber x0, PixelNumber y0, PixelNumber width, PixelNum if (y0 + height > endRow) endRow = y0 + height; } -// Draw a single bitmap row +// Draw a single bitmap row. 'left' and 'width' do not need to be divisible by 8. void Lcd7920::BitmapRow(PixelNumber top, PixelNumber left, PixelNumber width, const uint8_t data[], bool invert) { if (width != 0) // avoid possible arithmetic underflow @@ -518,14 +577,15 @@ void Lcd7920::BitmapRow(PixelNumber top, PixelNumber left, PixelNumber width, co ++firstColIndex; } - // Do the last byte - const unsigned int lastDataShift = 7 - ((left + width - 1) % 8); // number of trailing bits in the last byte that we leave alone + // Do the last byte. 'accumulator' contains up to 'firstDataShift' of the most significant bits. + const unsigned int lastDataShift = 7 - ((left + width - 1) % 8); // number of trailing bits in the last byte that we leave alone, 0 to 7 const uint8_t lastMask = (1u << lastDataShift) - 1; // mask for bits we want to keep; + accumulator |= (*data ^ inv) >> firstDataShift; + accumulator &= ~lastMask; accumulator |= *p & lastMask; - const uint8_t newVal = accumulator | (((*data ^ inv) << (8 - firstDataShift)) & ~lastMask); - if (newVal != *p) + if (accumulator != *p) { - *p = newVal; + *p = accumulator; SetDirty(top, 8 * firstColIndex); } } @@ -598,7 +658,7 @@ void Lcd7920::SetCursor(PixelNumber r, PixelNumber c) { row = r; column = c; - lastCharColData = (textInverted) ? 0xFFFF : 0u; // flag that we just set the cursor position, so no space before next character + lastCharColData = 0u; // flag that we just set the cursor position, so no space before next character justSetCursor = true; } diff --git a/src/Display/ST7920/lcd7920.h b/src/Display/ST7920/lcd7920.h index fdfdbe40..e19f3517 100644 --- a/src/Display/ST7920/lcd7920.h +++ b/src/Display/ST7920/lcd7920.h @@ -2,6 +2,9 @@ #define LCD7920_H #include "RepRapFirmware.h" + +#if SUPPORT_12864_LCD + #include "Print.h" #include "SharedSpi.h" @@ -37,11 +40,20 @@ public: // Construct a GLCD driver. Lcd7920(Pin csPin, const LcdFont * const fnts[], size_t nFonts); + constexpr PixelNumber GetNumRows() const { return NumRows; } + constexpr PixelNumber GetNumCols() const { return NumCols; } + + // Set the SPI clock frequency + void SetSpiClockFrequency(uint32_t freq); + // Write a single character in the current font. Called by the 'print' functions. // c = character to write // Returns the number of characters written (1 if we wrote it, 0 otherwise) virtual size_t write(uint8_t c); // write a character + // Write a space + void WriteSpaces(PixelNumber numPixels); + // Initialize the display. Call this in setup(). Also call setFont to select initial text font. void Init(); @@ -156,3 +168,5 @@ private: }; #endif + +#endif diff --git a/src/Duet/EMAC/conf_eth.h b/src/Duet/EMAC/conf_eth.h index 1fe5f350..de9f7503 100644 --- a/src/Duet/EMAC/conf_eth.h +++ b/src/Duet/EMAC/conf_eth.h @@ -46,8 +46,6 @@ #ifndef CONF_EMAC_H_INCLUDED #define CONF_EMAC_H_INCLUDED -#include "Core.h" - /** EMAC PHY address */ #define BOARD_EMAC_PHY_ADDR 2 /*! EMAC RMII mode */ diff --git a/src/Duet/EMAC/ethernet_sam.c b/src/Duet/EMAC/ethernet_sam.cpp index c6c6d9eb..1d2c42c3 100644 --- a/src/Duet/EMAC/ethernet_sam.c +++ b/src/Duet/EMAC/ethernet_sam.cpp @@ -41,13 +41,11 @@ * */ -#include <string.h> -//#include "board.h" -//#include "gpio.h" #include "ethernet_sam.h" -//#include "emac.h" #include "ethernet_phy.h" -//#include "sysclk.h" + +extern "C" { + /* lwIP includes */ #include "lwip/src/include/lwip/sys.h" #include "lwip/src/include/lwip/api.h" @@ -68,6 +66,10 @@ #include "lwip/src/include/netif/etharp.h" #include "ethernetif.h" +} + +#include <cstring> + /* Global variable containing MAC Config (hw addr, IP, GW, ...) */ struct netif gs_net_if; @@ -131,12 +133,12 @@ void ethernet_timers_update(void) // Added by AB. This must be called only once! -void start_ethernet(const uint8_t ipAddress[], const uint8_t netMask[], const uint8_t gateWay[], netif_status_callback_fn status_cb) +void start_ethernet(IPAddress ipAddress, IPAddress netMask, IPAddress gateWay, netif_status_callback_fn status_cb) { struct ip_addr x_ip_addr, x_net_mask, x_gateway; extern err_t ethernetif_init(struct netif *netif); - IP4_ADDR(&x_ip_addr, ipAddress[0], ipAddress[1], ipAddress[2], ipAddress[3]); // set IP address + x_ip_addr.addr = ipAddress.GetV4LittleEndian(); if (x_ip_addr.addr == 0) { @@ -145,8 +147,8 @@ void start_ethernet(const uint8_t ipAddress[], const uint8_t netMask[], const ui } else { - IP4_ADDR(&x_net_mask, netMask[0], netMask[1], netMask[2], netMask[3]); // set network mask - IP4_ADDR(&x_gateway, gateWay[0], gateWay[1], gateWay[2], gateWay[3]); // set gateway + x_net_mask.addr = netMask.GetV4LittleEndian(); + x_gateway.addr = gateWay.GetV4LittleEndian(); } /* Add data to netif */ @@ -172,7 +174,7 @@ void start_ethernet(const uint8_t ipAddress[], const uint8_t netMask[], const ui } // This sets the IP configuration on-the-fly -void ethernet_set_configuration(const uint8_t ipAddress[], const uint8_t netMask[], const uint8_t gateWay[]) +void ethernet_set_configuration(IPAddress ipAddress, IPAddress netMask, IPAddress gateWay) { if ((gs_net_if.flags & NETIF_FLAG_DHCP) != 0) { @@ -181,9 +183,9 @@ void ethernet_set_configuration(const uint8_t ipAddress[], const uint8_t netMask } struct ip_addr x_ip_addr, x_net_mask, x_gateway; - IP4_ADDR(&x_ip_addr, ipAddress[0], ipAddress[1], ipAddress[2], ipAddress[3]); - IP4_ADDR(&x_net_mask, netMask[0], netMask[1], netMask[2], netMask[3]); - IP4_ADDR(&x_gateway, gateWay[0], gateWay[1], gateWay[2], gateWay[3]); + x_ip_addr.addr = ipAddress.GetV4LittleEndian(); + x_net_mask.addr = netMask.GetV4LittleEndian(); + x_gateway.addr = gateWay.GetV4LittleEndian(); if (x_ip_addr.addr == 0) { diff --git a/src/Duet/EMAC/ethernet_sam.h b/src/Duet/EMAC/ethernet_sam.h index dbea615a..03a7a3f0 100644 --- a/src/Duet/EMAC/ethernet_sam.h +++ b/src/Duet/EMAC/ethernet_sam.h @@ -44,17 +44,14 @@ #ifndef ETHERNET_SAM_H_INCLUDED #define ETHERNET_SAM_H_INCLUDED -#include "lwip/src/include/lwip/netif.h" -#include "emac/emac.h" // for emac_dev_tx_cb_t +#include <General/IPAddress.h> -/// @cond 0 -/**INDENT-OFF**/ -#ifdef __cplusplus extern "C" { -#endif -/**INDENT-ON**/ -/// @endcond +#include "lwip/src/include/lwip/netif.h" +#include "emac/emac.h" // for emac_dev_tx_cb_t + +} // Perform low-level initialisation of the network interface void init_ethernet(); @@ -69,10 +66,10 @@ bool ethernet_establish_link(void); bool ethernet_link_established(void); // Initialise network interface and set network interface status callback -void start_ethernet(const uint8_t ipAddress[], const uint8_t netMask[], const uint8_t gateWay[], netif_status_callback_fn status_cb); +void start_ethernet(IPAddress ipAddress, IPAddress netMask, IPAddress gateWay, netif_status_callback_fn status_cb); // Update IPv4 configuration on demand -void ethernet_set_configuration(const unsigned char ipAddress[], const unsigned char netMask[], const unsigned char gateWay[]); +void ethernet_set_configuration(IPAddress ipAddress, IPAddress netMask, IPAddress gateWay); // Must be called periodically to keep the LwIP timers running void ethernet_timers_update(void); @@ -86,13 +83,4 @@ void ethernet_set_rx_callback(emac_dev_tx_cb_t callback); // Returns the network interface's current IPv4 address const uint8_t *ethernet_get_ipaddress(); - -/// @cond 0 -/**INDENT-OFF**/ -#ifdef __cplusplus -} -#endif -/**INDENT-ON**/ -/// @endcond - #endif /* ETHERNET_SAM_H_INCLUDED */ diff --git a/src/Duet/MCP4461/MCP4461.cpp b/src/Duet/MCP4461/MCP4461.cpp index 4a263cfa..1c4e6f04 100644 --- a/src/Duet/MCP4461/MCP4461.cpp +++ b/src/Duet/MCP4461/MCP4461.cpp @@ -1,5 +1,6 @@ #include "MCP4461.h" #include "RepRapFirmware.h" +#include "Tasks.h" /* Library to control the MCP4461 Digital Potentiometer over I2C. @@ -26,277 +27,85 @@ GPL v3 //the local master through the Wire library //if the MCP4461 does not have a default address, call set address before //trying to communicate -MCP4461::MCP4461() { +MCP4461::MCP4461() +{ _mcp4461_address = DEFAULT_ADDRESS; } //set the MCP4461 address -void MCP4461::setMCP4461Address(uint8_t mcp4461_addr) { +void MCP4461::setMCP4461Address(uint8_t mcp4461_addr) +{ _mcp4461_address = mcp4461_addr; } -void MCP4461::setVolatileWiper(uint8_t wiper, uint16_t wiper_value){ - uint16_t value = wiper_value; - if (value > 0xFF) value = 0x100; - uint8_t d_byte = (uint8_t)value; - uint8_t c_byte; - if (value > 0xFF)c_byte = 0x1; //the 8th data bit is 1 - else c_byte =0; - switch (wiper) { - case 0: - c_byte |= MCP4461_VW0; - break; - case 1: - c_byte |= MCP4461_VW1; - break; - case 2: - c_byte |= MCP4461_VW2; - break; - case 3: - c_byte |= MCP4461_VW3; - break; - default: - break; //not a valid wiper - } - c_byte |= MCP4461_WRITE; - //send command byte - MCP_WIRE.beginTransmission(_mcp4461_address); - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - MCP_WIRE.endTransmission(); //do not release bus - } +void MCP4461::setVolatileWiper(uint8_t wiper, uint16_t wiper_value) +{ + if (wiper_value > 0xFF) + { + wiper_value = 0x100; + } -void MCP4461::setNonVolatileWiper(uint8_t wiper, uint16_t wiper_value){ - uint16_t value = wiper_value; - if (value > 0xFF) value = 0x100; - uint8_t d_byte = (uint8_t)value; - uint8_t c_byte; - if (value > 0xFF)c_byte = 0x1; //the 8th data bit is 1 - else c_byte =0; - switch (wiper) { - case 0: - c_byte |= MCP4461_NVW0; - break; - case 1: - c_byte |= MCP4461_NVW1; - break; - case 2: - c_byte |= MCP4461_NVW2; - break; - case 3: - c_byte |= MCP4461_NVW3; - break; - default: - break; //not a valid wiper - } - c_byte |= MCP4461_WRITE; - //send command byte - MCP_WIRE.beginTransmission(_mcp4461_address); - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - MCP_WIRE.endTransmission(); //do not release bus - delay(20); //allow the write to complete (this is wasteful - better to check if the write has completed) - } - -//set all the wipers in one transmission, more verbose but quicker than multiple calls to -//setVolatileWiper(uint8_t wiper, uint16_t wiper_value) -void MCP4461::setVolatileWipers(uint16_t wiper_value){ - uint16_t value = wiper_value; - if (value > 0xFF) value = 0x100; - uint8_t d_byte = (uint8_t)value; - uint8_t c_byte; - if (value > 0xFF)c_byte = 0x1; //the 8th data bit is 1 - else c_byte =0; - MCP_WIRE.beginTransmission(_mcp4461_address); - c_byte |= MCP4461_WRITE; - c_byte |= MCP4461_VW0; - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - if (value > 0xFF) c_byte = 0x1; - else c_byte =0; - c_byte |= MCP4461_WRITE; - c_byte |= MCP4461_VW1; - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - if (value > 0xFF) c_byte = 0x1; - else c_byte =0; - c_byte |= MCP4461_WRITE; - c_byte |= MCP4461_VW2; - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - if (value > 0xFF) c_byte = 0x1; - else c_byte =0; - c_byte |= MCP4461_WRITE; - c_byte |= MCP4461_VW3; - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - MCP_WIRE.endTransmission(); -} + const uint8_t d_byte = (uint8_t)wiper_value; + uint8_t c_byte = (uint8_t)(wiper_value >> 8); + switch (wiper) + { + case 0: + c_byte |= MCP4461_VW0; + break; + case 1: + c_byte |= MCP4461_VW1; + break; + case 2: + c_byte |= MCP4461_VW2; + break; + case 3: + c_byte |= MCP4461_VW3; + break; + default: + return; // not a valid wiper + } + c_byte |= MCP4461_WRITE; -//set all the wipers in one transmission, more verbose but quicker than multiple calls to -//setNonVolatileWiper(uint8_t wiper, uint16_t wiper_value) -void MCP4461::setNonVolatileWipers(uint16_t wiper_value){ - uint16_t value = wiper_value; - if (value > 0xFF) value = 0x100; - uint8_t d_byte = (uint8_t)value; - uint8_t c_byte; - if (value > 0xFF)c_byte = 0x1; //the 8th data bit is 1 - else c_byte =0; - MCP_WIRE.beginTransmission(_mcp4461_address); - c_byte |= MCP4461_WRITE; - c_byte |= MCP4461_NVW0; - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - delay(20); //allow the write to complete (this is wasteful - better to check if the write has completed) - if (value > 0xFF) c_byte = 0x1; - else c_byte =0; - c_byte |= MCP4461_WRITE; - c_byte |= MCP4461_NVW1; - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - delay(20); - if (value > 0xFF) c_byte = 0x1; - else c_byte =0; - c_byte |= MCP4461_WRITE; - c_byte |= MCP4461_NVW2; - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - delay(20); - if (value > 0xFF) c_byte = 0x1; - else c_byte =0; - c_byte |= MCP4461_WRITE; - c_byte |= MCP4461_NVW3; - MCP_WIRE.write(c_byte); - MCP_WIRE.write(d_byte); - MCP_WIRE.endTransmission(); - delay(20); -} + uint8_t i2cBytes[2] = { c_byte, d_byte }; + MutexLocker lock(Tasks::GetI2CMutex()); + MCP_WIRE.Transfer(_mcp4461_address, i2cBytes, 2, 0); -//return the value for a specific wiper -uint16_t MCP4461::getNonVolatileWiper(uint8_t wiper){ - uint16_t ret = 0; - uint16_t c_byte =0; - switch (wiper) { - case 0: - c_byte |= MCP4461_NVW0; - break; - case 1: - c_byte |= MCP4461_NVW1; - break; - case 2: - c_byte |= MCP4461_NVW2; - break; - case 3: - c_byte |= MCP4461_NVW3; - break; - default: - return 0; //not a valid wiper - } - c_byte |= MCP4461_READ; - //send command byte - MCP_WIRE.beginTransmission(_mcp4461_address); - MCP_WIRE.write(c_byte); - MCP_WIRE.endTransmission(false); //do not release bus - MCP_WIRE.requestFrom((uint8_t)_mcp4461_address,(uint8_t)2); - //read the register - int i = 0; - while(MCP_WIRE.available()) - { - ret |= MCP_WIRE.read(); - if (i==0) ret = ret<<8; - i++; - } - return ret; + delayMicroseconds(5); // bus needs to be free for 4.7us before the next command } - -//return the volatile value for a specific wiper -uint16_t MCP4461::getVolatileWiper(uint8_t wiper){ - uint16_t ret = 0; - uint16_t c_byte =0; - switch (wiper) { - case 0: - c_byte |= MCP4461_VW0; - break; - case 1: - c_byte |= MCP4461_VW1; - break; - case 2: - c_byte |= MCP4461_VW2; - break; - case 3: - c_byte |= MCP4461_VW3; - break; - default: - return 0; //not a valid wiper - } - c_byte |= MCP4461_READ; - //send command byte - MCP_WIRE.beginTransmission(_mcp4461_address); - MCP_WIRE.write(c_byte); - MCP_WIRE.endTransmission(false); //do not release bus - MCP_WIRE.requestFrom((uint8_t)_mcp4461_address,(uint8_t)2); - //read the register - int i = 0; - while(MCP_WIRE.available()) - { - ret |= MCP_WIRE.read(); - if (i==0) ret = ret<<8; - i++; - } - return ret; -} +void MCP4461::setNonVolatileWiper(uint8_t wiper, uint16_t wiper_value) +{ + if (wiper_value > 0xFF) + { + wiper_value = 0x100; + } -//return the status register -uint16_t MCP4461::getStatus(){ - uint16_t ret = 0; - uint16_t c_byte =0; - c_byte |= MCP4461_STATUS; - c_byte |= MCP4461_READ; - //send command byte - MCP_WIRE.beginTransmission(_mcp4461_address); - MCP_WIRE.write(c_byte); - MCP_WIRE.endTransmission(false); //do not release bus - MCP_WIRE.requestFrom((uint8_t)_mcp4461_address, (uint8_t)2); - //read the register - int i = 0; - while(MCP_WIRE.available()) - { - ret |= MCP_WIRE.read(); - if (i==0) ret = ret<<8; - i++; - } - return ret; -} + const uint8_t d_byte = (uint8_t)wiper_value; + uint8_t c_byte = (uint8_t)(wiper_value >> 8); + switch (wiper) + { + case 0: + c_byte |= MCP4461_NVW0; + break; + case 1: + c_byte |= MCP4461_NVW1; + break; + case 2: + c_byte |= MCP4461_NVW2; + break; + case 3: + c_byte |= MCP4461_NVW3; + break; + default: + return; // not a valid wiper + } + c_byte |= MCP4461_WRITE; + + uint8_t i2cBytes[2] = { c_byte, d_byte }; + MutexLocker lock(Tasks::GetI2CMutex()); + MCP_WIRE.Transfer(_mcp4461_address, i2cBytes, 2, 0); -//toggle a specific pot channel on and off -/* //NOT YET IMPLEMENTED -void MCP4461::toggleWiper(uint8_t wiper){ - uint16_t tcon = 0; - uint16_t c_byte =0; - //read the specific TCONX register to get the current stae of the - //pot connections - if (wiper <=1) { - c_byte |= MCP4461_TCON0; - c_byte |= MCP4461_READ; - } - else { - c_byte |= MCP4461_TCON1; - c_byte |= MCP4461_READ; - } - //send command byte - MCP_WIRE.beginTransmission(_mcp4461_address); - MCP_WIRE.write(c_byte); - MCP_WIRE.endTransmission(false); //do not release bus - MCP_WIRE.requestFrom((uint8_t)_mcp4461_address,(uint8_t)2); - //read the register - int i = 0; - while(MCP_WIRE.available()) - { - tcon |= MCP_WIRE.read(); - if (i==0) tcon = tcon<<8; - i++; - } - SerialUSB.print(" TCON "); - SerialUSB.print(tcon,BIN); -} */ + delay(20); // writing to nonvolatile memory takes up to 10ms to complete +} + +// End diff --git a/src/Duet/MCP4461/MCP4461.h b/src/Duet/MCP4461/MCP4461.h index d5ee32b6..c1ac9478 100644 --- a/src/Duet/MCP4461/MCP4461.h +++ b/src/Duet/MCP4461/MCP4461.h @@ -35,17 +35,9 @@ public: void setMCP4461Address(uint8_t); void setVolatileWiper(uint8_t, uint16_t); void setNonVolatileWiper(uint8_t, uint16_t); - void setVolatileWipers(uint16_t); - void setNonVolatileWipers(uint16_t); - void toggleWiper(uint8_t); //NOT YET IMPLEMENTED - uint16_t getVolatileWiper(uint8_t); - uint16_t getNonVolatileWiper(uint8_t); - uint16_t getStatus(); private: uint8_t _mcp4461_address; - uint8_t _wiper; - uint8_t _value; }; #endif //MCP4461_H diff --git a/src/Duet/Network.cpp b/src/Duet/Network.cpp index 7713c2d8..4082590c 100644 --- a/src/Duet/Network.cpp +++ b/src/Duet/Network.cpp @@ -46,12 +46,14 @@ #include "RepRap.h" #include "Webserver.h" #include "Version.h" -#include "Libraries/General/IP4String.h" +#include "General/IP4String.h" -extern "C" -{ #include "ethernet_sam.h" +#define SUPPORT_MDNS 0 // LWIP v1 MDNS responder code is buggy, it tries to allocate PBUFs and assumes that allocation always succeeds + +extern "C" +{ #include "lwipopts.h" #ifdef LWIP_STATS @@ -62,7 +64,10 @@ extern "C" #include "lwip/src/include/lwip/tcp_impl.h" #include "contrib/apps/netbios/netbios.h" -#include "contrib/apps/mdns/mdns_responder.h" + +#if SUPPORT_MDNS +# include "contrib/apps/mdns/mdns_responder.h" +#endif } static volatile bool lwipLocked = false; @@ -72,13 +77,18 @@ const size_t NumProtocols = 3; // number of network protocols w const size_t HttpProtocolIndex = 0, FtpProtocolIndex = 1, TelnetProtocolIndex = 2; // index of theHTTP service above const Port DefaultPortNumbers[NumProtocols] = { DefaultHttpPort, DefaultFtpPort, DefaultTelnetPort }; const char * const ProtocolNames[NumProtocols] = { "HTTP", "FTP", "TELNET" }; + +#if SUPPORT_MDNS const char * const MdnsServiceStrings[NumProtocols] = { "\x05_http\x04_tcp\x05local", "\x04_ftp\x04_tcp\x05local", "\x07_telnet\x04_tcp\x05local" }; +#endif static Port portNumbers[NumProtocols] = { DefaultHttpPort, DefaultFtpPort, DefaultTelnetPort }; // port number used for each protocol static bool protocolEnabled[NumProtocols] = { true, false, false }; // by default only HTTP is enabled static tcp_pcb *pcbs[NumProtocols] = { nullptr, nullptr, nullptr }; static tcp_pcb *ftp_pasv_pcb = nullptr; +#if SUPPORT_MDNS + const size_t NumMdnsFixedProtocols = 1; // what we need to add to the protocol index in order to access the corresponding entry in mdns_services static struct mdns_service mdns_services[NumMdnsFixedProtocols + NumProtocols] = { @@ -105,6 +115,8 @@ static const char *mdns_txt_records[] = NULL }; +#endif + static bool closingDataPort = false; ConnectionState *sendingConnection = nullptr; @@ -396,6 +408,7 @@ void Network::ReportOneProtocol(size_t protocol, const StringRef& reply) const void Network::DoMdnsAnnounce() { +#if SUPPORT_MDNS // Fill in the table of services size_t numServices = NumMdnsFixedProtocols; for (size_t i = 0; i < NumProtocols; ++i) @@ -411,6 +424,7 @@ void Network::DoMdnsAnnounce() // We have patched mdns_responder_init so that it can be called more than once mdns_responder_init(mdns_services, numServices, mdns_txt_records); mdns_announce(); +#endif } void Network::Spin(bool full) @@ -780,7 +794,7 @@ const uint8_t *Network::GetIPAddress() const return ethernet_get_ipaddress(); } -void Network::SetEthernetIPAddress(const uint8_t ipAddress[], const uint8_t netmask[], const uint8_t gateway[]) +void Network::SetEthernetIPAddress(IPAddress ipAddress, IPAddress netmask, IPAddress gateway) { if (state == NetworkObtainingIP || state == NetworkActive) { @@ -817,10 +831,12 @@ void Network::SetHostname(const char *name) strcpy(hostname, DEFAULT_HOSTNAME); } +#if SUPPORT_MDNS if (state == NetworkActive) { mdns_update_hostname(); } +#endif } void Network::SetMacAddress(unsigned int interface, const uint8_t mac[]) diff --git a/src/Duet/Network.h b/src/Duet/Network.h index 5c817943..f60b18b8 100644 --- a/src/Duet/Network.h +++ b/src/Duet/Network.h @@ -73,7 +73,7 @@ public: // Global settings const uint8_t *GetIPAddress() const; - void SetEthernetIPAddress(const uint8_t ipAddress[], const uint8_t netmask[], const uint8_t gateway[]); + void SetEthernetIPAddress(IPAddress ipAddress, IPAddress netmask, IPAddress gateway); void SetHostname(const char *name); void SetMacAddress(unsigned int interface, const uint8_t mac[]); const uint8_t *GetMacAddress(unsigned int interface) const { return macAddress; } diff --git a/src/Duet/NetworkDefs.h b/src/Duet/NetworkDefs.h index 709b0344..461e7386 100644 --- a/src/Duet/NetworkDefs.h +++ b/src/Duet/NetworkDefs.h @@ -10,6 +10,7 @@ #include <cstdint> #include <cstddef> +#include <General/IPAddress.h> class NetworkTransaction; class ConnectionState; @@ -25,15 +26,15 @@ const SocketNumber NoSocket = 255; typedef uint16_t Port; const uint8_t DefaultMacAddress[6] = { 0xBE, 0xEF, 0xDE, 0xAD, 0xFE, 0xED }; // Need some sort of default... -const uint8_t DefaultIpAddress[4] = { 0, 0, 0, 0 }; // Need some sort of default... -const uint8_t DefaultNetMask[4] = { 255, 255, 255, 0 }; -const uint8_t DefaultGateway[4] = { 0, 0, 0, 0 }; +constexpr IPAddress DefaultIpAddress; // will be initialised to 0 by constructor +const IPAddress DefaultNetMask((const uint8_t[]){ 255, 255, 255, 0 }); +constexpr IPAddress DefaultGateway; // will be initialised to 0 by constructor const Port DefaultHttpPort = 80; const Port DefaultFtpPort = 21; const Port DefaultTelnetPort = 23; -const size_t SsidBufferLength = 32; // maximum size of a WiFi SSID +const size_t SsidBufferLength = 32; // maximum size of a WiFi SSID // MSS is defined in lwip #include "Lwip/lwipopts.h" diff --git a/src/Duet/Pins_Duet.h b/src/Duet/Pins_Duet.h index 322840ae..eba4dddb 100644 --- a/src/Duet/Pins_Duet.h +++ b/src/Duet/Pins_Duet.h @@ -24,9 +24,8 @@ constexpr size_t NumFirmwareUpdateModules = 1; #define SUPPORT_DHT_SENSOR 0 // set nonzero to support DHT temperature/humidity sensors // The physical capabilities of the machine - -constexpr size_t DRIVES = 9; // The number of drives in the machine, including X, Y, and Z plus extruder drives -#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g,h,i } +constexpr size_t NumDirectDrivers = 9; +constexpr size_t MaxTotalDrivers = NumDirectDrivers; constexpr size_t NumEndstops = 9; // The number of inputs we have for endstops, filament sensors etc. constexpr size_t NumHeaters = 7; // The number of heaters in the machine; 0 is the heated bed even if there isn't one @@ -35,10 +34,8 @@ constexpr size_t NumThermistorInputs = 7; constexpr size_t MinAxes = 3; // The minimum and default number of axes constexpr size_t MaxAxes = 6; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES -// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES -#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f } -constexpr size_t MaxExtruders = DRIVES - MinAxes; // The maximum number of extruders +constexpr size_t MaxExtruders = NumDirectDrivers - MinAxes; // The maximum number of extruders constexpr size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis constexpr size_t NUM_SERIAL_CHANNELS = 3; // The number of serial IO channels (USB and two auxiliary UARTs) @@ -46,6 +43,9 @@ constexpr size_t NUM_SERIAL_CHANNELS = 3; // The number of serial IO channels #define SERIAL_AUX_DEVICE Serial #define SERIAL_AUX2_DEVICE Serial1 +// SerialUSB +constexpr Pin UsbVBusPin = NoPin; // Pin used to monitor VBUS on USB port. Not needed for SAM3X. + #define I2C_IFACE Wire1 // Which TWI channel we use #define I2C_IRQn WIRE1_ISR_ID // Which interrupt it uses @@ -53,9 +53,9 @@ constexpr size_t NUM_SERIAL_CHANNELS = 3; // The number of serial IO channels // Drives -constexpr Pin ENABLE_PINS[DRIVES] = { 29, 27, X1, X0, 37, X8, 50, 47, X13 }; -constexpr Pin STEP_PINS[DRIVES] = { 14, 25, 5, X2, 41, 39, X4, 49, X10 }; -constexpr Pin DIRECTION_PINS[DRIVES] = { 15, 26, 4, X3, 35, 53, 51, 48, X11 }; +constexpr Pin ENABLE_PINS[NumDirectDrivers] = { 29, 27, X1, X0, 37, X8, 50, 47, X13 }; +constexpr Pin STEP_PINS[NumDirectDrivers] = { 14, 25, 5, X2, 41, 39, X4, 49, X10 }; +constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { 15, 26, 4, X3, 35, 53, 51, 48, X11 }; // Endstops // RepRapFirmware only has a single endstop per axis. diff --git a/src/Duet/Webserver.cpp b/src/Duet/Webserver.cpp index 3ec41216..4585eea2 100644 --- a/src/Duet/Webserver.cpp +++ b/src/Duet/Webserver.cpp @@ -619,94 +619,107 @@ void Webserver::HttpInterpreter::SendFile(const char* nameOfFileToSend, bool isW if (nameOfFileToSend[0] == '/') { ++nameOfFileToSend; // all web files are relative to the /www folder, so remove the leading '/' - if (nameOfFileToSend[0] == 0) - { - nameOfFileToSend = INDEX_PAGE_FILE; - } } - // Try to open a gzipped version of the file first - if (!StringEndsWith(nameOfFileToSend, ".gz") && strlen(nameOfFileToSend) + 3 <= MaxFilenameLength) + if (nameOfFileToSend[0] == 0) { - char nameBuf[MaxFilenameLength + 1]; - strcpy(nameBuf, nameOfFileToSend); - strcat(nameBuf, ".gz"); - fileToSend = platform->OpenFile(platform->GetWebDir(), nameBuf, OpenMode::read); - if (fileToSend != nullptr) - { - zip = true; - } + nameOfFileToSend = INDEX_PAGE_FILE; } - // If that failed, try to open the normal version of the file - if (fileToSend == nullptr) + for (;;) { + // Try to open a gzipped version of the file first + if (!StringEndsWithIgnoreCase(nameOfFileToSend, ".gz") && strlen(nameOfFileToSend) + 3 <= MaxFilenameLength) + { + char nameBuf[MaxFilenameLength + 1]; + strcpy(nameBuf, nameOfFileToSend); + strcat(nameBuf, ".gz"); + fileToSend = platform->OpenFile(platform->GetWebDir(), nameBuf, OpenMode::read); + if (fileToSend != nullptr) + { + zip = true; + break; + } + } + + // That failed, try to open the normal version of the file fileToSend = platform->OpenFile(platform->GetWebDir(), nameOfFileToSend, OpenMode::read); + if (fileToSend != nullptr) + { + break; + } + + if (StringEqualsIgnoreCase(nameOfFileToSend, INDEX_PAGE_FILE)) + { + nameOfFileToSend = OLD_INDEX_PAGE_FILE; // the index file wasn't found, so try the old one + } + else if (!strchr(nameOfFileToSend, '.')) // if we were asked to return a file without a '.' in the name, return the index page + { + nameOfFileToSend = INDEX_PAGE_FILE; + } + else + { + break; + } } // If we still couldn't find the file and it was an HTML file, return the 404 error page - if (fileToSend == nullptr && (StringEndsWith(nameOfFileToSend, ".html") || StringEndsWith(nameOfFileToSend, ".htm"))) + if (fileToSend == nullptr && (StringEndsWithIgnoreCase(nameOfFileToSend, ".html") || StringEndsWithIgnoreCase(nameOfFileToSend, ".htm"))) { nameOfFileToSend = FOUR04_PAGE_FILE; fileToSend = platform->OpenFile(platform->GetWebDir(), nameOfFileToSend, OpenMode::read); } - - if (fileToSend == nullptr) - { - RejectMessage("not found", 404); - return; - } - transaction->SetFileToWrite(fileToSend); } else { fileToSend = platform->OpenFile(FS_PREFIX, nameOfFileToSend, OpenMode::read); - if (fileToSend == nullptr) - { - RejectMessage("not found", 404); - return; - } - transaction->SetFileToWrite(fileToSend); } - transaction->Write("HTTP/1.1 200 OK\n"); + if (fileToSend == nullptr) + { + RejectMessage("not found", 404); + return; + } + + transaction->SetFileToWrite(fileToSend); + transaction->Write("HTTP/1.1 200 OK\r\n"); // Don't cache files served by rr_download if (!isWebFile) { - transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\n"); - transaction->Write("Pragma: no-cache\n"); - transaction->Write("Expires: 0\n"); - transaction->Write("Access-Control-Allow-Origin: *\n"); + transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\r\n"); + transaction->Write("Pragma: no-cache\r\n"); + transaction->Write("Expires: 0\r\n"); + transaction->Write("Access-Control-Allow-Origin: *\r\n"); } const char* contentType; - if (StringEndsWith(nameOfFileToSend, ".png")) + if (StringEndsWithIgnoreCase(nameOfFileToSend, ".png")) { contentType = "image/png"; } - else if (StringEndsWith(nameOfFileToSend, ".ico")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".ico")) { contentType = "image/x-icon"; } - else if (StringEndsWith(nameOfFileToSend, ".js")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".js")) { contentType = "application/javascript"; } - else if (StringEndsWith(nameOfFileToSend, ".css")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".css")) { contentType = "text/css"; } - else if (StringEndsWith(nameOfFileToSend, ".htm") || StringEndsWith(nameOfFileToSend, ".html")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".htm") || StringEndsWithIgnoreCase(nameOfFileToSend, ".html")) { contentType = "text/html"; } - else if (StringEndsWith(nameOfFileToSend, ".zip")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".zip")) { contentType = "application/zip"; zip = true; } - else if (StringEndsWith(nameOfFileToSend, ".g") || StringEndsWith(nameOfFileToSend, ".gc") || StringEndsWith(nameOfFileToSend, ".gcode")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".g") || StringEndsWithIgnoreCase(nameOfFileToSend, ".gc") || StringEndsWithIgnoreCase(nameOfFileToSend, ".gcode")) { contentType = "text/plain"; } @@ -714,15 +727,15 @@ void Webserver::HttpInterpreter::SendFile(const char* nameOfFileToSend, bool isW { contentType = "application/octet-stream"; } - transaction->Printf("Content-Type: %s\n", contentType); + transaction->Printf("Content-Type: %s\r\n", contentType); - if (zip && fileToSend != nullptr) + if (zip) { - transaction->Write("Content-Encoding: gzip\n"); - transaction->Printf("Content-Length: %lu\n", fileToSend->Length()); + transaction->Write("Content-Encoding: gzip\r\n"); } - transaction->Write("Connection: close\n\n"); + transaction->Printf("Content-Length: %lu\r\n", fileToSend->Length()); + transaction->Write("Connection: close\r\n\r\n"); transaction->Commit(false); } @@ -753,14 +766,14 @@ void Webserver::HttpInterpreter::SendGCodeReply() // Send the whole G-Code reply as plain text to the client NetworkTransaction *transaction = webserver->currentTransaction; - transaction->Write("HTTP/1.1 200 OK\n"); - transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\n"); - transaction->Write("Pragma: no-cache\n"); - transaction->Write("Expires: 0\n"); - transaction->Write("Access-Control-Allow-Origin: *\n"); - transaction->Write("Content-Type: text/plain\n"); - transaction->Printf("Content-Length: %u\n", gcodeReply->DataLength()); - transaction->Write("Connection: close\n\n"); + transaction->Write("HTTP/1.1 200 OK\r\n"); + transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\r\n"); + transaction->Write("Pragma: no-cache\r\n"); + transaction->Write("Expires: 0\r\n"); + transaction->Write("Access-Control-Allow-Origin: *\r\n"); + transaction->Write("Content-Type: text/plain\r\n"); + transaction->Printf("Content-Length: %u\r\n", gcodeReply->DataLength()); + transaction->Write("Connection: close\r\n\r\n"); transaction->Write(gcodeReply); transaction->Commit(false); @@ -784,13 +797,13 @@ void Webserver::HttpInterpreter::SendJsonResponse(const char* command) { UpdateAuthentication(); - if (StringEquals(command, "reply")) // rr_reply + if (StringEqualsIgnoreCase(command, "reply")) // rr_reply { SendGCodeReply(); return; } - if (StringEquals(command, "configfile")) // rr_configfile [DEPRECATED] + if (StringEqualsIgnoreCase(command, "configfile")) // rr_configfile [DEPRECATED] { String<MaxFilenameLength> fileName; MassStorage::CombineName(fileName.GetRef(), platform->GetSysDir(), platform->GetConfigFile()); @@ -798,7 +811,7 @@ void Webserver::HttpInterpreter::SendJsonResponse(const char* command) return; } - if (StringEquals(command, "download")) + if (StringEqualsIgnoreCase(command, "download")) { const char* const filename = GetKeyValue("name"); if (filename != nullptr) @@ -836,23 +849,23 @@ void Webserver::HttpInterpreter::SendJsonResponse(const char* command) // Check that the browser wants to persist the connection too for (size_t i = 0; i < numHeaderKeys; ++i) { - if (StringEquals(headers[i].key, "Connection")) + if (StringEqualsIgnoreCase(headers[i].key, "Connection")) { // Comment out the following line to disable persistent connections - keepOpen = StringEquals(headers[i].value, "keep-alive"); + keepOpen = StringEqualsIgnoreCase(headers[i].value, "keep-alive"); break; } } } - transaction->Write("HTTP/1.1 200 OK\n"); - transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\n"); - transaction->Write("Pragma: no-cache\n"); - transaction->Write("Expires: 0\n"); - transaction->Write("Access-Control-Allow-Origin: *\n"); - transaction->Write("Content-Type: application/json\n"); - transaction->Printf("Content-Length: %u\n", (jsonResponse != nullptr) ? jsonResponse->Length() : 0); - transaction->Printf("Connection: %s\n\n", keepOpen ? "keep-alive" : "close"); + transaction->Write("HTTP/1.1 200 OK\r\n"); + transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\r\n"); + transaction->Write("Pragma: no-cache\r\n"); + transaction->Write("Expires: 0\r\n"); + transaction->Write("Access-Control-Allow-Origin: *\r\n"); + transaction->Write("Content-Type: application/json\r\n"); + transaction->Printf("Content-Length: %u\r\n", (jsonResponse != nullptr) ? jsonResponse->Length() : 0); + transaction->Printf("Connection: %s\r\n\r\n", keepOpen ? "keep-alive" : "close"); transaction->Write(jsonResponse); transaction->Commit(keepOpen); @@ -868,7 +881,7 @@ void Webserver::HttpInterpreter::GetJsonResponse(const char* request, OutputBuff { keepOpen = false; // assume we don't want to persist the connection - if (StringEquals(request, "connect") && GetKeyValue("password") != nullptr) + if (StringEqualsIgnoreCase(request, "connect") && GetKeyValue("password") != nullptr) { if (IsAuthenticated() || reprap.CheckPassword(GetKeyValue("password"))) { @@ -907,11 +920,11 @@ void Webserver::HttpInterpreter::GetJsonResponse(const char* request, OutputBuff { RejectMessage("Not authorized", 401); } - else if (StringEquals(request, "disconnect")) + else if (StringEqualsIgnoreCase(request, "disconnect")) { response->printf("{\"err\":%d}", RemoveAuthentication() ? 0 : 1); } - else if (StringEquals(request, "status")) + else if (StringEqualsIgnoreCase(request, "status")) { int type = 0; if (GetKeyValue("type") != nullptr) @@ -933,29 +946,29 @@ void Webserver::HttpInterpreter::GetJsonResponse(const char* request, OutputBuff response = reprap.GetLegacyStatusResponse(1, 0); } } - else if (StringEquals(request, "gcode") && GetKeyValue("gcode") != nullptr) + else if (StringEqualsIgnoreCase(request, "gcode") && GetKeyValue("gcode") != nullptr) { NetworkGCodeInput * const httpInput = reprap.GetGCodes().GetHTTPInput(); httpInput->Put(HttpMessage, GetKeyValue("gcode")); response->printf("{\"buff\":%u}", httpInput->BufferSpaceLeft()); } - else if (StringEquals(request, "upload")) + else if (StringEqualsIgnoreCase(request, "upload")) { response->printf("{\"err\":%d}", (uploadedBytes == postFileLength) ? 0 : 1); } - else if (StringEquals(request, "delete") && GetKeyValue("name") != nullptr) + else if (StringEqualsIgnoreCase(request, "delete") && GetKeyValue("name") != nullptr) { const bool ok = platform->GetMassStorage()->Delete(FS_PREFIX, GetKeyValue("name")); response->printf("{\"err\":%d}", (ok) ? 0 : 1); } - else if (StringEquals(request, "filelist") && GetKeyValue("dir") != nullptr) + else if (StringEqualsIgnoreCase(request, "filelist") && GetKeyValue("dir") != nullptr) { OutputBuffer::Release(response); const char* const firstVal = GetKeyValue("first"); const unsigned int startAt = (firstVal == nullptr) ? 0 : (unsigned int)SafeStrtol(firstVal); response = reprap.GetFilelistResponse(GetKeyValue("dir"), startAt); // this may return nullptr } - else if (StringEquals(request, "files")) + else if (StringEqualsIgnoreCase(request, "files")) { OutputBuffer::Release(response); const char* dir = GetKeyValue("dir"); @@ -969,7 +982,7 @@ void Webserver::HttpInterpreter::GetJsonResponse(const char* request, OutputBuff const bool flagDirs = flagDirsVal != nullptr && atoi(flagDirsVal) == 1; response = reprap.GetFilesResponse(dir, startAt, flagDirs); // this may return nullptr } - else if (StringEquals(request, "fileinfo")) + else if (StringEqualsIgnoreCase(request, "fileinfo")) { if (deferredRequestConnection != NoConnection) { @@ -995,7 +1008,7 @@ void Webserver::HttpInterpreter::GetJsonResponse(const char* request, OutputBuff ProcessDeferredRequest(); } } - else if (StringEquals(request, "move")) + else if (StringEqualsIgnoreCase(request, "move")) { const char* const oldVal = GetKeyValue("old"); const char* const newVal = GetKeyValue("new"); @@ -1003,15 +1016,15 @@ void Webserver::HttpInterpreter::GetJsonResponse(const char* request, OutputBuff if (oldVal != nullptr && newVal != nullptr) { MassStorage * const ms = platform->GetMassStorage(); - if (StringEquals(GetKeyValue("deleteexisting"), "yes") && ms->FileExists(oldVal) && ms->FileExists(newVal)) + if (StringEqualsIgnoreCase(GetKeyValue("deleteexisting"), "yes") && ms->FileExists(oldVal) && ms->FileExists(newVal)) { - ms->Delete(nullptr, newVal, true); + ms->Delete(nullptr, newVal); } success = ms->Rename(oldVal, newVal); } response->printf("{\"err\":%d}", (success) ? 0 : 1); } - else if (StringEquals(request, "mkdir")) + else if (StringEqualsIgnoreCase(request, "mkdir")) { const char* const dirVal = GetKeyValue("dir"); bool success = false; @@ -1021,7 +1034,7 @@ void Webserver::HttpInterpreter::GetJsonResponse(const char* request, OutputBuff } response->printf("{\"err\":%d}", (success) ? 0 : 1); } - else if (StringEquals(request, "config")) + else if (StringEqualsIgnoreCase(request, "config")) { OutputBuffer::Release(response); response = reprap.GetConfigResponse(); @@ -1036,7 +1049,7 @@ const char* Webserver::HttpInterpreter::GetKeyValue(const char *key) const { for (size_t i = 0; i < numQualKeys; ++i) { - if (StringEquals(qualifiers[i].key, key)) + if (StringEqualsIgnoreCase(qualifiers[i].key, key)) { return qualifiers[i].value; } @@ -1464,7 +1477,7 @@ bool Webserver::HttpInterpreter::ProcessMessage() return RejectMessage("too few command words"); } - if (StringEquals(commandWords[0], "GET")) + if (StringEqualsIgnoreCase(commandWords[0], "GET")) { if (StringStartsWith(commandWords[1], KO_START)) { @@ -1483,29 +1496,29 @@ bool Webserver::HttpInterpreter::ProcessMessage() return true; } - if (StringEquals(commandWords[0], "OPTIONS")) + if (StringEqualsIgnoreCase(commandWords[0], "OPTIONS")) { NetworkTransaction *transaction = webserver->currentTransaction; - transaction->Write("HTTP/1.1 200 OK\n"); - transaction->Write("Allow: OPTIONS, GET, POST\n"); - transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\n"); - transaction->Write("Pragma: no-cache\n"); - transaction->Write("Expires: 0\n"); - transaction->Write("Access-Control-Allow-Origin: *\n"); - transaction->Write("Access-Control-Allow-Headers: Content-Type\n"); - transaction->Write("Content-Length: 0\n"); - transaction->Write("\n"); + transaction->Write("HTTP/1.1 200 OK\r\n"); + transaction->Write("Allow: OPTIONS, GET, POST\r\n"); + transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\r\n"); + transaction->Write("Pragma: no-cache\r\n"); + transaction->Write("Expires: 0\r\n"); + transaction->Write("Access-Control-Allow-Origin: *\r\n"); + transaction->Write("Access-Control-Allow-Headers: Content-Type\r\n"); + transaction->Write("Content-Length: 0\r\n"); + transaction->Write("\r\n"); transaction->Commit(false); ResetState(); return true; } - if (IsAuthenticated() && StringEquals(commandWords[0], "POST")) + if (IsAuthenticated() && StringEqualsIgnoreCase(commandWords[0], "POST")) { - const bool isUploadRequest = (StringEquals(commandWords[1], KO_START "upload")) - || (commandWords[1][0] == '/' && StringEquals(commandWords[1] + 1, KO_START "upload")); + const bool isUploadRequest = (StringEqualsIgnoreCase(commandWords[1], KO_START "upload")) + || (commandWords[1][0] == '/' && StringEqualsIgnoreCase(commandWords[1] + 1, KO_START "upload")); if (isUploadRequest) { const char* const filename = GetKeyValue("name"); @@ -1521,7 +1534,7 @@ bool Webserver::HttpInterpreter::ProcessMessage() bool contentLengthFound = false; for (size_t i = 0; i < numHeaderKeys; i++) { - if (StringEquals(headers[i].key, "Content-Length")) + if (StringEqualsIgnoreCase(headers[i].key, "Content-Length")) { postFileLength = atoi(headers[i].value); contentLengthFound = true; @@ -1599,7 +1612,7 @@ bool Webserver::HttpInterpreter::RejectMessage(const char* response, unsigned in platform->MessageF(UsbMessage, "Webserver: rejecting message with: %s\n", response); NetworkTransaction *transaction = webserver->currentTransaction; - transaction->Printf("HTTP/1.1 %u %s\nConnection: close\n\n", code, response); + transaction->Printf("HTTP/1.1 %u %s\nConnection: close\r\n\r\n", code, response); transaction->Commit(false); ResetState(); @@ -1735,14 +1748,14 @@ void Webserver::HttpInterpreter::ProcessDeferredRequest() deferredRequestConnection = NoConnection; // Got it - send the response now - transaction->Write("HTTP/1.1 200 OK\n"); - transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\n"); - transaction->Write("Pragma: no-cache\n"); - transaction->Write("Expires: 0\n"); - transaction->Write("Access-Control-Allow-Origin: *\n"); - transaction->Write("Content-Type: application/json\n"); - transaction->Printf("Content-Length: %u\n", (jsonResponse != nullptr) ? jsonResponse->Length() : 0); - transaction->Printf("Connection: close\n\n"); + transaction->Write("HTTP/1.1 200 OK\r\n"); + transaction->Write("Cache-Control: no-cache, no-store, must-revalidate\r\n"); + transaction->Write("Pragma: no-cache\r\n"); + transaction->Write("Expires: 0\r\n"); + transaction->Write("Access-Control-Allow-Origin: *\r\n"); + transaction->Write("Content-Type: application/json\r\n"); + transaction->Printf("Content-Length: %u\r\n", (jsonResponse != nullptr) ? jsonResponse->Length() : 0); + transaction->Printf("Connection: close\r\n\r\n"); transaction->Write(jsonResponse); transaction->Commit(false); @@ -1941,10 +1954,10 @@ void Webserver::FtpInterpreter::ProcessLine() // but check the password else if (StringStartsWith(clientMessage, "PASS")) { - char pass[PASSWORD_LENGTH]; + char pass[RepRapPasswordLength]; int pass_length = 0; bool reading_pass = false; - for(size_t i = 4; i < clientPointer && i < PASSWORD_LENGTH + 3; i++) + for(size_t i = 4; i < clientPointer && i < RepRapPasswordLength + 3; i++) { reading_pass |= (clientMessage[i] != ' ' && clientMessage[i] != '\t'); if (reading_pass) @@ -1974,17 +1987,17 @@ void Webserver::FtpInterpreter::ProcessLine() case authenticated: // get system type - if (StringEquals(clientMessage, "SYST")) + if (StringEqualsIgnoreCase(clientMessage, "SYST")) { SendReply(215, "UNIX Type: L8"); } // get features - else if (StringEquals(clientMessage, "FEAT")) + else if (StringEqualsIgnoreCase(clientMessage, "FEAT")) { SendFeatures(); } // get current dir - else if (StringEquals(clientMessage, "PWD")) + else if (StringEqualsIgnoreCase(clientMessage, "PWD")) { NetworkTransaction *transaction = webserver->currentTransaction; transaction->Printf("257 \"%s\"\r\n", currentDir); @@ -1997,7 +2010,7 @@ void Webserver::FtpInterpreter::ProcessLine() ChangeDirectory(filename.c_str()); } // change to parent of current directory - else if (StringEquals(clientMessage, "CDUP")) + else if (StringEqualsIgnoreCase(clientMessage, "CDUP")) { ChangeDirectory(".."); } @@ -2022,7 +2035,7 @@ void Webserver::FtpInterpreter::ProcessLine() SendReply(500, "Unknown command."); } // enter passive mode mode - else if (StringEquals(clientMessage, "PASV")) + else if (StringEqualsIgnoreCase(clientMessage, "PASV")) { /* get local IP address */ const uint8_t * const ip_address = network->GetIPAddress(); @@ -2041,7 +2054,7 @@ void Webserver::FtpInterpreter::ProcessLine() transaction->Commit(true); } // PASV commands are not supported in this state - else if (StringEquals(clientMessage, "LIST") || StringStartsWith(clientMessage, "RETR") || StringStartsWith(clientMessage, "STOR")) + else if (StringEqualsIgnoreCase(clientMessage, "LIST") || StringStartsWith(clientMessage, "RETR") || StringStartsWith(clientMessage, "STOR")) { SendReply(425, "Use PASV first."); } @@ -2135,12 +2148,12 @@ void Webserver::FtpInterpreter::ProcessLine() } } // no op - else if (StringEquals(clientMessage, "NOOP")) + else if (StringEqualsIgnoreCase(clientMessage, "NOOP")) { SendReply(200, "NOOP okay."); } // end connection - else if (StringEquals(clientMessage, "QUIT")) + else if (StringEqualsIgnoreCase(clientMessage, "QUIT")) { SendReply(221, "Goodbye.", false); ResetState(); @@ -2288,7 +2301,7 @@ void Webserver::FtpInterpreter::ProcessLine() case doingPasvIO: // abort current transfer - if (StringEquals(clientMessage, "ABOR")) + if (StringEqualsIgnoreCase(clientMessage, "ABOR")) { if (IsUploading()) { @@ -2372,13 +2385,13 @@ void Webserver::FtpInterpreter::ChangeDirectory(const char *newDirectory) SafeStrncpy(combinedPath, newDirectory, MaxFilenameLength); combinedPath[MaxFilenameLength - 1] = 0; } - else if (StringEquals(newDirectory, ".")) + else if (StringEqualsIgnoreCase(newDirectory, ".")) { SafeStrncpy(combinedPath, currentDir, ARRAY_SIZE(combinedPath)); } - else if (StringEquals(newDirectory, "..")) // go up + else if (StringEqualsIgnoreCase(newDirectory, "..")) // go up { - if (StringEquals(currentDir, "/")) + if (StringEqualsIgnoreCase(currentDir, "/")) { // we're already at the root, so we can't go up any more SendReply(550, "Failed to change directory."); @@ -2408,7 +2421,7 @@ void Webserver::FtpInterpreter::ChangeDirectory(const char *newDirectory) } /* Make sure the new path does not end with a '/', because FatFs won't see the directory otherwise */ - if (StringEndsWith(combinedPath, "/") && strlen(combinedPath) > 1) + if (StringEndsWithIgnoreCase(combinedPath, "/") && strlen(combinedPath) > 1) { combinedPath[strlen(combinedPath) -1] = 0; } @@ -2641,7 +2654,7 @@ bool Webserver::TelnetInterpreter::ProcessLine() case authenticated: // Special commands for Telnet - if (StringEquals(clientMessage, "exit") || StringEquals(clientMessage, "quit")) + if (StringEqualsIgnoreCase(clientMessage, "exit") || StringEqualsIgnoreCase(clientMessage, "quit")) { transaction->Write("Goodbye.\r\n"); transaction->Commit(false); diff --git a/src/Duet3/LinuxMessageFormats.h b/src/Duet3/LinuxMessageFormats.h new file mode 120000 index 00000000..04fde6ee --- /dev/null +++ b/src/Duet3/LinuxMessageFormats.h @@ -0,0 +1 @@ +/home/christian/Dropbox/Kleingewerbe/T3P3/SPITTY/LinuxMessageFormats.h
\ No newline at end of file diff --git a/src/Duet3/Pins_Duet3.h b/src/Duet3/Pins_Duet3.h index 12337323..352eb4b0 100644 --- a/src/Duet3/Pins_Duet3.h +++ b/src/Duet3/Pins_Duet3.h @@ -29,6 +29,8 @@ const size_t NumFirmwareUpdateModules = 4; // 3 modules, plus one for manual up #define SUPPORT_DHT_SENSOR 1 // set nonzero to support DHT temperature/humidity sensors #define SUPPORT_WORKPLACE_COORDINATES 1 // set nonzero to support G10 L2 and G53..59 #define SUPPORT_OBJECT_MODEL 1 +#define SUPPORT_FTP 1 +#define SUPPORT_TELNET 1 #define USE_CACHE 0 // Cache controller disabled for now @@ -42,8 +44,6 @@ constexpr size_t MaxTotalDrivers = NumDirectDrivers + MaxCanDrivers; constexpr size_t MinAxes = 3; // The minimum and default number of axes constexpr size_t MaxAxes = 9; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES -// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES -#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f,g,h,i } constexpr size_t MaxExtruders = MaxTotalDrivers - MinAxes; // The maximum number of extruders constexpr size_t MaxDriversPerAxis = 5; // The maximum number of stepper drivers assigned to one axis @@ -53,6 +53,8 @@ constexpr size_t NUM_SERIAL_CHANNELS = 2; // The number of serial IO channels #define SERIAL_AUX_DEVICE Serial #define SERIAL_WIFI_DEVICE Serial1 +constexpr Pin UsbVBusPin = PORTC_PIN(21); // Pin used to monitor VBUS on USB port + // The numbers of entries in each array must correspond with the values of DRIVES, AXES, or HEATERS. Set values to NoPin to flag unavailability. // DRIVES diff --git a/src/DuetM/Pins_DuetM.h b/src/DuetM/Pins_DuetM.h index 87ee327c..0dfd48be 100644 --- a/src/DuetM/Pins_DuetM.h +++ b/src/DuetM/Pins_DuetM.h @@ -35,6 +35,8 @@ constexpr size_t NumFirmwareUpdateModules = 1; // 1 module #define SUPPORT_WORKPLACE_COORDINATES 1 // set nonzero to support G10 L2 and G53..59 #define SUPPORT_12864_LCD 1 // set nonzero to support 12864 LCD and rotary encoder #define SUPPORT_OBJECT_MODEL 1 +#define SUPPORT_FTP 1 +#define SUPPORT_TELNET 1 // The physical capabilities of the machine @@ -49,8 +51,6 @@ constexpr size_t NumThermistorInputs = 4; constexpr size_t MinAxes = 3; // The minimum and default number of axes constexpr size_t MaxAxes = 6; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES -// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES -#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f } constexpr size_t MaxExtruders = NumDirectDrivers - MinAxes; // The maximum number of extruders constexpr size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis @@ -59,6 +59,9 @@ constexpr size_t NUM_SERIAL_CHANNELS = 2; // The number of serial IO channels #define SERIAL_MAIN_DEVICE SerialUSB #define SERIAL_AUX_DEVICE Serial +// SerialUSB +constexpr Pin UsbVBusPin = 47; // Pin used to monitor VBUS on USB port + #define I2C_IFACE Wire // First and only I2C interface #define I2C_IRQn WIRE_ISR_ID @@ -145,6 +148,11 @@ constexpr Pin SdSpiCSPins[1] = { 34 }; constexpr uint32_t ExpectedSdCardSpeed = 15000000; // 12864 LCD +// The ST7920 datasheet specifies minimum clock cycle time 400ns @ Vdd=4.5V, min. clock width 200ns high and 20ns low. +// This assumes that the Vih specification is met, which is 0.7 * Vcc = 3.5V @ Vcc=5V +// The Duet Maestro level shifts all 3 LCD signals to 5V, so we meet the Vih specification and can reliably run at 2MHz. +// For other electronics, there are reports that operation with 3.3V LCD signals may work if you reduce the clock frequency. +constexpr uint32_t LcdSpiClockFrequency = 2000000; // 2.0MHz constexpr Pin LcdCSPin = 45; constexpr Pin LcdBeepPin = 15; constexpr Pin EncoderPinA = 31; diff --git a/src/DuetNG/DueXn.cpp b/src/DuetNG/DueXn.cpp index 3a642559..3b4b745f 100644 --- a/src/DuetNG/DueXn.cpp +++ b/src/DuetNG/DueXn.cpp @@ -9,6 +9,7 @@ #include "SX1509.h" #include "Platform.h" #include "RepRap.h" +#include "Wire.h" namespace DuetExpansion { @@ -18,6 +19,7 @@ namespace DuetExpansion static uint16_t dueXnInputMask; static uint16_t dueXnInputBits = 0; static ExpansionBoardType dueXnBoardType = ExpansionBoardType::none; + static volatile bool dueXstateChanged = false; const uint8_t AdditionalIoExpanderAddress = 0x71; // address of the SX1509B we allow for general I/O expansion @@ -54,10 +56,15 @@ namespace DuetExpansion const unsigned int Gpio4Bit = 8; const uint16_t AllGpioBits = (1u << Gpio1Bit) | (1u << Gpio2Bit) | (1u << Gpio3Bit) | (1u <<Gpio4Bit); + static void DueXIrq(CallbackParameter p) + { + dueXstateChanged = true; + } + // Identify which expansion board (if any) is attached and initialise it ExpansionBoardType DueXnInit() { - reprap.GetPlatform().InitI2c(); // initialise I2C + reprap.GetPlatform().InitI2c(); // initialise I2C // DC 2018-07-12: occasionally the SX1509B isn't found after doing a software reset, so try a few more attempts bool ret; @@ -68,6 +75,7 @@ namespace DuetExpansion delay(50); ret = dueXnExpander.begin(DueXnAddress); } while (!ret && attempts < 5); + (void)I2C_IFACE.GetErrorCounts(true); // clear the error counts in case there wasn't a device there or we didn't find it first time if (ret) { @@ -92,6 +100,7 @@ namespace DuetExpansion // Set up the interrupt on any input change dueXnInputMask = stopBits | AllGpioBits; dueXnExpander.enableInterruptMultiple(dueXnInputMask, INTERRUPT_MODE_CHANGE); + attachInterrupt(DueX_INT, DueXIrq, InterruptMode::INTERRUPT_MODE_FALLING, nullptr); // Clear any initial interrupts (void)dueXnExpander.interruptSource(true); @@ -104,7 +113,7 @@ namespace DuetExpansion // Look for an additional output pin expander void AdditionalOutputInit() { - reprap.GetPlatform().InitI2c(); // initialise I2C + reprap.GetPlatform().InitI2c(); // initialise I2C bool ret; unsigned int attempts = 0; @@ -114,6 +123,7 @@ namespace DuetExpansion delay(50); ret = additionalIoExpander.begin(AdditionalIoExpanderAddress); } while (!ret && attempts < 5); + (void)I2C_IFACE.GetErrorCounts(true); // clear the error counts in case there wasn't a device there or we didn't find it first time if (ret) { @@ -147,11 +157,12 @@ namespace DuetExpansion // Update the input bits. The purpose of this is so that the step interrupt can pick up values that are fairly up-to-date, // even though it is not safe for it to call expander.digitalReadAll(). When we move to RTOS, this will be a high priority task. - void Spin(bool full) + void Spin() { - if (dueXnBoardType != ExpansionBoardType::none && !digitalRead(DueX_INT)) + if (dueXnBoardType != ExpansionBoardType::none && dueXstateChanged && !inInterrupt() && __get_BASEPRI() == 0) { - // Interrupt is active, so input data may have changed + // Interrupt occurred, so input data may have changed + dueXstateChanged = false; dueXnInputBits = dueXnExpander.digitalReadAll(); } @@ -202,14 +213,14 @@ namespace DuetExpansion } // Read a pin - // We need to use the SX15089 interrupt to read the data register using interrupts, and just retrieve that value here. + // We need to use the SX1509 interrupt to read the data register using interrupts, and just retrieve that value here. bool DigitalRead(Pin pin) { if (pin >= DueXnExpansionStart && pin < DueXnExpansionStart + 16) { if (dueXnBoardType != ExpansionBoardType::none) { - if (!digitalRead(DueX_INT) && !inInterrupt()) // we must not call expander.digitalRead() from within an ISR + if (!digitalRead(DueX_INT) && !inInterrupt() && __get_BASEPRI() == 0) // we must not call expander.digitalRead() from within an ISR or if the tick interrupt is disabled { // Interrupt is active, so input data may have changed dueXnInputBits = dueXnExpander.digitalReadAll(); @@ -224,7 +235,7 @@ namespace DuetExpansion { // We don't have an interrupt from the additional I/O expander, so always read fresh data. // If this is called from inside an ISR, we will get stale data. - if (!inInterrupt()) // we must not call expander.digitalRead() from within an ISR + if (!inInterrupt() && __get_BASEPRI() == 0) // we must not call expander.digitalRead() from within an ISR { additionalIoInputBits = additionalIoExpander.digitalReadAll(); } @@ -275,18 +286,9 @@ namespace DuetExpansion } // Print diagnostic data + // I2C error counts are now reported by Platform, so nothing to report here. void Diagnostics(MessageType mtype) { - Platform& p = reprap.GetPlatform(); - p.Message(mtype, "=== Expansion ===\n"); - if (dueXnBoardType != ExpansionBoardType::none) - { - p.MessageF(mtype, "DueX I2C errors %" PRIu32 "\n", dueXnExpander.GetErrorCount()); - } - if (additionalIoExpanderPresent) - { - p.MessageF(mtype, "Additional expander I2C errors %" PRIu32 "\n", additionalIoExpander.GetErrorCount()); - } } // Diagnose the SX1509 by setting all pins as inputs and reading them diff --git a/src/DuetNG/DueXn.h b/src/DuetNG/DueXn.h index 59ee3924..bdd479c3 100644 --- a/src/DuetNG/DueXn.h +++ b/src/DuetNG/DueXn.h @@ -31,7 +31,7 @@ namespace DuetExpansion void DigitalWrite(Pin pin, bool high); // Write a pin void AnalogOut(Pin pin, float pwm); // Set the PWM value on this pin uint16_t DiagnosticRead(); // Diagnose the SX1509 by setting all pins as inputs and reading them - void Spin(bool full); // Task to keep the endstop inputs up to date + void Spin(); // Task to keep the endstop inputs up to date void Diagnostics(MessageType mtype); // Print diagnostic data }; diff --git a/src/DuetNG/Pins_DuetNG.h b/src/DuetNG/Pins_DuetNG.h index d3381b9d..5531f6d6 100644 --- a/src/DuetNG/Pins_DuetNG.h +++ b/src/DuetNG/Pins_DuetNG.h @@ -10,9 +10,8 @@ constexpr size_t NumFirmwareUpdateModules = 4; // 3 modules, plus one for manua // Features definition #define HAS_LWIP_NETWORKING 0 - -# define HAS_WIFI_NETWORKING 1 -# define HAS_W5500_NETWORKING 1 +#define HAS_WIFI_NETWORKING 1 +#define HAS_W5500_NETWORKING 1 #define HAS_CPU_TEMP_SENSOR 1 #define HAS_HIGH_SPEED_SD 1 @@ -29,7 +28,10 @@ constexpr size_t NumFirmwareUpdateModules = 4; // 3 modules, plus one for manua #define SUPPORT_IOBITS 1 // set to support P parameter in G0/G1 commands #define SUPPORT_DHT_SENSOR 1 // set nonzero to support DHT temperature/humidity sensors #define SUPPORT_WORKPLACE_COORDINATES 1 // set nonzero to support G10 L2 and G53..59 +#define SUPPORT_12864_LCD 0 // set nonzero to support 12864 LCD and rotary encoder #define SUPPORT_OBJECT_MODEL 1 +#define SUPPORT_FTP 1 +#define SUPPORT_TELNET 1 #define USE_CACHE 1 // set nonzero to enable the cache @@ -46,8 +48,6 @@ constexpr size_t NumThermistorInputs = 8; constexpr size_t MinAxes = 3; // The minimum and default number of axes constexpr size_t MaxAxes = 9; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES -// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES -#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f,g,h,i } constexpr size_t MaxExtruders = NumDirectDrivers - MinAxes; // The maximum number of extruders constexpr size_t MaxDriversPerAxis = 5; // The maximum number of stepper drivers assigned to one axis @@ -57,6 +57,8 @@ constexpr size_t NUM_SERIAL_CHANNELS = 2; // The number of serial IO channels #define SERIAL_AUX_DEVICE Serial #define SERIAL_WIFI_DEVICE Serial1 +constexpr Pin UsbVBusPin = 54; // Pin used to monitor VBUS on USB port + #define I2C_IFACE Wire // Which TWI interface we use #define I2C_IRQn WIRE_ISR_ID // The interrupt number it uses diff --git a/src/DuetNG/SX1509.cpp b/src/DuetNG/SX1509.cpp index 9fec271c..9c8bb129 100644 --- a/src/DuetNG/SX1509.cpp +++ b/src/DuetNG/SX1509.cpp @@ -23,14 +23,17 @@ Distributed as-is; no warranty is given. #include "RepRapFirmware.h" #include "Wire.h" +#include "Tasks.h" #include "SX1509.h" #include "SX1509Registers.h" #include "RTOSIface/RTOSIface.h" -SX1509::SX1509() : _clkX(0), errorCount(0) +SX1509::SX1509() : _clkX(0) { } +//************* Public functions. These must all acquire and release the I2C mutex around any I2C transactions. *********** + // Test for the presence of a SX1509B. The I2C subsystem must be initialised before calling this. bool SX1509::begin(uint8_t address) { @@ -43,7 +46,7 @@ bool SX1509::begin(uint8_t address) pwmPins = 0; // Communication test. We'll read from two registers with different default values to verify communication. - TaskCriticalSectionLocker lock; + MutexLocker lock(Tasks::GetI2CMutex()); const uint16_t testRegisters = readWord(REG_INTERRUPT_MASK_A); // this should return 0xFF00 const bool ok = (testRegisters == 0xFF00); @@ -59,43 +62,13 @@ bool SX1509::begin(uint8_t address) // Reset the SX1509B void SX1509::reset() { - TaskCriticalSectionLocker lock; + MutexLocker lock(Tasks::GetI2CMutex()); // Software reset command sequence: writeByte(REG_RESET, 0x12); writeByte(REG_RESET, 0x34); } -void SX1509::setBitsInWord(uint8_t registerAddress, uint16_t bits) -{ - if (bits != 0) - { - const uint16_t regVal = readWord(registerAddress); - writeWord(registerAddress, regVal | bits); - } -} - -void SX1509::clearBitsInWord(uint8_t registerAddress, uint16_t bits) -{ - if (bits != 0) - { - const uint16_t regVal = readWord(registerAddress); - writeWord(registerAddress, regVal & (~bits)); - } -} - -void SX1509::analogWriteMultiple(uint16_t pins, uint8_t pwm) -{ - for (uint8_t pin = 0; pins != 0; ++pin) - { - if ((pins & 1u) != 0) - { - analogWrite(pin, pwm); - } - pins >>= 1; - } -} - void SX1509::pinMode(uint8_t pin, PinMode inOut) { pinModeMultiple(1u << pin, inOut); @@ -106,7 +79,7 @@ void SX1509::pinMode(uint8_t pin, PinMode inOut) // So we track which pins are in PWM (i.e. LED driver) mode, and we never try to switch them back to being ordinary outputs. void SX1509::pinModeMultiple(uint16_t pins, PinMode inOut) { - TaskCriticalSectionLocker lock; + MutexLocker lock(Tasks::GetI2CMutex()); switch (inOut) { @@ -183,7 +156,7 @@ void SX1509::pinModeMultiple(uint16_t pins, PinMode inOut) void SX1509::digitalWrite(uint8_t pin, bool highLow) { - TaskCriticalSectionLocker lock; + MutexLocker lock(Tasks::GetI2CMutex()); if (((1u << pin) & pwmPins) != 0) { @@ -201,7 +174,7 @@ void SX1509::digitalWrite(uint8_t pin, bool highLow) bool SX1509::digitalRead(uint8_t pin) { - TaskCriticalSectionLocker lock; + MutexLocker lock(Tasks::GetI2CMutex()); if (pin >= 8) { @@ -215,7 +188,7 @@ bool SX1509::digitalRead(uint8_t pin) uint16_t SX1509::digitalReadAll() { - TaskCriticalSectionLocker lock; + MutexLocker lock(Tasks::GetI2CMutex()); return readWord(REG_DATA_B); } @@ -267,7 +240,7 @@ void SX1509::ledDriverInitMultiple(uint16_t pins, bool log, bool openDrain) void SX1509::analogWrite(uint8_t pin, uint8_t iOn) { - TaskCriticalSectionLocker lock; + MutexLocker lock(Tasks::GetI2CMutex()); // Write the on intensity of pin // Linear mode: Ion = iOn @@ -306,7 +279,7 @@ void SX1509::enableInterruptMultiple(uint16_t pins, uint8_t riseFall) sensitivity = 0; } - TaskCriticalSectionLocker lock; + MutexLocker lock(Tasks::GetI2CMutex()); uint32_t pinMask = readDword(REG_SENSE_HIGH_B); for (unsigned int i = 0; i < 16; ++i) @@ -338,6 +311,38 @@ bool SX1509::checkInterrupt(uint8_t pin) return (interruptSource(false) & (1u << pin)) != 0; } +//********* Private functions. The I2C mutex must be owned by the caller. *********** + +void SX1509::setBitsInWord(uint8_t registerAddress, uint16_t bits) +{ + if (bits != 0) + { + const uint16_t regVal = readWord(registerAddress); + writeWord(registerAddress, regVal | bits); + } +} + +void SX1509::clearBitsInWord(uint8_t registerAddress, uint16_t bits) +{ + if (bits != 0) + { + const uint16_t regVal = readWord(registerAddress); + writeWord(registerAddress, regVal & (~bits)); + } +} + +void SX1509::analogWriteMultiple(uint16_t pins, uint8_t pwm) +{ + for (uint8_t pin = 0; pins != 0; ++pin) + { + if ((pins & 1u) != 0) + { + analogWrite(pin, pwm); + } + pins >>= 1; + } +} + void SX1509::clock(uint8_t oscDivider) { // RegClock constructed as follows: @@ -406,29 +411,13 @@ uint8_t SX1509::calculateSlopeRegister(int ms, uint8_t onIntensity, uint8_t offI // - Currently returns 0 if communication has timed out uint8_t SX1509::readByte(uint8_t registerAddress) { - unsigned int timeout = ReceiveTimeout; - - I2C_IFACE.beginTransmission(deviceAddress); - I2C_IFACE.write(registerAddress); - if (I2C_IFACE.endTransmission() != 0) - { - ++errorCount; - return 0; - } - I2C_IFACE.requestFrom(deviceAddress, (uint8_t) 1); - - while ((I2C_IFACE.available() < 1) && (timeout != 0)) + uint8_t data[2]; + data[0] = registerAddress; + if (I2C_IFACE.Transfer(deviceAddress, data, 1, 1) == 2) { - timeout--; + return data[1]; } - - if (timeout == 0) - { - ++errorCount; - return 0; - } - - return I2C_IFACE.read(); + return 0; } // readWord(uint8_t registerAddress) @@ -438,86 +427,40 @@ uint8_t SX1509::readByte(uint8_t registerAddress) // - The lsb of the return value will contain the value read from registerAddress + 1 uint16_t SX1509::readWord(uint8_t registerAddress) { - unsigned int timeout = ReceiveTimeout * 2; - - I2C_IFACE.beginTransmission(deviceAddress); - I2C_IFACE.write(registerAddress); - if (I2C_IFACE.endTransmission() != 0) - { - ++errorCount; - return 0; - } - I2C_IFACE.requestFrom(deviceAddress, (uint8_t) 2); - - while (I2C_IFACE.available() < 2 && timeout != 0) + uint8_t data[3]; + data[0] = registerAddress; + if (I2C_IFACE.Transfer(deviceAddress, data, 1, 2) == 3) { - timeout--; - } - - if (timeout == 0) - { - ++errorCount; - return 0; + return (data[1] << 8) | data[2]; } - - const uint16_t msb = (I2C_IFACE.read() & 0x00FF) << 8; - const uint16_t lsb = (I2C_IFACE.read() & 0x00FF); - return msb | lsb; + return 0; } // readDword(uint8_t registerAddress) -// This function will read a two-uint8_t word beginning at registerAddress +// This function will read a four-uint8_t word beginning at registerAddress // - A 32-bit unsigned int will be returned. // - The msb of the return value will contain the value read from registerAddress // - The lsb of the return value will contain the value read from registerAddress + 1 uint32_t SX1509::readDword(uint8_t registerAddress) { - unsigned int timeout = ReceiveTimeout * 2; - - I2C_IFACE.beginTransmission(deviceAddress); - I2C_IFACE.write(registerAddress); - if (I2C_IFACE.endTransmission() != 0) - { - ++errorCount; - return 0; - } - I2C_IFACE.requestFrom(deviceAddress, (uint8_t) 4); - - while ((I2C_IFACE.available() < 4) && (timeout != 0)) - { - timeout--; - } - - if (timeout == 0) + uint8_t data[5]; + data[0] = registerAddress; + if (I2C_IFACE.Transfer(deviceAddress, data, 1, 4) == 5) { - ++errorCount; - return 0; + return (data[1] << 24) | (data[2] << 16) | (data[3] << 8) | data[4]; } - - uint32_t rslt = I2C_IFACE.read() & 0x00FF; - rslt <<= 8; - rslt |= (I2C_IFACE.read() & 0x00FF); - rslt <<= 8; - rslt |= (I2C_IFACE.read() & 0x00FF); - rslt <<= 8; - rslt |= (I2C_IFACE.read() & 0x00FF); - return rslt; + return 0; } // writeByte(uint8_t registerAddress, uint8_t writeValue) // This function writes a single uint8_t to a single register on the SX509. // - writeValue is written to registerAddress -// - deviceAddres should already be set from the constructor +// - deviceAddress should already be set from the constructor // - No return value. void SX1509::writeByte(uint8_t registerAddress, uint8_t writeValue) { - I2C_IFACE.beginTransmission(deviceAddress); - I2C_IFACE.write(registerAddress); - I2C_IFACE.write(writeValue); - if (I2C_IFACE.endTransmission() != 0) - { - ++errorCount; - } + uint8_t data[2] = { registerAddress, writeValue }; + (void)I2C_IFACE.Transfer(deviceAddress, data, 2, 0); } // writeWord(uint8_t registerAddress, uint16_t writeValue) @@ -527,14 +470,8 @@ void SX1509::writeByte(uint8_t registerAddress, uint8_t writeValue) // - No return value. void SX1509::writeWord(uint8_t registerAddress, uint16_t writeValue) { - I2C_IFACE.beginTransmission(deviceAddress); - I2C_IFACE.write(registerAddress); - I2C_IFACE.write((uint8_t)(writeValue >> 8)); - I2C_IFACE.write((uint8_t)writeValue); - if (I2C_IFACE.endTransmission() != 0) - { - ++errorCount; - } + uint8_t data[3] = { registerAddress, (uint8_t)(writeValue >> 8), (uint8_t)writeValue }; + (void)I2C_IFACE.Transfer(deviceAddress, data, 3, 0); } // writeDword(uint8_t registerAddress, uint32_t writeValue) @@ -542,16 +479,8 @@ void SX1509::writeWord(uint8_t registerAddress, uint16_t writeValue) // - No return value. void SX1509::writeDword(uint8_t registerAddress, uint32_t writeValue) { - I2C_IFACE.beginTransmission(deviceAddress); - I2C_IFACE.write(registerAddress); - I2C_IFACE.write((uint8_t)(writeValue >> 24)); - I2C_IFACE.write((uint8_t)(writeValue >> 16)); - I2C_IFACE.write((uint8_t)(writeValue >> 8)); - I2C_IFACE.write((uint8_t)writeValue); - if (I2C_IFACE.endTransmission() != 0) - { - ++errorCount; - } + uint8_t data[5] = { registerAddress, (uint8_t)(writeValue >> 24), (uint8_t)(writeValue >> 16), (uint8_t)(writeValue >> 8), (uint8_t)writeValue }; + (void)I2C_IFACE.Transfer(deviceAddress, data, 5, 0); } // End diff --git a/src/DuetNG/SX1509.h b/src/DuetNG/SX1509.h index 96a6a59b..64587c5c 100644 --- a/src/DuetNG/SX1509.h +++ b/src/DuetNG/SX1509.h @@ -37,7 +37,6 @@ private: // Misc variables: uint32_t _clkX; // clock speed uint16_t pwmPins; // bitmap of pins configured as PWM output pins - uint32_t errorCount; // Read Functions: uint8_t readByte(uint8_t registerAddress); @@ -63,6 +62,16 @@ private: // register, given the number of milliseconds and LED clock frequency. uint8_t calculateSlopeRegister(int ms, uint8_t onIntensity, uint8_t offIntensity); + + // ----------------------------------------------------------------------------- + // clock(uint8_t oscDivider) + // This function configures the speed of the cloak, which is used to drive LEDs and time debounces. + // + // Inputs: + // - oscDivider: Sets the clock divider in REG_MISC. Clock is 2MHz / (1 << (oscDivider - 1). PWM frequency is 1/256 of that. + // ----------------------------------------------------------------------------- + void clock(uint8_t oscDivider); + public: // ----------------------------------------------------------------------------- // Constructor - SX1509: This function sets up the pins connected to the @@ -70,8 +79,6 @@ public: // ----------------------------------------------------------------------------- SX1509(); - uint32_t GetErrorCount() const { return errorCount; } - // ----------------------------------------------------------------------------- // begin(uint8_t address): This function initializes the SX1509. // It begins the Wire library, resets the IC, and tries to read some @@ -181,187 +188,6 @@ public: // ----------------------------------------------------------------------------- void analogWrite(uint8_t pin, uint8_t iOn); -#if 0 // these functions are not used - - // ----------------------------------------------------------------------------- - // setupBlink(uint8_t pin, uint8_t tOn, uint8_t tOff, uint8_t offIntensity, uint8_t tRise, uint8_t - // tFall): blink performs both the blink and breath LED driver functions. - // - // Inputs: - // - pin: the SX1509 pin (0-15) you want to set blinking/breathing. - // - tOn: the amount of time the pin is HIGH - // - This value should be between 1 and 31. 0 is off. - // - tOff: the amount of time the pin is at offIntensity - // - This value should be between 1 and 31. 0 is off. - // - offIntensity: How dim the LED is during the off period. - // - This value should be between 0 and 7. 0 is completely off. - // - onIntensity: How bright the LED will be when completely on. - // - This value can be between 0 (0%) and 255 (100%). - // - tRise: This sets the time the LED takes to fade in. - // - This value should be between 1 and 31. 0 is off. - // - This value is used with tFall to make the LED breath. - // - tFall: This sets the time the LED takes to fade out. - // - This value should be between 1 and 31. 0 is off. - // Notes: - // - The breathable pins are 4, 5, 6, 7, 12, 13, 14, 15 only. If tRise and - // tFall are set on 0-3 or 8-11 those pins will still only blink. - // - ledDriverInit should be called on the pin to be blinked before this. - // ----------------------------------------------------------------------------- - void setupBlink(uint8_t pin, uint8_t tOn, uint8_t toff, uint8_t onIntensity = 255, uint8_t offIntensity = 0, - uint8_t tRise = 0, uint8_t tFall = 0, bool log = false, bool openDrain = false); - - // ----------------------------------------------------------------------------- - // blink(uint8_t pin, unsigned long tOn, unsigned long tOff, uint8_t onIntensity, uint8_t offIntensity); - // Set a pin to blink output for estimated on/off millisecond durations. - // - // Inputs: - // - pin: the SX1509 pin (0-15) you want to set blinking - // - tOn: estimated number of milliseconds the pin is LOW (LED sinking current will be on) - // - tOff: estimated number of milliseconds the pin is HIGH (LED sinking current will be off) - // - onIntensity: 0-255 value determining LED on brightness - // - offIntensity: 0-255 value determining LED off brightness - // Notes: - // - The breathable pins are 4, 5, 6, 7, 12, 13, 14, 15 only. If tRise and - // tFall are set on 0-3 or 8-11 those pins will still only blink. - // - ledDriverInit should be called on the pin to be blinked before this. - // ----------------------------------------------------------------------------- - void blink(uint8_t pin, unsigned long tOn, unsigned long tOff, uint8_t onIntensity = 255, uint8_t offIntensity = 0); - - // ----------------------------------------------------------------------------- - // breathe(uint8_t pin, unsigned long tOn, unsigned long tOff, unsigned long rise, unsigned long fall, uint8_t onInt, uint8_t offInt, bool log); - // Set a pin to breathe output for estimated on/off millisecond durations, with - // estimated rise and fall durations. - // - // Inputs: - // - pin: the SX1509 pin (0-15) you want to set blinking - // - tOn: estimated number of milliseconds the pin is LOW (LED sinking current will be on) - // - tOff: estimated number of milliseconds the pin is HIGH (LED sinking current will be off) - // - rise: estimated number of milliseconds the pin rises from LOW to HIGH - // - falll: estimated number of milliseconds the pin falls from HIGH to LOW - // - onIntensity: 0-255 value determining LED on brightness - // - offIntensity: 0-255 value determining LED off brightness - // Notes: - // - The breathable pins are 4, 5, 6, 7, 12, 13, 14, 15 only. If tRise and - // tFall are set on 0-3 or 8-11 those pins will still only blink. - // - ledDriverInit should be called on the pin to be blinked before this, - // Or call pinMode(<pin>, ANALOG_OUTPUT); - // ----------------------------------------------------------------------------- - void breathe(uint8_t pin, unsigned long tOn, unsigned long tOff, unsigned long rise, unsigned long fall, - uint8_t onInt = 255, uint8_t offInt = 0, bool log = false, bool openDrain = false); - - // ----------------------------------------------------------------------------- - // keypad(uint8_t rows, uint8_t columns, uint8_t sleepTime, uint8_t scanTime, uint8_t debounceTime) - // Initializes the keypad function on the SX1509. Millisecond durations for sleep, - // scan, and debounce can be set. - // - // Inputs: - // - rows: The number of rows in the button matrix. - // - This value must be between 1 and 7. 0 will turn it off. - // - eg: 1 = 2 rows, 2 = 3 rows, 7 = 8 rows, etc. - // - columns: The number of columns in the button matrix - // - This value should be between 0 and 7. - // - 0 = 1 column, 7 = 8 columns, etc. - // - sleepTime: Sets the auto-sleep time of the keypad engine. - // Should be a millisecond duration between 0 (OFF) and 8000 (8 seconds). - // Possible values are 0, 128, 256, 512, 1000, 2000, 4000, 8000 - // - scanTime: Sets the scan time per row. Must be set above debounce. - // Should be a millisecond duration between 1 and 128. - // Possible values are 1, 2, 4, 8, 16, 32, 64, 128. - // - debounceTime: Sets the debounc time per button. Must be set below scan. - // Should be a millisecond duration between 0 and 64. - // Possible values are 0 (0.5), 1, 2, 4, 8, 16, 32, 64. - // ----------------------------------------------------------------------------- - void keypad(uint8_t rows, uint8_t columns, unsigned int sleepTime = 0, uint8_t scanTime = 1, uint8_t debounceTime = 0); - - // ----------------------------------------------------------------------------- - // readKeypad(): This function returns a 16-bit value containing the status of - // keypad engine. - // - // Output: - // A 16-bit value is returned. The lower 8 bits represent the up-to 8 rows, - // while the MSB represents the up-to 8 columns. Bit-values of 1 indicate a - // button in that row or column is being pressed. As such, at least two - // bits should be set. - // ----------------------------------------------------------------------------- - uint16_t readKeypad(); - - // ----------------------------------------------------------------------------- - // getRow(): This function returns the first active row from the return value of - // readKeypad(). - // - // Input: - // - keyData: Should be the unsigned int value returned from readKeypad(). - // Output: - // A 16-bit value is returned. The lower 8 bits represent the up-to 8 rows, - // while the MSB represents the up-to 8 columns. Bit-values of 1 indicate a - // button in that row or column is being pressed. As such, at least two - // bits should be set. - // ----------------------------------------------------------------------------- - uint8_t getRow(uint16_t keyData); - - // ----------------------------------------------------------------------------- - // getCol(): This function returns the first active column from the return value of - // readKeypad(). - // - // Input: - // - keyData: Should be the unsigned int value returned from readKeypad(). - // Output: - // A 16-bit value is returned. The lower 8 bits represent the up-to 8 rows, - // while the MSB represents the up-to 8 columns. Bit-values of 1 indicate a - // button in that row or column is being pressed. As such, at least two - // bits should be set. - // ----------------------------------------------------------------------------- - uint8_t getCol(uint16_t keyData); - - // ----------------------------------------------------------------------------- - // debounceConfig(uint8_t configValue): This method configures the debounce time of - // every input. - // - // Input: - // - configValue: A 3-bit value configuring the debounce time. - // 000: 0.5ms * 2MHz/fOSC - // 001: 1ms * 2MHz/fOSC - // 010: 2ms * 2MHz/fOSC - // 011: 4ms * 2MHz/fOSC - // 100: 8ms * 2MHz/fOSC - // 101: 16ms * 2MHz/fOSC - // 110: 32ms * 2MHz/fOSC - // 111: 64ms * 2MHz/fOSC - // ----------------------------------------------------------------------------- - void debounceConfig(uint8_t configVaule); - - // ----------------------------------------------------------------------------- - // debounceTime(uint8_t configValue): This method configures the debounce time of - // every input to an estimated millisecond time duration. - // - // Input: - // - time: A millisecond duration estimating the debounce time. Actual - // debounce time will depend on fOSC. Assuming it's 2MHz, debounce will - // be set to the 0.5, 1, 2, 4, 8, 16, 32, or 64 ms (whatever's closest) - // ----------------------------------------------------------------------------- - void debounceTime(uint8_t time); - - // ----------------------------------------------------------------------------- - // debouncePin(uint8_t pin): This method enables debounce on SX1509 input pin. - // - // Input: - // - pin: The SX1509 pin to be debounced. Should be between 0 and 15. - // ----------------------------------------------------------------------------- - void debouncePin(uint8_t pin); - - // ----------------------------------------------------------------------------- - // debounceKeypad(uint8_t pin): This method enables debounce on all pins connected - // to a row/column keypad matrix. - // - // Input: - // - time: Millisecond time estimate for debounce (see debounceTime()). - // - numRows: The number of rows in the keypad matrix. - // - numCols: The number of columns in the keypad matrix. - // ----------------------------------------------------------------------------- - void debounceKeypad(uint8_t time, uint8_t numRows, uint8_t numCols); - -#endif - // ----------------------------------------------------------------------------- // enableInterrupt(uint8_t pin, uint8_t riseFall): This function sets up an interrupt // on a pin. Interrupts can occur on all SX1509 pins, and can be generated @@ -421,15 +247,6 @@ public: // - pin: Pin to be checked for generating an input. // ----------------------------------------------------------------------------- bool checkInterrupt(uint8_t pin); - - // ----------------------------------------------------------------------------- - // clock(uint8_t oscDivider) - // This function configures the speed of the cloak, which is used to drive LEDs and time debounces. - // - // Inputs: - // - oscDivider: Sets the clock divider in REG_MISC. Clock is 2MHz / (1 << (oscDivider - 1). PWM frequency is 1/256 of that. - // ----------------------------------------------------------------------------- - void clock(uint8_t oscDivider); }; #endif // SX1509_H diff --git a/src/Fans/Fan.cpp b/src/Fans/Fan.cpp index ea96cc90..46dcb9a2 100644 --- a/src/Fans/Fan.cpp +++ b/src/Fans/Fan.cpp @@ -162,8 +162,7 @@ bool Fan::Configure(unsigned int mcode, int fanNum, GCodeBuffer& gb, const Strin // We only act on the 'S' parameter here if we have processed other parameters if (seen && gb.Seen('S')) // Set new fan value - process this after processing 'H' or it may not be acted on { - const float f = constrain<float>(gb.GetFValue(), 0.0, 255.0); - SetPwm(f); + SetPwm(ConvertOldStylePwm(gb.GetFValue())); } if (seen) diff --git a/src/FilamentMonitors/Duet3DFilamentMonitor.cpp b/src/FilamentMonitors/Duet3DFilamentMonitor.cpp index 1729abdf..e698f66e 100644 --- a/src/FilamentMonitors/Duet3DFilamentMonitor.cpp +++ b/src/FilamentMonitors/Duet3DFilamentMonitor.cpp @@ -13,7 +13,7 @@ // Constructors Duet3DFilamentMonitor::Duet3DFilamentMonitor(unsigned int extruder, int type) - : FilamentMonitor(extruder, type) + : FilamentMonitor(extruder, type), overrunErrorCount(0), polarityErrorCount(0) { InitReceiveBuffer(); } @@ -28,18 +28,19 @@ void Duet3DFilamentMonitor::InitReceiveBuffer() // ISR for when the pin state changes. It should return true if the ISR wants the commanded extrusion to be fetched. bool Duet3DFilamentMonitor::Interrupt() { - bool wantReading = false; uint32_t now = StepTimer::GetInterruptClocks(); + bool wantReading = false; const size_t writePointer = edgeCaptureWritePointer; // capture volatile variable - if ((writePointer + 1) % EdgeCaptureBufferSize != edgeCaptureReadPointer) + if ((writePointer + 1) % EdgeCaptureBufferSize != edgeCaptureReadPointer) // if buffer is not full { if (IoPort::ReadPin(GetPin())) { if ((writePointer & 1) == 0) // low-to-high transitions should occur on odd indices { + ++polarityErrorCount; return false; } - if (state == RxdState::waitingForStartBit && writePointer == edgeCaptureReadPointer) + if (state == RxdState::waitingForStartBit && writePointer == edgeCaptureReadPointer && !HaveIsrStepsCommanded()) { wantReading = true; // if this is a possible start bit, ask for the extrusion commanded } @@ -48,14 +49,19 @@ bool Duet3DFilamentMonitor::Interrupt() { if ((writePointer & 1) != 0) // high-to-low transitions should occur on even indices { + ++polarityErrorCount; return false; } - now -= 40; // partial correction for skew caused by debounce filter on Duet endstop inputs (measured skew = 74) + now -= 40; // partial correction for skew caused by debounce filter on older Duet endstop inputs (measured skew = 74) } - } - edgeCaptures[writePointer] = now; // record the time at which this edge was detected - edgeCaptureWritePointer = (writePointer + 1) % EdgeCaptureBufferSize; + edgeCaptures[writePointer] = now; // record the time at which this edge was detected + edgeCaptureWritePointer = (writePointer + 1) % EdgeCaptureBufferSize; + } + else + { + ++overrunErrorCount; + } return wantReading; } @@ -63,11 +69,11 @@ bool Duet3DFilamentMonitor::Interrupt() Duet3DFilamentMonitor::PollResult Duet3DFilamentMonitor::PollReceiveBuffer(uint16_t& measurement) { // For the Duet3D sensors we need to decode the received data from the transition times recorded in the edgeCaptures array - static constexpr uint32_t BitsPerSecond = 1000; // the nominal bit rate that the data is transmitted at - static constexpr uint32_t NominalBitLength = StepTimer::StepClockRate/BitsPerSecond; // the nominal bit length in step clocks - static constexpr uint32_t MinBitLength = (NominalBitLength * 10)/13; // allow 30% clock speed tolerance - static constexpr uint32_t MaxBitLength = (NominalBitLength * 13)/10; // allow 30% clock speed tolerance - static constexpr uint32_t ErrorRecoveryDelayBits = 8; // before a start bit we want the line to be low for this long + static constexpr uint32_t BitsPerSecond = 1000; // the nominal bit rate that the data is transmitted at + static constexpr uint32_t NominalBitLength = StepTimer::StepClockRate/BitsPerSecond; // the nominal bit length in step clocks + static constexpr uint32_t MinBitLength = (NominalBitLength * 10)/13; // allow 30% clock speed tolerance + static constexpr uint32_t MaxBitLength = (NominalBitLength * 13)/10; // allow 30% clock speed tolerance + static constexpr uint32_t ErrorRecoveryDelayBits = 8; // before a start bit we want the line to be low for this long static constexpr uint32_t ErrorRecoveryTime = NominalBitLength * ErrorRecoveryDelayBits; bool again; @@ -118,7 +124,6 @@ Duet3DFilamentMonitor::PollResult Duet3DFilamentMonitor::PollReceiveBuffer(uint1 nibblesAssembled = 0; state = RxdState::waitingForNibble; again = true; - //debugPrintf("sb %u\n", startBitLength); } else { @@ -153,6 +158,7 @@ Duet3DFilamentMonitor::PollResult Duet3DFilamentMonitor::PollReceiveBuffer(uint1 nextBitChangeIndex = (lastBitChangeIndex + 1u) % EdgeCaptureBufferSize; if (nextBitChangeIndex != writePointer && edgeCaptures[nextBitChangeIndex] - nibbleStartTime < samplePoint) { + // We recorded two edges within one sample period edgeCaptureReadPointer = nextBitChangeIndex; state = RxdState::errorRecovery3; again = true; diff --git a/src/FilamentMonitors/Duet3DFilamentMonitor.h b/src/FilamentMonitors/Duet3DFilamentMonitor.h index 214f7d6c..4456a87e 100644 --- a/src/FilamentMonitors/Duet3DFilamentMonitor.h +++ b/src/FilamentMonitors/Duet3DFilamentMonitor.h @@ -32,6 +32,10 @@ protected: bool IsReceiving() const; bool IsWaitingForStartBit() const; +protected: + uint32_t overrunErrorCount; + uint32_t polarityErrorCount; + private: static constexpr size_t EdgeCaptureBufferSize = 64; // must be a power of 2 @@ -42,7 +46,7 @@ private: enum class RxdState : uint8_t { - waitingForStartBit, + waitingForStartBit = 0, waitingForEndOfStartBit, waitingForNibble, errorRecovery1, @@ -51,12 +55,12 @@ private: errorRecovery4 }; - RxdState state; uint32_t startBitLength; uint32_t errorRecoveryStartTime; size_t lastBitChangeIndex; uint16_t valueBeingAssembled; uint8_t nibblesAssembled; + RxdState state; }; #endif /* SRC_FILAMENTSENSORS_DUET3DFILAMENTMONITOR_H_ */ diff --git a/src/FilamentMonitors/FilamentMonitor.cpp b/src/FilamentMonitors/FilamentMonitor.cpp index a9482654..9c6d9d05 100644 --- a/src/FilamentMonitors/FilamentMonitor.cpp +++ b/src/FilamentMonitors/FilamentMonitor.cpp @@ -116,7 +116,7 @@ bool FilamentMonitor::ConfigurePin(GCodeBuffer& gb, const StringRef& reply, Inte } else if (!seen) { - reply.printf("Extruder drive %u has no filament sensor", extruder); + reply.printf("Extruder %u has no filament sensor", extruder); } return GCodeResult::ok; } @@ -168,12 +168,13 @@ bool FilamentMonitor::ConfigurePin(GCodeBuffer& gb, const StringRef& reply, Inte FilamentMonitor * const fm = static_cast<FilamentMonitor*>(param.vp); if (fm->Interrupt()) { - fm->isrExtruderStepsCommanded = reprap.GetMove().GetAccumulatedExtrusion(fm->extruderNumber, fm->isrWasNonPrinting); + fm->isrExtruderStepsCommanded = reprap.GetMove().GetAccumulatedExtrusion(fm->extruderNumber, fm->isrWasPrinting); fm->haveIsrStepsCommanded = true; + fm->isrMillis = millis(); } } -/*static*/ void FilamentMonitor::Spin(bool full) +/*static*/ void FilamentMonitor::Spin() { MutexLocker lock(filamentSensorsMutex); @@ -184,14 +185,16 @@ bool FilamentMonitor::ConfigurePin(GCodeBuffer& gb, const StringRef& reply, Inte { FilamentMonitor& fs = *filamentSensors[extruder]; GCodes& gCodes = reprap.GetGCodes(); - bool wasNonPrinting; + bool isPrinting; bool fromIsr; int32_t extruderStepsCommanded; + uint32_t isrMillis; cpu_irq_disable(); if (fs.haveIsrStepsCommanded) { extruderStepsCommanded = fs.isrExtruderStepsCommanded; - wasNonPrinting = fs.isrWasNonPrinting; + isPrinting = fs.isrWasPrinting; + isrMillis = fs.isrMillis; fs.haveIsrStepsCommanded = false; cpu_irq_enable(); fromIsr = true; @@ -199,14 +202,15 @@ bool FilamentMonitor::ConfigurePin(GCodeBuffer& gb, const StringRef& reply, Inte else { cpu_irq_enable(); - extruderStepsCommanded = reprap.GetMove().GetAccumulatedExtrusion(extruder, wasNonPrinting); // get and clear the net extrusion commanded + extruderStepsCommanded = reprap.GetMove().GetAccumulatedExtrusion(extruder, isPrinting); // get and clear the net extrusion commanded fromIsr = false; + isrMillis = 0; } if (gCodes.IsReallyPrinting() && !gCodes.IsSimulating()) { const float extrusionCommanded = (float)extruderStepsCommanded/reprap.GetPlatform().DriveStepsPerUnit(extruder + gCodes.GetTotalAxes()); - const FilamentSensorStatus fstat = fs.Check(full, wasNonPrinting, fromIsr, extrusionCommanded); - if (full && fstat != FilamentSensorStatus::ok) + const FilamentSensorStatus fstat = fs.Check(isPrinting, fromIsr, isrMillis, extrusionCommanded); + if (fstat != FilamentSensorStatus::ok) { if (reprap.Debug(moduleFilamentSensors)) { @@ -220,7 +224,7 @@ bool FilamentMonitor::ConfigurePin(GCodeBuffer& gb, const StringRef& reply, Inte } else { - fs.Clear(full); + fs.Clear(); } } } diff --git a/src/FilamentMonitors/FilamentMonitor.h b/src/FilamentMonitors/FilamentMonitor.h index 541b48e0..95d55267 100644 --- a/src/FilamentMonitors/FilamentMonitor.h +++ b/src/FilamentMonitors/FilamentMonitor.h @@ -30,10 +30,10 @@ public: // Call the following at intervals to check the status. This is only called when extrusion is in progress or imminent. // 'filamentConsumed' is the net amount of extrusion since the last call to this function. - virtual FilamentSensorStatus Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) = 0; + virtual FilamentSensorStatus Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) = 0; // Clear the measurement state - called when we are not printing a file. Return the present/not present status if available. - virtual FilamentSensorStatus Clear(bool full) = 0; + virtual FilamentSensorStatus Clear() = 0; // Print diagnostic info for this sensor virtual void Diagnostics(MessageType mtype, unsigned int extruder) = 0; @@ -57,7 +57,7 @@ public: static const char *GetErrorMessage(FilamentSensorStatus f); // Poll the filament sensors - static void Spin(bool full); + static void Spin(); // Handle M591 static GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply, unsigned int extruder) @@ -74,6 +74,7 @@ protected: int GetEndstopNumber() const { return endstopNumber; } Pin GetPin() const { return pin; } + bool HaveIsrStepsCommanded() const { return haveIsrStepsCommanded; } private: // Create a filament sensor returning null if not a valid sensor type @@ -85,11 +86,12 @@ private: static FilamentMonitor *filamentSensors[MaxExtruders]; int32_t isrExtruderStepsCommanded; + uint32_t isrMillis; unsigned int extruderNumber; int type; int endstopNumber; Pin pin; - bool isrWasNonPrinting; + bool isrWasPrinting; bool haveIsrStepsCommanded; }; diff --git a/src/FilamentMonitors/LaserFilamentMonitor.cpp b/src/FilamentMonitors/LaserFilamentMonitor.cpp index 7fd72e2f..84cf4f94 100644 --- a/src/FilamentMonitors/LaserFilamentMonitor.cpp +++ b/src/FilamentMonitors/LaserFilamentMonitor.cpp @@ -9,22 +9,31 @@ #include "GCodes/GCodeBuffer.h" #include "Platform.h" #include "RepRap.h" +#include "Movement/Move.h" + +// Unless we set the option to compare filament on all type of move, we reject readings if the last retract or reprime move wasn't completed +// well before the start bit was received. This is because those moves have high accelerations and decelerations, so the measurement delay +// is more likely to cause errors. This constant sets the delay required after a retract or reprime move before we accept the measurement. +const int32_t SyncDelayMillis = 10; LaserFilamentMonitor::LaserFilamentMonitor(unsigned int extruder, int type) : Duet3DFilamentMonitor(extruder, type), minMovementAllowed(DefaultMinMovementAllowed), maxMovementAllowed(DefaultMaxMovementAllowed), - minimumExtrusionCheckLength(DefaultMinimumExtrusionCheckLength), comparisonEnabled(false) + minimumExtrusionCheckLength(DefaultMinimumExtrusionCheckLength), comparisonEnabled(false), checkNonPrintingMoves(false) { - switchOpenMask = (type == 6) ? TypeLaserSwitchOpenMask : 0; + switchOpenMask = (type == 6) ? TypeLaserSwitchOpenBitMask : 0; Init(); } void LaserFilamentMonitor::Init() { sensorValue = 0; - parityErrorCount = framingErrorCount = 0; + parityErrorCount = framingErrorCount = overrunErrorCount = polarityErrorCount = overdueCount = 0; lastMeasurementTime = 0; + imageQuality = shutter = brightness = lastErrorCode = 0; + version = 1; backwards = false; + sensorError = false; InitReceiveBuffer(); Reset(); } @@ -34,7 +43,7 @@ void LaserFilamentMonitor::Reset() extrusionCommandedThisSegment = extrusionCommandedSinceLastSync = movementMeasuredThisSegment = movementMeasuredSinceLastSync = 0.0; laserMonitorState = LaserMonitorState::idle; haveStartBitData = false; - hadNonPrintingMoveSinceLastSync = true; // force a resync + synced = false; // force a resync } // Configure this sensor, returning true if error and setting 'seen' if we processed any configuration parameters @@ -69,14 +78,21 @@ bool LaserFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, bo comparisonEnabled = (gb.GetIValue() > 0); } + if (gb.Seen('A')) + { + seen = true; + checkNonPrintingMoves = (gb.GetIValue() > 0); + } + if (seen) { Init(); } else { - reply.printf("Duet3D laser filament monitor%s on endstop input %u, %s, allowed movement %ld%% to %ld%%, check every %.1fmm, ", - (switchOpenMask != 0) ? " with microswitch" : "", + reply.printf("Duet3D laser filament monitor v%u%s on input %u, %s, allow %ld%% to %ld%%, check every %.1fmm, ", + version, + (switchOpenMask != 0) ? " with switch" : "", GetEndstopNumber(), (comparisonEnabled) ? "enabled" : "disabled", lrintf(minMovementAllowed * 100.0), @@ -87,16 +103,24 @@ bool LaserFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, bo { reply.cat("no data received"); } - else if ((sensorValue & TypeLaserErrorMask) != 0) + else if (sensorError) { reply.cat("error"); + if (lastErrorCode != 0) + { + reply.catf(" %u", lastErrorCode); + } } else { - reply.catf("current position %.1f, brightness %u, shutter %u, ", (double)GetCurrentPosition(), qualityWord & 0x00FF, (qualityWord >> 8) & 0x3F); + reply.catf("current pos %.1f, brightness %u, shutter %u, ", (double)GetCurrentPosition(), brightness, shutter); + if (imageQuality != 0) + { + reply.catf("quality %u, ", imageQuality); + } if (laserMonitorState != LaserMonitorState::calibrating && totalExtrusionCommanded > 10.0) { - reply.catf("measured minimum %ld%%, average %ld%%, maximum %ld%% over %.1fmm", + reply.catf("measured min %ld%% avg %ld%% max %ld%% over %.1fmm", lrintf(100 * minMovementRatio), lrintf((100 * totalMovementMeasured)/totalExtrusionCommanded), lrintf(100 * maxMovementRatio), @@ -115,12 +139,13 @@ bool LaserFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, bo // Return the current position float LaserFilamentMonitor::GetCurrentPosition() const { - int32_t pos = (int32_t)(sensorValue & TypeLaserPositionMask); - if (pos > 512) + const uint16_t positionRange = (sensorValue & TypeLaserLargeDataRangeBitMask) ? TypeLaserLargeRange : TypeLaserDefaultRange; + int32_t pos = (int32_t)(sensorValue & (positionRange - 1)); + if (pos > positionRange/2) { - pos -= 1024; + pos -= positionRange; } - return (float)pos * 0.02; // each count is nominally 0.02mm of filament motion @ 5 * 254 cpi + return (float)pos * ((sensorValue & TypeLaserLargeDataRangeBitMask) ? 0.01 : 0.02); // each count is nominally 0.01 or 0.02mm of filament motion } // Deal with any received data @@ -143,14 +168,47 @@ void LaserFilamentMonitor::HandleIncomingData() { ++parityErrorCount; } - else if ((val & TypeLaserQualityMask) != 0) - { - qualityWord = val & ~(TypeLaserQualityMask | TypeLaserParityMask); // record the quality report - } else { - receivedPositionReport = true; - dataReceived = true; + switch (val & TypeLaserMessageTypeMask) + { + case TypeLaserMessageTypePosition: + receivedPositionReport = true; + dataReceived = true; + sensorError = false; + break; + + case TypeLaserMessageTypeError: + lastErrorCode = val & 0x00FF; + sensorError = true; + break; + + case TypeLaserMessageTypeQuality: + brightness = val & 0x00FF; + shutter = (val >> 8) & 0x1F; + break; + + case TypeLaserMessageTypeInfo: + switch (val & TypeLaserInfoTypeMask) + { + case TypeLaserInfoTypeVersion: + version = val & 0x00FF; + break; + + case TypeLaserInfoTypeImageQuality: + imageQuality = val & 0x00FF; + break; + + case TypeLaserInfoTypeBrightness: + brightness = val & 0x00FF; + break; + + case TypeLaserInfoTypeShutter: + shutter = val & 0x00FF; + break; + } + break; + } } } else @@ -161,63 +219,54 @@ void LaserFilamentMonitor::HandleIncomingData() if (receivedPositionReport) { // We have a completed a position report - lastMeasurementTime = millis(); - const uint16_t positionChange = (val - sensorValue) & TypeLaserPositionMask; // position change in range 0..1023 - const int32_t movement = (positionChange <= 512) ? (int32_t)positionChange : (int32_t)positionChange - 1024; - movementMeasuredSinceLastSync += (float)movement * 0.02; + const uint16_t positionRange = (val & TypeLaserLargeDataRangeBitMask) ? TypeLaserLargeRange : TypeLaserDefaultRange; + const uint16_t positionChange = (val - sensorValue) & (positionRange - 1); // 10- or 11-bit position change + const int32_t movement = (positionChange <= positionRange/2) ? (int32_t)positionChange : (int32_t)positionChange - positionRange; + movementMeasuredSinceLastSync += (float)movement * ((val & TypeLaserLargeDataRangeBitMask) ? 0.01 : 0.02); + + const uint32_t now = millis(); sensorValue = val; + lastMeasurementTime = now; - if (haveStartBitData) // if we have a synchronised value for the amount of extrusion commanded + if (haveStartBitData) // if we have a synchronised value for the amount of extrusion commanded { - if (!hadNonPrintingMoveAtStartBit) + if (synced) { - extrusionCommandedThisSegment += extrusionCommandedAtStartBit; - movementMeasuredThisSegment += movementMeasuredSinceLastSync; + if ( checkNonPrintingMoves + || (wasPrintingAtStartBit && (int32_t)(lastSyncTime - reprap.GetMove().ExtruderPrintingSince()) >= SyncDelayMillis) + ) + { + // We can use this measurement + extrusionCommandedThisSegment += extrusionCommandedAtCandidateStartBit; + movementMeasuredThisSegment += movementMeasuredSinceLastSync; + } } + lastSyncTime = candidateStartBitTime; + extrusionCommandedSinceLastSync -= extrusionCommandedAtCandidateStartBit; movementMeasuredSinceLastSync = 0.0; - } - } - else - { - // A receive error occurred, or we received a quality report not a position report. Any start bit data we stored is wrong. - if (haveStartBitData) - { - extrusionCommandedSinceLastSync += extrusionCommandedAtStartBit; - if (hadNonPrintingMoveAtStartBit) - { - hadNonPrintingMoveSinceLastSync = true; - } + synced = checkNonPrintingMoves || wasPrintingAtStartBit; } } haveStartBitData = false; } } -// Call the following at intervals to check the status. This is only called when extrusion is in progress or imminent. +// Call the following at intervals to check the status. This is only called when printing is in progress. // 'filamentConsumed' is the net amount of extrusion since the last call to this function. // 'hadNonPrintingMove' is true if filamentConsumed includes extruder movement from non-printing moves. // 'fromIsr' is true if this measurement was taken at the end of the ISR because a potential start bit was seen -FilamentSensorStatus LaserFilamentMonitor::Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) +FilamentSensorStatus LaserFilamentMonitor::Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) { // 1. Update the extrusion commanded and whether we have had an extruding but non-printing move - if (hadNonPrintingMove) - { - hadNonPrintingMoveSinceLastSync = true; - } - else - { - extrusionCommandedSinceLastSync += filamentConsumed; - } + extrusionCommandedSinceLastSync += filamentConsumed; // 2. If this call passes values synced to the start bit, save the data for the next completed measurement. if (fromIsr && IsWaitingForStartBit()) { - extrusionCommandedAtStartBit = extrusionCommandedSinceLastSync; - hadNonPrintingMoveAtStartBit = hadNonPrintingMoveSinceLastSync; + extrusionCommandedAtCandidateStartBit = extrusionCommandedSinceLastSync; + wasPrintingAtStartBit = isPrinting; + candidateStartBitTime = isrMillis; haveStartBitData = true; - - extrusionCommandedSinceLastSync = 0.0; - hadNonPrintingMoveSinceLastSync = false; } // 3. Process the receive buffer and update everything if we have received anything or had a receive error @@ -225,27 +274,27 @@ FilamentSensorStatus LaserFilamentMonitor::Check(bool full, bool hadNonPrintingM // 4. Decide whether it is time to do a comparison, and return the status FilamentSensorStatus ret = FilamentSensorStatus::ok; - if (full) + if (sensorError) { - if ((sensorValue & TypeLaserErrorMask) != 0) - { - ret = FilamentSensorStatus::sensorError; - } - else if ((sensorValue & switchOpenMask) != 0) - { - ret = FilamentSensorStatus::noFilament; - } - else if (extrusionCommandedThisSegment >= minimumExtrusionCheckLength) - { - ret = CheckFilament(extrusionCommandedThisSegment, movementMeasuredThisSegment, false); - extrusionCommandedThisSegment = movementMeasuredThisSegment = 0.0; - } - else if (extrusionCommandedThisSegment + extrusionCommandedSinceLastSync >= minimumExtrusionCheckLength * 2 && millis() - lastMeasurementTime > 220 && !IsReceiving()) - { - // A sync is overdue - ret = CheckFilament(extrusionCommandedThisSegment + extrusionCommandedSinceLastSync, movementMeasuredThisSegment + movementMeasuredSinceLastSync, true); - extrusionCommandedThisSegment = extrusionCommandedSinceLastSync = movementMeasuredThisSegment = movementMeasuredSinceLastSync = 0.0; - } + ret = FilamentSensorStatus::sensorError; + } + else if ((sensorValue & switchOpenMask) != 0) + { + ret = FilamentSensorStatus::noFilament; + } + else if (extrusionCommandedThisSegment >= minimumExtrusionCheckLength) + { + ret = CheckFilament(extrusionCommandedThisSegment, movementMeasuredThisSegment, false); + extrusionCommandedThisSegment = movementMeasuredThisSegment = 0.0; + } + else if ( extrusionCommandedThisSegment + extrusionCommandedSinceLastSync >= minimumExtrusionCheckLength * 3 + && millis() - lastMeasurementTime > 500 + && !IsReceiving() + ) + { + // A sync is overdue + ret = CheckFilament(extrusionCommandedThisSegment + extrusionCommandedSinceLastSync, movementMeasuredThisSegment + movementMeasuredSinceLastSync, true); + extrusionCommandedThisSegment = extrusionCommandedSinceLastSync = movementMeasuredThisSegment = movementMeasuredSinceLastSync = 0.0; } return ret; @@ -330,42 +379,28 @@ FilamentSensorStatus LaserFilamentMonitor::CheckFilament(float amountCommanded, return ret; } -// Clear the measurement state - called when we are not printing a file. Return the present/not present status if available. -FilamentSensorStatus LaserFilamentMonitor::Clear(bool full) +// Clear the measurement state. Called when we are not printing a file. Return the present/not present status if available. +FilamentSensorStatus LaserFilamentMonitor::Clear() { + Reset(); // call this first so that haveStartBitData and synced are false when we call HandleIncomingData HandleIncomingData(); - Reset(); - FilamentSensorStatus ret = FilamentSensorStatus::ok; - if (full) - { - if ((sensorValue & TypeLaserErrorMask) != 0) - { - ret = FilamentSensorStatus::sensorError; - } - else if ((sensorValue & switchOpenMask) != 0) - { - ret = FilamentSensorStatus::noFilament; - } - } - return ret; + return (sensorError) ? FilamentSensorStatus::sensorError + : ((sensorValue & switchOpenMask) != 0) ? FilamentSensorStatus::noFilament + : FilamentSensorStatus::ok; } // Print diagnostic info for this sensor void LaserFilamentMonitor::Diagnostics(MessageType mtype, unsigned int extruder) { const char* const statusText = (!dataReceived) ? "no data received" - : ((sensorValue & TypeLaserErrorMask) != 0) ? "error" + : (sensorError) ? "error" : ((sensorValue & switchOpenMask) != 0) ? "no filament" : "ok"; - reprap.GetPlatform().MessageF(mtype, "Extruder %u sensor: position %.2f, %s, ", extruder, (double)GetCurrentPosition(), statusText); - if (dataReceived) - { - reprap.GetPlatform().MessageF(mtype, "framing errors %" PRIu32 ", parity errors %" PRIu32 ", ", framingErrorCount, parityErrorCount); - } + reprap.GetPlatform().MessageF(mtype, "Extruder %u: pos %.2f, %s, ", extruder, (double)GetCurrentPosition(), statusText); if (laserMonitorState != LaserMonitorState::calibrating && totalExtrusionCommanded > 10.0) { - reprap.GetPlatform().MessageF(mtype, "measured minimum %ld%%, average %ld%%, maximum %ld%% over %.1fmm\n", + reprap.GetPlatform().MessageF(mtype, "measured min %ld%% avg %ld%% max %ld%% over %.1fmm", lrintf(100 * minMovementRatio), lrintf((100 * totalMovementMeasured)/totalExtrusionCommanded), lrintf(100 * maxMovementRatio), @@ -373,7 +408,16 @@ void LaserFilamentMonitor::Diagnostics(MessageType mtype, unsigned int extruder) } else { - reprap.GetPlatform().Message(mtype, "no calibration data\n"); + reprap.GetPlatform().Message(mtype, "no calibration data"); + } + if (dataReceived) + { + reprap.GetPlatform().MessageF(mtype, ", errs: frame %" PRIu32 " parity %" PRIu32 " ovrun %" PRIu32 " pol %" PRIu32 " ovdue %" PRIu32 "\n", + framingErrorCount, parityErrorCount, overrunErrorCount, polarityErrorCount, overdueCount); + } + else + { + reprap.GetPlatform().Message(mtype, "\n"); } } diff --git a/src/FilamentMonitors/LaserFilamentMonitor.h b/src/FilamentMonitors/LaserFilamentMonitor.h index fb53f427..4a441c2f 100644 --- a/src/FilamentMonitors/LaserFilamentMonitor.h +++ b/src/FilamentMonitors/LaserFilamentMonitor.h @@ -16,8 +16,8 @@ public: LaserFilamentMonitor(unsigned int extruder, int type); bool Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) override; - FilamentSensorStatus Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) override; - FilamentSensorStatus Clear(bool full) override; + FilamentSensorStatus Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) override; + FilamentSensorStatus Clear() override; void Diagnostics(MessageType mtype, unsigned int extruder) override; private: @@ -25,11 +25,39 @@ private: static constexpr float DefaultMaxMovementAllowed = 1.6; static constexpr float DefaultMinimumExtrusionCheckLength = 3.0; - static constexpr uint16_t TypeLaserParityMask = 0x8000u; - static constexpr uint16_t TypeLaserQualityMask = 0x4000u; - static constexpr uint16_t TypeLaserErrorMask = 0x2000u; - static constexpr uint16_t TypeLaserSwitchOpenMask = 0x1000u; - static constexpr uint16_t TypeLaserPositionMask = 0x03FF; // we use a 10-bit sensor position + // This is the received data format: + // v1 Data word: P00S 00pp pppp pppp S = switch open, pppppppppp = 10-bit filament position (50 counts/mm) + // v2 Data word: P00S 1ppp pppp pppp S = switch open, ppppppppppp = 11-bit filament position (100 counts/mm) + // v1 Error word: P010 0000 0000 0000 + // v2 Error word: P010 0000 0000 eeee eeee = error code, will not be zero + // v1 Quality word: P10s ssss bbbb bbbb sssss = shutter, bbbbbbbb = brightness + // v2 Version word: P110 0000 vvvv vvvv vvvvvvvv = sensor/firmware version, at least 2 + // v2 Image quality word: P110 0001 qqqq qqqq qqqqqqqq = image quality + // v2 Brightness word: P110 0010 bbbb bbbb bbbbbbbb = brightness + // v2 Shutter word: P110 0011 ssss ssss ssssssss = shutter + + // Definitions for all messages + static constexpr uint16_t TypeLaserParityMask = 0x8000; + + // Definitions for identifying the top level type of a message + static constexpr uint16_t TypeLaserMessageTypeMask = 0x6000; + static constexpr uint16_t TypeLaserMessageTypePosition = 0x0000; + static constexpr uint16_t TypeLaserMessageTypeError = 0x2000; + static constexpr uint16_t TypeLaserMessageTypeQuality = 0x4000; + static constexpr uint16_t TypeLaserMessageTypeInfo = 0x6000; + + // Definitions for position data messages + static constexpr uint16_t TypeLaserSwitchOpenBitMask = 0x1000; + static constexpr uint16_t TypeLaserLargeDataRangeBitMask = 0x0800; + static constexpr uint16_t TypeLaserDefaultRange = 1024; // 10-bit sensor position + static constexpr uint16_t TypeLaserLargeRange = 2048; // 11-bit sensor position + + // Definitions for info message types + static constexpr uint16_t TypeLaserInfoTypeMask = 0x1F00; + static constexpr uint16_t TypeLaserInfoTypeVersion = 0x0000; + static constexpr uint16_t TypeLaserInfoTypeImageQuality = 0x0100; + static constexpr uint16_t TypeLaserInfoTypeBrightness = 0x0200; + static constexpr uint16_t TypeLaserInfoTypeShutter = 0x0300; static constexpr size_t EdgeCaptureBufferSize = 64; // must be a power of 2 @@ -43,21 +71,33 @@ private: float minMovementAllowed, maxMovementAllowed; float minimumExtrusionCheckLength; bool comparisonEnabled; + bool checkNonPrintingMoves; // Other data - uint16_t sensorValue; // last known filament position (10 bits) - uint16_t qualityWord; // last received quality data - uint32_t lastMeasurementTime; // the last time we received a value - uint16_t switchOpenMask; // mask to isolate the switch open bit(s) from the sensor value uint32_t framingErrorCount; // the number of framing errors we received uint32_t parityErrorCount; // the number of words with bad parity we received + uint32_t overdueCount; // the number of times a position report was overdue + + uint32_t candidateStartBitTime; // the time that we received a possible start bit + float extrusionCommandedAtCandidateStartBit; // the amount of extrusion commanded since the previous comparison when we received the possible start bit - float extrusionCommandedAtStartBit; // the amount of extrusion commanded since the previous comparison when we received the start bit + uint32_t lastSyncTime; // the last time we took a measurement that was synced to a start bit float extrusionCommandedSinceLastSync; float movementMeasuredSinceLastSync; - bool hadNonPrintingMoveAtStartBit; - bool hadNonPrintingMoveSinceLastSync; + + uint32_t lastMeasurementTime; // the last time we received a value + uint16_t sensorValue; // last known filament position (10 or 11 bits) + uint16_t switchOpenMask; // mask to isolate the switch open bit(s) from the sensor value + uint8_t version; // sensor/firmware version + uint8_t imageQuality; // image quality returned by version 2 prototype sensor + uint8_t shutter; // shutter value returned by sensor + uint8_t brightness; // brightness returned by sensor + uint8_t lastErrorCode; // the last error code received + bool sensorError; // true if received an error report (cleared by a position report) + + bool wasPrintingAtStartBit; bool haveStartBitData; + bool synced; float extrusionCommandedThisSegment; // the amount of extrusion commanded since we last did a comparison float movementMeasuredThisSegment; // the accumulated movement since the previous comparison diff --git a/src/FilamentMonitors/PulsedFilamentMonitor.cpp b/src/FilamentMonitors/PulsedFilamentMonitor.cpp index bbb92bc5..8221f34b 100644 --- a/src/FilamentMonitors/PulsedFilamentMonitor.cpp +++ b/src/FilamentMonitors/PulsedFilamentMonitor.cpp @@ -9,6 +9,12 @@ #include "GCodes/GCodeBuffer.h" #include "Platform.h" #include "RepRap.h" +#include "Movement/Move.h" + +// Unless we set the option to compare filament on all type of move, we reject readings if the last retract or reprime move wasn't completed +// well before the start bit was received. This is because those moves have high accelerations and decelerations, so the measurement delay +// is more likely to cause errors. This constant sets the delay required after a retract or reprime move before we accept the measurement. +const int32_t SyncDelayMillis = 10; PulsedFilamentMonitor::PulsedFilamentMonitor(unsigned int extruder, int type) : FilamentMonitor(extruder, type), @@ -33,7 +39,7 @@ void PulsedFilamentMonitor::Reset() extrusionCommandedThisSegment = extrusionCommandedSinceLastSync = movementMeasuredThisSegment = movementMeasuredSinceLastSync = 0.0; comparisonStarted = false; haveInterruptData = false; - hadNonPrintingMoveSinceLastSync = true; // force a resync + wasPrintingAtInterrupt = false; // force a resync } // Configure this sensor, returning true if error and setting 'seen' if we processed any configuration parameters @@ -132,12 +138,16 @@ void PulsedFilamentMonitor::Poll() if (haveInterruptData) // if we have a synchronised value for the amount of extrusion commanded { - if (!hadNonPrintingMoveAtInterrupt) + if (wasPrintingAtInterrupt && (int32_t)(lastSyncTime - reprap.GetMove().ExtruderPrintingSince()) > SyncDelayMillis) { + // We can use this measurement extrusionCommandedThisSegment += extrusionCommandedAtInterrupt; movementMeasuredThisSegment += movementMeasuredSinceLastSync; } + lastSyncTime = lastIsrTime; + extrusionCommandedSinceLastSync -= extrusionCommandedAtInterrupt; movementMeasuredSinceLastSync = 0.0; + haveInterruptData = false; } } @@ -150,29 +160,20 @@ float PulsedFilamentMonitor::GetCurrentPosition() const // Call the following at intervals to check the status. This is only called when extrusion is in progress or imminent. // 'filamentConsumed' is the net amount of extrusion since the last call to this function. -// 'hadNonPrintingMove' is true if filamentConsumed includes extruder movement from non-printing moves. +// 'isPrinting' is true unless a non-printing extruder move was in progress // 'fromIsr' is true if this measurement was taken at the end of the ISR because the ISR returned true -FilamentSensorStatus PulsedFilamentMonitor::Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) +FilamentSensorStatus PulsedFilamentMonitor::Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) { - // 1. Update the extrusion commanded and whether we have had an extruding but non-printing move - if (hadNonPrintingMove) - { - hadNonPrintingMoveSinceLastSync = true; - } - else - { - extrusionCommandedSinceLastSync += filamentConsumed; - } + // 1. Update the extrusion commanded + extrusionCommandedSinceLastSync += filamentConsumed; // 2. If this call passes values synced to the interrupt, save the data if (fromIsr) { extrusionCommandedAtInterrupt = extrusionCommandedSinceLastSync; - hadNonPrintingMoveAtInterrupt = hadNonPrintingMoveSinceLastSync; + wasPrintingAtInterrupt = isPrinting; + lastIsrTime = isrMillis; haveInterruptData = true; - - extrusionCommandedSinceLastSync = 0.0; - hadNonPrintingMoveSinceLastSync = false; } // 3. Process the received data and update if we have received anything @@ -180,21 +181,17 @@ FilamentSensorStatus PulsedFilamentMonitor::Check(bool full, bool hadNonPrinting // 4. Decide whether it is time to do a comparison, and return the status FilamentSensorStatus ret = FilamentSensorStatus::ok; - if (full) + if (extrusionCommandedThisSegment >= minimumExtrusionCheckLength) { - if (extrusionCommandedThisSegment >= minimumExtrusionCheckLength) - { - ret = CheckFilament(extrusionCommandedThisSegment, movementMeasuredThisSegment, false); - extrusionCommandedThisSegment = movementMeasuredThisSegment = 0.0; - } - else if (extrusionCommandedThisSegment + extrusionCommandedSinceLastSync >= minimumExtrusionCheckLength * 2 && millis() - lastMeasurementTime > 220) - { - // A sync is overdue - ret = CheckFilament(extrusionCommandedThisSegment + extrusionCommandedSinceLastSync, movementMeasuredThisSegment + movementMeasuredSinceLastSync, true); - extrusionCommandedThisSegment = extrusionCommandedSinceLastSync = movementMeasuredThisSegment = movementMeasuredSinceLastSync = 0.0; - } + ret = CheckFilament(extrusionCommandedThisSegment, movementMeasuredThisSegment, false); + extrusionCommandedThisSegment = movementMeasuredThisSegment = 0.0; + } + else if (extrusionCommandedThisSegment + extrusionCommandedSinceLastSync >= minimumExtrusionCheckLength * 2 && millis() - lastMeasurementTime > 220) + { + // A sync is overdue + ret = CheckFilament(extrusionCommandedThisSegment + extrusionCommandedSinceLastSync, movementMeasuredThisSegment + movementMeasuredSinceLastSync, true); + extrusionCommandedThisSegment = extrusionCommandedSinceLastSync = movementMeasuredThisSegment = movementMeasuredSinceLastSync = 0.0; } - return ret; } @@ -264,11 +261,10 @@ FilamentSensorStatus PulsedFilamentMonitor::CheckFilament(float amountCommanded, } // Clear the measurement state - called when we are not printing a file. Return the present/not present status if available. -FilamentSensorStatus PulsedFilamentMonitor::Clear(bool full) +FilamentSensorStatus PulsedFilamentMonitor::Clear() { Poll(); // to keep the diagnostics up to date Reset(); - return FilamentSensorStatus::ok; } diff --git a/src/FilamentMonitors/PulsedFilamentMonitor.h b/src/FilamentMonitors/PulsedFilamentMonitor.h index 4053d376..e7b0ed92 100644 --- a/src/FilamentMonitors/PulsedFilamentMonitor.h +++ b/src/FilamentMonitors/PulsedFilamentMonitor.h @@ -16,8 +16,8 @@ public: PulsedFilamentMonitor(unsigned int extruder, int type); bool Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) override; - FilamentSensorStatus Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) override; - FilamentSensorStatus Clear(bool full) override; + FilamentSensorStatus Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) override; + FilamentSensorStatus Clear() override; void Diagnostics(MessageType mtype, unsigned int extruder) override; bool Interrupt() override; @@ -41,13 +41,14 @@ private: // Other data uint32_t sensorValue; // how many pulses received + uint32_t lastIsrTime; // the time we recorded an interrupt + uint32_t lastSyncTime; // the last time we synced a measurement uint32_t lastMeasurementTime; // the last time we received a value float extrusionCommandedAtInterrupt; // the amount of extrusion commanded (mm) when we received the interrupt since the last sync float extrusionCommandedSinceLastSync; // the amount of extrusion commanded (mm) since the last sync float movementMeasuredSinceLastSync; // the amount of movement in complete rotations of the wheel since the last sync - bool hadNonPrintingMoveAtInterrupt; - bool hadNonPrintingMoveSinceLastSync; + bool wasPrintingAtInterrupt; bool haveInterruptData; float extrusionCommandedThisSegment; // the amount of extrusion commanded (mm) since we last did a comparison diff --git a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp index 1d378d89..2883bf7c 100644 --- a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp +++ b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp @@ -9,12 +9,18 @@ #include "GCodes/GCodeBuffer.h" #include "Platform.h" #include "RepRap.h" +#include "Movement/Move.h" + +// Unless we set the option to compare filament on all type of move, we reject readings if the last retract or reprime move wasn't completed +// well before the start bit was received. This is because those moves have high accelerations and decelerations, so the measurement delay +// is more likely to cause errors. This constant sets the delay required after a retract or reprime move before we accept the measurement. +const int32_t SyncDelayMillis = 10; RotatingMagnetFilamentMonitor::RotatingMagnetFilamentMonitor(unsigned int extruder, int type) : Duet3DFilamentMonitor(extruder, type), mmPerRev(DefaultMmPerRev), minMovementAllowed(DefaultMinMovementAllowed), maxMovementAllowed(DefaultMaxMovementAllowed), - minimumExtrusionCheckLength(DefaultMinimumExtrusionCheckLength), comparisonEnabled(false), checkNonPrintingMoves(true) + minimumExtrusionCheckLength(DefaultMinimumExtrusionCheckLength), comparisonEnabled(false), checkNonPrintingMoves(false) { switchOpenMask = (type == 4) ? TypeMagnetSwitchOpenMask : 0; Init(); @@ -23,7 +29,7 @@ RotatingMagnetFilamentMonitor::RotatingMagnetFilamentMonitor(unsigned int extrud void RotatingMagnetFilamentMonitor::Init() { sensorValue = 0; - framingErrorCount = 0; + framingErrorCount = overrunErrorCount = polarityErrorCount = overdueCount = 0; calibrationStarted = dataReceived = false; lastMeasurementTime = 0; InitReceiveBuffer(); @@ -35,7 +41,7 @@ void RotatingMagnetFilamentMonitor::Reset() extrusionCommandedThisSegment = extrusionCommandedSinceLastSync = movementMeasuredThisSegment = movementMeasuredSinceLastSync = 0.0; comparisonStarted = false; haveStartBitData = false; - hadNonPrintingMoveSinceLastSync = true; // force a resync + wasPrintingAtStartBit = false; // force a resync } // Configure this sensor, returning true if error and setting 'seen' if we processed any configuration parameters @@ -71,14 +77,20 @@ bool RotatingMagnetFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& comparisonEnabled = (gb.GetIValue() > 0); } + if (gb.Seen('A')) + { + seen = true; + checkNonPrintingMoves = (gb.GetIValue() > 0); + } + if (seen) { Init(); } else { - reply.printf("Duet3D rotating magnet filament monitor%s on endstop input %u, %s, sensitivity %.2fmm/rev, allowed movement %ld%% to %ld%%, check every %.1fmm, ", - (switchOpenMask != 0) ? " with microswitch" : "", + reply.printf("Duet3D rotating magnet filament monitor%s on input %u, %s, sensitivity %.2fmm/rev, allow %ld%% to %ld%%, check every %.1fmm, ", + (switchOpenMask != 0) ? " with switch" : "", GetEndstopNumber(), (comparisonEnabled) ? "enabled" : "disabled", (double)mmPerRev, @@ -95,11 +107,11 @@ bool RotatingMagnetFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& } else { - reply.catf("current position %.1f, ", (double)GetCurrentPosition()); + reply.catf("current pos %.1f, ", (double)GetCurrentPosition()); if (calibrationStarted && fabsf(totalMovementMeasured) > 1.0 && totalExtrusionCommanded > 20.0) { const float measuredMmPerRev = totalExtrusionCommanded/totalMovementMeasured; - reply.catf("measured sensitivity %.2fmm/rev, measured minimum %ld%%, maximum %ld%% over %.1fmm\n", + reply.catf("measured sensitivity %.2fmm/rev, min %ld%% max %ld%% over %.1fmm\n", (double)measuredMmPerRev, lrintf(100 * minMovementRatio), lrintf(100 * maxMovementRatio), @@ -135,11 +147,16 @@ void RotatingMagnetFilamentMonitor::HandleIncomingData() if (haveStartBitData) // if we have a synchronised value for the amount of extrusion commanded { - if (!hadNonPrintingMoveAtStartBit) + if ( checkNonPrintingMoves + || (wasPrintingAtStartBit && (int32_t)(lastSyncTime - reprap.GetMove().ExtruderPrintingSince()) > SyncDelayMillis) + ) { - extrusionCommandedThisSegment += extrusionCommandedAtStartBit; + // We can use this measurement + extrusionCommandedThisSegment += extrusionCommandedAtCandidateStartBit; movementMeasuredThisSegment += movementMeasuredSinceLastSync; } + lastSyncTime = candidateStartBitTime; + extrusionCommandedSinceLastSync -= extrusionCommandedAtCandidateStartBit; movementMeasuredSinceLastSync = 0.0; } } @@ -147,14 +164,6 @@ void RotatingMagnetFilamentMonitor::HandleIncomingData() { // A receive error occurred. Any start bit data we stored is wrong. ++framingErrorCount; - if (haveStartBitData) - { - extrusionCommandedSinceLastSync += extrusionCommandedAtStartBit; - if (hadNonPrintingMoveAtStartBit) - { - hadNonPrintingMoveSinceLastSync = true; - } - } } haveStartBitData = false; } @@ -170,27 +179,18 @@ float RotatingMagnetFilamentMonitor::GetCurrentPosition() const // 'filamentConsumed' is the net amount of extrusion commanded since the last call to this function. // 'hadNonPrintingMove' is true if filamentConsumed includes extruder movement from non-printing moves. // 'fromIsr' is true if this measurement was taken dat the end of the ISR because a potential start bit was seen -FilamentSensorStatus RotatingMagnetFilamentMonitor::Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) +FilamentSensorStatus RotatingMagnetFilamentMonitor::Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) { // 1. Update the extrusion commanded and whether we have had an extruding but non-printing move - if (hadNonPrintingMove && !checkNonPrintingMoves) - { - hadNonPrintingMoveSinceLastSync = true; - } - else - { - extrusionCommandedSinceLastSync += filamentConsumed; - } + extrusionCommandedSinceLastSync += filamentConsumed; // 2. If this call passes values synced to the start bit, save the data for the next completed measurement. if (fromIsr && IsWaitingForStartBit()) { - extrusionCommandedAtStartBit = extrusionCommandedSinceLastSync; - hadNonPrintingMoveAtStartBit = hadNonPrintingMoveSinceLastSync; + extrusionCommandedAtCandidateStartBit = extrusionCommandedSinceLastSync; + wasPrintingAtStartBit = isPrinting; + candidateStartBitTime = isrMillis; haveStartBitData = true; - - extrusionCommandedSinceLastSync = 0.0; - hadNonPrintingMoveSinceLastSync = false; } // 3. Process the receive buffer and update everything if we have received anything or had a receive error @@ -198,27 +198,27 @@ FilamentSensorStatus RotatingMagnetFilamentMonitor::Check(bool full, bool hadNon // 4. Decide whether it is time to do a comparison, and return the status FilamentSensorStatus ret = FilamentSensorStatus::ok; - if (full) + if ((sensorValue & TypeMagnetErrorMask) != 0) { - if ((sensorValue & TypeMagnetErrorMask) != 0) - { - ret = FilamentSensorStatus::sensorError; - } - else if ((sensorValue & switchOpenMask) != 0) - { - ret = FilamentSensorStatus::noFilament; - } - else if (extrusionCommandedThisSegment >= minimumExtrusionCheckLength) - { - ret = CheckFilament(extrusionCommandedThisSegment, movementMeasuredThisSegment, false); - extrusionCommandedThisSegment = movementMeasuredThisSegment = 0.0; - } - else if (extrusionCommandedThisSegment + extrusionCommandedSinceLastSync >= minimumExtrusionCheckLength * 2 && millis() - lastMeasurementTime > 220 && !IsReceiving()) - { - // A sync is overdue - ret = CheckFilament(extrusionCommandedThisSegment + extrusionCommandedSinceLastSync, movementMeasuredThisSegment + movementMeasuredSinceLastSync, true); - extrusionCommandedThisSegment = extrusionCommandedSinceLastSync = movementMeasuredThisSegment = movementMeasuredSinceLastSync = 0.0; - } + ret = FilamentSensorStatus::sensorError; + } + else if ((sensorValue & switchOpenMask) != 0) + { + ret = FilamentSensorStatus::noFilament; + } + else if (extrusionCommandedThisSegment >= minimumExtrusionCheckLength) + { + ret = CheckFilament(extrusionCommandedThisSegment, movementMeasuredThisSegment, false); + extrusionCommandedThisSegment = movementMeasuredThisSegment = 0.0; + } + else if ( extrusionCommandedThisSegment + extrusionCommandedSinceLastSync >= minimumExtrusionCheckLength * 3 + && millis() - lastMeasurementTime > 500 + && !IsReceiving() + ) + { + // A sync is overdue + ret = CheckFilament(extrusionCommandedThisSegment + extrusionCommandedSinceLastSync, movementMeasuredThisSegment + movementMeasuredSinceLastSync, true); + extrusionCommandedThisSegment = extrusionCommandedSinceLastSync = movementMeasuredThisSegment = movementMeasuredSinceLastSync = 0.0; } return ret; @@ -289,24 +289,14 @@ FilamentSensorStatus RotatingMagnetFilamentMonitor::CheckFilament(float amountCo } // Clear the measurement state - called when we are not printing a file. Return the present/not present status if available. -FilamentSensorStatus RotatingMagnetFilamentMonitor::Clear(bool full) +FilamentSensorStatus RotatingMagnetFilamentMonitor::Clear() { - HandleIncomingData(); // to keep the diagnostics up to date Reset(); + HandleIncomingData(); // to keep the diagnostics up to date - FilamentSensorStatus ret = FilamentSensorStatus::ok; - if (full) - { - if ((sensorValue & TypeMagnetErrorMask) != 0) - { - ret = FilamentSensorStatus::sensorError; - } - else if ((sensorValue & switchOpenMask) != 0) - { - ret = FilamentSensorStatus::noFilament; - } - } - return ret; + return ((sensorValue & TypeMagnetErrorMask) != 0) ? FilamentSensorStatus::sensorError + : ((sensorValue & switchOpenMask) != 0) ? FilamentSensorStatus::noFilament + : FilamentSensorStatus::ok; } // Print diagnostic info for this sensor @@ -316,15 +306,11 @@ void RotatingMagnetFilamentMonitor::Diagnostics(MessageType mtype, unsigned int : ((sensorValue & TypeMagnetErrorMask) != 0) ? "error" : ((sensorValue & switchOpenMask) != 0) ? "no filament" : "ok"; - reprap.GetPlatform().MessageF(mtype, "Extruder %u sensor: position %.2f, %s, ", extruder, (double)GetCurrentPosition(), statusText); - if (dataReceived) - { - reprap.GetPlatform().MessageF(mtype, "%" PRIu32 " framing errors, ", framingErrorCount); - } + reprap.GetPlatform().MessageF(mtype, "Extruder %u: pos %.2f, %s, ", extruder, (double)GetCurrentPosition(), statusText); if (calibrationStarted && fabsf(totalMovementMeasured) > 1.0 && totalExtrusionCommanded > 20.0) { const float measuredMmPerRev = totalExtrusionCommanded/totalMovementMeasured; - reprap.GetPlatform().MessageF(mtype, "measured sensitivity %.2fmm/rev, measured minimum %ld%%, maximum %ld%% over %.1fmm\n", + reprap.GetPlatform().MessageF(mtype, "measured sens %.2fmm/rev min %ld%% max %ld%% over %.1fmm", (double)measuredMmPerRev, lrintf(100 * minMovementRatio), lrintf(100 * maxMovementRatio), @@ -332,7 +318,12 @@ void RotatingMagnetFilamentMonitor::Diagnostics(MessageType mtype, unsigned int } else { - reprap.GetPlatform().Message(mtype, "no calibration data\n"); + reprap.GetPlatform().Message(mtype, "no calibration data"); + } + if (dataReceived) + { + reprap.GetPlatform().MessageF(mtype, ", errs: frame %" PRIu32 " ovrun %" PRIu32 " pol %" PRIu32 " ovdue %" PRIu32 "\n", + framingErrorCount, overrunErrorCount, polarityErrorCount, overdueCount); } } diff --git a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h index 88e0cbe1..72acbbdb 100644 --- a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h +++ b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h @@ -16,8 +16,8 @@ public: RotatingMagnetFilamentMonitor(unsigned int extruder, int type); bool Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) override; - FilamentSensorStatus Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) override; - FilamentSensorStatus Clear(bool full) override; + FilamentSensorStatus Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) override; + FilamentSensorStatus Clear() override; void Diagnostics(MessageType mtype, unsigned int extruder) override; private: @@ -44,16 +44,21 @@ private: bool checkNonPrintingMoves; // Other data + uint32_t framingErrorCount; // the number of framing errors we received + uint32_t overdueCount; // the number of times a position report was overdue + + uint32_t candidateStartBitTime; // the time that we received a possible start bit + float extrusionCommandedAtCandidateStartBit; // the amount of extrusion commanded since the previous comparison when we received the possible start bit + + uint32_t lastSyncTime; // the last time we took a measurement that was synced to a start bit + float extrusionCommandedSinceLastSync; + float movementMeasuredSinceLastSync; + uint16_t sensorValue; // last known filament position (10 bits) uint32_t lastMeasurementTime; // the last time we received a value uint16_t switchOpenMask; // mask to isolate the switch open bit(s) from the sensor value - uint32_t framingErrorCount; // the number of framing errors we received - float extrusionCommandedAtStartBit; // the amount of extrusion commanded (mm) when we received the start bit since the last sync - float extrusionCommandedSinceLastSync; // the amount of extrusion commanded (mm) since the last sync - float movementMeasuredSinceLastSync; // the amount of movement in complete rotations of the wheel since the last sync - bool hadNonPrintingMoveAtStartBit; - bool hadNonPrintingMoveSinceLastSync; + bool wasPrintingAtStartBit; bool haveStartBitData; float extrusionCommandedThisSegment; // the amount of extrusion commanded (mm) since we last did a comparison diff --git a/src/FilamentMonitors/SimpleFilamentMonitor.cpp b/src/FilamentMonitors/SimpleFilamentMonitor.cpp index 7b0f1b57..8503ecb3 100644 --- a/src/FilamentMonitors/SimpleFilamentMonitor.cpp +++ b/src/FilamentMonitors/SimpleFilamentMonitor.cpp @@ -31,12 +31,15 @@ bool SimpleFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, b if (seen) { - Check(true, false, false, 0.0); + Check(false, false, 0, 0.0); } else { - reply.printf("Simple filament sensor on endstop %d, %s, output %s when no filament", - GetEndstopNumber(), (enabled) ? "enabled" : "disabled", (highWhenNoFilament) ? "high" : "low"); + reply.printf("Simple filament sensor on endstop %d, %s, output %s when no filament, filament present: %s", + GetEndstopNumber(), + (enabled) ? "enabled" : "disabled", + (highWhenNoFilament) ? "high" : "low", + (filamentPresent) ? "yes" : "no"); } return false; @@ -59,14 +62,14 @@ void SimpleFilamentMonitor::Poll() // Call the following at intervals to check the status. This is only called when extrusion is in progress or imminent. // 'filamentConsumed' is the net amount of extrusion since the last call to this function. -FilamentSensorStatus SimpleFilamentMonitor::Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) +FilamentSensorStatus SimpleFilamentMonitor::Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) { Poll(); return (!enabled || filamentPresent) ? FilamentSensorStatus::ok : FilamentSensorStatus::noFilament; } // Clear the measurement state - called when we are not printing a file. Return the present/not present status if available. -FilamentSensorStatus SimpleFilamentMonitor::Clear(bool full) +FilamentSensorStatus SimpleFilamentMonitor::Clear() { Poll(); return (!enabled || filamentPresent) ? FilamentSensorStatus::ok : FilamentSensorStatus::noFilament; diff --git a/src/FilamentMonitors/SimpleFilamentMonitor.h b/src/FilamentMonitors/SimpleFilamentMonitor.h index e07f53ba..3aecb8f2 100644 --- a/src/FilamentMonitors/SimpleFilamentMonitor.h +++ b/src/FilamentMonitors/SimpleFilamentMonitor.h @@ -16,8 +16,8 @@ public: SimpleFilamentMonitor(unsigned int extruder, int type); bool Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) override; - FilamentSensorStatus Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) override; - FilamentSensorStatus Clear(bool full) override; + FilamentSensorStatus Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) override; + FilamentSensorStatus Clear() override; void Diagnostics(MessageType mtype, unsigned int extruder) override; bool Interrupt() override; diff --git a/src/GCodes/GCodeBuffer.cpp b/src/GCodes/GCodeBuffer.cpp index cf9443ed..64d6213e 100644 --- a/src/GCodes/GCodeBuffer.cpp +++ b/src/GCodes/GCodeBuffer.cpp @@ -12,13 +12,16 @@ #include "GCodeInput.h" #include "Platform.h" #include "RepRap.h" +#include "General/IP4String.h" static constexpr char eofString[] = EOF_STRING; // What's at the end of an HTML file? // Create a default GCodeBuffer GCodeBuffer::GCodeBuffer(const char* id, MessageType mt, bool usesCodeQueue) : machineState(new GCodeMachineState()), identity(id), fileBeingWritten(nullptr), writingFileSize(0), eofStringCounter(0), - toolNumberAdjust(0), responseMessageType(mt), checksumRequired(false), queueCodes(usesCodeQueue), binaryWriting(false) + toolNumberAdjust(0), responseMessageType(mt), + hasCommandNumber(false), commandLetter('Q'), + checksumRequired(false), queueCodes(usesCodeQueue), binaryWriting(false) { Init(); } @@ -290,12 +293,13 @@ bool GCodeBuffer::LineFinished() void GCodeBuffer::DecodeCommand() { // Check for a valid command letter at the start - commandLetter = toupper(gcodeBuffer[commandStart]); - hasCommandNumber = false; - commandNumber = -1; + const char cl = toupper(gcodeBuffer[commandStart]); commandFraction = -1; - if (commandLetter == 'G' || commandLetter == 'M' || commandLetter == 'T') + if (cl == 'G' || cl == 'M' || cl == 'T') { + commandLetter = cl; + hasCommandNumber = false; + commandNumber = -1; parameterStart = commandStart + 1; const bool negative = (gcodeBuffer[parameterStart] == '-'); if (negative) @@ -352,11 +356,30 @@ void GCodeBuffer::DecodeCommand() } } } + else if ( hasCommandNumber + && commandLetter == 'G' + && commandNumber <= 3 + && ( strchr(reprap.GetGCodes().GetAxisLetters(), cl) != nullptr + || ((cl == 'I' || cl == 'J') && commandNumber >= 2) + ) + && reprap.GetGCodes().GetMachineType() == MachineType::cnc + ) + { + // Fanuc-style GCode, repeat the existing G0/G1/G2/G3 command with the new parameters + parameterStart = commandStart; + commandEnd = gcodeLineEnd; + } else { + // Bad command + commandLetter = cl; + hasCommandNumber = false; + commandNumber = -1; + commandFraction = -1; parameterStart = commandStart; commandEnd = gcodeLineEnd; } + bufferState = GCodeBufferState::ready; } @@ -413,7 +436,7 @@ FilePosition GCodeBuffer::GetFilePosition(size_t bytesCached) const return noFilePosition; } -// Is 'c' in the G Code string? +// Is 'c' in the G Code string? 'c' must be uppercase. // Leave the pointer there for a subsequent read. bool GCodeBuffer::Seen(char c) { @@ -428,7 +451,7 @@ bool GCodeBuffer::Seen(char c) } else if (!inQuotes) { - if (inBrackets == 0 && toupper(b) == c) + if (inBrackets == 0 && toupper(b) == c && (c != 'E' || (unsigned int)readPointer == parameterStart || !isdigit(gcodeBuffer[readPointer - 1]))) { return true; } @@ -611,7 +634,19 @@ bool GCodeBuffer::GetQuotedString(const StringRef& str) if (readPointer >= 0) { ++readPointer; // skip the character that introduced the string - return gcodeBuffer[readPointer] == '"' && InternalGetQuotedString(str); + switch (gcodeBuffer[readPointer]) + { + case '"': + return InternalGetQuotedString(str); + +#if SUPPORT_OBJECT_MODEL + case '[': + return GetStringExpression(str); +#endif + + default: + return false; + } } INTERNAL_ERROR; @@ -621,6 +656,7 @@ bool GCodeBuffer::GetQuotedString(const StringRef& str) // Given that the current character is double-quote, fetch the quoted string bool GCodeBuffer::InternalGetQuotedString(const StringRef& str) { + str.Clear(); ++readPointer; for (;;) { @@ -655,6 +691,7 @@ bool GCodeBuffer::InternalGetQuotedString(const StringRef& str) } // Get and copy a string which may or may not be quoted. If it is not quoted, it ends at the first space or control character. +// Return true if successful. bool GCodeBuffer::GetPossiblyQuotedString(const StringRef& str) { if (readPointer >= 0) @@ -667,7 +704,7 @@ bool GCodeBuffer::GetPossiblyQuotedString(const StringRef& str) return false; } -// Get and copy a string which may or may not be quoted, starting at readPointer +// Get and copy a string which may or may not be quoted, starting at readPointer. Return true if successful. bool GCodeBuffer::InternalGetPossiblyQuotedString(const StringRef& str) { str.Clear(); @@ -675,10 +712,13 @@ bool GCodeBuffer::InternalGetPossiblyQuotedString(const StringRef& str) { return InternalGetQuotedString(str); } + +#if SUPPORT_OBJECT_MODEL if (gcodeBuffer[readPointer] == '[') { return GetStringExpression(str); } +#endif commandEnd = gcodeLineEnd; // the string is the remainder of the line of gcode for (;;) @@ -738,6 +778,45 @@ uint32_t GCodeBuffer::GetUIValue() return 0; } +// Get an uint32 after a G Code letter, interpreting quoted numbers starting with x or X or 0x or 0X as hex +uint32_t GCodeBuffer::GetUIValueMaybeHex() +{ + if (readPointer >= 0) + { + int base = 10; + size_t skip = 1; + + // Allow "0xNNNN" or "xNNNN" where NNNN are hex digits + if (gcodeBuffer[readPointer + 1] == '"') + { + switch (gcodeBuffer[readPointer + 2]) + { + case 'x': + case 'X': + base = 16; + skip = 3; + break; + + case '0': + if (gcodeBuffer[readPointer + 3] == 'x' || gcodeBuffer[readPointer + 3] == 'X') + { + base = 16; + skip = 4; + } + break; + + default: + break; + } + } + const uint32_t result = SafeStrtoul(&gcodeBuffer[readPointer + skip], nullptr, base); + readPointer = -1; + return result; + } + INTERNAL_ERROR; + return 0; +} + // If the specified parameter character is found, fetch 'value' and set 'seen'. Otherwise leave val and seen alone. bool GCodeBuffer::TryGetFValue(char c, float& val, bool& seen) { @@ -774,6 +853,18 @@ bool GCodeBuffer::TryGetUIValue(char c, uint32_t& val, bool& seen) return ret; } +// If the specified parameter character is found, fetch 'value' and set 'seen'. Otherwise leave val and seen alone. +bool GCodeBuffer::TryGetUIValueMaybeHex(char c, uint32_t& val, bool& seen) +{ + const bool ret = Seen(c); + if (ret) + { + val = GetUIValueMaybeHex(); + seen = true; + } + return ret; +} + // If the specified parameter character is found, fetch 'value' as a Boolean and set 'seen'. Otherwise leave val and seen alone. bool GCodeBuffer::TryGetBValue(char c, bool& val, bool& seen) { @@ -1078,7 +1169,7 @@ void GCodeBuffer::WriteToFile() fileBeingWritten->Close(); fileBeingWritten = nullptr; SetFinished(true); - const char* const r = (reprap.GetPlatform().Emulating() == Compatibility::marlin) ? "Done saving file." : ""; + const char* const r = (reprap.GetPlatform().EmulatingMarlin()) ? "Done saving file." : ""; reprap.GetGCodes().HandleReply(*this, GCodeResult::ok, r); return; } @@ -1139,7 +1230,7 @@ void GCodeBuffer::FinishWritingBinary() binaryWriting = false; if (crcOk) { - const char* const r = (reprap.GetPlatform().Emulating() == Compatibility::marlin) ? "Done saving file." : ""; + const char* const r = (reprap.GetPlatform().EmulatingMarlin()) ? "Done saving file." : ""; reprap.GetGCodes().HandleReply(*this, GCodeResult::ok, r); } else @@ -1179,7 +1270,7 @@ void GCodeBuffer::FileEnded() fileBeingWritten->Close(); fileBeingWritten = nullptr; SetFinished(true); - const char* const r = (reprap.GetPlatform().Emulating() == Compatibility::marlin) ? "Done saving file." : ""; + const char* const r = (reprap.GetPlatform().EmulatingMarlin()) ? "Done saving file." : ""; reprap.GetGCodes().HandleReply(*this, GCodeResult::ok, r); } } @@ -1266,30 +1357,54 @@ int32_t GCodeBuffer::ReadIValue(const char *p, const char **endptr) return SafeStrtol(p, endptr); } +#if SUPPORT_OBJECT_MODEL + // Get a string expression. The current character is '['. bool GCodeBuffer::GetStringExpression(const StringRef& str) { - ++readPointer; - for (;;) + ExpressionValue val; + switch (EvaluateExpression(gcodeBuffer + readPointer, nullptr, val)) { - const char c = gcodeBuffer[readPointer]; - if (c == 0) - { - return false; - } - ++readPointer; - // For now we don't process the characters between { } and just return a standard string - if (c == ']') - { - str.copy("string_variables_not_implemented"); - break; - } + case TYPE_OF(const char*): + str.copy(val.sVal); + break; + + case TYPE_OF(float): + str.printf("%.1f", (double)val.fVal); + break; + + case TYPE_OF(Float2): + str.printf("%.2f", (double)val.fVal); + break; + + case TYPE_OF(Float3): + str.printf("%.3f", (double)val.fVal); + break; + + case TYPE_OF(uint32_t): + str.printf("%" PRIu32, val.uVal); // convert unsigned integer to string + break; + + case TYPE_OF(int32_t): + str.printf("%" PRIi32, val.uVal); // convert signed integer to string + break; + + case TYPE_OF(bool): + str.copy((val.bVal) ? "true" : "false"); // convert bool to string + break; + + case TYPE_OF(IPAddress): + str.copy(IP4String(val.uVal).c_str()); + break; + + default: + //TODO report error + return false; } + return true; } -#if SUPPORT_OBJECT_MODEL - // Evaluate an expression. the current character is '['. TypeCode GCodeBuffer::EvaluateExpression(const char *p, const char **endptr, ExpressionValue& rslt) { @@ -1298,8 +1413,17 @@ TypeCode GCodeBuffer::EvaluateExpression(const char *p, const char **endptr, Exp if (isalpha(*p)) // if it's a variable name { const char * const start = p; - while (isalpha(*p) || isdigit(*p) || *p == '_') + unsigned int numBrackets = 0; + while (isalpha(*p) || isdigit(*p) || *p == '_' || *p == '.' || *p == '[' || (*p == ']' && numBrackets != 0)) { + if (*p == '[') + { + ++numBrackets; + } + else if (*p == ']') + { + -- numBrackets; + } ++p; } String<MaxVariableNameLength> varName; diff --git a/src/GCodes/GCodeBuffer.h b/src/GCodes/GCodeBuffer.h index 73227c6d..bea97e1c 100644 --- a/src/GCodes/GCodeBuffer.h +++ b/src/GCodes/GCodeBuffer.h @@ -35,22 +35,24 @@ public: float GetFValue() __attribute__((hot)); // Get a float after a key letter int32_t GetIValue() __attribute__((hot)); // Get an integer after a key letter uint32_t GetUIValue(); // Get an unsigned integer value + uint32_t GetUIValueMaybeHex(); // Get an unsigned integer value that might be written in hex format bool GetIPAddress(IPAddress& returnedIp); // Get an IP address quad after a key letter - bool GetMacAddress(uint8_t mac[6]); // Get a MAX address sextet after a key letter + bool GetMacAddress(uint8_t mac[6]); // Get a MAC address sextet after a key letter bool GetUnprecedentedString(const StringRef& str); // Get a string with no preceding key letter bool GetQuotedString(const StringRef& str); // Get and copy a quoted string bool GetPossiblyQuotedString(const StringRef& str); // Get and copy a string which may or may not be quoted - const void GetFloatArray(float arr[], size_t& length, bool doPad) __attribute__((hot)); // Get a :-separated list of floats after a key letter + const void GetFloatArray(float arr[], size_t& length, bool doPad) __attribute__((hot)); // Get a colon-separated list of floats after a key letter const void GetIntArray(int32_t arr[], size_t& length, bool doPad); // Get a :-separated list of ints after a key letter const void GetUnsignedArray(uint32_t arr[], size_t& length, bool doPad); // Get a :-separated list of unsigned ints after a key letter bool TryGetFValue(char c, float& val, bool& seen); bool TryGetIValue(char c, int32_t& val, bool& seen); bool TryGetUIValue(char c, uint32_t& val, bool& seen); + bool TryGetUIValueMaybeHex(char c, uint32_t& val, bool& seen); bool TryGetBValue(char c, bool& val, bool& seen); bool TryGetFloatArray(char c, size_t numVals, float vals[], const StringRef& reply, bool& seen, bool doPad = false); bool TryGetUIArray(char c, size_t numVals, uint32_t vals[], const StringRef& reply, bool& seen, bool doPad = false); - bool TryGetQuotedString(char c, const StringRef& str, bool& seen); + bool TryGetQuotedString(char c, const StringRef& str, bool& seen); bool TryGetPossiblyQuotedString(char c, const StringRef& str, bool& seen); const char* Buffer() const; @@ -122,11 +124,12 @@ private: float ReadFloatValue(const char *p, const char **endptr); uint32_t ReadUIValue(const char *p, const char **endptr); int32_t ReadIValue(const char *p, const char **endptr); - bool GetStringExpression(const StringRef& str) - pre (readPointer >= 0; gcodeBuffer[readPointer] == '{'; str.IsEmpty()); #if SUPPORT_OBJECT_MODEL - TypeCode EvaluateExpression(const char *p, const char **endptr, ExpressionValue& rslt); + bool GetStringExpression(const StringRef& str) + pre (readPointer >= 0; gcodeBuffer[readPointer] == '['; str.IsEmpty()); + TypeCode EvaluateExpression(const char *p, const char **endptr, ExpressionValue& rslt) + pre (readPointer >= 0; gcodeBuffer[readPointer] == '['); #endif GCodeMachineState *machineState; // Machine state for this gcode source diff --git a/src/GCodes/GCodeInput.h b/src/GCodes/GCodeInput.h index 794e7335..7d493df8 100644 --- a/src/GCodes/GCodeInput.h +++ b/src/GCodes/GCodeInput.h @@ -30,8 +30,6 @@ protected: }; // This class wraps around an existing Stream device which lets us avoid double buffering. -// The only downside is that we cannot (yet) look through the hardware buffer and check for requested emergency stops. -// TODO: This will require some more work in the Arduino core. class StreamGCodeInput : public GCodeInput { public: diff --git a/src/GCodes/GCodeMachineState.h b/src/GCodes/GCodeMachineState.h index ce362cae..fd158b74 100644 --- a/src/GCodes/GCodeMachineState.h +++ b/src/GCodes/GCodeMachineState.h @@ -85,6 +85,8 @@ enum class GCodeState : uint8_t loadingFilament, unloadingFilament, + timingSDwrite, + #if HAS_VOLTAGE_MONITOR powerFailPausing1 #endif @@ -123,6 +125,9 @@ public: static GCodeMachineState *Allocate() post(!result.IsLive(); result.state == GCodeState::normal); + // Return true if the G54 command is in effect + bool UsingMachineCoordinates() const { return useMachineCoordinates || useMachineCoordinatesSticky; } + // Copy values that may have been altered by config.g into this state record void CopyStateFrom(const GCodeMachineState& other) { diff --git a/src/GCodes/GCodeResult.h b/src/GCodes/GCodeResult.h index 45ea3af6..3939e7e1 100644 --- a/src/GCodes/GCodeResult.h +++ b/src/GCodes/GCodeResult.h @@ -17,7 +17,8 @@ enum class GCodeResult : uint8_t ok, // we have finished processing this code in the current state, and if the GCodeState is 'normal' then we have finished it completely error, warning, - notSupported, + warningNotSupported, + errorNotSupported, notSupportedInCurrentMode, badOrMissingParameter }; diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp index 279ea292..791e8f5c 100644 --- a/src/GCodes/GCodes.cpp +++ b/src/GCodes/GCodes.cpp @@ -47,21 +47,6 @@ # include "Fans/DotStarLed.h" #endif -const size_t gcodeReplyLength = 2048; // long enough to pass back a reasonable number of files in response to M20 - -// Set up some default values for special moves, e.g. for Z probing and firmware retraction -void GCodes::RawMove::SetDefaults() -{ - moveType = 0; - isCoordinated = false; - usingStandardFeedrate = false; - usePressureAdvance = false; - endStopsToCheck = 0; - filePos = noFilePosition; - xAxes = DefaultXAxisMapping; - yAxes = DefaultYAxisMapping; -} - #if SUPPORT_OBJECT_MODEL // Object model table and functions @@ -73,6 +58,7 @@ void GCodes::RawMove::SetDefaults() const ObjectModelTableEntry GCodes::objectModelTable[] = { + // These entries must be in alphabetical order { "speedFactor", OBJECT_MODEL_FUNC(&(self->speedFactor)), TYPE_OF(float), ObjectModelTableEntry::none } }; @@ -80,12 +66,22 @@ DEFINE_GET_OBJECT_MODEL_TABLE(GCodes) #endif +#ifdef SERIAL_AUX_DEVICE +// Support for emergency stpo form PanelDue +bool GCodes::emergencyStopCommanded = false; + +void GCodes::CommandEmergencyStop(UARTClass *p) +{ + emergencyStopCommanded = true; +} +#endif + GCodes::GCodes(Platform& p) : platform(p), machineType(MachineType::fff), active(false), #if HAS_VOLTAGE_MONITOR powerFailScript(nullptr), #endif - isFlashing(false), fileBeingHashed(nullptr), lastWarningMillis(0) + isFlashing(false), fileBeingHashed(nullptr), lastWarningMillis(0), sdTimingFile(nullptr) { fileInput = new FileGCodeInput(); fileGCode = new GCodeBuffer("file", GenericMessage, true); @@ -135,7 +131,7 @@ void GCodes::Init() axisLetters[1] = 'Y'; axisLetters[2] = 'Z'; -#if defined(DUET_NG) || defined(DUET_M) +#if HAS_SMART_DRIVERS numExtruders = min<size_t>(MaxExtruders, platform.GetNumSmartDrivers() - XYZ_AXES); // don't default dumb drivers to extruders because they don't support the same microstepping options #else numExtruders = MaxExtruders; @@ -144,11 +140,10 @@ void GCodes::Init() Reset(); distanceScale = 1.0; - arcSegmentLength = DefaultArcSegmentLength; virtualExtruderPosition = rawExtruderTotal = 0.0; - for (size_t extruder = 0; extruder < MaxExtruders; extruder++) + for (float& f : rawExtruderTotalByDrive) { - rawExtruderTotalByDrive[extruder] = 0.0; + f = 0.0; } runningConfigFile = false; @@ -158,9 +153,9 @@ void GCodes::Init() limitAxes = noMovesBeforeHoming = true; SetAllAxesNotHomed(); - for (size_t i = 0; i < NUM_FANS; ++i) + for (float& f : pausedFanSpeeds) { - pausedFanSpeeds[i] = 0.0; + f = 0.0; } lastDefaultFanSpeed = pausedDefaultFanSpeed = 0.0; @@ -188,6 +183,10 @@ void GCodes::Init() #if HAS_LINUX_INTERFACE reprap.GetLinuxComm().SetGCodeInput(spiInput); #endif + +#ifdef SERIAL_AUX_DEVICE + SERIAL_AUX_DEVICE.SetInterruptCallback(GCodes::CommandEmergencyStop); +#endif } // This is called from Init and when doing an emergency stop @@ -211,7 +210,7 @@ void GCodes::Reset() nextGcodeSource = 0; fileToPrint.Close(); - speedFactor = SecondsToMinutes; // default is just to convert from mm/minute to mm/second + speedFactor = 100.0; for (size_t i = 0; i < MaxExtruders; ++i) { @@ -235,14 +234,15 @@ void GCodes::Reset() currentCoordinateSystem = 0; #endif - for (size_t i = 0; i < MaxTotalDrivers; ++i) + for (float& f : moveBuffer.coords) { - moveBuffer.coords[i] = 0.0; // clear out all axis and extruder coordinates + f = 0.0; // clear out all axis and extruder coordinates } ClearMove(); ClearBabyStepping(); // clear this before calling ToolOffsetInverseTransform currentZHop = 0.0; // clear this before calling ToolOffsetInverseTransform + lastPrintingMoveHeight = -1.0; moveBuffer.xAxes = DefaultXAxisMapping; moveBuffer.yAxes = DefaultYAxisMapping; moveBuffer.virtualExtruderPosition = 0.0; @@ -274,7 +274,7 @@ void GCodes::Reset() #endif doingToolChange = false; doingManualBedProbe = false; - pausePending = false; + pausePending = filamentChangePausePending = false; probeIsDeployed = false; moveBuffer.filePos = noFilePosition; lastEndstopStates = platform.GetAllEndstopStates(); @@ -284,17 +284,17 @@ void GCodes::Reset() codeQueue->Clear(); cancelWait = isWaiting = displayNoToolWarning = false; - for (size_t i = 0; i < NumResources; ++i) + for (const GCodeBuffer*& gbp : resourceOwners) { - resourceOwners[i] = nullptr; + gbp = nullptr; } } bool GCodes::DoingFileMacro() const { - for (const GCodeBuffer *gb : gcodeSources) + for (const GCodeBuffer *gbp : gcodeSources) { - if (gb != nullptr && gb->IsDoingFileMacro()) + if (gbp != nullptr && gbp->IsDoingFileMacro()) { return true; } @@ -374,6 +374,16 @@ void GCodes::Spin() return; } +#ifdef SERIAL_AUX_DEVICE + if (emergencyStopCommanded) + { + DoEmergencyStop(); + while (SERIAL_AUX_DEVICE.read() >= 0) { } + emergencyStopCommanded = false; + return; + } +#endif + CheckTriggers(); CheckHeaterFault(); CheckFilament(); @@ -395,7 +405,7 @@ void GCodes::Spin() GCodeBuffer& gb = *gbp; // Set up a buffer for the reply - String<gcodeReplyLength> reply; + String<GCodeReplyLength> reply; if (gb.GetState() == GCodeState::normal) { @@ -468,6 +478,11 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) } } } + + if (platform.Emulating() == Compatibility::nanoDLP && &gb == serialGCode && !DoingFileMacro()) + { + reply.copy("Z_move_comp"); + } gb.SetState(GCodeState::normal); } break; @@ -513,7 +528,8 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) // went (i.e. the difference between our start and end positions) and if we need to // incorporate any correction factors. That's why we only need to set the final tool // offset to this value in order to finish the tool probing. - currentTool->SetOffset(axis, (toolChangeRestorePoint.moveCoords[axis] - currentUserPosition[axis]) + gb.GetFValue(), true); + const float coord = toolChangeRestorePoint.moveCoords[axis] - currentUserPosition[axis] + gb.GetFValue(); + currentTool->SetOffset(axis, coord, true); break; } } @@ -662,7 +678,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) } else { - String<PASSWORD_LENGTH> nextHomingFileName; + String<RepRapPasswordLength> nextHomingFileName; AxesBitmap mustHomeFirst = reprap.GetMove().GetKinematics().GetHomingFileName(toBeHomed, axesHomed, numVisibleAxes, nextHomingFileName.GetRef()); if (mustHomeFirst != 0) { @@ -710,8 +726,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) case GCodeState::m109ToolChange0: // Run tfree for the old tool (if any) doingToolChange = true; SaveFanSpeeds(); - memcpy(toolChangeRestorePoint.moveCoords, currentUserPosition, MaxAxes * sizeof(currentUserPosition[0])); - toolChangeRestorePoint.feedRate = gb.MachineState().feedRate; + SavePosition(toolChangeRestorePoint, gb); gb.AdvanceState(); if ((gb.MachineState().toolChangeParam & TFreeBit) != 0) { @@ -769,7 +784,11 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) if (LockMovementAndWaitForStandstill(gb)) // wait for tpost.g to finish executing { // Restore the original Z axis user position, so that different tool Z offsets work even if the first move after the tool change doesn't have a Z coordinate - currentUserPosition[Z_AXIS] = toolChangeRestorePoint.moveCoords[Z_AXIS]; + // Only do this if we are running as an FDM printer, because it's not appropriate for CNC machines. + if (machineType == MachineType::fff) + { + currentUserPosition[Z_AXIS] = toolChangeRestorePoint.moveCoords[Z_AXIS]; + } gb.MachineState().feedRate = toolChangeRestorePoint.feedRate; // We don't restore the default fan speed in case the user wants to use a different one for the new tool doingToolChange = false; @@ -845,16 +864,12 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) if (LockMovementAndWaitForStandstill(gb)) { float currentZ = moveBuffer.coords[Z_AXIS]; - for (size_t drive = 0; drive < numVisibleAxes; ++drive) + for (size_t axis = 0; axis < numVisibleAxes; ++axis) { - currentUserPosition[drive] = pauseRestorePoint.moveCoords[drive]; + currentUserPosition[axis] = pauseRestorePoint.moveCoords[axis]; } ToolOffsetTransform(currentUserPosition, moveBuffer.coords); - for (size_t drive = numTotalAxes; drive < MaxTotalDrivers; ++drive) - { - moveBuffer.coords[drive] = 0.0; - } - moveBuffer.SetDefaults(); + SetMoveBufferDefaults(); moveBuffer.feedRate = DefaultFeedRate * SecondsToMinutes; // ask for a good feed rate, we may have paused during a slow move if (gb.GetState() == GCodeState::resuming1 && currentZ > pauseRestorePoint.moveCoords[Z_AXIS]) { @@ -894,6 +909,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) // Update additional modules before the main firmware if (FirmwareUpdater::IsReady()) { + CheckReportDue(gb, reply); // this is so that the ATE gets status reports and can tell when flashing is complete bool updating = false; for (unsigned int module = 1; module < NumFirmwareUpdateModules; ++module) { @@ -965,7 +981,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) { if (move.IsAccessibleProbePoint(x, y)) { - moveBuffer.SetDefaults(); + SetMoveBufferDefaults(); moveBuffer.coords[X_AXIS] = x - platform.GetCurrentZProbeParameters().xOffset; moveBuffer.coords[Y_AXIS] = y - platform.GetCurrentZProbeParameters().yOffset; moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight(); @@ -1042,7 +1058,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) { zProbeTriggered = false; platform.SetProbing(true); - moveBuffer.SetDefaults(); + SetMoveBufferDefaults(); moveBuffer.endStopsToCheck = ZProbeActive; moveBuffer.coords[Z_AXIS] = -platform.GetZProbeDiveHeight(); moveBuffer.feedRate = platform.GetCurrentZProbeParameters().probeSpeed; @@ -1077,7 +1093,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) break; } - g30zHeightError = moveBuffer.coords[Z_AXIS] - platform.ZProbeStopHeight(); + g30zHeightError = moveBuffer.coords[Z_AXIS] - platform.GetZProbeStopHeight(); g30zHeightErrorSum += g30zHeightError; } @@ -1091,7 +1107,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) case GCodeState::gridProbing4a: // ready to lift the probe after probing the current grid probe point // Move back up to the dive height - moveBuffer.SetDefaults(); + SetMoveBufferDefaults(); moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight(); moveBuffer.feedRate = platform.GetZProbeTravelSpeed(); NewMoveAvailable(1); @@ -1221,7 +1237,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) // States used for G30 probing case GCodeState::probingAtPoint0: // Initial state when executing G30 with a P parameter. Start by moving to the dive height at the current position. - moveBuffer.SetDefaults(); + SetMoveBufferDefaults(); moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight(); moveBuffer.feedRate = platform.GetZProbeTravelSpeed(); NewMoveAvailable(1); @@ -1232,9 +1248,8 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) // The move to raise/lower the head to the correct dive height has been commanded. if (LockMovementAndWaitForStandstill(gb)) { - // Head is at the dive height but needs to be moved to the correct XY position. - // The XY coordinates have already been stored. - moveBuffer.SetDefaults(); + // Head is at the dive height but needs to be moved to the correct XY position. The XY coordinates have already been stored. + SetMoveBufferDefaults(); (void)reprap.GetMove().GetProbeCoordinates(g30ProbePointIndex, moveBuffer.coords[X_AXIS], moveBuffer.coords[Y_AXIS], true); moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight(); moveBuffer.feedRate = platform.GetZProbeTravelSpeed(); @@ -1304,7 +1319,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) { zProbeTriggered = false; platform.SetProbing(true); - moveBuffer.SetDefaults(); + SetMoveBufferDefaults(); moveBuffer.endStopsToCheck = ZProbeActive; moveBuffer.coords[Z_AXIS] = (GetAxisIsHomed(Z_AXIS) && limitAxes) ? -platform.GetZProbeDiveHeight() // Z axis has been homed, so no point in going very far @@ -1342,13 +1357,10 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) else { // Successful probing - float heightAdjust = 0.0; - bool dummy; - gb.TryGetFValue('H', heightAdjust, dummy); float m[MaxAxes]; reprap.GetMove().GetCurrentMachinePosition(m, false); // get height without bed compensation - g30zStoppedHeight = m[Z_AXIS] - heightAdjust; // save for later - g30zHeightError = g30zStoppedHeight - platform.ZProbeStopHeight(); + g30zStoppedHeight = m[Z_AXIS] - g30HValue; // save for later + g30zHeightError = g30zStoppedHeight - platform.GetZProbeStopHeight(); g30zHeightErrorSum += g30zHeightError; } } @@ -1356,9 +1368,9 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) if (g30ProbePointIndex < 0) // if no P parameter { // Simple G30 probing move - if (g30SValue == -1 || g30SValue == -2) + if (g30SValue == -1 || g30SValue == -2 || g30SValue == -3) { - // G30 S-1 or S-2 command taps once and reports the height + // G30 S-1 command taps once and reports the height, S-2 sets the tool offset to the negative of the current height, S-3 sets the Z probe trigger height gb.SetState(GCodeState::probingAtPoint7); // special state for reporting the stopped height at the end if (platform.GetZProbeType() != ZProbeType::none && !probeIsDeployed) { @@ -1370,7 +1382,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) if (tapsDone == 1 && !hadProbingError) { // Reset the Z axis origin according to the height error so that we can move back up to the dive height - moveBuffer.coords[Z_AXIS] = platform.ZProbeStopHeight(); + moveBuffer.coords[Z_AXIS] = platform.GetZProbeStopHeight(); reprap.GetMove().SetNewPosition(moveBuffer.coords, false); reprap.GetMove().SetZeroHeightError(moveBuffer.coords); g30zHeightError = 0; // there is no longer any height error from this probe @@ -1388,7 +1400,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) case GCodeState::probingAtPoint4a: // Move back up to the dive height before we change anything, in particular before we adjust leadscrews - moveBuffer.SetDefaults(); + SetMoveBufferDefaults(); moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight(); moveBuffer.feedRate = platform.GetZProbeTravelSpeed(); NewMoveAvailable(1); @@ -1476,19 +1488,28 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) break; case GCodeState::probingAtPoint7: - // Here when we have finished executing G30 S-1 or S-2 including retracting the probe if necessary - if (g30SValue == -2) + // Here when we have finished executing G30 S-1 or S-2 or S-3 including retracting the probe if necessary + if (g30SValue == -3) + { + // Adjust the Z probe trigger height to the stop height + ZProbe zp = platform.GetCurrentZProbeParameters(); + zp.triggerHeight = g30zStoppedHeight; + platform.SetZProbeParameters(platform.GetZProbeType(), zp); + reply.printf("Z probe trigger height set to %.3f mm", (double)g30zStoppedHeight); + } + else if (g30SValue == -2) { // Adjust the Z offset of the current tool to account for the height error - Tool *const tool = reprap.GetCurrentTool(); + Tool * const tool = reprap.GetCurrentTool(); if (tool == nullptr) { - platform.Message(ErrorMessage, "G30 S-2 commanded with no tool selected"); + platform.Message(ErrorMessage, "Tool was deselected during G30 S-2 command"); error = true; } else { - tool->SetOffset(Z_AXIS, tool->GetOffset(Z_AXIS) + g30zHeightError, true); + tool->SetOffset(Z_AXIS, -g30zHeightError, true); + ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // update user coordinates to reflect the new tool offset } } else @@ -1507,12 +1528,8 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) const AxesBitmap xAxes = reprap.GetCurrentXAxes(); const AxesBitmap yAxes = reprap.GetCurrentYAxes(); reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, 0, xAxes, yAxes); + SetMoveBufferDefaults(); moveBuffer.coords[Z_AXIS] += retractHop; - for (size_t i = numTotalAxes; i < MaxTotalDrivers; ++i) - { - moveBuffer.coords[i] = 0.0; - } - moveBuffer.SetDefaults(); moveBuffer.feedRate = platform.MaxFeedrate(Z_AXIS); moveBuffer.filePos = (&gb == fileGCode) ? gb.GetFilePosition(fileInput->BytesCached()) : noFilePosition; moveBuffer.canPauseAfter = false; // don't pause after a retraction because that could cause too much retraction @@ -1532,15 +1549,11 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) const uint32_t xAxes = reprap.GetCurrentXAxes(); const uint32_t yAxes = reprap.GetCurrentYAxes(); reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, 0, xAxes, yAxes); - for (size_t i = numTotalAxes; i < MaxTotalDrivers; ++i) - { - moveBuffer.coords[i] = 0.0; - } + SetMoveBufferDefaults(); for (size_t i = 0; i < tool->DriveCount(); ++i) { moveBuffer.coords[numTotalAxes + tool->Drive(i)] = retractLength + retractExtra; } - moveBuffer.SetDefaults(); moveBuffer.feedRate = unRetractSpeed; moveBuffer.isFirmwareRetraction = true; moveBuffer.filePos = (&gb == fileGCode) ? gb.MachineState().fileState.GetPosition() - fileInput->BytesCached() : noFilePosition; @@ -1592,6 +1605,35 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) break; #endif + case GCodeState::timingSDwrite: + for (uint32_t writtenThisTime = 0; writtenThisTime < 100 * 1024; ) + { + if (timingBytesWritten >= timingBytesRequested) + { + sdTimingFile->Close(); + const uint32_t ms = millis() - timingStartMillis; + const float fileMbytes = (float)timingBytesWritten/(float)(1024 * 1024); + const float mbPerSec = (fileMbytes * 1000.0)/(float)ms; + reply.printf("SD write speed for %.1fMbyte file was %.2fMbytes/sec", (double)fileMbytes, (double)mbPerSec); + platform.GetMassStorage()->Delete(platform.GetGCodeDir(), TimingFileName); + gb.SetState(GCodeState::normal); + break; + } + + if (!sdTimingFile->Write(reply.c_str(), reply.Capacity())) + { + sdTimingFile->Close(); + platform.GetMassStorage()->Delete(platform.GetGCodeDir(), TimingFileName); + reply.copy("Error writing to timing file"); + error = true; + gb.SetState(GCodeState::normal); + break; + } + timingBytesWritten += reply.Capacity(); + writtenThisTime += reply.Capacity(); + } + break; + default: // should not happen platform.Message(ErrorMessage, "Undefined GCodeState\n"); gb.SetState(GCodeState::normal); @@ -1739,7 +1781,12 @@ void GCodes::DoFilePrint(GCodeBuffer& gb, const StringRef& reply) { UnlockAll(gb); HandleReply(gb, GCodeResult::ok, ""); - if (pausePending && &gb == fileGCode && !gb.IsDoingFileMacro()) + if (filamentChangePausePending && &gb == fileGCode && !gb.IsDoingFileMacro()) + { + gb.Put("M600"); + filamentChangePausePending = false; + } + else if (pausePending && &gb == fileGCode && !gb.IsDoingFileMacro()) { gb.Put("M226"); pausePending = false; @@ -1756,7 +1803,7 @@ void GCodes::EndSimulation(GCodeBuffer *gb) // Ending a simulation, so restore the position RestorePosition(simulationRestorePoint, gb); ToolOffsetTransform(currentUserPosition, moveBuffer.coords); - reprap.GetMove().SetNewPosition(simulationRestorePoint.moveCoords, true); + reprap.GetMove().SetNewPosition(moveBuffer.coords, true); axesHomed = axesHomedBeforeSimulation; } @@ -1897,7 +1944,7 @@ void GCodes::DoPause(GCodeBuffer& gb, PauseReason reason, const char *msg) #endif } - // Replace the paused machine coordinates by user coordinates, which we updated earlier + // Replace the paused machine coordinates by user coordinates, which we updated earlier if they were returned by Move::PausePrint for (size_t axis = 0; axis < numVisibleAxes; ++axis) { pauseRestorePoint.moveCoords[axis] = currentUserPosition[axis]; @@ -1954,20 +2001,24 @@ bool GCodes::IsPaused() const bool GCodes::IsPausing() const { GCodeState topState = fileGCode->OriginalMachineState().state; - if (topState == GCodeState::pausing1 || topState == GCodeState::pausing2) + if ( topState == GCodeState::pausing1 || topState == GCodeState::pausing2 + || topState == GCodeState::filamentChangePause1 || topState == GCodeState::filamentChangePause2 + ) { return true; } topState = daemonGCode->OriginalMachineState().state; - if (topState == GCodeState::pausing1 || topState == GCodeState::pausing2) + if ( topState == GCodeState::pausing1 || topState == GCodeState::pausing2 + || topState == GCodeState::filamentChangePause1 || topState == GCodeState::filamentChangePause2 + ) { return true; } topState = autoPauseGCode->OriginalMachineState().state; - if ( topState == GCodeState::pausing1 - || topState == GCodeState::pausing2 + if ( topState == GCodeState::pausing1 || topState == GCodeState::pausing2 + || topState == GCodeState::filamentChangePause1 || topState == GCodeState::filamentChangePause2 #if HAS_VOLTAGE_MONITOR || topState == GCodeState::powerFailPausing1 #endif @@ -2019,6 +2070,10 @@ bool GCodes::DoEmergencyPause() // Save the resume info, stop movement immediately and run the low voltage pause script to lift the nozzle etc. GrabMovement(*autoPauseGCode); + // When we use RTOS there is a possible race condition in the following, because we might try to pause when a waiting move has just been added + // but before the gcode buffer has been re-initialised ready for the next command. So start a critical section. + TaskCriticalSectionLocker lock; + const bool movesSkipped = reprap.GetMove().LowPowerOrStallPause(pauseRestorePoint); if (movesSkipped) { @@ -2045,8 +2100,6 @@ bool GCodes::DoEmergencyPause() pauseRestorePoint.feedRate = fileGCode->MachineState().feedRate; pauseRestorePoint.virtualExtruderPosition = virtualExtruderPosition; - // TODO: when we use RTOS there is a possible race condition in the following, - // because we might try to pause when a waiting move has just been added but before the gcode buffer has been re-initialised ready for the next command pauseRestorePoint.filePos = fileGCode->GetFilePosition(fileInput->BytesCached()); pauseRestorePoint.proportionDone = 0.0; #if SUPPORT_LASER || SUPPORT_IOBITS @@ -2054,6 +2107,8 @@ bool GCodes::DoEmergencyPause() #endif } + codeQueue->PurgeEntries(); + // Replace the paused machine coordinates by user coordinates, which we updated earlier for (size_t axis = 0; axis < numVisibleAxes; ++axis) { @@ -2156,7 +2211,7 @@ bool GCodes::PauseOnStall(DriversBitmap stalledDrivers) return false; } - String<100> stallErrorString; + String<MediumStringLength> stallErrorString; stallErrorString.printf("Stall detected on driver(s)"); ListDrivers(stallErrorString.GetRef(), stalledDrivers); DoPause(*autoPauseGCode, PauseReason::stall, stallErrorString.c_str()); @@ -2305,11 +2360,11 @@ void GCodes::SaveResumeInfo(bool wasPowerFailure) } if (ok) { - platform.Message(LoggedGenericMessage, "Resume-after-power-fail state saved\n"); + platform.Message(LoggedGenericMessage, "Resume state saved\n"); } else { - platform.GetMassStorage()->Delete(platform.GetSysDir(), RESUME_AFTER_POWER_FAIL_G, true); + platform.GetMassStorage()->Delete(platform.GetSysDir(), RESUME_AFTER_POWER_FAIL_G); platform.MessageF(ErrorMessage, "Failed to write or close file %s\n", RESUME_AFTER_POWER_FAIL_G); } } @@ -2358,9 +2413,7 @@ bool GCodes::LockMovementAndWaitForStandstill(const GCodeBuffer& gb) } // Get the current positions. These may not be the same as the ones we remembered from last time if we just did a special move. - reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, 0, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes()); - memcpy(moveBuffer.initialCoords, moveBuffer.coords, numVisibleAxes * sizeof(moveBuffer.initialCoords[0])); - ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); + UpdateCurrentUserPosition(); return true; } @@ -2396,7 +2449,7 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb) { const float rate = gb.GetFValue() * distanceScale; gb.MachineState().feedRate = (moveBuffer.moveType == 0) - ? rate * speedFactor + ? rate * speedFactor * (0.01 * SecondsToMinutes) : rate * SecondsToMinutes; // don't apply the speed factor to homing and other special moves } moveBuffer.feedRate = gb.MachineState().feedRate; @@ -2451,6 +2504,13 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb) virtualExtruderPosition = moveArg; } + // rawExtruderTotal is used to calculate print progress, so it must be based on the requested extrusion before accounting for mixing, + // otherwise IDEX ditto printing and similar gives strange results + if (moveBuffer.moveType == 0 && !doingToolChange) + { + rawExtruderTotal += requestedExtrusionAmount; + } + for (size_t eDrive = 0; eDrive < eMoveCount; eDrive++) { const int drive = tool->Drive(eDrive); @@ -2462,10 +2522,8 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb) extrusionAmount *= volumetricExtrusionFactors[drive]; } rawExtruderTotalByDrive[drive] += extrusionAmount; - if (!doingToolChange) // don't count extrusion done in tool change macros towards total filament consumed, it distorts the print progress - { - rawExtruderTotal += extrusionAmount; - } + + // Don't count extrusion done in filament loading or tool change macros towards total filament consumed, it distorts the print progress moveBuffer.coords[drive + numTotalAxes] = extrusionAmount * extrusionFactors[drive]; #if HAS_SMART_DRIVERS if (moveBuffer.moveType == 1) @@ -2492,7 +2550,9 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb) extrusionAmount *= volumetricExtrusionFactors[drive]; } rawExtruderTotalByDrive[drive] += extrusionAmount; - if (!doingToolChange) // don't count extrusion done in tool change macros towards total filament consumed, it distorts the print progress + + // Don't count extrusion done in filament loading or tool change macros towards total filament consumed, it distorts the print progress + if (moveBuffer.moveType == 0 && !doingToolChange) { rawExtruderTotal += extrusionAmount; } @@ -2540,16 +2600,12 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated) if (gb.Seen('H') || (machineType != MachineType::laser && gb.Seen('S'))) { const int ival = gb.GetIValue(); - if (ival == 1 || ival == 2 || ival == 3) + if (ival >= 1 && ival <= 3) { moveBuffer.moveType = ival; moveBuffer.xAxes = DefaultXAxisMapping; moveBuffer.yAxes = DefaultYAxisMapping; } - else if (ival == 99) // temporary code to log Z probe change positions - { - moveBuffer.endStopsToCheck |= LogProbeChanges; - } } // Check for 'R' parameter to move relative to a restore point @@ -2567,6 +2623,14 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated) } } +#if SUPPORT_WORKPLACE_COORDINATES + if (moveBuffer.moveType == 0 && rp == nullptr && gb.MachineState().UsingMachineCoordinates()) + { + moveBuffer.xAxes = DefaultXAxisMapping; + moveBuffer.yAxes = DefaultYAxisMapping; + } +#endif + // Check for laser power setting or IOBITS #if SUPPORT_LASER || SUPPORT_IOBITS if (rp != nullptr) @@ -2606,7 +2670,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated) #endif #endif - if (moveBuffer.moveType != 0) + if (moveBuffer.moveType != 0 || (rp == nullptr && gb.MachineState().UsingMachineCoordinates())) { // This may be a raw motor move, in which case we need the current raw motor positions in moveBuffer.coords. // If it isn't a raw motor move, it will still be applied without axis or bed transform applied, @@ -2633,7 +2697,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated) SetBit(axesMentioned, axis); const float moveArg = gb.GetFValue() * distanceScale; - if (moveBuffer.moveType != 0) + if (moveBuffer.moveType != 0 || (rp == nullptr && gb.MachineState().UsingMachineCoordinates())) { if (gb.MachineState().axesRelative) { @@ -2652,12 +2716,6 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated) { currentUserPosition[axis] += moveArg; } -#if SUPPORT_WORKPLACE_COORDINATES - else if (gb.MachineState().useMachineCoordinates || gb.MachineState().useMachineCoordinatesSticky) - { - currentUserPosition[axis] = moveArg - workplaceCoordinates[currentCoordinateSystem][axis]; - } -#endif else { currentUserPosition[axis] = moveArg; @@ -2705,13 +2763,32 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated) } else { - ToolOffsetTransform(currentUserPosition, moveBuffer.coords, axesMentioned); // apply tool offset, axis mapping, baby stepping, Z hop and axis scaling + if (rp == nullptr && gb.MachineState().UsingMachineCoordinates()) + { + gb.SetState(GCodeState::waitingForSpecialMoveToComplete); // we need to update the user coordinates after the move + } + else + { + if (&gb == fileGCode && !gb.IsDoingFileMacro() && moveBuffer.hasExtrusion && (axesMentioned & ((1 << X_AXIS) | (1 << Y_AXIS))) != 0) + { + lastPrintingMoveHeight = currentUserPosition[Z_AXIS]; + } + + ToolOffsetTransform(currentUserPosition, moveBuffer.coords, axesMentioned); // apply tool offset, axis mapping, baby stepping, Z hop and axis scaling + + // If we are emulating Marlin for nanoDLP then we need to set a special end state + if (platform.Emulating() == Compatibility::nanoDLP && &gb == serialGCode && !DoingFileMacro()) + { + gb.SetState(GCodeState::waitingForSpecialMoveToComplete); + } + } + AxesBitmap effectiveAxesHomed = axesHomed; if (doingManualBedProbe) { ClearBit(effectiveAxesHomed, Z_AXIS); // if doing a manual Z probe, don't limit the Z movement } - if (limitAxes && reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, effectiveAxesHomed, moveBuffer.isCoordinated)) + if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, moveBuffer.initialCoords, numVisibleAxes, effectiveAxesHomed, moveBuffer.isCoordinated, limitAxes)) { if (machineType != MachineType::fff) { @@ -2740,7 +2817,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated) const float moveTime = xyLength/moveBuffer.feedRate; // this is a best-case time, often the move will take longer totalSegments = (unsigned int)max<int>(1, min<int>(rintf(xyLength/kin.GetMinSegmentLength()), rintf(moveTime * kin.GetSegmentsPerSecond()))); } - else if (reprap.GetMove().IsUsingMesh()) + else if (reprap.GetMove().IsUsingMesh() && (isCoordinated || machineType == MachineType::fff)) { const HeightMap& heightMap = reprap.GetMove().AccessHeightMap(); totalSegments = max<unsigned int>(1, heightMap.GetMinimumSegments(currentUserPosition[X_AXIS] - initialX, currentUserPosition[Y_AXIS] - initialY)); @@ -2764,11 +2841,9 @@ const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) { // Get the axis parameters float xParam, yParam; - bool seenXY = false; if (gb.Seen('X')) { xParam = gb.GetFValue() * distanceScale; - seenXY = true; } else { @@ -2778,7 +2853,6 @@ const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) if (gb.Seen('Y')) { yParam = gb.GetFValue() * distanceScale; - seenXY = true; } else { @@ -2786,30 +2860,65 @@ const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) } float iParam, jParam; - bool seenIJ = false; - if (gb.Seen('I')) + if (gb.Seen('R')) { - iParam = gb.GetFValue() * distanceScale; - seenIJ = true; - } - else - { - iParam = 0.0; - } + // We've been given a radius, which takes precedence over I and J parameters + const float rParam = gb.GetFValue() * distanceScale; - if (gb.Seen('J')) - { - jParam = gb.GetFValue() * distanceScale; - seenIJ = true; + // Get the XY coordinates of the midpoints between the start and end points X and Y distances between start and end points + float deltaX, deltaY; + if (gb.MachineState().axesRelative) + { + deltaX = xParam; + deltaY = yParam; + } + else + { + deltaX = xParam - currentUserPosition[X_AXIS]; + deltaY = yParam - currentUserPosition[Y_AXIS]; + } + + const float dSquared = fsquare(deltaX) + fsquare(deltaY); // square of the distance between start and end points + const float hSquared = fsquare(rParam) - dSquared/4; // square of the length of the perpendicular from the mid point to the arc centre + + // The distance between start and end points must not be zero, and the perpendicular must have a real length (possibly zero) + if (dSquared == 0.0 || hSquared < 0.0) + { + return "G2/G3: bad combination of parameter values"; + } + + float hDivD = sqrtf(hSquared/dSquared); + if (clockwise) + { + hDivD = -hDivD; + } + iParam = deltaX/2 + deltaY * hDivD; + jParam = deltaY/2 - deltaX * hDivD; } else { - jParam = 0.0; - } + if (gb.Seen('I')) + { + iParam = gb.GetFValue() * distanceScale; + } + else + { + iParam = 0.0; + } - if (!(seenXY && seenIJ)) // at least one of XY and IJ must be specified - { - return "G2/G3: missing parameter"; + if (gb.Seen('J')) + { + jParam = gb.GetFValue() * distanceScale; + } + else + { + jParam = 0.0; + } + + if (iParam == 0.0 && jParam == 0.0) // at least one of IJ must be specified and nonzero + { + return "G2/G3: no I or J or R parameter"; + } } memcpy(moveBuffer.initialCoords, moveBuffer.coords, numVisibleAxes * sizeof(moveBuffer.initialCoords[0])); @@ -2820,27 +2929,24 @@ const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) // Work out the new user position const bool axesRelative = gb.MachineState().axesRelative; + const float initialX = currentUserPosition[X_AXIS], initialY = currentUserPosition[Y_AXIS]; if (axesRelative) { currentUserPosition[X_AXIS] += xParam; currentUserPosition[Y_AXIS] += yParam; } -#if SUPPORT_WORKPLACE_COORDINATES - else if (gb.MachineState().useMachineCoordinates || gb.MachineState().useMachineCoordinatesSticky) - { - currentUserPosition[X_AXIS] = xParam - workplaceCoordinates[currentCoordinateSystem][X_AXIS]; - currentUserPosition[Y_AXIS] = yParam - workplaceCoordinates[currentCoordinateSystem][Y_AXIS]; - } -#endif else { currentUserPosition[X_AXIS] = xParam; currentUserPosition[Y_AXIS] = yParam; } - AxesBitmap axesMentioned = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS); + // CNC machines usually do a full circle if the initial and final XY coordinates are the same. + // Usually this is because X and Y were not given, but repeating the coordinates is permitted. + const bool wholeCircle = (initialX == currentUserPosition[X_AXIS] && initialY == currentUserPosition[Y_AXIS]); // Get any additional axes + AxesBitmap axesMentioned = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS); for (size_t axis = Z_AXIS; axis < numVisibleAxes; axis++) { if (gb.Seen(axisLetters[axis])) @@ -2866,7 +2972,7 @@ const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) // Transform to machine coordinates and check that it is within limits ToolOffsetTransform(currentUserPosition, moveBuffer.coords); // set the final position - if (limitAxes && reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, axesHomed, true)) + if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, nullptr, numVisibleAxes, axesHomed, true, limitAxes)) { // Abandon the move return "G2/G3: outside machine limits"; @@ -2929,20 +3035,35 @@ const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) } #endif - moveBuffer.usePressureAdvance = moveBuffer.hasExtrusion; arcRadius = sqrtf(iParam * iParam + jParam * jParam); arcCurrentAngle = atan2(-jParam, -iParam); // Calculate the total angle moved, which depends on which way round we are going - float totalArc = (clockwise) ? arcCurrentAngle - finalTheta : finalTheta - arcCurrentAngle; - if (totalArc < 0) + float totalArc; + if (wholeCircle) { - totalArc += TwoPi; + totalArc = TwoPi; + } + else + { + totalArc = (clockwise) ? arcCurrentAngle - finalTheta : finalTheta - arcCurrentAngle; + if (totalArc < 0.0) + { + totalArc += TwoPi; + } } - // Compute how many segments we need to move, but don't store it yet + // Compute how many segments we need to move + // For the arc to deviate up to MaxArcDeviation from the ideal, the segment length should be sqrt(8 * arcRadius * MaxArcDeviation + fsquare(MaxArcDeviation)) + // We leave out the square term because it is very small + // In CNC applications even very small deviations can be visible, so we use a smaller segment length at low speeds + const float arcSegmentLength = constrain<float> + ( min<float>(sqrt(8 * arcRadius * MaxArcDeviation), moveBuffer.feedRate * (1.0/MinArcSegmentsPerSec)), + MinArcSegmentLength, + MaxArcSegmentLength + ); totalSegments = max<unsigned int>((unsigned int)((arcRadius * totalArc)/arcSegmentLength + 0.8), 1u); arcAngleIncrement = totalArc/totalSegments; if (clockwise) @@ -3059,7 +3180,7 @@ bool GCodes::ReadMove(RawMove& m) } // Limit the end position at each segment. This is needed for arc moves on any printer, and for [segmented] straight moves on SCARA printers. - if (limitAxes && reprap.GetMove().GetKinematics().LimitPosition(m.coords, numVisibleAxes, axesHomed, true)) + if (reprap.GetMove().GetKinematics().LimitPosition(m.coords, nullptr, numVisibleAxes, axesHomed, true, limitAxes)) { segMoveState = SegmentedMoveState::aborted; doingArcMove = false; @@ -3224,7 +3345,14 @@ GCodeResult GCodes::DoHome(GCodeBuffer& gb, const StringRef& reply) // We already own the movement lock before this is called. GCodeResult GCodes::ExecuteG30(GCodeBuffer& gb, const StringRef& reply) { - g30SValue = (gb.Seen('S')) ? gb.GetIValue() : -3; // S-3 is equivalent to having no S parameter + g30SValue = (gb.Seen('S')) ? gb.GetIValue() : -4; // S-4 or lower is equivalent to having no S parameter + if (g30SValue == -2 && reprap.GetCurrentTool() == nullptr) + { + reply.copy("G30 S-2 commanded with no tool selected"); + return GCodeResult::error; + } + + g30HValue = (gb.Seen('H')) ? gb.GetFValue() : 0.0; g30ProbePointIndex = -1; bool seenP = false; gb.TryGetIValue('P', g30ProbePointIndex, seenP); @@ -3485,6 +3613,7 @@ void GCodes::StartPrinting(bool fromStart) fileGCode->OriginalMachineState().fileState.MoveFrom(fileToPrint); fileInput->Reset(fileGCode->OriginalMachineState().fileState); lastFilamentError = FilamentSensorStatus::ok; + lastPrintingMoveHeight = -1.0; reprap.GetPrintMonitor().StartedPrint(); platform.MessageF(LogMessage, (simulationMode == 0) ? "Started printing file %s\n" : "Started simulating printing file %s\n", @@ -3660,8 +3789,8 @@ GCodeResult GCodes::SetOrReportOffsets(GCodeBuffer &gb, const StringRef& reply) return GCodeResult::ok; } -// Create a new tool definition, returning true if an error was reported -bool GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply) +// Create a new tool definition +GCodeResult GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply) { if (!gb.Seen('P')) { @@ -3671,7 +3800,7 @@ bool GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply) int adjust = gb.GetIValue(); gb.SetToolNumberAdjust(adjust); } - return false; + return GCodeResult::ok; } // Check tool number @@ -3680,7 +3809,7 @@ bool GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply) if (toolNumber < 0) { reply.copy("Tool number must be positive"); - return true; + return GCodeResult::error; } // Check tool name @@ -3690,7 +3819,7 @@ bool GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply) if (!gb.GetQuotedString(name.GetRef())) { reply.copy("Invalid tool name"); - return true; + return GCodeResult::error; } seen = true; } @@ -3754,7 +3883,7 @@ bool GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply) if ((xMap & yMap) != 0) { reply.copy("Cannot map both X and Y to the same axis"); - return true; + return GCodeResult::error; } // Check for fan mapping @@ -3790,7 +3919,7 @@ bool GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply) Tool* const tool = Tool::Create(toolNumber, name.c_str(), drives, dCount, heaters, hCount, xMap, yMap, fanMap, filamentDrive, reply); if (tool == nullptr) { - return true; + return GCodeResult::error; } reprap.AddTool(tool); } @@ -3799,7 +3928,7 @@ bool GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply) { reprap.PrintTool(toolNumber, reply); } - return false; + return GCodeResult::ok; } // Does what it says. @@ -3820,36 +3949,39 @@ bool GCodes::ChangeMicrostepping(size_t drive, unsigned int microsteps, bool int if (success) { // We changed the microstepping, so adjust the steps/mm to compensate - platform.SetDriveStepsPerUnit(drive, platform.DriveStepsPerUnit(drive) * (float)microsteps / (float)oldSteps); + platform.SetDriveStepsPerUnit(drive, platform.DriveStepsPerUnit(drive), oldSteps); } return success; } // Set the speeds of fans mapped for the current tool to lastDefaultFanSpeed -void GCodes::SetMappedFanSpeed() +void GCodes::SetMappedFanSpeed(float f) { - if (reprap.GetCurrentTool() == nullptr) + lastDefaultFanSpeed = f; + const Tool * const ct = reprap.GetCurrentTool(); + if (ct == nullptr) { - platform.SetFanValue(0, lastDefaultFanSpeed); + platform.SetFanValue(0, f); } else { - const uint32_t fanMap = reprap.GetCurrentTool()->GetFanMapping(); + const uint32_t fanMap = ct->GetFanMapping(); for (size_t i = 0; i < NUM_FANS; ++i) { if (IsBitSet(fanMap, i)) { - platform.SetFanValue(i, lastDefaultFanSpeed); + platform.SetFanValue(i, f); } } } } -// Set the mapped fan speed -void GCodes::SetMappedFanSpeed(float f) +// Return true if this fan number is currently being used as a print cooling fan +bool GCodes::IsMappedFan(unsigned int fanNumber) { - lastDefaultFanSpeed = f; - SetMappedFanSpeed(); + const Tool * const ct = reprap.GetCurrentTool(); + return (ct == nullptr) ? fanNumber == 0 + : IsBitSet(ct->GetFanMapping(), fanNumber); } // Save the speeds of all fans @@ -3873,13 +4005,6 @@ void GCodes::HandleReply(GCodeBuffer& gb, GCodeResult rslt, const char* reply) return; } - // Second UART device, e.g. PanelDue. Do NOT use emulation for this one! - if (&gb == auxGCode) - { - platform.AppendAuxReply(reply, reply[0] == '{'); - return; - } - const Compatibility c = (&gb == serialGCode || &gb == telnetGCode) ? platform.Emulating() : Compatibility::me; const MessageType type = gb.GetResponseMessageType(); const char* const response = (gb.GetCommandLetter() == 'M' && gb.GetCommandNumber() == 998) ? "rs " : "ok"; @@ -3897,6 +4022,7 @@ void GCodes::HandleReply(GCodeBuffer& gb, GCodeResult rslt, const char* reply) } break; + case Compatibility::nanoDLP: // nanoDLP is like Marlin except that G0 and G1 commands return "Z_move_comp<LF>" before "ok<LF>" case Compatibility::marlin: // We don't need to handle M20 here because we always allocate an output buffer for that one if (gb.GetCommandLetter() == 'M' && gb.GetCommandNumber() == 28) @@ -3969,6 +4095,7 @@ void GCodes::HandleReply(GCodeBuffer& gb, OutputBuffer *reply) return; case Compatibility::marlin: + case Compatibility::nanoDLP: if (gb.GetCommandLetter() =='M' && gb.GetCommandNumber() == 20) { platform.Message(type, "Begin file list\n"); @@ -4036,7 +4163,7 @@ void GCodes::HandleReply(GCodeBuffer& gb, OutputBuffer *reply) } // Configure heater protection (M143). Returns true if an error occurred -bool GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) +GCodeResult GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) { const int index = (gb.Seen('P')) ? gb.GetIValue() @@ -4044,7 +4171,7 @@ bool GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) if ((index < 0 || index >= (int)NumHeaters) && (index < (int)FirstExtraHeaterProtection || index >= (int)(FirstExtraHeaterProtection + NumExtraHeaterProtections))) { reply.printf("Invalid heater protection item '%d'", index); - return true; + return GCodeResult::error; } HeaterProtection &item = reprap.GetHeat().AccessHeaterProtection(index); @@ -4057,7 +4184,7 @@ bool GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) if (heater > (int)NumHeaters) // allow negative values to disable heater protection { reply.printf("Invalid heater number '%d'", heater); - return true; + return GCodeResult::error; } seen = true; @@ -4071,7 +4198,7 @@ bool GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) if ((heater < 0 || heater > (int)NumHeaters) && (heater < (int)FirstVirtualHeater || heater >= (int)(FirstVirtualHeater + MaxVirtualHeaters))) { reply.printf("Invalid heater number '%d'", heater); - return true; + return GCodeResult::error; } seen = true; @@ -4111,7 +4238,7 @@ bool GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) if (limit <= BAD_LOW_TEMPERATURE || limit >= BAD_ERROR_TEMPERATURE) { reply.copy("Invalid temperature limit"); - return true; + return GCodeResult::error; } seen = true; @@ -4162,7 +4289,7 @@ bool GCodes::SetHeaterProtection(GCodeBuffer& gb, const StringRef& reply) } } - return false; + return GCodeResult::ok; } // Set PID parameters (M301 or M304 command). 'heater' is the default heater number to use. @@ -4286,11 +4413,7 @@ GCodeResult GCodes::RetractFilament(GCodeBuffer& gb, bool retract) const uint32_t xAxes = reprap.GetCurrentXAxes(); const uint32_t yAxes = reprap.GetCurrentYAxes(); reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, 0, xAxes, yAxes); - for (size_t i = numTotalAxes; i < MaxTotalDrivers; ++i) - { - moveBuffer.coords[i] = 0.0; - } - moveBuffer.SetDefaults(); + SetMoveBufferDefaults(); moveBuffer.isFirmwareRetraction = true; moveBuffer.filePos = (&gb == fileGCode) ? gb.GetFilePosition(fileInput->BytesCached()) : noFilePosition; moveBuffer.xAxes = xAxes; @@ -4376,7 +4499,7 @@ GCodeResult GCodes::LoadFilament(GCodeBuffer& gb, const StringRef& reply) return GCodeResult::error; } - if (StringEquals(filamentName.c_str(), tool->GetFilament()->GetName())) + if (StringEqualsIgnoreCase(filamentName.c_str(), tool->GetFilament()->GetName())) { // Filament already loaded - nothing to do return GCodeResult::ok; @@ -4465,7 +4588,7 @@ bool GCodes::IsCodeQueueIdle() const void GCodes::StopPrint(StopPrintReason reason) { segmentsLeft = 0; - isPaused = pausePending = false; + isPaused = pausePending = filamentChangePausePending = false; FileData& fileBeingPrinted = fileGCode->OriginalMachineState().fileState; @@ -4536,7 +4659,7 @@ void GCodes::StopPrint(StopPrintReason reason) } } - if (platform.Emulating() == Compatibility::marlin) + if (platform.EmulatingMarlin()) { // Pronterface expects a "Done printing" message platform.Message(UsbMessage, "Done printing file\n"); @@ -4547,7 +4670,7 @@ void GCodes::StopPrint(StopPrintReason reason) printingFilename, printMinutes/60u, printMinutes % 60u); if (reason == StopPrintReason::normalCompletion && simulationMode == 0) { - platform.GetMassStorage()->Delete(platform.GetSysDir(), RESUME_AFTER_POWER_FAIL_G, true); + platform.GetMassStorage()->Delete(platform.GetSysDir(), RESUME_AFTER_POWER_FAIL_G); } } @@ -4585,7 +4708,8 @@ void GCodes::UpdateCurrentUserPosition() ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); } -// Save position to a restore point +// Save position to a restore point. +// Note that restore point coordinates are not affected by workplace coordinate offsets. This allows them to be use din resume.g. void GCodes::SavePosition(RestorePoint& rp, const GCodeBuffer& gb) const { for (size_t axis = 0; axis < numVisibleAxes; ++axis) @@ -4630,13 +4754,7 @@ void GCodes::ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[ { for (size_t axis = 0; axis < numVisibleAxes; ++axis) { - const float totalOffset = -#if SUPPORT_WORKPLACE_COORDINATES - workplaceCoordinates[currentCoordinateSystem][axis]; -#else - axisOffsets[axis]; -#endif - coordsOut[axis] = (coordsIn[axis] * axisScaleFactors[axis]) + totalOffset; + coordsOut[axis] = (coordsIn[axis] * axisScaleFactors[axis]) + GetWorkplaceOffset(axis); } } else @@ -4649,13 +4767,7 @@ void GCodes::ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[ && (axis != Y_AXIS || IsBitSet(yAxes, Y_AXIS)) ) { - const float totalOffset = -#if SUPPORT_WORKPLACE_COORDINATES - workplaceCoordinates[currentCoordinateSystem][axis] -#else - axisOffsets[axis] -#endif - - currentTool->GetOffset(axis); + const float totalOffset = GetWorkplaceOffset(axis) - currentTool->GetOffset(axis); const size_t inputAxis = (IsBitSet(explicitAxes, axis)) ? axis : (IsBitSet(xAxes, axis)) ? X_AXIS : (IsBitSet(yAxes, axis)) ? Y_AXIS @@ -4676,13 +4788,7 @@ void GCodes::ToolOffsetInverseTransform(const float coordsIn[MaxAxes], float coo { for (size_t axis = 0; axis < numVisibleAxes; ++axis) { - const float totalOffset = -#if SUPPORT_WORKPLACE_COORDINATES - workplaceCoordinates[currentCoordinateSystem][axis]; -#else - axisOffsets[axis]; -#endif - coordsOut[axis] = (coordsIn[axis] - totalOffset) / axisScaleFactors[axis]; + coordsOut[axis] = (coordsIn[axis] - GetWorkplaceOffset(axis)) / axisScaleFactors[axis]; } } else @@ -4693,13 +4799,7 @@ void GCodes::ToolOffsetInverseTransform(const float coordsIn[MaxAxes], float coo size_t numXAxes = 0, numYAxes = 0; for (size_t axis = 0; axis < numVisibleAxes; ++axis) { - const float totalOffset = -#if SUPPORT_WORKPLACE_COORDINATES - workplaceCoordinates[currentCoordinateSystem][axis] -#else - axisOffsets[axis] -#endif - - currentTool->GetOffset(axis); + const float totalOffset = GetWorkplaceOffset(axis) - currentTool->GetOffset(axis); coordsOut[axis] = coordsIn[axis]/axisScaleFactors[axis] - totalOffset; if (IsBitSet(xAxes, axis)) { @@ -4841,7 +4941,7 @@ GCodeResult GCodes::WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& re return GCodeResult::error; } - bool ok = f->Write("; This is a system-generated file - do not edit\n"); + bool ok = WriteConfigOverrideHeader(f); if (ok) { ok = reprap.GetMove().GetKinematics().WriteCalibrationParameters(f); @@ -4861,6 +4961,13 @@ GCodeResult GCodes::WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& re ok = reprap.WriteToolParameters(f); } +#if SUPPORT_WORKPLACE_COORDINATES + if (ok) + { + ok = WriteWorkplaceCoordinates(f); + } +#endif + if (!f->Close()) { ok = false; @@ -4882,6 +4989,28 @@ GCodeResult GCodes::WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& re return GCodeResult::ok; } +// Write the config-override header returning true if success +// This is implemented as a separate function to avoid allocating a buffer on the stack and then calling functions that also allocate buffers on the stack +bool GCodes::WriteConfigOverrideHeader(FileStore *f) const +{ + String<MaxFilenameLength> buf; + buf.copy("; config-override.g file generated in response to M500"); + if (platform.IsDateTimeSet()) + { + time_t timeNow = platform.GetDateTime(); + const struct tm * const timeInfo = gmtime(&timeNow); + buf.catf(" at %04u-%02u-%02u %02u:%02u", + timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday, timeInfo->tm_hour, timeInfo->tm_min); + } + buf.cat('\n'); + bool ok = f->Write(buf.c_str()); + if (ok) + { + ok = f->Write("; This is a system-generated file - do not edit\n"); + } + return ok; +} + // Report the temperatures of one tool in M105 format void GCodes::ReportToolTemperatures(const StringRef& reply, const Tool *tool, bool includeNumber) const { @@ -4970,7 +5099,7 @@ void GCodes::CheckReportDue(GCodeBuffer& gb, const StringRef& reply) const { if (now - gb.whenTimerStarted >= 1000) { - if (platform.Emulating() == Compatibility::marlin && (&gb == serialGCode || &gb == telnetGCode)) + if (platform.EmulatingMarlin() && (&gb == serialGCode || &gb == telnetGCode)) { // In Marlin emulation mode we should return a standard temperature report every second GenerateTemperatureReport(reply); @@ -5029,6 +5158,23 @@ OutputBuffer *GCodes::GenerateJsonStatusResponse(int type, int seq, ResponseSour return statusResponse; } +// Set up some default values in the move buffer for special moves, e.g. for Z probing and firmware retraction +void GCodes::SetMoveBufferDefaults() +{ + moveBuffer.moveType = 0; + moveBuffer.isCoordinated = false; + moveBuffer.usingStandardFeedrate = false; + moveBuffer.usePressureAdvance = false; + moveBuffer.endStopsToCheck = 0; + moveBuffer.filePos = noFilePosition; + moveBuffer.xAxes = DefaultXAxisMapping; + moveBuffer.yAxes = DefaultYAxisMapping; + for (size_t drive = numTotalAxes; drive < MaxTotalDrivers; ++drive) + { + moveBuffer.coords[drive] = 0.0; // clear extrusion + } +} + // Resource locking/unlocking // Lock the resource, returning true if success. @@ -5203,30 +5349,24 @@ void GCodes::CheckHeaterFault() } } -// Return the current speed factor +// Return the current speed factor as a percentage float GCodes::GetSpeedFactor() const { - return speedFactor * MinutesToSeconds; + return speedFactor; } -// Set the speed factor -void GCodes::SetSpeedFactor(float factor) -{ - speedFactor = constrain<float>(factor, 0.1, 5.0) / MinutesToSeconds; -} - -// Return a current extrusion factor +// Return a current extrusion factor as a percentage float GCodes::GetExtrusionFactor(size_t extruder) { - return (extruder < numExtruders) ? extrusionFactors[extruder] : 0.0; + return (extruder < numExtruders) ? extrusionFactors[extruder] * 100.0 : 0.0; } -// Set an extrusion factor +// Set a percentage extrusion factor void GCodes::SetExtrusionFactor(size_t extruder, float factor) { if (extruder < numExtruders) { - extrusionFactors[extruder] = constrain<float>(factor, 0.0, 2.0); + extrusionFactors[extruder] = constrain<float>(factor, 0.0, 200.0)/100.0; } } @@ -5235,8 +5375,45 @@ Pwm_t GCodes::ConvertLaserPwm(float reqVal) const return (uint16_t)constrain<long>(lrintf((reqVal * 65535)/laserMaxPower), 0, 65535); } +// Get the height in user coordinates of the last printing move +bool GCodes::GetLastPrintingHeight(float& height) const +{ + if (IsReallyPrinting() && lastPrintingMoveHeight > 0.0) + { + height = lastPrintingMoveHeight; + return true; + } + return false; +} + +// Start timing SD card file writing +GCodeResult GCodes::StartSDTiming(GCodeBuffer& gb, const StringRef& reply) +{ + const float bytesReq = (gb.Seen('S')) ? gb.GetFValue() : 10.0; + timingBytesRequested = (uint32_t)(bytesReq * (float)(1024 * 1024)); + FileStore * const f = platform.OpenFile(platform.GetGCodeDir(), TimingFileName, OpenMode::write, timingBytesRequested); + if (f == nullptr) + { + reply.copy("Failed to create file"); + return GCodeResult::error; + } + sdTimingFile = f; + + platform.Message(gb.GetResponseMessageType(), "Testing SD card write speed...\n"); + timingBytesWritten = 0; + timingStartMillis = millis(); + gb.SetState(GCodeState::timingSDwrite); + return GCodeResult::ok; +} + #if SUPPORT_12864_LCD +// Set the speed factor. Value passed is in percent. +void GCodes::SetSpeedFactor(float factor) +{ + speedFactor = constrain<float>(factor, 10.0, 500.0); +} + // Process a GCode command from the 12864 LCD returning true if the command was accepted bool GCodes::ProcessCommandFromLcd(const char *cmd) { @@ -5252,7 +5429,7 @@ int GCodes::GetHeaterNumber(unsigned int itemNumber) const { if (itemNumber < 80) { - const Tool * const tool = reprap.GetTool(itemNumber); + const Tool * const tool = (itemNumber == 79) ? reprap.GetCurrentTool() : reprap.GetTool(itemNumber); return (tool != nullptr && tool->HeaterCount() != 0) ? tool->Heater(0) : -1; } if (itemNumber < 90) @@ -5271,7 +5448,7 @@ float GCodes::GetItemActiveTemperature(unsigned int itemNumber) const { if (itemNumber < 80) { - const Tool * const tool = reprap.GetTool(itemNumber); + const Tool * const tool = (itemNumber == 79) ? reprap.GetCurrentTool() : reprap.GetTool(itemNumber); return (tool != nullptr) ? tool->GetToolHeaterActiveTemperature(0) : 0.0; } @@ -5282,7 +5459,7 @@ float GCodes::GetItemStandbyTemperature(unsigned int itemNumber) const { if (itemNumber < 80) { - const Tool * const tool = reprap.GetTool(itemNumber); + const Tool * const tool = (itemNumber == 79) ? reprap.GetCurrentTool() : reprap.GetTool(itemNumber); return (tool != nullptr) ? tool->GetToolHeaterStandbyTemperature(0) : 0.0; } @@ -5293,7 +5470,7 @@ void GCodes::SetItemActiveTemperature(unsigned int itemNumber, float temp) { if (itemNumber < 80) { - Tool * const tool = reprap.GetTool(itemNumber); + Tool * const tool = (itemNumber == 79) ? reprap.GetCurrentTool() : reprap.GetTool(itemNumber); if (tool != nullptr) { tool->SetToolHeaterActiveTemperature(0, temp); @@ -5309,7 +5486,7 @@ void GCodes::SetItemStandbyTemperature(unsigned int itemNumber, float temp) { if (itemNumber < 80) { - Tool * const tool = reprap.GetTool(itemNumber); + Tool * const tool = (itemNumber == 79) ? reprap.GetCurrentTool() : reprap.GetTool(itemNumber); if (tool != nullptr) { tool->SetToolHeaterStandbyTemperature(0, temp); diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h index 0c6bfe9f..a6bf6a54 100644 --- a/src/GCodes/GCodes.h +++ b/src/GCodes/GCodes.h @@ -107,7 +107,7 @@ enum class StopPrintReason // The GCode interpreter class GCodes INHERIT_OBJECT_MODEL -{ +{ public: struct RawMove { @@ -131,10 +131,8 @@ public: uint8_t hasExtrusion : 1; // true if the move includes extrusion - only valid if the move was set up by SetupMove uint8_t isCoordinated : 1; // true if this is a coordinates move uint8_t usingStandardFeedrate : 1; // true if this move uses the standard feed rate - - void SetDefaults(); // set up default values }; - + GCodes(Platform& p); void Spin(); // Called in a tight loop to make this class work void Init(); // Set it up @@ -163,7 +161,9 @@ public: { axesHomed = 0; } float GetSpeedFactor() const; // Return the current speed factor +#if SUPPORT_12864_LCD void SetSpeedFactor(float factor); // Set the speed factor +#endif float GetExtrusionFactor(size_t extruder); // Return the current extrusion factors void SetExtrusionFactor(size_t extruder, float factor); // Set an extrusion factor @@ -223,12 +223,15 @@ public: float GetItemStandbyTemperature(unsigned int itemNumber) const; void SetItemActiveTemperature(unsigned int itemNumber, float temp); void SetItemStandbyTemperature(unsigned int itemNumber, float temp); - float GetMappedFanSpeed() const { return lastDefaultFanSpeed; } // Get the mapped fan speed #endif - void SetMappedFanSpeed(float f); // Set the mapped fan speed + float GetMappedFanSpeed() const { return lastDefaultFanSpeed; } // Get the mapped fan speed + void SetMappedFanSpeed(float f); // Set the speeds of fans mapped for the current tool void HandleReply(GCodeBuffer& gb, GCodeResult rslt, const char *reply); // Handle G-Code replies void EmergencyStop(); // Cancel everything + bool GetLastPrintingHeight(float& height) const; // Get the height in user coordinates of the last printing move + + GCodeResult StartSDTiming(GCodeBuffer& gb, const StringRef& reply); // Start timing SD card file writing protected: DECLARE_OBJECT_MODEL @@ -310,12 +313,14 @@ private: #if SUPPORT_WORKPLACE_COORDINATES GCodeResult GetSetWorkplaceCoordinates(GCodeBuffer& gb, const StringRef& reply, bool compute); // Set workspace coordinates + bool WriteWorkplaceCoordinates(FileStore *f) const; #endif - bool SetHeaterProtection(GCodeBuffer &gb, const StringRef &reply); // Configure heater protection (M143). Returns true if an error occurred + GCodeResult SetHeaterProtection(GCodeBuffer &gb, const StringRef &reply); // Configure heater protection (M143) void SetPidParameters(GCodeBuffer& gb, int heater, const StringRef& reply); // Set the P/I/D parameters for a heater - GCodeResult SetHeaterParameters(GCodeBuffer& gb, const StringRef& reply); // Set the thermistor and ADC parameters for a heater, returning true if an error occurs - bool ManageTool(GCodeBuffer& gb, const StringRef& reply); // Create a new tool definition, returning true if an error was reported + GCodeResult SetHeaterParameters(GCodeBuffer& gb, const StringRef& reply); // Set the thermistor and ADC parameters for a heater + GCodeResult SetHeaterModel(GCodeBuffer& gb, const StringRef& reply); // Set the heater model + GCodeResult ManageTool(GCodeBuffer& gb, const StringRef& reply); // Create a new tool definition void SetToolHeaters(Tool *tool, float temperature, bool both); // Set all a tool's heaters to the temperature, for M104/M109 bool ToolHeatersAtSetTemperatures(const Tool *tool, bool waitWhenCooling, float tolerance) const; // Wait for the heaters associated with the specified tool to reach their set temperatures @@ -349,7 +354,7 @@ private: bool DoEmergencyPause(); // Do an emergency pause following loss of power or a motor stall #endif - void SetMappedFanSpeed(); // Set the speeds of fans mapped for the current tool + bool IsMappedFan(unsigned int fanNumber); // Return true if this fan number is currently being used as a print cooling fan void SaveFanSpeeds(); // Save the speeds of all fans GCodeResult SetOrReportZProbe(GCodeBuffer& gb, const StringRef &reply); // Handle M558 @@ -366,6 +371,8 @@ private: GCodeResult ChangeSimulationMode(GCodeBuffer& gb, const StringRef &reply, uint32_t newSimulationMode); // Handle M37 to change the simulation mode GCodeResult WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& reply) const; // Write the config-override file + bool WriteConfigOverrideHeader(FileStore *f) const; // Write the config-override header + void CopyConfigFinalValues(GCodeBuffer& gb); // Copy the feed rate etc. from the daemon to the input channels void ClearBabyStepping() { currentBabyStepZOffset = 0.0; } @@ -383,11 +390,28 @@ private: void NewMoveAvailable(unsigned int sl); // Flag that a new move is available void NewMoveAvailable(); // Flag that a new move is available + void SetMoveBufferDefaults(); // Set up default values in the move buffer + void ChangeExtrusionFactor(unsigned int extruder, float factor); // Change a live extrusion factor + #if SUPPORT_12864_LCD int GetHeaterNumber(unsigned int itemNumber) const; #endif Pwm_t ConvertLaserPwm(float reqVal) const; + inline float GetWorkplaceOffset(size_t axis) const + { +#if SUPPORT_WORKPLACE_COORDINATES + return workplaceCoordinates[currentCoordinateSystem][axis]; +#else + return axisOffsets[axis]; +#endif + } + +#ifdef SERIAL_AUX_DEVICE + static bool emergencyStopCommanded; + static void CommandEmergencyStop(UARTClass *p); +#endif + Platform& platform; // The RepRap machine FileGCodeInput* fileInput; // ... @@ -425,6 +449,7 @@ private: bool active; // Live and running? bool isPaused; // true if the print has been paused manually or automatically bool pausePending; // true if we have been asked to pause but we are running a macro + bool filamentChangePausePending; // true if we have been asked to pause for a filament change but we are running a macro bool runningConfigFile; // We are running config.g during the startup process bool doingToolChange; // We are running tool change macros @@ -435,6 +460,7 @@ private: float currentUserPosition[MaxAxes]; // The current position of the axes as commanded by the input gcode, before accounting for tool offset and Z hop float currentZHop; // The amount of Z hop that is currently applied + float lastPrintingMoveHeight; // the Z coordinate in the last printing move, or a negative value if we don't know it // The following contain the details of moves that the Move module fetches // CAUTION: segmentsLeft should ONLY be changed from 0 to not 0 by calling NewMoveAvailable()! @@ -476,7 +502,6 @@ private: float rawExtruderTotalByDrive[MaxExtruders]; // Extrusion amount in the last G1 command with an E parameter when in absolute extrusion mode float rawExtruderTotal; // Total extrusion amount fed to Move class since starting print, before applying extrusion factor, summed over all drives float distanceScale; // MM or inches - float arcSegmentLength; // Length of segments that we split arc moves into #if SUPPORT_WORKPLACE_COORDINATES static const size_t NumCoordinateSystems = 9; @@ -499,7 +524,7 @@ private: float pausedFanSpeeds[NUM_FANS]; // Fan speeds when the print was paused or a tool change started float lastDefaultFanSpeed; // Last speed given in a M106 command with on fan number float pausedDefaultFanSpeed; // The speed of the default print cooling fan when the print was paused or a tool change started - float speedFactor; // speed factor, including the conversion from mm/min to mm/sec, normally 1/60 + float speedFactor; // speed factor as a percentage (normally 100.0) float extrusionFactors[MaxExtruders]; // extrusion factors (normally 1.0) float volumetricExtrusionFactors[MaxExtruders]; // Volumetric extrusion factors float currentBabyStepZOffset; // The accumulated Z offset due to baby stepping requests @@ -508,6 +533,7 @@ private: GridDefinition defaultGrid; // The grid defined by the M557 command in config.g int32_t g30ProbePointIndex; // the index of the point we are probing (G30 P parameter), or -1 if none int g30SValue; // S parameter in the G30 command, or -2 if there wasn't one + float g30HValue; // H parameter in the G30 command, or 0.0 if there wasn't on float g30zStoppedHeight; // the height to report after running G30 S-1 float g30zHeightError; // the height error last time we probed float g30PrevHeightError; // the height error the previous time we probed @@ -567,6 +593,14 @@ private: // Misc uint32_t lastWarningMillis; // When we last sent a warning message for things that can happen very often AxesBitmap axesToSenseLength; // The axes on which we are performing axis length sensing + + static constexpr uint32_t SdTimingByteIncrement = 8 * 1024; // how many timing bytes we write at a time + static constexpr const char *TimingFileName = "test.tst"; // the name of the file we write + FileStore *sdTimingFile; // file handle being used for SD card write timing + uint32_t timingBytesRequested; // how many bytes we were asked to write + uint32_t timingBytesWritten; // how many timing bytes we have written so far + uint32_t timingStartMillis; + int8_t lastAuxStatusReportType; // The type of the last status report requested by PanelDue bool isWaiting; // True if waiting to reach temperature bool cancelWait; // Set true to cancel waiting @@ -592,6 +626,7 @@ private: static constexpr const char* RESUME_AFTER_POWER_FAIL_G = "resurrect.g"; static constexpr const char* RESUME_PROLOGUE_G = "resurrect-prologue.g"; static constexpr const char* FILAMENT_CHANGE_G = "filament-change.g"; + static constexpr const char* PEEL_MOVE_G = "peel-move.g"; #if HAS_SMART_DRIVERS static constexpr const char* REHOME_G = "rehome.g"; #endif diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp index adaecaba..3535b911 100644 --- a/src/GCodes/GCodes2.cpp +++ b/src/GCodes/GCodes2.cpp @@ -202,6 +202,14 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, const StringRef& reply) result = RetractFilament(gb, false); break; + case 17: // Select XY plane for G2/G3 + break; // we only support the XY plane, so this is a NOP + + case 18: // Select XZ plane + case 19: // Select YZ plane + result = GCodeResult::errorNotSupported; + break; + case 20: // Inches (which century are we living in, here?) distanceScale = InchToMm; break; @@ -312,7 +320,7 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, const StringRef& reply) } else { - result = GCodeResult::notSupported; + result = GCodeResult::errorNotSupported; } } break; @@ -335,7 +343,7 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, const StringRef& reply) break; default: - result = GCodeResult::notSupported; + result = GCodeResult::warningNotSupported; } return HandleResult(gb, result, reply, nullptr); @@ -365,20 +373,24 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) reply.copy("Pause the print before attempting to cancel it"); result = GCodeResult::error; } + else if (isWaiting) + { + cancelWait = true; // was waiting for heating to complete, so cancel it + return false; + } + else if ( !LockMovementAndWaitForStandstill(gb) // wait until everything has stopped + || !IsCodeQueueIdle() // must also wait until deferred command queue has caught up + ) + { + return false; + } else { - if ( !LockMovementAndWaitForStandstill(gb) // wait until everything has stopped - || !IsCodeQueueIdle() // must also wait until deferred command queue has caught up - ) - { - return false; - } - - const bool wasPaused = isPaused; // isPaused gets cleared by CancelPrint - const bool wasSimulating = IsSimulating(); // simulationMode may get cleared by CancelPrint + const bool wasPaused = isPaused; // isPaused gets cleared by CancelPrint + const bool wasSimulating = IsSimulating(); // simulationMode may get cleared by CancelPrint StopPrint((&gb == fileGCode) ? StopPrintReason::normalCompletion : StopPrintReason::userCancelled); - if (!wasSimulating) // don't run any macro files or turn heaters off etc. if we were simulating before we stopped the print + if (!wasSimulating) // don't run any macro files or turn heaters off etc. if we were simulating before we stopped the print { // If we are cancelling a paused print with M0 and we are homed and cancel.g exists then run it and do nothing else if (wasPaused && code == 0 && AllAxesAreHomed() && DoFileMacro(gb, CANCEL_G, false)) @@ -615,7 +627,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) outBuf->copy("GCode files:\n"); } - bool encapsulateList = ((&gb != serialGCode && &gb != telnetGCode) || platform.Emulating() != Compatibility::marlin); + bool encapsulateList = ((&gb != serialGCode && &gb != telnetGCode) || !platform.EmulatingMarlin()); FileInfo fileInfo; if (platform.GetMassStorage()->FindFirst(dir.c_str(), fileInfo)) { @@ -623,11 +635,11 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) do { if (encapsulateList) { - outBuf->catf("%c%s%c%c", FILE_LIST_BRACKET, fileInfo.fileName, FILE_LIST_BRACKET, FILE_LIST_SEPARATOR); + outBuf->catf("%c%s%c%c", FILE_LIST_BRACKET, fileInfo.fileName.c_str(), FILE_LIST_BRACKET, FILE_LIST_SEPARATOR); } else { - outBuf->catf("%s\n", fileInfo.fileName); + outBuf->catf("%s\n", fileInfo.fileName.c_str()); } } while (platform.GetMassStorage()->FindNext(fileInfo)); @@ -688,7 +700,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (QueueFileToPrint(filename.c_str(), reply)) { reprap.GetPrintMonitor().StartingPrint(filename.c_str()); - if (platform.Emulating() == Compatibility::marlin && (&gb == serialGCode || &gb == telnetGCode)) + if (platform.EmulatingMarlin() && (&gb == serialGCode || &gb == telnetGCode)) { reply.copy("File opened\nFile selected"); } @@ -779,9 +791,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } break; - case 226: // Gcode Initiated Pause - case 600: // Filament change pause - if (&gb == fileGCode) // ignore M226 if it did't come from within a file being printed + case 226: // Synchronous pause, normally initiated from within the file being printed + if (!isPaused && !IsPausing()) { if (gb.IsDoingFileMacro()) { @@ -789,11 +800,29 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } else { - if (!LockMovement(gb)) // lock movement before calling DoPause + if (!LockMovementAndWaitForStandstill(gb)) // lock movement before calling DoPause, also wait for movement to complete { return false; } - DoPause(gb, (code == 600) ? PauseReason::filamentChange : PauseReason::gcode, nullptr); + DoPause(gb, PauseReason::gcode, nullptr); + } + } + break; + + case 600: // Filament change pause, synchronous + if (!isPaused && !IsPausing()) + { + if (gb.IsDoingFileMacro()) + { + filamentChangePausePending = true; + } + else + { + if (!LockMovementAndWaitForStandstill(gb)) // lock movement before calling DoPause, also wait for movement to complete + { + return false; + } + DoPause(gb, PauseReason::filamentChange, nullptr); } } break; @@ -881,7 +910,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) String<MaxFilenameLength> filename; if (gb.GetUnprecedentedString(filename.GetRef())) { - platform.GetMassStorage()->Delete(platform.GetGCodeDir(), filename.c_str(), false); + platform.GetMassStorage()->Delete(platform.GetGCodeDir(), filename.c_str()); } else { @@ -1106,6 +1135,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) case 92: // Set/report steps/mm for some axes { + bool seenUstepMultiplier = false; + uint32_t ustepMultiplier = 0; + gb.TryGetUIValue('S', ustepMultiplier, seenUstepMultiplier); + bool seen = false; for (size_t axis = 0; axis < numTotalAxes; axis++) { @@ -1115,7 +1148,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) { return false; } - platform.SetDriveStepsPerUnit(axis, gb.GetFValue()); + platform.SetDriveStepsPerUnit(axis, gb.GetFValue(), ustepMultiplier); seen = true; } } @@ -1134,7 +1167,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) // The user may not have as many extruders as we allow for, so just set the ones for which a value is provided for (size_t e = 0; e < eCount; e++) { - platform.SetDriveStepsPerUnit(numTotalAxes + e, eVals[e]); + platform.SetDriveStepsPerUnit(numTotalAxes + e, eVals[e], ustepMultiplier); } } @@ -1222,6 +1255,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (seenFanNum) { platform.SetFanValue(fanNum, f); + if (IsMappedFan(fanNum)) + { + lastDefaultFanSpeed = f; + } } else { @@ -1241,16 +1278,14 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } else { - lastDefaultFanSpeed = pausedDefaultFanSpeed; - SetMappedFanSpeed(); + SetMappedFanSpeed(pausedDefaultFanSpeed); } } } break; case 107: // Fan off - deprecated - lastDefaultFanSpeed = 0.0; - SetMappedFanSpeed(); + SetMappedFanSpeed(0.0); break; case 108: // Cancel waiting for temperature @@ -1516,7 +1551,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) case 117: // Display message { - String<MaxFilenameLength> msg; + String<MediumStringLength> msg; gb.GetUnprecedentedString(msg.GetRef()); reprap.SetMessage(msg.c_str()); } @@ -1592,7 +1627,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } else { - result = GetGCodeResultFromError(platform.DiagnosticTest(gb, reply, val)); + result = platform.DiagnosticTest(gb, reply, val); } } break; @@ -1710,7 +1745,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; case 143: // Configure heater protection - result = GetGCodeResultFromError(SetHeaterProtection(gb, reply)); + result = SetHeaterProtection(gb, reply); break; case 144: // Set bed to standby, or to active if S1 parameter given @@ -2010,8 +2045,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) case 220: // Set/report speed factor override percentage if (gb.Seen('S')) { - float newSpeedFactor = (gb.GetFValue() * 0.01) * SecondsToMinutes; // include the conversion from mm/minute to mm/second - if (newSpeedFactor > 0.0) + float newSpeedFactor = gb.GetFValue(); + if (newSpeedFactor > 10.0) { // Update the feed rate for ALL input sources, and all feed rates on the stack const float speedFactorRatio = newSpeedFactor / speedFactor; @@ -2036,41 +2071,55 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } else { - reply.printf("Invalid speed factor"); + reply.copy("Invalid speed factor"); result = GCodeResult::error; } } else { - reply.printf("Speed factor override: %.1f%%", (double)(speedFactor * MinutesToSeconds * 100.0)); + reply.printf("Speed factor override: %.1f%%", (double)speedFactor); } break; case 221: // Set/report extrusion factor override percentage { - int32_t extruder = 0; - bool dummy; - gb.TryGetIValue('D', extruder, dummy); + uint32_t extruder; + bool seenD = false; + gb.TryGetUIValue('D', extruder, seenD); - if (extruder >= 0 && extruder < (int32_t)numExtruders) + const Tool * const ct = reprap.GetCurrentTool(); + if (!seenD && ct == nullptr) + { + reply.copy("No tool selected"); + result = GCodeResult::error; + } + else if (gb.Seen('S')) // S parameter sets the override percentage { - if (gb.Seen('S')) // S parameter sets the override percentage + const float extrusionFactor = gb.GetFValue() / 100.0; + if (extrusionFactor >= 0.0) { - const float extrusionFactor = gb.GetFValue() / 100.0; - if (extrusionFactor >= 0.0) + if (seenD) { - if (segmentsLeft != 0 && !moveBuffer.isFirmwareRetraction) + if (extruder < numExtruders) { - moveBuffer.coords[extruder + numTotalAxes] *= extrusionFactor/extrusionFactors[extruder]; // last move not gone, so update it + ChangeExtrusionFactor(extruder, extrusionFactor); } - extrusionFactors[extruder] = extrusionFactor; } - } - else - { - reply.printf("Extrusion factor override for extruder %" PRIi32 ": %.1f%%", extruder, (double)(extrusionFactors[extruder] * 100.0)); + else + { + ct->IterateExtruders([this, extrusionFactor](unsigned int extruder) { ChangeExtrusionFactor(extruder, extrusionFactor); }); + } } } + else if (seenD) + { + reply.printf("Extrusion factor override for extruder %" PRIi32 ": %.1f%%", extruder, (double)(extrusionFactors[extruder] * 100.0)); + } + else + { + reply.copy("Extrusion factor(s) for current tool:"); + ct->IterateExtruders([reply, this](unsigned int extruder) { reply.catf(" %.1f%%", (double)(extrusionFactors[extruder] * 100.0)); }); + } } break; @@ -2128,7 +2177,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } else { - platform.MessageF(ErrorMessage, "Invalid servo index %d in M280 command\n", servoIndex); + reply.printf("Invalid servo index %d in M280 command\n", servoIndex); + result = GCodeResult::error; } } break; @@ -2161,6 +2211,14 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) // The following causes all the remaining baby stepping that we didn't manage to push to be added to the [remainder of the] currently-executing move, if there is one. // This could result in an abrupt Z movement, however the move will be processed as normal so the jerk limit will be honoured. moveBuffer.coords[Z_AXIS] += difference; + + if (amountPushed != difference && segmentsLeft == 0 && reprap.GetMove().AllMovesAreFinished()) + { + // The pipeline is empty, so execute the babystepping move immediately + SetMoveBufferDefaults(); + moveBuffer.feedRate = platform.MaxFeedrate(Z_AXIS); + NewMoveAvailable(1); + } } else { @@ -2170,12 +2228,13 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) case 291: // Display message, optionally wait for acknowledgement { - String<MaxMessageLength> title; bool seen = false; + String<MaxMessageLength> title; gb.TryGetQuotedString('R', title.GetRef(), seen); String<MaxMessageLength> message; gb.TryGetQuotedString('P', message.GetRef(), seen); + if (seen) { int32_t sParam = 1; @@ -2203,6 +2262,13 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) tParam = 0.0; } + if (sParam == 0 && tParam <= 0.0) + { + reply.copy("Attempt to create a message box that cannot be dismissed"); + result = GCodeResult::error; + break; + } + AxesBitmap axisControls = 0; for (size_t axis = 0; axis < numTotalAxes; axis++) { @@ -2219,8 +2285,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) gb.MachineState().waitingForAcknowledgement = true; // flag that we are waiting for acknowledgement } - // TODO: consider displaying the message box on all relevant devices. Acknowledging any one of them needs to clear them all. - // Currently, if mt is http or aux or generic, we display the message box both in DWC and on PanelDue. + // Display the message box on all relevant devices. Acknowledging any one of them clears them all. const MessageType mt = GetMessageBoxDevice(gb); // get the display device platform.SendAlert(mt, message.c_str(), title.c_str(), (int)sParam, tParam, axisControls); } @@ -2328,78 +2393,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; case 307: // Set heater process model parameters - if (gb.Seen('H')) - { - const unsigned int heater = gb.GetUIValue(); - if (heater < NumHeaters) - { - const FopDt& model = reprap.GetHeat().GetHeaterModel(heater); - bool seen = false; - float gain = model.GetGain(), - tc = model.GetTimeConstant(), - td = model.GetDeadTime(), - maxPwm = model.GetMaxPwm(), - voltage = model.GetVoltage(); - uint32_t freq = model.GetPwmFrequency(); - int32_t dontUsePid = model.UsePid() ? 0 : 1; - int32_t inversionParameter = 0; - - gb.TryGetFValue('A', gain, seen); - gb.TryGetFValue('C', tc, seen); - gb.TryGetFValue('D', td, seen); - gb.TryGetIValue('B', dontUsePid, seen); - gb.TryGetFValue('S', maxPwm, seen); - gb.TryGetFValue('V', voltage, seen); - gb.TryGetIValue('I', inversionParameter, seen); - gb.TryGetUIValue('F', freq, seen); - - if (seen) - { - const bool inverseTemperatureControl = (inversionParameter == 1 || inversionParameter == 3); - if (!reprap.GetHeat().SetHeaterModel(heater, gain, tc, td, maxPwm, voltage, - dontUsePid == 0, inverseTemperatureControl, (uint16_t)min<uint32_t>(freq, MaxHeaterPwmFrequency))) - { - reply.copy("Error: bad model parameters"); - } - - const bool invertedPwmSignal = (inversionParameter == 2 || inversionParameter == 3); - reprap.GetHeat().SetHeaterSignalInverted(heater, invertedPwmSignal); - } - else if (!model.IsEnabled()) - { - reply.printf("Heater %u is disabled", heater); - } - else - { - const char* mode = (!model.UsePid()) ? "bang-bang" - : (model.ArePidParametersOverridden()) ? "custom PID" - : "PID"; - const bool pwmSignalInverted = reprap.GetHeat().IsHeaterSignalInverted(heater); - const char* inverted = model.IsInverted() - ? (pwmSignalInverted ? "PWM signal and temperature control" : "temperature control") - : (pwmSignalInverted ? "PWM signal" : "no"); - - reply.printf("Heater %u model: gain %.1f, time constant %.1f, dead time %.1f, max PWM %.2f, calibration voltage %.1f, mode %s, inverted %s, frequency ", - heater, (double)model.GetGain(), (double)model.GetTimeConstant(), (double)model.GetDeadTime(), (double)model.GetMaxPwm(), (double)model.GetVoltage(), mode, inverted); - if (model.GetPwmFrequency() == 0) - { - reply.cat("default"); - } - else - { - reply.catf("%uHz", model.GetPwmFrequency()); - } - if (model.UsePid()) - { - // When reporting the PID parameters, we scale them by 255 for compatibility with older firmware and other firmware - M301PidParameters params = model.GetM301PidParameters(false); - reply.catf("\nComputed PID parameters for setpoint change: P%.1f, I%.3f, D%.1f", (double)params.kP, (double)params.kI, (double)params.kD); - params = model.GetM301PidParameters(true); - reply.catf("\nComputed PID parameters for load change: P%.1f, I%.3f, D%.1f", (double)params.kP, (double)params.kI, (double)params.kD); - } - } - } - } + result = SetHeaterModel(gb, reply); break; case 350: // Set/report microstepping @@ -2568,7 +2562,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) #if SUPPORT_OBJECT_MODEL case 1: { - String<MaxFilenameLength> filter; + String<MediumStringLength> filter; bool dummy; gb.TryGetQuotedString('F', filter.GetRef(), dummy); if (!OutputBuffer::Allocate(outBuf)) @@ -2641,7 +2635,9 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) return false; } { - uint32_t slot = gb.Seen('S') ? gb.GetUIValue() : 0; + const MachineType oldMachineType = machineType; + machineType = MachineType::cnc; // switch to CNC mode even if the spindle parameter is bad + const uint32_t slot = gb.Seen('S') ? gb.GetUIValue() : 0; if (slot >= MaxSpindles) { reply.copy("Invalid spindle index"); @@ -2684,9 +2680,9 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) spindle.SetToolNumber(gb.GetIValue()); } - if (machineType != MachineType::cnc) + // M453 may be repeated to set up multiple spindles, so only print the message on the initial switch + if (oldMachineType != MachineType::cnc) { - machineType = MachineType::cnc; reply.copy("CNC mode selected"); } } @@ -2796,7 +2792,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) case 550: // Set/report machine name { - String<MACHINE_NAME_LENGTH> name; + String<MachineNameLength> name; bool seen = false; gb.TryGetPossiblyQuotedString('P', name.GetRef(), seen); if (seen) @@ -2812,7 +2808,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) case 551: // Set password (no option to report it) { - String<PASSWORD_LENGTH> password; + String<RepRapPasswordLength> password; bool seen = false; gb.TryGetPossiblyQuotedString('P', password.GetRef(), seen); if (seen) @@ -2940,7 +2936,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) { case Compatibility::me: case Compatibility::reprapFirmware: - reply.cat("RepRap Firmware (i.e. in native mode)"); + reply.cat("RepRapFirmware (i.e. in native mode)"); break; case Compatibility::marlin: @@ -2959,6 +2955,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) reply.cat("Repetier"); break; + case Compatibility::nanoDLP: + reply.cat("nanoDLP"); + break; + default: reply.catf("Unknown: (%u)", (unsigned int)platform.Emulating()); } @@ -3063,7 +3063,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; case 563: // Define tool - result = GetGCodeResultFromError(ManageTool(gb, reply)); + result = ManageTool(gb, reply); break; case 564: // Think outside the box? @@ -3264,6 +3264,19 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) platform.SetPressureAdvance(eDrive[i], advance); } } + else + { + const Tool * const ct = reprap.GetCurrentTool(); + if (ct == nullptr) + { + reply.copy("No tool selected"); + result = GCodeResult::error; + } + else + { + ct->IterateExtruders([advance](unsigned int extruder) { reprap.GetPlatform().SetPressureAdvance(extruder, advance); }); + } + } } else { @@ -3575,6 +3588,17 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) // For case 600, see 226 + case 650: // Set peel move parameters - ignored + break; + + case 651: // Execute DLP peel move + if (!LockMovementAndWaitForStandstill(gb)) + { + return false; + } + DoFileMacro(gb, PEEL_MOVE_G, true); + break; + case 665: // Set delta configuration if (!LockMovementAndWaitForStandstill(gb)) { @@ -3599,7 +3623,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } if (changed || changedMode) { - if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, axesHomed, false)) + if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, nullptr, numVisibleAxes, axesHomed, false, false)) { ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position } @@ -3636,7 +3660,6 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) const KinematicsType oldK = move.GetKinematics().GetKinematicsType(); // get the current kinematics type so we can tell whether it changed bool seen = false; - bool changedToCartesian = false; if (gb.Seen('S')) { // Switch to the correct CoreXY mode @@ -3645,7 +3668,6 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) { case 0: move.SetKinematics(KinematicsType::cartesian); - changedToCartesian = true; break; case 1: @@ -3666,14 +3688,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (result == GCodeResult::ok) { - if (!changedToCartesian) // don't ask the kinematics to process M667 if we switched to Cartesian mode + if (gb.Seen('X') || gb.Seen('Y') || gb.Seen('Z')) { - bool error = false; - if (move.GetKinematics().Configure(667, gb, reply, error)) - { - seen = true; - } - result = GetGCodeResultFromError(error); + reply.copy("M667 XYZ parameters are no longer supported, use M669 matrix parameters instead"); + result = GCodeResult::error; } if (seen) @@ -3684,7 +3702,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords); ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); } - if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, axesHomed, false)) + if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, nullptr, numVisibleAxes, axesHomed, false, false)) { ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position } @@ -3731,7 +3749,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords); ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); } - if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, axesHomed, false)) + if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, nullptr, numVisibleAxes, axesHomed, false, false)) { ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position } @@ -3760,7 +3778,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; case 672: // Program Z probe - result = GetGCodeResultFromError(platform.ProgramZProbe(gb, reply)); + result = platform.ProgramZProbe(gb, reply); break; case 673: // Align plane on rotary axis @@ -3802,7 +3820,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) const float a2 = (x1 == x2) ? y2 : x2; // See what kind of compensation we need to perform - moveBuffer.SetDefaults(); + SetMoveBufferDefaults(); if (axisToUse != 0) { // An axis letter is given, so try to level the given axis @@ -4084,6 +4102,22 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; #endif + case 851: // Set Z probe offset, only for Marlin compatibility + { + ZProbe params = platform.GetCurrentZProbeParameters(); + if (gb.Seen('Z')) + { + params.triggerHeight = -gb.GetFValue(); + params.saveToConfigOverride = true; + platform.SetZProbeParameters(platform.GetZProbeType(), params); + } + else + { + reply.printf("Z probe offset is %.2fmm", (double)(-params.triggerHeight)); + } + } + break; + case 905: // Set current RTC date and time result = SetDateTime(gb, reply); break; @@ -4272,7 +4306,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) #endif case 929: // Start/stop event logging - result = GetGCodeResultFromError(platform.ConfigureLogging(gb, reply)); + result = platform.ConfigureLogging(gb, reply); break; case 997: // Perform firmware update @@ -4316,7 +4350,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; default: - result = GCodeResult::notSupported; + result = GCodeResult::warningNotSupported; break; } @@ -4404,7 +4438,7 @@ bool GCodes::HandleResult(GCodeBuffer& gb, GCodeResult rslt, const StringRef& re { if (outBuf != nullptr) { - // We only have an OutputBuffer when rslt == GCodeResult::ok + // We only ever have an OutputBuffer when rslt == GCodeResult::ok gb.timerRunning = false; UnlockAll(gb); HandleReply(gb, outBuf); @@ -4416,16 +4450,22 @@ bool GCodes::HandleResult(GCodeBuffer& gb, GCodeResult rslt, const StringRef& re case GCodeResult::notFinished: return false; - case GCodeResult::notSupported: + case GCodeResult::warningNotSupported: gb.PrintCommand(reply); reply.cat(" command is not supported"); rslt = GCodeResult::warning; break; + case GCodeResult::errorNotSupported: + gb.PrintCommand(reply); + reply.cat(" command is not supported"); + rslt = GCodeResult::error; + break; + case GCodeResult::notSupportedInCurrentMode: gb.PrintCommand(reply); reply.catf(" command is not supported in machine mode %s", GetMachineModeString()); - rslt = GCodeResult::warning; + rslt = GCodeResult::error; break; case GCodeResult::badOrMissingParameter: diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp index 9d8a0d4c..1b76db2c 100644 --- a/src/GCodes/GCodes3.cpp +++ b/src/GCodes/GCodes3.cpp @@ -14,6 +14,7 @@ #include "RepRap.h" #include "Tools/Tool.h" #include "PrintMonitor.h" +#include "Tasks.h" #if HAS_WIFI_NETWORKING # include "FirmwareUpdater.h" @@ -60,7 +61,11 @@ GCodeResult GCodes::SetPrintZProbe(GCodeBuffer& gb, const StringRef& reply) gb.TryGetFValue(axisLetters[X_AXIS], params.xOffset, seen); gb.TryGetFValue(axisLetters[Y_AXIS], params.yOffset, seen); gb.TryGetFValue(axisLetters[Z_AXIS], params.triggerHeight, seen); - gb.TryGetIValue('P', params.adcValue, seen); + if (gb.Seen('P')) + { + seen = true; + params.adcValue = gb.GetIValue(); + } if (gb.Seen('C')) { @@ -83,12 +88,16 @@ GCodeResult GCodes::SetPrintZProbe(GCodeBuffer& gb, const StringRef& reply) { return GCodeResult::notFinished; } + if (gb.MachineState().runningM501) + { + params.saveToConfigOverride = true; // we are loading these parameters from config-override.g, so a subsequent M500 should save them to config-override.g + } platform.SetZProbeParameters(probeType, params); } else if (seenT) { // Don't bother printing temperature coefficient and calibration temperature because we will probably remove them soon - reply.printf("Threshold %" PRIi32 ", trigger height %.2f, offsets X%.1f Y%.1f", params.adcValue, (double)params.triggerHeight, (double)params.xOffset, (double)params.yOffset); + reply.printf("Threshold %d, trigger height %.2f, offsets X%.1f Y%.1f", params.adcValue, (double)params.triggerHeight, (double)params.xOffset, (double)params.yOffset); } else { @@ -111,7 +120,7 @@ GCodeResult GCodes::SetPrintZProbe(GCodeBuffer& gb, const StringRef& reply) } // Deal with G60 -GCodeResult GCodes::SavePosition(GCodeBuffer& gb,const StringRef& reply) +GCodeResult GCodes::SavePosition(GCodeBuffer& gb, const StringRef& reply) { const uint32_t sParam = (gb.Seen('S')) ? gb.GetUIValue() : 0; if (sParam < ARRAY_SIZE(numberedRestorePoints)) @@ -157,7 +166,7 @@ GCodeResult GCodes::SetPositions(GCodeBuffer& gb) if (axesIncluded != 0) { ToolOffsetTransform(currentUserPosition, moveBuffer.coords); - if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, LowestNBits<AxesBitmap>(numVisibleAxes), false)) // pretend that all axes are homed + if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, nullptr, numVisibleAxes, LowestNBits<AxesBitmap>(numVisibleAxes), false, limitAxes)) // pretend that all axes are homed { ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position } @@ -192,7 +201,7 @@ GCodeResult GCodes::OffsetAxes(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen(axisLetters[axis])) { #if SUPPORT_WORKPLACE_COORDINATES - workplaceCoordinates[0][axis] + workplaceCoordinates[currentCoordinateSystem][axis] #else axisOffsets[axis] #endif @@ -265,17 +274,31 @@ GCodeResult GCodes::GetSetWorkplaceCoordinates(GCodeBuffer& gb, const StringRef& return GCodeResult::badOrMissingParameter; } +// Save any modified workplace coordinate offsets to file returning true if successful. Used by M500. +bool GCodes::WriteWorkplaceCoordinates(FileStore *f) const +{ + for (size_t cs = 0; cs < NumCoordinateSystems; ++cs) + { + String<ScratchStringLength> scratchString; + scratchString.printf("G10 L2 P%u", cs + 1); + for (size_t axis = 0; axis < numVisibleAxes; ++axis) + { + scratchString.catf(" %c%.2f", axisLetters[axis], (double)workplaceCoordinates[cs][axis]); + } + scratchString.cat('\n'); + if (!f->Write(scratchString.c_str())) + { + return false; + } + } + return true; +} + #endif // Define the probing grid, called when we see an M557 command GCodeResult GCodes::DefineGrid(GCodeBuffer& gb, const StringRef &reply) { - if (gb.Seen('P')) - { - reply.copy("Error: M557 P parameter is no longer supported. Use a bed.g file instead.\n"); - return GCodeResult::error; - } - if (!LockMovement(gb)) // to ensure that probing is not already in progress { return GCodeResult::notFinished; @@ -363,6 +386,10 @@ GCodeResult GCodes::DefineGrid(GCodeBuffer& gb, const StringRef &reply) if (seenP && numPoints[0] >= 2) { effectiveXRadius = radius - 0.1; + if (numPoints[1] % 2 == 0) + { + effectiveXRadius *= sqrtf(1.0 - 1.0/(float)((numPoints[1] - 1) * (numPoints[1] - 1))); + } spacings[0] = (2 * effectiveXRadius)/(numPoints[0] - 1); } else @@ -376,6 +403,10 @@ GCodeResult GCodes::DefineGrid(GCodeBuffer& gb, const StringRef &reply) if (seenP && numPoints[1] >= 2) { effectiveYRadius = radius - 0.1; + if (numPoints[0] % 2 == 0) + { + effectiveYRadius *= sqrtf(1.0 - 1.0/(float)((numPoints[0] - 1) * (numPoints[0] - 1))); + } spacings[1] = (2 * effectiveYRadius)/(numPoints[1] - 1); } else @@ -419,7 +450,7 @@ GCodeResult GCodes::SimulateFile(GCodeBuffer& gb, const StringRef &reply, const { axesHomedBeforeSimulation = axesHomed; axesHomed = LowestNBits<AxesBitmap>(numVisibleAxes); // pretend all axes are homed - reprap.GetMove().GetCurrentUserPosition(simulationRestorePoint.moveCoords, 0, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes()); + SavePosition(simulationRestorePoint, gb); simulationRestorePoint.feedRate = gb.MachineState().feedRate; } simulationTime = 0.0; @@ -457,8 +488,7 @@ GCodeResult GCodes::ChangeSimulationMode(GCodeBuffer& gb, const StringRef &reply // Starting a new simulation, so save the current position axesHomedBeforeSimulation = axesHomed; axesHomed = LowestNBits<AxesBitmap>(numVisibleAxes); // pretend all axes are homed - reprap.GetMove().GetCurrentUserPosition(simulationRestorePoint.moveCoords, 0, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes()); - simulationRestorePoint.feedRate = gb.MachineState().feedRate; + SavePosition(simulationRestorePoint, gb); } simulationTime = 0.0; } @@ -546,7 +576,7 @@ GCodeResult GCodes::SetOrReportZProbe(GCodeBuffer& gb, const StringRef &reply) if (gb.Seen('A')) { - params.maxTaps = gb.GetUIValue(); + params.maxTaps = min<uint32_t>(gb.GetUIValue(), ZProbe::MaxTapsLimit); seen = true; } @@ -679,7 +709,7 @@ GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, const StringRef& reply) return GCodeResult::notFinished; } - bool seen = false, badDrive = false; + bool seen = false; const char *lettersToTry = "XYZUVWABC"; char c; while ((c = *lettersToTry) != 0) @@ -692,24 +722,11 @@ GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, const StringRef& reply) uint32_t drivers[MaxDriversPerAxis]; gb.GetUnsignedArray(drivers, numValues, false); - // Check all the driver numbers are in range AxisDriversConfig config; config.numDrivers = numValues; for (size_t i = 0; i < numValues; ++i) { - if (drivers[i] >= MaxTotalDrivers) - { - badDrive = true; - } - else - { - config.driverNumbers[i] = (uint8_t)drivers[i]; - } - } - - if (badDrive) - { - break; + config.driverNumbers[i] = (uint8_t)min<uint32_t>(drivers[i], 255); } // Find the drive number allocated to this axis, or allocate a new one if necessary @@ -718,22 +735,20 @@ GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, const StringRef& reply) { ++drive; } - if (drive < MaxAxes) + if (drive == numTotalAxes && drive < MaxAxes) { - if (drive == numTotalAxes) - { - axisLetters[drive] = c; // assign the drive to this drive letter - moveBuffer.coords[drive] = 0.0; // user has defined a new axis, so set its position - currentUserPosition[drive] = 0.0; // set its requested user position too in case it is visible - ++numTotalAxes; - numVisibleAxes = numTotalAxes; // assume any new axes are visible unless there is a P parameter - } - reprap.GetMove().SetNewPosition(moveBuffer.coords, true); // tell the Move system where any new axes are - platform.SetAxisDriversConfig(drive, config); - if (numTotalAxes + numExtruders > MaxTotalDrivers) - { - numExtruders = MaxTotalDrivers - numTotalAxes; // if we added axes, we may have fewer extruders now - } + axisLetters[drive] = c; // assign the drive to this drive letter + ++numTotalAxes; + numVisibleAxes = numTotalAxes; // assume any new axes are visible unless there is a P parameter + float initialCoords[MaxAxes]; + reprap.GetMove().GetKinematics().GetAssumedInitialPosition(drive + 1, initialCoords); + moveBuffer.coords[drive] = initialCoords[drive]; // user has defined a new axis, so set its position + ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); + } + platform.SetAxisDriversConfig(drive, config); + if (numTotalAxes + numExtruders > MaxTotalDrivers) + { + numExtruders = MaxTotalDrivers - numTotalAxes; // if we added axes, we may have fewer extruders now } } ++lettersToTry; @@ -748,62 +763,54 @@ GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, const StringRef& reply) numExtruders = numValues; for (size_t i = 0; i < numValues; ++i) { - if (drivers[i] >= MaxTotalDrivers) - { - badDrive = true; - } - else - { - platform.SetExtruderDriver(i, (uint8_t)drivers[i]); - } + platform.SetExtruderDriver(i, (uint8_t)min<uint32_t>(drivers[i], 255)); } } - if (badDrive) - { - reply.copy("Invalid driver number"); - return GCodeResult::error; - } - else + if (gb.Seen('P')) { - if (gb.Seen('P')) + seen = true; + const unsigned int nva = gb.GetUIValue(); + if (nva >= MinAxes && nva <= numTotalAxes) { - seen = true; - const int nva = gb.GetIValue(); - if (nva >= (int)MinAxes && (unsigned int)nva <= numTotalAxes) - { - numVisibleAxes = (size_t)nva; - } - else - { - reply.copy("Invalid number of visible axes"); - return GCodeResult::error; - } + numVisibleAxes = nva; + } + else + { + reply.copy("Invalid number of visible axes"); + return GCodeResult::error; } + } - if (!seen) + if (seen) + { + // In the DDA ring, the axis positions for invisible non-moving axes are not always copied over from previous moves. + // So if we have more visible axes than before, then we need to update their positions to get them in sync. + // We could do this only when we increase the number of visible axes, but for simplicity we do it always. + reprap.GetMove().SetNewPosition(moveBuffer.coords, true); // tell the Move system where the axes are + } + else + { + reply.copy("Driver assignments:"); + for (size_t drive = 0; drive < numTotalAxes; ++ drive) { - reply.copy("Driver assignments:"); - for (size_t drive = 0; drive < numTotalAxes; ++ drive) - { - reply.cat(' '); - const AxisDriversConfig& axisConfig = platform.GetAxisDriversConfig(drive); - char c = axisLetters[drive]; - for (size_t i = 0; i < axisConfig.numDrivers; ++i) - { - reply.catf("%c%u", c, axisConfig.driverNumbers[i]); - c = ':'; - } - } reply.cat(' '); - char c = extrudeLetter; - for (size_t extruder = 0; extruder < numExtruders; ++extruder) + const AxisDriversConfig& axisConfig = platform.GetAxisDriversConfig(drive); + char c = axisLetters[drive]; + for (size_t i = 0; i < axisConfig.numDrivers; ++i) { - reply.catf("%c%u", c, platform.GetExtruderDriver(extruder)); + reply.catf("%c%u", c, axisConfig.driverNumbers[i]); c = ':'; } - reply.catf(", %u axes visible", numVisibleAxes); } + reply.cat(' '); + char c = extrudeLetter; + for (size_t extruder = 0; extruder < numExtruders; ++extruder) + { + reply.catf("%c%u", c, platform.GetExtruderDriver(extruder)); + c = ':'; + } + reply.catf(", %u axes visible", numVisibleAxes); } return GCodeResult::ok; @@ -836,7 +843,7 @@ GCodeResult GCodes::ProbeTool(GCodeBuffer& gb, const StringRef& reply) } // Save the current axis coordinates - memcpy(toolChangeRestorePoint.moveCoords, currentUserPosition, ARRAY_SIZE(currentUserPosition) * sizeof(currentUserPosition[0])); + SavePosition(toolChangeRestorePoint, gb); // Prepare another move similar to G1 .. S3 moveBuffer.moveType = 3; @@ -1075,35 +1082,68 @@ GCodeResult GCodes::UpdateFirmware(GCodeBuffer& gb, const StringRef &reply) return GCodeResult::ok; } -// Handle M260 +// Handle M260 - send and possibly receive via I2C GCodeResult GCodes::SendI2c(GCodeBuffer& gb, const StringRef &reply) { #if defined(I2C_IFACE) if (gb.Seen('A')) { - const uint32_t address = gb.GetUIValue(); + const uint32_t address = gb.GetUIValueMaybeHex(); + uint32_t numToReceive = 0; + bool seenR; + gb.TryGetUIValue('R', numToReceive, seenR); + int32_t values[MaxI2cBytes]; + size_t numToSend; if (gb.Seen('B')) { - int32_t values[MaxI2cBytes]; - size_t numValues = MaxI2cBytes; - gb.GetIntArray(values, numValues, false); - if (numValues != 0) + numToSend = MaxI2cBytes; + gb.GetIntArray(values, numToSend, false); //TODO allow hex values + } + else + { + numToSend = 0; + } + + if (numToSend + numToReceive != 0) + { + if (numToSend + numToReceive > MaxI2cBytes) { - TaskCriticalSectionLocker Lock; + numToReceive = MaxI2cBytes - numToSend; + } + uint8_t bValues[MaxI2cBytes]; + for (size_t i = 0; i < numToSend; ++i) + { + bValues[i] = (uint8_t)values[i]; + } - platform.InitI2c(); - I2C_IFACE.beginTransmission((int)address); - for (size_t i = 0; i < numValues; ++i) + platform.InitI2c(); + size_t bytesTransferred; + { + MutexLocker lock(Tasks::GetI2CMutex()); + bytesTransferred = I2C_IFACE.Transfer(address, bValues, numToSend, numToReceive); + } + + if (bytesTransferred < numToSend) + { + reply.copy("I2C transmission error"); + return GCodeResult::error; + } + else if (numToReceive != 0) + { + reply.copy("Received"); + if (bytesTransferred == numToSend) { - I2C_IFACE.write((uint8_t)values[i]); + reply.cat(" nothing"); } - if (I2C_IFACE.endTransmission() == 0) + else { - return GCodeResult::ok; + for (size_t i = numToSend; i < bytesTransferred; ++i) + { + reply.catf(" %02x", bValues[i]); + } } - reply.copy("I2C transmission error"); - return GCodeResult::error; } + return (bytesTransferred == numToSend + numToReceive) ? GCodeResult::ok : GCodeResult::error; } } @@ -1120,29 +1160,35 @@ GCodeResult GCodes::ReceiveI2c(GCodeBuffer& gb, const StringRef &reply) #if defined(I2C_IFACE) if (gb.Seen('A')) { - const uint32_t address = gb.GetUIValue(); + const uint32_t address = gb.GetUIValueMaybeHex(); if (gb.Seen('B')) { - uint32_t numBytes = gb.GetUIValue(); + const uint32_t numBytes = gb.GetUIValue(); if (numBytes > 0 && numBytes <= MaxI2cBytes) { - TaskCriticalSectionLocker Lock; - platform.InitI2c(); - I2C_IFACE.requestFrom(address, numBytes); + + uint8_t bValues[MaxI2cBytes]; + size_t bytesRead; + { + MutexLocker lock(Tasks::GetI2CMutex()); + bytesRead = I2C_IFACE.Transfer(address, bValues, 0, numBytes); + } + reply.copy("Received"); - const uint32_t now = millis(); - do + if (bytesRead == 0) { - if (I2C_IFACE.available() != 0) + reply.cat(" nothing"); + } + else + { + for (size_t i = 0; i < bytesRead; ++i) { - const unsigned int b = I2C_IFACE.read() & 0x00FF; - reply.catf(" %02x", b); - --numBytes; + reply.catf(" %02x", bValues[i]); } - } while (numBytes != 0 && now - millis() < 3); + } - return GCodeResult::ok; + return (bytesRead == numBytes) ? GCodeResult::ok : GCodeResult::error; } } } @@ -1207,7 +1253,7 @@ GCodeResult GCodes::ConfigureDriver(GCodeBuffer& gb,const StringRef& reply) } } - if (gb.TryGetUIValue('C', val, seen)) // set chopper control register + if (gb.TryGetUIValueMaybeHex('C', val, seen)) // set chopper control register { if (!SmartDrivers::SetRegister(drive, SmartDriverRegister::chopperControl, val)) { @@ -1316,6 +1362,20 @@ GCodeResult GCodes::ConfigureDriver(GCodeBuffer& gb,const StringRef& reply) SmartDrivers::GetRegister(drive, SmartDriverRegister::hdec) ); +#if SUPPORT_TMC2660 + { + const uint32_t mstepPos = SmartDrivers::GetRegister(drive, SmartDriverRegister::mstepPos); + if (mstepPos < 1024) + { + reply.catf(", pos %" PRIu32, mstepPos); + } + else + { + reply.cat(", pos unknown"); + } + } +#endif + #if SUPPORT_TMC22xx || SUPPORT_TMC51xx { const uint32_t tpwmthrs = SmartDrivers::GetRegister(drive, SmartDriverRegister::tpwmthrs); @@ -1343,4 +1403,93 @@ GCodeResult GCodes::ConfigureDriver(GCodeBuffer& gb,const StringRef& reply) return GCodeResult::ok; } +// Set the heater model (M307) +GCodeResult GCodes::SetHeaterModel(GCodeBuffer& gb, const StringRef& reply) +{ + if (gb.Seen('H')) + { + const unsigned int heater = gb.GetUIValue(); + if (heater < NumHeaters) + { + const FopDt& model = reprap.GetHeat().GetHeaterModel(heater); + bool seen = false; + float gain = model.GetGain(), + tc = model.GetTimeConstant(), + td = model.GetDeadTime(), + maxPwm = model.GetMaxPwm(), + voltage = model.GetVoltage(); + uint32_t freq = model.GetPwmFrequency(); + int32_t dontUsePid = model.UsePid() ? 0 : 1; + int32_t inversionParameter = 0; + + gb.TryGetFValue('A', gain, seen); + gb.TryGetFValue('C', tc, seen); + gb.TryGetFValue('D', td, seen); + gb.TryGetIValue('B', dontUsePid, seen); + gb.TryGetFValue('S', maxPwm, seen); + gb.TryGetFValue('V', voltage, seen); + gb.TryGetIValue('I', inversionParameter, seen); + gb.TryGetUIValue('F', freq, seen); + + if (seen) + { + const bool inverseTemperatureControl = (inversionParameter == 1 || inversionParameter == 3); + if (!reprap.GetHeat().SetHeaterModel(heater, gain, tc, td, maxPwm, voltage, + dontUsePid == 0, inverseTemperatureControl, (uint16_t)min<uint32_t>(freq, MaxHeaterPwmFrequency))) + { + reply.copy("bad model parameters"); + return GCodeResult::error; + } + + const bool invertedPwmSignal = (inversionParameter == 2 || inversionParameter == 3); + reprap.GetHeat().SetHeaterSignalInverted(heater, invertedPwmSignal); + } + else if (!model.IsEnabled()) + { + reply.printf("Heater %u is disabled", heater); + } + else + { + const char* mode = (!model.UsePid()) ? "bang-bang" + : (model.ArePidParametersOverridden()) ? "custom PID" + : "PID"; + const bool pwmSignalInverted = reprap.GetHeat().IsHeaterSignalInverted(heater); + const char* const inverted = model.IsInverted() + ? (pwmSignalInverted ? "PWM signal and temperature control" : "temperature control") + : (pwmSignalInverted ? "PWM signal" : "no"); + + reply.printf("Heater %u model: gain %.1f, time constant %.1f, dead time %.1f, max PWM %.2f, calibration voltage %.1f, mode %s, inverted %s, frequency ", + heater, (double)model.GetGain(), (double)model.GetTimeConstant(), (double)model.GetDeadTime(), (double)model.GetMaxPwm(), (double)model.GetVoltage(), mode, inverted); + if (model.GetPwmFrequency() == 0) + { + reply.cat("default"); + } + else + { + reply.catf("%uHz", model.GetPwmFrequency()); + } + if (model.UsePid()) + { + // When reporting the PID parameters, we scale them by 255 for compatibility with older firmware and other firmware + M301PidParameters params = model.GetM301PidParameters(false); + reply.catf("\nComputed PID parameters for setpoint change: P%.1f, I%.3f, D%.1f", (double)params.kP, (double)params.kI, (double)params.kD); + params = model.GetM301PidParameters(true); + reply.catf("\nComputed PID parameters for load change: P%.1f, I%.3f, D%.1f", (double)params.kP, (double)params.kI, (double)params.kD); + } + } + } + } + return GCodeResult::ok; +} + +// Change a live extrusion factor +void GCodes::ChangeExtrusionFactor(unsigned int extruder, float factor) +{ + if (segmentsLeft != 0 && !moveBuffer.isFirmwareRetraction) + { + moveBuffer.coords[extruder + numTotalAxes] *= factor/extrusionFactors[extruder]; // last move not gone, so update it + } + extrusionFactors[extruder] = factor; +} + // End diff --git a/src/Heating/Pid.cpp b/src/Heating/Pid.cpp index 10eacbd4..2c8ae06b 100644 --- a/src/Heating/Pid.cpp +++ b/src/Heating/Pid.cpp @@ -940,7 +940,7 @@ void PID::DisplayBuffer(const char *intro) { buf->catf(" %.1f", (double)tuningTempReadings[i]); } - buf->cat("\n"); + buf->cat('\n'); platform.Message(UsbMessage, buf); } } diff --git a/src/Heating/Sensors/SpiTemperatureSensor.cpp b/src/Heating/Sensors/SpiTemperatureSensor.cpp index 6c447714..6b90b3c3 100644 --- a/src/Heating/Sensors/SpiTemperatureSensor.cpp +++ b/src/Heating/Sensors/SpiTemperatureSensor.cpp @@ -15,6 +15,9 @@ SpiTemperatureSensor::SpiTemperatureSensor(unsigned int channel, const char *nam device.csPolarity = false; // active low chip select device.spiMode = spiMode; device.clockFrequency = clockFrequency; +#if defined(__LPC17xx__) + device.sspChannel = TempSensorSSPChannel; // use SSP0 on LPC +#endif lastTemperature = 0.0; lastResult = TemperatureError::notInitialised; } diff --git a/src/Libraries/Fatfs/00readme.txt b/src/Libraries/Fatfs/00readme.txt deleted file mode 100644 index cfcdd4a2..00000000 --- a/src/Libraries/Fatfs/00readme.txt +++ /dev/null @@ -1,130 +0,0 @@ -FatFs Module Source Files R0.09 (C)ChaN, 2011 - - -FILES - - ffconf.h Configuration file for FatFs module. - ff.h Common include file for FatFs and application module. - ff.c FatFs module. - diskio.h Common include file for FatFs and disk I/O module. - integer.h Alternative type definitions for integer variables. - option Optional external functions. - - Low level disk I/O module is not included in this archive because the FatFs - module is only a generic file system layer and not depend on any specific - storage device. You have to provide a low level disk I/O module that written - to control your storage device. - - - -AGREEMENTS - - FatFs module is an open source software to implement FAT file system to - small embedded systems. This is a free software and is opened for education, - research and commercial developments under license policy of following trems. - - Copyright (C) 2011, ChaN, all right reserved. - - * The FatFs module is a free software and there is NO WARRANTY. - * No restriction on use. You can use, modify and redistribute it for - personal, non-profit or commercial product UNDER YOUR RESPONSIBILITY. - * Redistributions of source code must retain the above copyright notice. - - - -REVISION HISTORY - - Feb 26, 2006 R0.00 Prototype - - Apr 29, 2006 R0.01 First release. - - Jun 01, 2006 R0.02 Added FAT12. - Removed unbuffered mode. - Fixed a problem on small (<32M) patition. - - Jun 10, 2006 R0.02a Added a configuration option _FS_MINIMUM. - - Sep 22, 2006 R0.03 Added f_rename. - Changed option _FS_MINIMUM to _FS_MINIMIZE. - - Dec 11, 2006 R0.03a Improved cluster scan algolithm to write files fast. - Fixed f_mkdir creates incorrect directory on FAT32. - - Feb 04, 2007 R0.04 Supported multiple drive system. (FatFs) - Changed some APIs for multiple drive system. - Added f_mkfs. (FatFs) - Added _USE_FAT32 option. (Tiny-FatFs) - - Apr 01, 2007 R0.04a Supported multiple partitions on a plysical drive. (FatFs) - Fixed an endian sensitive code in f_mkfs. (FatFs) - Added a capability of extending the file size to f_lseek. - Added minimization level 3. - Fixed a problem that can collapse a sector when recreate an - existing file in any sub-directory at non FAT32 cfg. (Tiny-FatFs) - - May 05, 2007 R0.04b Added _USE_NTFLAG option. - Added FSInfo support. - Fixed some problems corresponds to FAT32. (Tiny-FatFs) - Fixed DBCS name can result FR_INVALID_NAME. - Fixed short seek (0 < ofs <= csize) collapses the file object. - - Aug 25, 2007 R0.05 Changed arguments of f_read, f_write. - Changed arguments of f_mkfs. (FatFs) - Fixed f_mkfs on FAT32 creates incorrect FSInfo. (FatFs) - Fixed f_mkdir on FAT32 creates incorrect directory. (FatFs) - - Feb 03, 2008 R0.05a Added f_truncate(). - Added f_utime(). - Fixed off by one error at FAT sub-type determination. - Fixed btr in f_read() can be mistruncated. - Fixed cached sector is not flushed when create and close without write. - - Apr 01, 2008 R0.06 Added f_forward(). (Tiny-FatFs) - Added string functions: fputc(), fputs(), fprintf() and fgets(). - Improved performance of f_lseek() on move to the same or following cluster. - - Apr 01, 2009, R0.07 Merged Tiny-FatFs as a buffer configuration option. - Added long file name support. - Added multiple code page support. - Added re-entrancy for multitask operation. - Added auto cluster size selection to f_mkfs(). - Added rewind option to f_readdir(). - Changed result code of critical errors. - Renamed string functions to avoid name collision. - - Apr 14, 2009, R0.07a Separated out OS dependent code on reentrant cfg. - Added multiple sector size support. - - Jun 21, 2009, R0.07c Fixed f_unlink() may return FR_OK on error. - Fixed wrong cache control in f_lseek(). - Added relative path feature. - Added f_chdir(). - Added f_chdrive(). - Added proper case conversion for extended characters. - - Nov 03, 2009 R0.07e Separated out configuration options from ff.h to ffconf.h. - Added a configuration option, _LFN_UNICODE. - Fixed f_unlink() fails to remove a sub-dir on _FS_RPATH. - Fixed name matching error on the 13 char boundary. - Changed f_readdir() to return the SFN with always upper case on non-LFN cfg. - - May 15, 2010, R0.08 Added a memory configuration option. (_USE_LFN) - Added file lock feature. (_FS_SHARE) - Added fast seek feature. (_USE_FASTSEEK) - Changed some types on the API, XCHAR->TCHAR. - Changed fname member in the FILINFO structure on Unicode cfg. - String functions support UTF-8 encoding files on Unicode cfg. - - Aug 16,'10 R0.08a Added f_getcwd(). (_FS_RPATH = 2) - Added sector erase feature. (_USE_ERASE) - Moved file lock semaphore table from fs object to the bss. - Fixed a wrong directory entry is created on non-LFN cfg when the given name contains ';'. - Fixed f_mkfs() creates wrong FAT32 volume. - - Jan 15,'11 R0.08b Fast seek feature is also applied to f_read() and f_write(). - f_lseek() reports required table size on creating CLMP. - Extended format syntax of f_printf function. - Ignores duplicated directory separators in given path names. - - Sep 06,'11 R0.09 f_mkfs() supports multiple partition to finish the multiple partition feature. - Added f_fdisk(). (_MULTI_PARTITION = 2) diff --git a/src/Libraries/Fatfs/ccsbcs.c b/src/Libraries/Fatfs/ccsbcs.c deleted file mode 100644 index 5508d436..00000000 --- a/src/Libraries/Fatfs/ccsbcs.c +++ /dev/null @@ -1,540 +0,0 @@ -/*------------------------------------------------------------------------*/ -/* Unicode - Local code bidirectional converter (C)ChaN, 2009 */ -/* (SBCS code pages) */ -/*------------------------------------------------------------------------*/ -/* 437 U.S. (OEM) -/ 720 Arabic (OEM) -/ 1256 Arabic (Windows) -/ 737 Greek (OEM) -/ 1253 Greek (Windows) -/ 1250 Central Europe (Windows) -/ 775 Baltic (OEM) -/ 1257 Baltic (Windows) -/ 850 Multilingual Latin 1 (OEM) -/ 852 Latin 2 (OEM) -/ 1252 Latin 1 (Windows) -/ 855 Cyrillic (OEM) -/ 1251 Cyrillic (Windows) -/ 866 Russian (OEM) -/ 857 Turkish (OEM) -/ 1254 Turkish (Windows) -/ 858 Multilingual Latin 1 + Euro (OEM) -/ 862 Hebrew (OEM) -/ 1255 Hebrew (Windows) -/ 874 Thai (OEM, Windows) -/ 1258 Vietnam (OEM, Windows) -*/ - -#include "ff.h" - - -#if _CODE_PAGE == 437 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP437(0x80-0xFF) to Unicode conversion table */ - 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7, - 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5, - 0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9, - 0x00FF, 0x00D6, 0x00DC, 0x00A2, 0x00A3, 0x00A5, 0x20A7, 0x0192, - 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA, - 0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, - 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, - 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, - 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, - 0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4, - 0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229, - 0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248, - 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 720 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP720(0x80-0xFF) to Unicode conversion table */ - 0x0000, 0x0000, 0x00E9, 0x00E2, 0x0000, 0x00E0, 0x0000, 0x00E7, - 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x0000, 0x0000, 0x0000, - 0x0000, 0x0651, 0x0652, 0x00F4, 0x00A4, 0x0640, 0x00FB, 0x00F9, - 0x0621, 0x0622, 0x0623, 0x0624, 0x00A3, 0x0625, 0x0626, 0x0627, - 0x0628, 0x0629, 0x062A, 0x062B, 0x062C, 0x062D, 0x062E, 0x062F, - 0x0630, 0x0631, 0x0632, 0x0633, 0x0634, 0x0635, 0x00AB, 0x00BB, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, - 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, - 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, - 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, - 0x0636, 0x0637, 0x0638, 0x0639, 0x063A, 0x0641, 0x00B5, 0x0642, - 0x0643, 0x0644, 0x0645, 0x0646, 0x0647, 0x0648, 0x0649, 0x064A, - 0x2261, 0x064B, 0x064C, 0x064D, 0x064E, 0x064F, 0x0650, 0x2248, - 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 737 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP737(0x80-0xFF) to Unicode conversion table */ - 0x0391, 0x0392, 0x0393, 0x0394, 0x0395, 0x0396, 0x0397, 0x0398, - 0x0399, 0x039A, 0x039B, 0x039C, 0x039D, 0x039E, 0x039F, 0x03A0, - 0x03A1, 0x03A3, 0x03A4, 0x03A5, 0x03A6, 0x03A7, 0x03A8, 0x03A9, - 0x03B1, 0x03B2, 0x03B3, 0x03B4, 0x03B5, 0x03B6, 0x03B7, 0x03B8, - 0x03B9, 0x03BA, 0x03BB, 0x03BC, 0x03BD, 0x03BE, 0x03BF, 0x03C0, - 0x03C1, 0x03C3, 0x03C2, 0x03C4, 0x03C5, 0x03C6, 0x03C7, 0x03C8, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, - 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, - 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, - 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, - 0x03C9, 0x03AC, 0x03AD, 0x03AE, 0x03CA, 0x03AF, 0x03CC, 0x03CD, - 0x03CB, 0x03CE, 0x0386, 0x0388, 0x0389, 0x038A, 0x038C, 0x038E, - 0x038F, 0x00B1, 0x2265, 0x2264, 0x03AA, 0x03AB, 0x00F7, 0x2248, - 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 775 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP775(0x80-0xFF) to Unicode conversion table */ - 0x0106, 0x00FC, 0x00E9, 0x0101, 0x00E4, 0x0123, 0x00E5, 0x0107, - 0x0142, 0x0113, 0x0156, 0x0157, 0x012B, 0x0179, 0x00C4, 0x00C5, - 0x00C9, 0x00E6, 0x00C6, 0x014D, 0x00F6, 0x0122, 0x00A2, 0x015A, - 0x015B, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x00A4, - 0x0100, 0x012A, 0x00F3, 0x017B, 0x017C, 0x017A, 0x201D, 0x00A6, - 0x00A9, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x0141, 0x00AB, 0x00BB, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x0104, 0x010C, 0x0118, - 0x0116, 0x2563, 0x2551, 0x2557, 0x255D, 0x012E, 0x0160, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x0172, 0x016A, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x017D, - 0x0105, 0x010D, 0x0119, 0x0117, 0x012F, 0x0161, 0x0173, 0x016B, - 0x017E, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, - 0x00D3, 0x00DF, 0x014C, 0x0143, 0x00F5, 0x00D5, 0x00B5, 0x0144, - 0x0136, 0x0137, 0x013B, 0x013C, 0x0146, 0x0112, 0x0145, 0x2019, - 0x00AD, 0x00B1, 0x201C, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x201E, - 0x00B0, 0x2219, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 850 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP850(0x80-0xFF) to Unicode conversion table */ - 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7, - 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5, - 0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9, - 0x00FF, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x0192, - 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA, - 0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0, - 0x00A9, 0x2563, 0x2551, 0x2557, 0x255D, 0x00A2, 0x00A5, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4, - 0x00F0, 0x00D0, 0x00CA, 0x00CB, 0x00C8, 0x0131, 0x00CD, 0x00CE, - 0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00A6, 0x00CC, 0x2580, - 0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x00FE, - 0x00DE, 0x00DA, 0x00DB, 0x00D9, 0x00FD, 0x00DD, 0x00AF, 0x00B4, - 0x00AD, 0x00B1, 0x2017, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8, - 0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 852 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP852(0x80-0xFF) to Unicode conversion table */ - 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x016F, 0x0107, 0x00E7, - 0x0142, 0x00EB, 0x0150, 0x0151, 0x00EE, 0x0179, 0x00C4, 0x0106, - 0x00C9, 0x0139, 0x013A, 0x00F4, 0x00F6, 0x013D, 0x013E, 0x015A, - 0x015B, 0x00D6, 0x00DC, 0x0164, 0x0165, 0x0141, 0x00D7, 0x010D, - 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x0104, 0x0105, 0x017D, 0x017E, - 0x0118, 0x0119, 0x00AC, 0x017A, 0x010C, 0x015F, 0x00AB, 0x00BB, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x011A, - 0x015E, 0x2563, 0x2551, 0x2557, 0x255D, 0x017B, 0x017C, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x0102, 0x0103, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4, - 0x0111, 0x0110, 0x010E, 0x00CB, 0x010F, 0x0147, 0x00CD, 0x00CE, - 0x011B, 0x2518, 0x250C, 0x2588, 0x2584, 0x0162, 0x016E, 0x2580, - 0x00D3, 0x00DF, 0x00D4, 0x0143, 0x0144, 0x0148, 0x0160, 0x0161, - 0x0154, 0x00DA, 0x0155, 0x0170, 0x00FD, 0x00DD, 0x0163, 0x00B4, - 0x00AD, 0x02DD, 0x02DB, 0x02C7, 0x02D8, 0x00A7, 0x00F7, 0x00B8, - 0x00B0, 0x00A8, 0x02D9, 0x0171, 0x0158, 0x0159, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 855 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP855(0x80-0xFF) to Unicode conversion table */ - 0x0452, 0x0402, 0x0453, 0x0403, 0x0451, 0x0401, 0x0454, 0x0404, - 0x0455, 0x0405, 0x0456, 0x0406, 0x0457, 0x0407, 0x0458, 0x0408, - 0x0459, 0x0409, 0x045A, 0x040A, 0x045B, 0x040B, 0x045C, 0x040C, - 0x045E, 0x040E, 0x045F, 0x040F, 0x044E, 0x042E, 0x044A, 0x042A, - 0x0430, 0x0410, 0x0431, 0x0411, 0x0446, 0x0426, 0x0434, 0x0414, - 0x0435, 0x0415, 0x0444, 0x0424, 0x0433, 0x0413, 0x00AB, 0x00BB, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x0445, 0x0425, 0x0438, - 0x0418, 0x2563, 0x2551, 0x2557, 0x255D, 0x0439, 0x0419, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x043A, 0x041A, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4, - 0x043B, 0x041B, 0x043C, 0x041C, 0x043D, 0x041D, 0x043E, 0x041E, - 0x043F, 0x2518, 0x250C, 0x2588, 0x2584, 0x041F, 0x044F, 0x2580, - 0x042F, 0x0440, 0x0420, 0x0441, 0x0421, 0x0442, 0x0422, 0x0443, - 0x0423, 0x0436, 0x0416, 0x0432, 0x0412, 0x044C, 0x042C, 0x2116, - 0x00AD, 0x044B, 0x042B, 0x0437, 0x0417, 0x0448, 0x0428, 0x044D, - 0x042D, 0x0449, 0x0429, 0x0447, 0x0427, 0x00A7, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 857 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP857(0x80-0xFF) to Unicode conversion table */ - 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7, - 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x0131, 0x00C4, 0x00C5, - 0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9, - 0x0130, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x015E, 0x015F, - 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x011E, 0x011F, - 0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0, - 0x00A9, 0x2563, 0x2551, 0x2557, 0x255D, 0x00A2, 0x00A5, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4, - 0x00BA, 0x00AA, 0x00CA, 0x00CB, 0x00C8, 0x0000, 0x00CD, 0x00CE, - 0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00A6, 0x00CC, 0x2580, - 0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x0000, - 0x00D7, 0x00DA, 0x00DB, 0x00D9, 0x00EC, 0x00FF, 0x00AF, 0x00B4, - 0x00AD, 0x00B1, 0x0000, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8, - 0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 858 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP858(0x80-0xFF) to Unicode conversion table */ - 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7, - 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5, - 0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9, - 0x00FF, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x0192, - 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA, - 0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0, - 0x00A9, 0x2563, 0x2551, 0x2557, 0x2550, 0x00A2, 0x00A5, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4, - 0x00F0, 0x00D0, 0x00CA, 0x00CB, 0x00C8, 0x20AC, 0x00CD, 0x00CE, - 0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00C6, 0x00CC, 0x2580, - 0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x00FE, - 0x00DE, 0x00DA, 0x00DB, 0x00D9, 0x00FD, 0x00DD, 0x00AF, 0x00B4, - 0x00AD, 0x00B1, 0x2017, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8, - 0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 862 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP862(0x80-0xFF) to Unicode conversion table */ - 0x05D0, 0x05D1, 0x05D2, 0x05D3, 0x05D4, 0x05D5, 0x05D6, 0x05D7, - 0x05D8, 0x05D9, 0x05DA, 0x05DB, 0x05DC, 0x05DD, 0x05DE, 0x05DF, - 0x05E0, 0x05E1, 0x05E2, 0x05E3, 0x05E4, 0x05E5, 0x05E6, 0x05E7, - 0x05E8, 0x05E9, 0x05EA, 0x00A2, 0x00A3, 0x00A5, 0x20A7, 0x0192, - 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA, - 0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, - 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, - 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, - 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, - 0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4, - 0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229, - 0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248, - 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 866 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP866(0x80-0xFF) to Unicode conversion table */ - 0x0410, 0x0411, 0x0412, 0x0413, 0x0414, 0x0415, 0x0416, 0x0417, - 0x0418, 0x0419, 0x041A, 0x041B, 0x041C, 0x041D, 0x041E, 0x041F, - 0x0420, 0x0421, 0x0422, 0x0423, 0x0424, 0x0425, 0x0426, 0x0427, - 0x0428, 0x0429, 0x042A, 0x042B, 0x042C, 0x042D, 0x042E, 0x042F, - 0x0430, 0x0431, 0x0432, 0x0433, 0x0434, 0x0435, 0x0436, 0x0437, - 0x0438, 0x0439, 0x043A, 0x043B, 0x043C, 0x043D, 0x043E, 0x043F, - 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, - 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, - 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, - 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, - 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, - 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, - 0x0440, 0x0441, 0x0442, 0x0443, 0x0444, 0x0445, 0x0446, 0x0447, - 0x0448, 0x0449, 0x044A, 0x044B, 0x044C, 0x044D, 0x044E, 0x044F, - 0x0401, 0x0451, 0x0404, 0x0454, 0x0407, 0x0457, 0x040E, 0x045E, - 0x00B0, 0x2219, 0x00B7, 0x221A, 0x2116, 0x00A4, 0x25A0, 0x00A0 -}; - -#elif _CODE_PAGE == 874 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP874(0x80-0xFF) to Unicode conversion table */ - 0x20AC, 0x0000, 0x0000, 0x0000, 0x0000, 0x2026, 0x0000, 0x0000, - 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, - 0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, - 0x00A0, 0x0E01, 0x0E02, 0x0E03, 0x0E04, 0x0E05, 0x0E06, 0x0E07, - 0x0E08, 0x0E09, 0x0E0A, 0x0E0B, 0x0E0C, 0x0E0D, 0x0E0E, 0x0E0F, - 0x0E10, 0x0E11, 0x0E12, 0x0E13, 0x0E14, 0x0E15, 0x0E16, 0x0E17, - 0x0E18, 0x0E19, 0x0E1A, 0x0E1B, 0x0E1C, 0x0E1D, 0x0E1E, 0x0E1F, - 0x0E20, 0x0E21, 0x0E22, 0x0E23, 0x0E24, 0x0E25, 0x0E26, 0x0E27, - 0x0E28, 0x0E29, 0x0E2A, 0x0E2B, 0x0E2C, 0x0E2D, 0x0E2E, 0x0E2F, - 0x0E30, 0x0E31, 0x0E32, 0x0E33, 0x0E34, 0x0E35, 0x0E36, 0x0E37, - 0x0E38, 0x0E39, 0x0E3A, 0x0000, 0x0000, 0x0000, 0x0000, 0x0E3F, - 0x0E40, 0x0E41, 0x0E42, 0x0E43, 0x0E44, 0x0E45, 0x0E46, 0x0E47, - 0x0E48, 0x0E49, 0x0E4A, 0x0E4B, 0x0E4C, 0x0E4D, 0x0E4E, 0x0E4F, - 0x0E50, 0x0E51, 0x0E52, 0x0E53, 0x0E54, 0x0E55, 0x0E56, 0x0E57, - 0x0E58, 0x0E59, 0x0E5A, 0x0E5B, 0x0000, 0x0000, 0x0000, 0x0000 -}; - -#elif _CODE_PAGE == 1250 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP1250(0x80-0xFF) to Unicode conversion table */ - 0x20AC, 0x0000, 0x201A, 0x0000, 0x201E, 0x2026, 0x2020, 0x2021, - 0x0000, 0x2030, 0x0160, 0x2039, 0x015A, 0x0164, 0x017D, 0x0179, - 0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x0000, 0x2122, 0x0161, 0x203A, 0x015B, 0x0165, 0x017E, 0x017A, - 0x00A0, 0x02C7, 0x02D8, 0x0141, 0x00A4, 0x0104, 0x00A6, 0x00A7, - 0x00A8, 0x00A9, 0x015E, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x017B, - 0x00B0, 0x00B1, 0x02DB, 0x0142, 0x00B4, 0x00B5, 0x00B6, 0x00B7, - 0x00B8, 0x0105, 0x015F, 0x00BB, 0x013D, 0x02DD, 0x013E, 0x017C, - 0x0154, 0x00C1, 0x00C2, 0x0102, 0x00C4, 0x0139, 0x0106, 0x00C7, - 0x010C, 0x00C9, 0x0118, 0x00CB, 0x011A, 0x00CD, 0x00CE, 0x010E, - 0x0110, 0x0143, 0x0147, 0x00D3, 0x00D4, 0x0150, 0x00D6, 0x00D7, - 0x0158, 0x016E, 0x00DA, 0x0170, 0x00DC, 0x00DD, 0x0162, 0x00DF, - 0x0155, 0x00E1, 0x00E2, 0x0103, 0x00E4, 0x013A, 0x0107, 0x00E7, - 0x010D, 0x00E9, 0x0119, 0x00EB, 0x011B, 0x00ED, 0x00EE, 0x010F, - 0x0111, 0x0144, 0x0148, 0x00F3, 0x00F4, 0x0151, 0x00F6, 0x00F7, - 0x0159, 0x016F, 0x00FA, 0x0171, 0x00FC, 0x00FD, 0x0163, 0x02D9 -}; - -#elif _CODE_PAGE == 1251 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP1251(0x80-0xFF) to Unicode conversion table */ - 0x0402, 0x0403, 0x201A, 0x0453, 0x201E, 0x2026, 0x2020, 0x2021, - 0x20AC, 0x2030, 0x0409, 0x2039, 0x040A, 0x040C, 0x040B, 0x040F, - 0x0452, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x0000, 0x2111, 0x0459, 0x203A, 0x045A, 0x045C, 0x045B, 0x045F, - 0x00A0, 0x040E, 0x045E, 0x0408, 0x00A4, 0x0490, 0x00A6, 0x00A7, - 0x0401, 0x00A9, 0x0404, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x0407, - 0x00B0, 0x00B1, 0x0406, 0x0456, 0x0491, 0x00B5, 0x00B6, 0x00B7, - 0x0451, 0x2116, 0x0454, 0x00BB, 0x0458, 0x0405, 0x0455, 0x0457, - 0x0410, 0x0411, 0x0412, 0x0413, 0x0414, 0x0415, 0x0416, 0x0417, - 0x0418, 0x0419, 0x041A, 0x041B, 0x041C, 0x041D, 0x041E, 0x041F, - 0x0420, 0x0421, 0x0422, 0x0423, 0x0424, 0x0425, 0x0426, 0x0427, - 0x0428, 0x0429, 0x042A, 0x042B, 0x042C, 0x042D, 0x042E, 0x042F, - 0x0430, 0x0431, 0x0432, 0x0433, 0x0434, 0x0435, 0x0436, 0x0437, - 0x0438, 0x0439, 0x043A, 0x043B, 0x043C, 0x043D, 0x043E, 0x043F, - 0x0440, 0x0441, 0x0442, 0x0443, 0x0444, 0x0445, 0x0446, 0x0447, - 0x0448, 0x0449, 0x044A, 0x044B, 0x044C, 0x044D, 0x044E, 0x044F -}; - -#elif _CODE_PAGE == 1252 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP1252(0x80-0xFF) to Unicode conversion table */ - 0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021, - 0x02C6, 0x2030, 0x0160, 0x2039, 0x0152, 0x0000, 0x017D, 0x0000, - 0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x02DC, 0x2122, 0x0161, 0x203A, 0x0153, 0x0000, 0x017E, 0x0178, - 0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7, - 0x00A8, 0x00A9, 0x00AA, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF, - 0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7, - 0x00B8, 0x00B9, 0x00BA, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF, - 0x00C0, 0x00C1, 0x00C2, 0x00C3, 0x00C4, 0x00C5, 0x00C6, 0x00C7, - 0x00C8, 0x00C9, 0x00CA, 0x00CB, 0x00CC, 0x00CD, 0x00CE, 0x00CF, - 0x00D0, 0x00D1, 0x00D2, 0x00D3, 0x00D4, 0x00D5, 0x00D6, 0x00D7, - 0x00D8, 0x00D9, 0x00DA, 0x00DB, 0x00DC, 0x00DD, 0x00DE, 0x00DF, - 0x00E0, 0x00E1, 0x00E2, 0x00E3, 0x00E4, 0x00E5, 0x00E6, 0x00E7, - 0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x00EC, 0x00ED, 0x00EE, 0x00EF, - 0x00F0, 0x00F1, 0x00F2, 0x00F3, 0x00F4, 0x00F5, 0x00F6, 0x00F7, - 0x00F8, 0x00F9, 0x00FA, 0x00FB, 0x00FC, 0x00FD, 0x00FE, 0x00FF -}; - -#elif _CODE_PAGE == 1253 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP1253(0x80-0xFF) to Unicode conversion table */ - 0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021, - 0x0000, 0x2030, 0x0000, 0x2039, 0x000C, 0x0000, 0x0000, 0x0000, - 0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x0000, 0x2122, 0x0000, 0x203A, 0x0000, 0x0000, 0x0000, 0x0000, - 0x00A0, 0x0385, 0x0386, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7, - 0x00A8, 0x00A9, 0x0000, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x2015, - 0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x0384, 0x00B5, 0x00B6, 0x00B7, - 0x0388, 0x0389, 0x038A, 0x00BB, 0x038C, 0x00BD, 0x038E, 0x038F, - 0x0390, 0x0391, 0x0392, 0x0393, 0x0394, 0x0395, 0x0396, 0x0397, - 0x0398, 0x0399, 0x039A, 0x039B, 0x039C, 0x039D, 0x039E, 0x039F, - 0x03A0, 0x03A1, 0x0000, 0x03A3, 0x03A4, 0x03A5, 0x03A6, 0x03A7, - 0x03A8, 0x03A9, 0x03AA, 0x03AD, 0x03AC, 0x03AD, 0x03AE, 0x03AF, - 0x03B0, 0x03B1, 0x03B2, 0x03B3, 0x03B4, 0x03B5, 0x03B6, 0x03B7, - 0x03B8, 0x03B9, 0x03BA, 0x03BB, 0x03BC, 0x03BD, 0x03BE, 0x03BF, - 0x03C0, 0x03C1, 0x03C2, 0x03C3, 0x03C4, 0x03C5, 0x03C6, 0x03C7, - 0x03C8, 0x03C9, 0x03CA, 0x03CB, 0x03CC, 0x03CD, 0x03CE, 0x0000 -}; - -#elif _CODE_PAGE == 1254 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP1254(0x80-0xFF) to Unicode conversion table */ - 0x20AC, 0x0000, 0x210A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021, - 0x02C6, 0x2030, 0x0160, 0x2039, 0x0152, 0x0000, 0x0000, 0x0000, - 0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x02DC, 0x2122, 0x0161, 0x203A, 0x0153, 0x0000, 0x0000, 0x0178, - 0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7, - 0x00A8, 0x00A9, 0x00AA, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF, - 0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7, - 0x00B8, 0x00B9, 0x00BA, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF, - 0x00C0, 0x00C1, 0x00C2, 0x00C3, 0x00C4, 0x00C5, 0x00C6, 0x00C7, - 0x00C8, 0x00C9, 0x00CA, 0x00CB, 0x00CC, 0x00CD, 0x00CE, 0x00CF, - 0x011E, 0x00D1, 0x00D2, 0x00D3, 0x00D4, 0x00D5, 0x00D6, 0x00D7, - 0x00D8, 0x00D9, 0x00DA, 0x00BD, 0x00DC, 0x0130, 0x015E, 0x00DF, - 0x00E0, 0x00E1, 0x00E2, 0x00E3, 0x00E4, 0x00E5, 0x00E6, 0x00E7, - 0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x00EC, 0x00ED, 0x00EE, 0x00EF, - 0x011F, 0x00F1, 0x00F2, 0x00F3, 0x00F4, 0x00F5, 0x00F6, 0x00F7, - 0x00F8, 0x00F9, 0x00FA, 0x00FB, 0x00FC, 0x0131, 0x015F, 0x00FF -}; - -#elif _CODE_PAGE == 1255 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP1255(0x80-0xFF) to Unicode conversion table */ - 0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021, - 0x02C6, 0x2030, 0x0000, 0x2039, 0x0000, 0x0000, 0x0000, 0x0000, - 0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x02DC, 0x2122, 0x0000, 0x203A, 0x0000, 0x0000, 0x0000, 0x0000, - 0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7, - 0x00A8, 0x00A9, 0x00D7, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF, - 0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7, - 0x00B8, 0x00B9, 0x00F7, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF, - 0x05B0, 0x05B1, 0x05B2, 0x05B3, 0x05B4, 0x05B5, 0x05B6, 0x05B7, - 0x05B8, 0x05B9, 0x0000, 0x05BB, 0x05BC, 0x05BD, 0x05BE, 0x05BF, - 0x05C0, 0x05C1, 0x05C2, 0x05C3, 0x05F0, 0x05F1, 0x05F2, 0x05F3, - 0x05F4, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, - 0x05D0, 0x05D1, 0x05D2, 0x05D3, 0x05D4, 0x05D5, 0x05D6, 0x05D7, - 0x05D8, 0x05D9, 0x05DA, 0x05DB, 0x05DC, 0x05DD, 0x05DE, 0x05DF, - 0x05E0, 0x05E1, 0x05E2, 0x05E3, 0x05E4, 0x05E5, 0x05E6, 0x05E7, - 0x05E8, 0x05E9, 0x05EA, 0x0000, 0x0000, 0x200E, 0x200F, 0x0000 -}; - -#elif _CODE_PAGE == 1256 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP1256(0x80-0xFF) to Unicode conversion table */ - 0x20AC, 0x067E, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021, - 0x02C6, 0x2030, 0x0679, 0x2039, 0x0152, 0x0686, 0x0698, 0x0688, - 0x06AF, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x06A9, 0x2122, 0x0691, 0x203A, 0x0153, 0x200C, 0x200D, 0x06BA, - 0x00A0, 0x060C, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7, - 0x00A8, 0x00A9, 0x06BE, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF, - 0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7, - 0x00B8, 0x00B9, 0x061B, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x061F, - 0x06C1, 0x0621, 0x0622, 0x0623, 0x0624, 0x0625, 0x0626, 0x0627, - 0x0628, 0x0629, 0x062A, 0x062B, 0x062C, 0x062D, 0x062E, 0x062F, - 0x0630, 0x0631, 0x0632, 0x0633, 0x0634, 0x0635, 0x0636, 0x00D7, - 0x0637, 0x0638, 0x0639, 0x063A, 0x0640, 0x0640, 0x0642, 0x0643, - 0x00E0, 0x0644, 0x00E2, 0x0645, 0x0646, 0x0647, 0x0648, 0x00E7, - 0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x0649, 0x064A, 0x00EE, 0x00EF, - 0x064B, 0x064C, 0x064D, 0x064E, 0x00F4, 0x064F, 0x0650, 0x00F7, - 0x0651, 0x00F9, 0x0652, 0x00FB, 0x00FC, 0x200E, 0x200F, 0x06D2 -} - -#elif _CODE_PAGE == 1257 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP1257(0x80-0xFF) to Unicode conversion table */ - 0x20AC, 0x0000, 0x201A, 0x0000, 0x201E, 0x2026, 0x2020, 0x2021, - 0x0000, 0x2030, 0x0000, 0x2039, 0x0000, 0x00A8, 0x02C7, 0x00B8, - 0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x0000, 0x2122, 0x0000, 0x203A, 0x0000, 0x00AF, 0x02DB, 0x0000, - 0x00A0, 0x0000, 0x00A2, 0x00A3, 0x00A4, 0x0000, 0x00A6, 0x00A7, - 0x00D8, 0x00A9, 0x0156, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF, - 0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7, - 0x00B8, 0x00B9, 0x0157, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00E6, - 0x0104, 0x012E, 0x0100, 0x0106, 0x00C4, 0x00C5, 0x0118, 0x0112, - 0x010C, 0x00C9, 0x0179, 0x0116, 0x0122, 0x0136, 0x012A, 0x013B, - 0x0160, 0x0143, 0x0145, 0x00D3, 0x014C, 0x00D5, 0x00D6, 0x00D7, - 0x0172, 0x0141, 0x015A, 0x016A, 0x00DC, 0x017B, 0x017D, 0x00DF, - 0x0105, 0x012F, 0x0101, 0x0107, 0x00E4, 0x00E5, 0x0119, 0x0113, - 0x010D, 0x00E9, 0x017A, 0x0117, 0x0123, 0x0137, 0x012B, 0x013C, - 0x0161, 0x0144, 0x0146, 0x00F3, 0x014D, 0x00F5, 0x00F6, 0x00F7, - 0x0173, 0x014E, 0x015B, 0x016B, 0x00FC, 0x017C, 0x017E, 0x02D9 -}; - -#elif _CODE_PAGE == 1258 -#define _TBLDEF 1 -static -const WCHAR Tbl[] = { /* CP1258(0x80-0xFF) to Unicode conversion table */ - 0x20AC, 0x0000, 0x201A, 0x0192, 0x201E, 0x2026, 0x2020, 0x2021, - 0x02C6, 0x2030, 0x0000, 0x2039, 0x0152, 0x0000, 0x0000, 0x0000, - 0x0000, 0x2018, 0x2019, 0x201C, 0x201D, 0x2022, 0x2013, 0x2014, - 0x02DC, 0x2122, 0x0000, 0x203A, 0x0153, 0x0000, 0x0000, 0x0178, - 0x00A0, 0x00A1, 0x00A2, 0x00A3, 0x00A4, 0x00A5, 0x00A6, 0x00A7, - 0x00A8, 0x00A9, 0x00AA, 0x00AB, 0x00AC, 0x00AD, 0x00AE, 0x00AF, - 0x00B0, 0x00B1, 0x00B2, 0x00B3, 0x00B4, 0x00B5, 0x00B6, 0x00B7, - 0x00B8, 0x00B9, 0x00BA, 0x00BB, 0x00BC, 0x00BD, 0x00BE, 0x00BF, - 0x00C0, 0x00C1, 0x00C2, 0x0102, 0x00C4, 0x00C5, 0x00C6, 0x00C7, - 0x00C8, 0x00C9, 0x00CA, 0x00CB, 0x0300, 0x00CD, 0x00CE, 0x00CF, - 0x0110, 0x00D1, 0x0309, 0x00D3, 0x00D4, 0x01A0, 0x00D6, 0x00D7, - 0x00D8, 0x00D9, 0x00DA, 0x00DB, 0x00DC, 0x01AF, 0x0303, 0x00DF, - 0x00E0, 0x00E1, 0x00E2, 0x0103, 0x00E4, 0x00E5, 0x00E6, 0x00E7, - 0x00E8, 0x00E9, 0x00EA, 0x00EB, 0x0301, 0x00ED, 0x00EE, 0x00EF, - 0x0111, 0x00F1, 0x0323, 0x00F3, 0x00F4, 0x01A1, 0x00F6, 0x00F7, - 0x00F8, 0x00F9, 0x00FA, 0x00FB, 0x00FC, 0x01B0, 0x20AB, 0x00FF -}; - -#endif - - -#if !_TBLDEF || !_USE_LFN -#error This file is not needed in current configuration. Remove from the project. -#endif - - -WCHAR ff_convert ( /* Converted character, Returns zero on error */ - WCHAR src, /* Character code to be converted */ - UINT dir /* 0: Unicode to OEMCP, 1: OEMCP to Unicode */ -) -{ - WCHAR c; - - - if (src < 0x80) { /* ASCII */ - c = src; - - } else { - if (dir) { /* OEMCP to Unicode */ - c = (src >= 0x100) ? 0 : Tbl[src - 0x80]; - - } else { /* Unicode to OEMCP */ - for (c = 0; c < 0x80; c++) { - if (src == Tbl[c]) break; - } - c = (c + 0x80) & 0xFF; - } - } - - return c; -} - - -WCHAR ff_wtoupper ( /* Upper converted character */ - WCHAR chr /* Input character */ -) -{ - static const WCHAR tbl_lower[] = { 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6A, 0x6B, 0x6C, 0x6D, 0x6E, 0x6F, 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7A, 0xA1, 0x00A2, 0x00A3, 0x00A5, 0x00AC, 0x00AF, 0xE0, 0xE1, 0xE2, 0xE3, 0xE4, 0xE5, 0xE6, 0xE7, 0xE8, 0xE9, 0xEA, 0xEB, 0xEC, 0xED, 0xEE, 0xEF, 0xF0, 0xF1, 0xF2, 0xF3, 0xF4, 0xF5, 0xF6, 0xF8, 0xF9, 0xFA, 0xFB, 0xFC, 0xFD, 0xFE, 0x0FF, 0x101, 0x103, 0x105, 0x107, 0x109, 0x10B, 0x10D, 0x10F, 0x111, 0x113, 0x115, 0x117, 0x119, 0x11B, 0x11D, 0x11F, 0x121, 0x123, 0x125, 0x127, 0x129, 0x12B, 0x12D, 0x12F, 0x131, 0x133, 0x135, 0x137, 0x13A, 0x13C, 0x13E, 0x140, 0x142, 0x144, 0x146, 0x148, 0x14B, 0x14D, 0x14F, 0x151, 0x153, 0x155, 0x157, 0x159, 0x15B, 0x15D, 0x15F, 0x161, 0x163, 0x165, 0x167, 0x169, 0x16B, 0x16D, 0x16F, 0x171, 0x173, 0x175, 0x177, 0x17A, 0x17C, 0x17E, 0x192, 0x3B1, 0x3B2, 0x3B3, 0x3B4, 0x3B5, 0x3B6, 0x3B7, 0x3B8, 0x3B9, 0x3BA, 0x3BB, 0x3BC, 0x3BD, 0x3BE, 0x3BF, 0x3C0, 0x3C1, 0x3C3, 0x3C4, 0x3C5, 0x3C6, 0x3C7, 0x3C8, 0x3C9, 0x3CA, 0x430, 0x431, 0x432, 0x433, 0x434, 0x435, 0x436, 0x437, 0x438, 0x439, 0x43A, 0x43B, 0x43C, 0x43D, 0x43E, 0x43F, 0x440, 0x441, 0x442, 0x443, 0x444, 0x445, 0x446, 0x447, 0x448, 0x449, 0x44A, 0x44B, 0x44C, 0x44D, 0x44E, 0x44F, 0x451, 0x452, 0x453, 0x454, 0x455, 0x456, 0x457, 0x458, 0x459, 0x45A, 0x45B, 0x45C, 0x45E, 0x45F, 0x2170, 0x2171, 0x2172, 0x2173, 0x2174, 0x2175, 0x2176, 0x2177, 0x2178, 0x2179, 0x217A, 0x217B, 0x217C, 0x217D, 0x217E, 0x217F, 0xFF41, 0xFF42, 0xFF43, 0xFF44, 0xFF45, 0xFF46, 0xFF47, 0xFF48, 0xFF49, 0xFF4A, 0xFF4B, 0xFF4C, 0xFF4D, 0xFF4E, 0xFF4F, 0xFF50, 0xFF51, 0xFF52, 0xFF53, 0xFF54, 0xFF55, 0xFF56, 0xFF57, 0xFF58, 0xFF59, 0xFF5A, 0 }; - static const WCHAR tbl_upper[] = { 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4A, 0x4B, 0x4C, 0x4D, 0x4E, 0x4F, 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5A, 0x21, 0xFFE0, 0xFFE1, 0xFFE5, 0xFFE2, 0xFFE3, 0xC0, 0xC1, 0xC2, 0xC3, 0xC4, 0xC5, 0xC6, 0xC7, 0xC8, 0xC9, 0xCA, 0xCB, 0xCC, 0xCD, 0xCE, 0xCF, 0xD0, 0xD1, 0xD2, 0xD3, 0xD4, 0xD5, 0xD6, 0xD8, 0xD9, 0xDA, 0xDB, 0xDC, 0xDD, 0xDE, 0x178, 0x100, 0x102, 0x104, 0x106, 0x108, 0x10A, 0x10C, 0x10E, 0x110, 0x112, 0x114, 0x116, 0x118, 0x11A, 0x11C, 0x11E, 0x120, 0x122, 0x124, 0x126, 0x128, 0x12A, 0x12C, 0x12E, 0x130, 0x132, 0x134, 0x136, 0x139, 0x13B, 0x13D, 0x13F, 0x141, 0x143, 0x145, 0x147, 0x14A, 0x14C, 0x14E, 0x150, 0x152, 0x154, 0x156, 0x158, 0x15A, 0x15C, 0x15E, 0x160, 0x162, 0x164, 0x166, 0x168, 0x16A, 0x16C, 0x16E, 0x170, 0x172, 0x174, 0x176, 0x179, 0x17B, 0x17D, 0x191, 0x391, 0x392, 0x393, 0x394, 0x395, 0x396, 0x397, 0x398, 0x399, 0x39A, 0x39B, 0x39C, 0x39D, 0x39E, 0x39F, 0x3A0, 0x3A1, 0x3A3, 0x3A4, 0x3A5, 0x3A6, 0x3A7, 0x3A8, 0x3A9, 0x3AA, 0x410, 0x411, 0x412, 0x413, 0x414, 0x415, 0x416, 0x417, 0x418, 0x419, 0x41A, 0x41B, 0x41C, 0x41D, 0x41E, 0x41F, 0x420, 0x421, 0x422, 0x423, 0x424, 0x425, 0x426, 0x427, 0x428, 0x429, 0x42A, 0x42B, 0x42C, 0x42D, 0x42E, 0x42F, 0x401, 0x402, 0x403, 0x404, 0x405, 0x406, 0x407, 0x408, 0x409, 0x40A, 0x40B, 0x40C, 0x40E, 0x40F, 0x2160, 0x2161, 0x2162, 0x2163, 0x2164, 0x2165, 0x2166, 0x2167, 0x2168, 0x2169, 0x216A, 0x216B, 0x216C, 0x216D, 0x216E, 0x216F, 0xFF21, 0xFF22, 0xFF23, 0xFF24, 0xFF25, 0xFF26, 0xFF27, 0xFF28, 0xFF29, 0xFF2A, 0xFF2B, 0xFF2C, 0xFF2D, 0xFF2E, 0xFF2F, 0xFF30, 0xFF31, 0xFF32, 0xFF33, 0xFF34, 0xFF35, 0xFF36, 0xFF37, 0xFF38, 0xFF39, 0xFF3A, 0 }; - int i; - - - for (i = 0; tbl_lower[i] && chr != tbl_lower[i]; i++) ; - - return tbl_lower[i] ? tbl_upper[i] : chr; -} diff --git a/src/Libraries/Fatfs/conf_fatfs.h b/src/Libraries/Fatfs/conf_fatfs.h deleted file mode 100644 index e488f494..00000000 --- a/src/Libraries/Fatfs/conf_fatfs.h +++ /dev/null @@ -1,248 +0,0 @@ -/** - * \file - * - * \brief FATFS configuration file. - * - * Copyright (C) 2012 Atmel Corporation. All rights reserved. - * - * \asf_license_start - * - * \page License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * 3. The name of Atmel may not be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * 4. This software may only be redistributed and used in connection with an - * Atmel microcontroller product. - * - * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED - * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE - * EXPRESSLY AND SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR - * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS - * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) - * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, - * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * \asf_license_stop - * - */ - -#ifndef CONF_FATFS_H_INCLUDED -#define CONF_FATFS_H_INCLUDED - -/*---------------------------------------------------------------------------/ -/ FatFs - FAT file system module configuration file R0.09 (C)ChaN, 2011 -/----------------------------------------------------------------------------/ -/ -/ CAUTION! Do not forget to make clean the project after any changes to -/ the configuration options. -/ -/----------------------------------------------------------------------------*/ -#ifndef _FFCONF -#define _FFCONF 6502 /* Revision ID */ - - -/*---------------------------------------------------------------------------/ -/ Functions and Buffer Configurations -/----------------------------------------------------------------------------*/ - -#define _FS_TINY 1 /* 0:Normal or 1:Tiny */ -/* When _FS_TINY is set to 1, FatFs uses the sector buffer in the file system -/ object instead of the sector buffer in the individual file object for file -/ data transfer. This reduces memory consumption 512 bytes each file object. */ - - -#define _FS_READONLY 0 /* 0:Read/Write or 1:Read only */ -/* Setting _FS_READONLY to 1 defines read only configuration. This removes -/ writing functions, f_write, f_sync, f_unlink, f_mkdir, f_chmod, f_rename, -/ f_truncate and useless f_getfree. */ - - -#define _FS_MINIMIZE 0 /* 0 to 3 */ -/* The _FS_MINIMIZE option defines minimization level to remove some functions. -/ -/ 0: Full function. -/ 1: f_stat, f_getfree, f_unlink, f_mkdir, f_chmod, f_truncate and f_rename -/ are removed. -/ 2: f_opendir and f_readdir are removed in addition to 1. -/ 3: f_lseek is removed in addition to 2. */ - - -#define _USE_STRFUNC 0 /* 0:Disable or 1-2:Enable */ -/* To enable string functions, set _USE_STRFUNC to 1 or 2. */ - - -#define _USE_MKFS 0 /* 0:Disable or 1:Enable */ -/* To enable f_mkfs function, set _USE_MKFS to 1 and set _FS_READONLY to 0 */ - - -#define _USE_FORWARD 0 /* 0:Disable or 1:Enable */ -/* To enable f_forward function, set _USE_FORWARD to 1 and set _FS_TINY to 1. */ - - -#define _USE_FASTSEEK 1 /* 0:Disable or 1:Enable */ -/* To enable fast seek feature, set _USE_FASTSEEK to 1. */ - - - -/*---------------------------------------------------------------------------/ -/ Locale and Namespace Configurations -/----------------------------------------------------------------------------*/ - -#define _CODE_PAGE 850 -/* The _CODE_PAGE specifies the OEM code page to be used on the target system. -/ Incorrect setting of the code page can cause a file open failure. -/ -/ 932 - Japanese Shift-JIS (DBCS, OEM, Windows) -/ 936 - Simplified Chinese GBK (DBCS, OEM, Windows) -/ 949 - Korean (DBCS, OEM, Windows) -/ 950 - Traditional Chinese Big5 (DBCS, OEM, Windows) -/ 1250 - Central Europe (Windows) -/ 1251 - Cyrillic (Windows) -/ 1252 - Latin 1 (Windows) -/ 1253 - Greek (Windows) -/ 1254 - Turkish (Windows) -/ 1255 - Hebrew (Windows) -/ 1256 - Arabic (Windows) -/ 1257 - Baltic (Windows) -/ 1258 - Vietnam (OEM, Windows) -/ 437 - U.S. (OEM) -/ 720 - Arabic (OEM) -/ 737 - Greek (OEM) -/ 775 - Baltic (OEM) -/ 850 - Multilingual Latin 1 (OEM) -/ 858 - Multilingual Latin 1 + Euro (OEM) -/ 852 - Latin 2 (OEM) -/ 855 - Cyrillic (OEM) -/ 866 - Russian (OEM) -/ 857 - Turkish (OEM) -/ 862 - Hebrew (OEM) -/ 874 - Thai (OEM, Windows) -/ 1 - ASCII only (Valid for non LFN cfg.) -*/ - - -#define _USE_LFN 2 /* 0 to 3 */ -#define _MAX_LFN 255 /* Maximum LFN length to handle (12 to 255) */ -/* The _USE_LFN option switches the LFN support. -/ -/ 0: Disable LFN feature. _MAX_LFN and _LFN_UNICODE have no effect. -/ 1: Enable LFN with static working buffer on the BSS. Always NOT reentrant. -/ 2: Enable LFN with dynamic working buffer on the STACK. -/ 3: Enable LFN with dynamic working buffer on the HEAP. -/ -/ The LFN working buffer occupies (_MAX_LFN + 1) * 2 bytes. To enable LFN, -/ Unicode handling functions ff_convert() and ff_wtoupper() must be added -/ to the project. When enable to use heap, memory control functions -/ ff_memalloc() and ff_memfree() must be added to the project. */ - - -#define _LFN_UNICODE 0 /* 0:ANSI/OEM or 1:Unicode */ -/* To switch the character code set on FatFs API to Unicode, -/ enable LFN feature and set _LFN_UNICODE to 1. */ - - -#define _FS_RPATH 0 /* 0 to 2 */ -/* The _FS_RPATH option configures relative path feature. -/ -/ 0: Disable relative path feature and remove related functions. -/ 1: Enable relative path. f_chdrive() and f_chdir() are available. -/ 2: f_getcwd() is available in addition to 1. -/ -/ Note that output of the f_readdir function is affected by this option. */ - - - -/*---------------------------------------------------------------------------/ -/ Physical Drive Configurations -/----------------------------------------------------------------------------*/ - -#define _VOLUMES 2 -/* Number of volumes (logical drives) to be used. */ - - -#define _MAX_SS 512 /* 512, 1024, 2048 or 4096 */ -/* Maximum sector size to be handled. -/ Always set 512 for memory card and hard disk but a larger value may be -/ required for on-board flash memory, floppy disk and optical disk. -/ When _MAX_SS is larger than 512, it configures FatFs to variable sector size -/ and GET_SECTOR_SIZE command must be implemented to the disk_ioctl function. */ - - -#define _MULTI_PARTITION 0 /* 0:Single partition, 1/2:Enable multiple partition */ -/* When set to 0, each volume is bound to the same physical drive number and -/ it can mount only first primary partition. When it is set to 1, each volume -/ is tied to the partitions listed in VolToPart[]. */ - - -#define _USE_ERASE 0 /* 0:Disable or 1:Enable */ -/* To enable sector erase feature, set _USE_ERASE to 1. CTRL_ERASE_SECTOR command -/ should be added to the disk_ioctl function. */ - - - -/*---------------------------------------------------------------------------/ -/ System Configurations -/----------------------------------------------------------------------------*/ - -#define _WORD_ACCESS 0 /* 0 or 1 */ -/* Set 0 first and it is always compatible with all platforms. The _WORD_ACCESS -/ option defines which access method is used to the word data on the FAT volume. -/ -/ 0: Byte-by-byte access. -/ 1: Word access. Do not choose this unless the following condition is met. -/ -/ When the byte order on the memory is big-endian or address miss-aligned word -/ access results incorrect behavior, the _WORD_ACCESS must be set to 0. -/ If it is not the case, the value can also be set to 1 to improve the -/ performance and code size. -*/ - - -/* A header file that defines sync object types on the O/S, such as -/ windows.h, ucos_ii.h and semphr.h, must be included prior to ff.h. */ - -#ifdef RTOS - -struct Mutex; -#define _FS_REENTRANT 1 /* 0:Disable or 1:Enable */ -#define _FS_TIMEOUT 1000 /* Timeout period in unit of time ticks */ -#define _SYNC_t const struct Mutex* /* O/S dependent type of sync object. e.g. HANDLE, OS_EVENT*, ID and etc.. */ - -#else - -#define _FS_REENTRANT 0 /* 0:Disable or 1:Enable */ -#define _FS_TIMEOUT 1000 /* Timeout period in unit of time ticks */ -#define _SYNC_t HANDLE /* O/S dependent type of sync object. e.g. HANDLE, OS_EVENT*, ID and etc.. */ - -#endif - -/* The _FS_REENTRANT option switches the reentrancy (thread safe) of the FatFs module. -/ -/ 0: Disable reentrancy. _SYNC_t and _FS_TIMEOUT have no effect. -/ 1: Enable reentrancy. Also user provided synchronization handlers, -/ ff_req_grant, ff_rel_grant, ff_del_syncobj and ff_cre_syncobj -/ functions must be added to the project. */ - - -#define _FS_SHARE 0 /* 0:Disable or >=1:Enable */ -/* To enable file sharing feature, set _FS_SHARE to 1 or greater. The value - defines how many files can be opened simultaneously. */ - -#endif /* _FFCONF */ - -#endif /* CONF_FATFS_H_INCLUDED */ diff --git a/src/Libraries/Fatfs/diskio.cpp b/src/Libraries/Fatfs/diskio.cpp index 70656778..359f5333 100644 --- a/src/Libraries/Fatfs/diskio.cpp +++ b/src/Libraries/Fatfs/diskio.cpp @@ -48,6 +48,7 @@ #include "conf_sd_mmc.h" #include "RepRapFirmware.h" +#include "RepRap.h" #include "Tasks.h" #include <cstring> @@ -166,7 +167,11 @@ DSTATUS disk_status(BYTE drv) */ DRESULT disk_read(BYTE drv, BYTE *buff, DWORD sector, BYTE count) { -// debugPrintf("R %u %u\n", sector, count); + if (reprap.Debug(moduleStorage)) + { + debugPrintf("Read %u %u %lu\n", drv, count, sector); + } + #if ACCESS_MEM_TO_RAM MutexLocker lock((drv >= SD_MMC_HSMCI_MEM_CNT) ? Tasks::GetSpiMutex() : nullptr); @@ -226,7 +231,11 @@ DRESULT disk_read(BYTE drv, BYTE *buff, DWORD sector, BYTE count) #if _READONLY == 0 DRESULT disk_write(BYTE drv, BYTE const *buff, DWORD sector, BYTE count) { -// debugPrintf("W %u %u\n", sector, count); + if (reprap.Debug(moduleStorage)) + { + debugPrintf("Write %u %u %lu\n", drv, count, sector); + } + #if ACCESS_MEM_TO_RAM MutexLocker lock((drv >= SD_MMC_HSMCI_MEM_CNT) ? Tasks::GetSpiMutex() : nullptr); diff --git a/src/Libraries/Fatfs/ff.c b/src/Libraries/Fatfs/ff.c index 67a70915..3cce9470 100644 --- a/src/Libraries/Fatfs/ff.c +++ b/src/Libraries/Fatfs/ff.c @@ -1,544 +1,668 @@ /*----------------------------------------------------------------------------/ -/ FatFs - FAT file system module R0.09 (C)ChaN, 2011 +/ FatFs - Generic FAT Filesystem Module R0.13c / /-----------------------------------------------------------------------------/ -/ FatFs module is a generic FAT file system module for small embedded systems. -/ This is a free software that opened for education, research and commercial -/ developments under license policy of following terms. / -/ Copyright (C) 2011, ChaN, all right reserved. +/ Copyright (C) 2018, ChaN, all right reserved. / -/ * The FatFs module is a free software and there is NO WARRANTY. -/ * No restriction on use. You can use, modify and redistribute it for -/ personal, non-profit or commercial products UNDER YOUR RESPONSIBILITY. -/ * Redistributions of source code must retain the above copyright notice. +/ FatFs module is an open source software. Redistribution and use of FatFs in +/ source and binary forms, with or without modification, are permitted provided +/ that the following condition is met: / -/-----------------------------------------------------------------------------/ -/ Feb 26,'06 R0.00 Prototype. -/ -/ Apr 29,'06 R0.01 First stable version. -/ -/ Jun 01,'06 R0.02 Added FAT12 support. -/ Removed unbuffered mode. -/ Fixed a problem on small (<32M) partition. -/ Jun 10,'06 R0.02a Added a configuration option (_FS_MINIMUM). -/ -/ Sep 22,'06 R0.03 Added f_rename(). -/ Changed option _FS_MINIMUM to _FS_MINIMIZE. -/ Dec 11,'06 R0.03a Improved cluster scan algorithm to write files fast. -/ Fixed f_mkdir() creates incorrect directory on FAT32. -/ -/ Feb 04,'07 R0.04 Supported multiple drive system. -/ Changed some interfaces for multiple drive system. -/ Changed f_mountdrv() to f_mount(). -/ Added f_mkfs(). -/ Apr 01,'07 R0.04a Supported multiple partitions on a physical drive. -/ Added a capability of extending file size to f_lseek(). -/ Added minimization level 3. -/ Fixed an endian sensitive code in f_mkfs(). -/ May 05,'07 R0.04b Added a configuration option _USE_NTFLAG. -/ Added FSInfo support. -/ Fixed DBCS name can result FR_INVALID_NAME. -/ Fixed short seek (<= csize) collapses the file object. -/ -/ Aug 25,'07 R0.05 Changed arguments of f_read(), f_write() and f_mkfs(). -/ Fixed f_mkfs() on FAT32 creates incorrect FSInfo. -/ Fixed f_mkdir() on FAT32 creates incorrect directory. -/ Feb 03,'08 R0.05a Added f_truncate() and f_utime(). -/ Fixed off by one error at FAT sub-type determination. -/ Fixed btr in f_read() can be mistruncated. -/ Fixed cached sector is not flushed when create and close without write. +/ 1. Redistributions of source code must retain the above copyright notice, +/ this condition and the following disclaimer. / -/ Apr 01,'08 R0.06 Added fputc(), fputs(), fprintf() and fgets(). -/ Improved performance of f_lseek() on moving to the same or following cluster. +/ This software is provided by the copyright holder and contributors "AS IS" +/ and any warranties related to this software are DISCLAIMED. +/ The copyright owner or contributors be NOT LIABLE for any damages caused +/ by use of this software. / -/ Apr 01,'09 R0.07 Merged Tiny-FatFs as a configuration option. (_FS_TINY) -/ Added long file name feature. -/ Added multiple code page feature. -/ Added re-entrancy for multitask operation. -/ Added auto cluster size selection to f_mkfs(). -/ Added rewind option to f_readdir(). -/ Changed result code of critical errors. -/ Renamed string functions to avoid name collision. -/ Apr 14,'09 R0.07a Separated out OS dependent code on reentrant cfg. -/ Added multiple sector size feature. -/ Jun 21,'09 R0.07c Fixed f_unlink() can return FR_OK on error. -/ Fixed wrong cache control in f_lseek(). -/ Added relative path feature. -/ Added f_chdir() and f_chdrive(). -/ Added proper case conversion to extended char. -/ Nov 03,'09 R0.07e Separated out configuration options from ff.h to ffconf.h. -/ Fixed f_unlink() fails to remove a sub-dir on _FS_RPATH. -/ Fixed name matching error on the 13 char boundary. -/ Added a configuration option, _LFN_UNICODE. -/ Changed f_readdir() to return the SFN with always upper case on non-LFN cfg. -/ -/ May 15,'10 R0.08 Added a memory configuration option. (_USE_LFN = 3) -/ Added file lock feature. (_FS_SHARE) -/ Added fast seek feature. (_USE_FASTSEEK) -/ Changed some types on the API, XCHAR->TCHAR. -/ Changed fname member in the FILINFO structure on Unicode cfg. -/ String functions support UTF-8 encoding files on Unicode cfg. -/ Aug 16,'10 R0.08a Added f_getcwd(). (_FS_RPATH = 2) -/ Added sector erase feature. (_USE_ERASE) -/ Moved file lock semaphore table from fs object to the bss. -/ Fixed a wrong directory entry is created on non-LFN cfg when the given name contains ';'. -/ Fixed f_mkfs() creates wrong FAT32 volume. -/ Jan 15,'11 R0.08b Fast seek feature is also applied to f_read() and f_write(). -/ f_lseek() reports required table size on creating CLMP. -/ Extended format syntax of f_printf function. -/ Ignores duplicated directory separators in given path names. -/ -/ Sep 06,'11 R0.09 f_mkfs() supports multiple partition to finish the multiple partition feature. -/ Added f_fdisk(). (_MULTI_PARTITION = 2) -/---------------------------------------------------------------------------*/ - -#include "ff.h" /* FatFs configurations and declarations */ -#include "diskio.h" /* Declarations of low level disk I/O functions */ - -/** - * \defgroup thirdparty_fatfs_group FatFS file system service - * - * Service of FatFS file system. This service provides a generic FAT file - * system module for the ASF systems. - * - * @{ - */ - +/----------------------------------------------------------------------------*/ + + +#include "ff.h" /* Declarations of FatFs API */ +#include "diskio.h" /* Declarations of device I/O functions */ + + /*-------------------------------------------------------------------------- Module Private Definitions ---------------------------------------------------------------------------*/ -#if _FATFS != 6502 /* Revision ID */ +#if FF_DEFINED != 86604 /* Revision ID */ #error Wrong include file (ff.h). #endif -/* Definitions on sector size */ -#if _MAX_SS != 512 && _MAX_SS != 1024 && _MAX_SS != 2048 && _MAX_SS != 4096 -#error Wrong sector size. +/* Limits and boundaries */ +#define MAX_DIR 0x200000 /* Max size of FAT directory */ +#define MAX_DIR_EX 0x10000000 /* Max size of exFAT directory */ +#define MAX_FAT12 0xFF5 /* Max FAT12 clusters (differs from specs, but right for real DOS/Windows behavior) */ +#define MAX_FAT16 0xFFF5 /* Max FAT16 clusters (differs from specs, but right for real DOS/Windows behavior) */ +#define MAX_FAT32 0x0FFFFFF5 /* Max FAT32 clusters (not specified, practical limit) */ +#define MAX_EXFAT 0x7FFFFFFD /* Max exFAT clusters (differs from specs, implementation limit) */ + + +/* Character code support macros */ +#define IsUpper(c) ((c) >= 'A' && (c) <= 'Z') +#define IsLower(c) ((c) >= 'a' && (c) <= 'z') +#define IsDigit(c) ((c) >= '0' && (c) <= '9') +#define IsSurrogate(c) ((c) >= 0xD800 && (c) <= 0xDFFF) +#define IsSurrogateH(c) ((c) >= 0xD800 && (c) <= 0xDBFF) +#define IsSurrogateL(c) ((c) >= 0xDC00 && (c) <= 0xDFFF) + + +/* Additional file access control and file status flags for internal use */ +#define FA_SEEKEND 0x20 /* Seek to end of the file on file open */ +#define FA_MODIFIED 0x40 /* File has been modified */ +#define FA_DIRTY 0x80 /* FIL.buf[] needs to be written-back */ + + +/* Additional file attribute bits for internal use */ +#define AM_VOL 0x08 /* Volume label */ +#define AM_LFN 0x0F /* LFN entry */ +#define AM_MASK 0x3F /* Mask of defined bits */ + + +/* Name status flags in fn[11] */ +#define NSFLAG 11 /* Index of the name status byte */ +#define NS_LOSS 0x01 /* Out of 8.3 format */ +#define NS_LFN 0x02 /* Force to create LFN entry */ +#define NS_LAST 0x04 /* Last segment */ +#define NS_BODY 0x08 /* Lower case flag (body) */ +#define NS_EXT 0x10 /* Lower case flag (ext) */ +#define NS_DOT 0x20 /* Dot entry */ +#define NS_NOLFN 0x40 /* Do not find LFN */ +#define NS_NONAME 0x80 /* Not followed */ + + +/* exFAT directory entry types */ +#define ET_BITMAP 0x81 /* Allocation bitmap */ +#define ET_UPCASE 0x82 /* Up-case table */ +#define ET_VLABEL 0x83 /* Volume label */ +#define ET_FILEDIR 0x85 /* File and directory */ +#define ET_STREAM 0xC0 /* Stream extension */ +#define ET_FILENAME 0xC1 /* Name extension */ + + +/* FatFs refers the FAT structure as simple byte array instead of structure member +/ because the C structure is not binary compatible between different platforms */ + +#define BS_JmpBoot 0 /* x86 jump instruction (3-byte) */ +#define BS_OEMName 3 /* OEM name (8-byte) */ +#define BPB_BytsPerSec 11 /* Sector size [byte] (WORD) */ +#define BPB_SecPerClus 13 /* Cluster size [sector] (BYTE) */ +#define BPB_RsvdSecCnt 14 /* Size of reserved area [sector] (WORD) */ +#define BPB_NumFATs 16 /* Number of FATs (BYTE) */ +#define BPB_RootEntCnt 17 /* Size of root directory area for FAT [entry] (WORD) */ +#define BPB_TotSec16 19 /* Volume size (16-bit) [sector] (WORD) */ +#define BPB_Media 21 /* Media descriptor byte (BYTE) */ +#define BPB_FATSz16 22 /* FAT size (16-bit) [sector] (WORD) */ +#define BPB_SecPerTrk 24 /* Number of sectors per track for int13h [sector] (WORD) */ +#define BPB_NumHeads 26 /* Number of heads for int13h (WORD) */ +#define BPB_HiddSec 28 /* Volume offset from top of the drive (DWORD) */ +#define BPB_TotSec32 32 /* Volume size (32-bit) [sector] (DWORD) */ +#define BS_DrvNum 36 /* Physical drive number for int13h (BYTE) */ +#define BS_NTres 37 /* WindowsNT error flag (BYTE) */ +#define BS_BootSig 38 /* Extended boot signature (BYTE) */ +#define BS_VolID 39 /* Volume serial number (DWORD) */ +#define BS_VolLab 43 /* Volume label string (8-byte) */ +#define BS_FilSysType 54 /* Filesystem type string (8-byte) */ +#define BS_BootCode 62 /* Boot code (448-byte) */ +#define BS_55AA 510 /* Signature word (WORD) */ + +#define BPB_FATSz32 36 /* FAT32: FAT size [sector] (DWORD) */ +#define BPB_ExtFlags32 40 /* FAT32: Extended flags (WORD) */ +#define BPB_FSVer32 42 /* FAT32: Filesystem version (WORD) */ +#define BPB_RootClus32 44 /* FAT32: Root directory cluster (DWORD) */ +#define BPB_FSInfo32 48 /* FAT32: Offset of FSINFO sector (WORD) */ +#define BPB_BkBootSec32 50 /* FAT32: Offset of backup boot sector (WORD) */ +#define BS_DrvNum32 64 /* FAT32: Physical drive number for int13h (BYTE) */ +#define BS_NTres32 65 /* FAT32: Error flag (BYTE) */ +#define BS_BootSig32 66 /* FAT32: Extended boot signature (BYTE) */ +#define BS_VolID32 67 /* FAT32: Volume serial number (DWORD) */ +#define BS_VolLab32 71 /* FAT32: Volume label string (8-byte) */ +#define BS_FilSysType32 82 /* FAT32: Filesystem type string (8-byte) */ +#define BS_BootCode32 90 /* FAT32: Boot code (420-byte) */ + +#define BPB_ZeroedEx 11 /* exFAT: MBZ field (53-byte) */ +#define BPB_VolOfsEx 64 /* exFAT: Volume offset from top of the drive [sector] (QWORD) */ +#define BPB_TotSecEx 72 /* exFAT: Volume size [sector] (QWORD) */ +#define BPB_FatOfsEx 80 /* exFAT: FAT offset from top of the volume [sector] (DWORD) */ +#define BPB_FatSzEx 84 /* exFAT: FAT size [sector] (DWORD) */ +#define BPB_DataOfsEx 88 /* exFAT: Data offset from top of the volume [sector] (DWORD) */ +#define BPB_NumClusEx 92 /* exFAT: Number of clusters (DWORD) */ +#define BPB_RootClusEx 96 /* exFAT: Root directory start cluster (DWORD) */ +#define BPB_VolIDEx 100 /* exFAT: Volume serial number (DWORD) */ +#define BPB_FSVerEx 104 /* exFAT: Filesystem version (WORD) */ +#define BPB_VolFlagEx 106 /* exFAT: Volume flags (WORD) */ +#define BPB_BytsPerSecEx 108 /* exFAT: Log2 of sector size in unit of byte (BYTE) */ +#define BPB_SecPerClusEx 109 /* exFAT: Log2 of cluster size in unit of sector (BYTE) */ +#define BPB_NumFATsEx 110 /* exFAT: Number of FATs (BYTE) */ +#define BPB_DrvNumEx 111 /* exFAT: Physical drive number for int13h (BYTE) */ +#define BPB_PercInUseEx 112 /* exFAT: Percent in use (BYTE) */ +#define BPB_RsvdEx 113 /* exFAT: Reserved (7-byte) */ +#define BS_BootCodeEx 120 /* exFAT: Boot code (390-byte) */ + +#define DIR_Name 0 /* Short file name (11-byte) */ +#define DIR_Attr 11 /* Attribute (BYTE) */ +#define DIR_NTres 12 /* Lower case flag (BYTE) */ +#define DIR_CrtTime10 13 /* Created time sub-second (BYTE) */ +#define DIR_CrtTime 14 /* Created time (DWORD) */ +#define DIR_LstAccDate 18 /* Last accessed date (WORD) */ +#define DIR_FstClusHI 20 /* Higher 16-bit of first cluster (WORD) */ +#define DIR_ModTime 22 /* Modified time (DWORD) */ +#define DIR_FstClusLO 26 /* Lower 16-bit of first cluster (WORD) */ +#define DIR_FileSize 28 /* File size (DWORD) */ +#define LDIR_Ord 0 /* LFN: LFN order and LLE flag (BYTE) */ +#define LDIR_Attr 11 /* LFN: LFN attribute (BYTE) */ +#define LDIR_Type 12 /* LFN: Entry type (BYTE) */ +#define LDIR_Chksum 13 /* LFN: Checksum of the SFN (BYTE) */ +#define LDIR_FstClusLO 26 /* LFN: MBZ field (WORD) */ +#define XDIR_Type 0 /* exFAT: Type of exFAT directory entry (BYTE) */ +#define XDIR_NumLabel 1 /* exFAT: Number of volume label characters (BYTE) */ +#define XDIR_Label 2 /* exFAT: Volume label (11-WORD) */ +#define XDIR_CaseSum 4 /* exFAT: Sum of case conversion table (DWORD) */ +#define XDIR_NumSec 1 /* exFAT: Number of secondary entries (BYTE) */ +#define XDIR_SetSum 2 /* exFAT: Sum of the set of directory entries (WORD) */ +#define XDIR_Attr 4 /* exFAT: File attribute (WORD) */ +#define XDIR_CrtTime 8 /* exFAT: Created time (DWORD) */ +#define XDIR_ModTime 12 /* exFAT: Modified time (DWORD) */ +#define XDIR_AccTime 16 /* exFAT: Last accessed time (DWORD) */ +#define XDIR_CrtTime10 20 /* exFAT: Created time subsecond (BYTE) */ +#define XDIR_ModTime10 21 /* exFAT: Modified time subsecond (BYTE) */ +#define XDIR_CrtTZ 22 /* exFAT: Created timezone (BYTE) */ +#define XDIR_ModTZ 23 /* exFAT: Modified timezone (BYTE) */ +#define XDIR_AccTZ 24 /* exFAT: Last accessed timezone (BYTE) */ +#define XDIR_GenFlags 33 /* exFAT: General secondary flags (BYTE) */ +#define XDIR_NumName 35 /* exFAT: Number of file name characters (BYTE) */ +#define XDIR_NameHash 36 /* exFAT: Hash of file name (WORD) */ +#define XDIR_ValidFileSize 40 /* exFAT: Valid file size (QWORD) */ +#define XDIR_FstClus 52 /* exFAT: First cluster of the file data (DWORD) */ +#define XDIR_FileSize 56 /* exFAT: File/Directory size (QWORD) */ + +#define SZDIRE 32 /* Size of a directory entry */ +#define DDEM 0xE5 /* Deleted directory entry mark set to DIR_Name[0] */ +#define RDDEM 0x05 /* Replacement of the character collides with DDEM */ +#define LLEF 0x40 /* Last long entry flag in LDIR_Ord */ + +#define FSI_LeadSig 0 /* FAT32 FSI: Leading signature (DWORD) */ +#define FSI_StrucSig 484 /* FAT32 FSI: Structure signature (DWORD) */ +#define FSI_Free_Count 488 /* FAT32 FSI: Number of free clusters (DWORD) */ +#define FSI_Nxt_Free 492 /* FAT32 FSI: Last allocated cluster (DWORD) */ + +#define MBR_Table 446 /* MBR: Offset of partition table in the MBR */ +#define SZ_PTE 16 /* MBR: Size of a partition table entry */ +#define PTE_Boot 0 /* MBR PTE: Boot indicator */ +#define PTE_StHead 1 /* MBR PTE: Start head */ +#define PTE_StSec 2 /* MBR PTE: Start sector */ +#define PTE_StCyl 3 /* MBR PTE: Start cylinder */ +#define PTE_System 4 /* MBR PTE: System ID */ +#define PTE_EdHead 5 /* MBR PTE: End head */ +#define PTE_EdSec 6 /* MBR PTE: End sector */ +#define PTE_EdCyl 7 /* MBR PTE: End cylinder */ +#define PTE_StLba 8 /* MBR PTE: Start in LBA */ +#define PTE_SizLba 12 /* MBR PTE: Size in LBA */ + + +/* Post process on fatal error in the file operations */ +#define ABORT(fs, res) { fp->err = (BYTE)(res); LEAVE_FF(fs, res); } + + +/* Re-entrancy related */ +#if FF_FS_REENTRANT +#if FF_USE_LFN == 1 +#error Static LFN work area cannot be used at thread-safe configuration +#endif +#define LEAVE_FF(fs, res) { unlock_fs(fs, res); return res; } +#else +#define LEAVE_FF(fs, res) return res #endif -#if _MAX_SS != 512 -#define SS(fs) ((fs)->ssize) /* Variable sector size */ + + +/* Definitions of volume - physical location conversion */ +#if FF_MULTI_PARTITION +#define LD2PD(vol) VolToPart[vol].pd /* Get physical drive number */ +#define LD2PT(vol) VolToPart[vol].pt /* Get partition index */ #else -#define SS(fs) 512U /* Fixed sector size */ +#define LD2PD(vol) (BYTE)(vol) /* Each logical drive is bound to the same physical drive number */ +#define LD2PT(vol) 0 /* Find first valid partition or in SFD */ #endif -/* Reentrancy related */ -#if _FS_REENTRANT -#if _USE_LFN == 1 -#error Static LFN work area must not be used in re-entrant configuration. +/* Definitions of sector size */ +#if (FF_MAX_SS < FF_MIN_SS) || (FF_MAX_SS != 512 && FF_MAX_SS != 1024 && FF_MAX_SS != 2048 && FF_MAX_SS != 4096) || (FF_MIN_SS != 512 && FF_MIN_SS != 1024 && FF_MIN_SS != 2048 && FF_MIN_SS != 4096) +#error Wrong sector size configuration #endif -#define ENTER_FF(fs) { if (!lock_fs(fs)) return FR_TIMEOUT; } -#define LEAVE_FF(fs, res) { unlock_fs(fs, res); return res; } +#if FF_MAX_SS == FF_MIN_SS +#define SS(fs) ((UINT)FF_MAX_SS) /* Fixed sector size */ #else -#define ENTER_FF(fs) -#define LEAVE_FF(fs, res) return res +#define SS(fs) ((fs)->ssize) /* Variable sector size */ #endif -#define ABORT(fs, res) { fp->flag |= FA__ERROR; LEAVE_FF(fs, res); } +/* Timestamp */ +#if FF_FS_NORTC == 1 +#if FF_NORTC_YEAR < 1980 || FF_NORTC_YEAR > 2107 || FF_NORTC_MON < 1 || FF_NORTC_MON > 12 || FF_NORTC_MDAY < 1 || FF_NORTC_MDAY > 31 +#error Invalid FF_FS_NORTC settings +#endif +#define GET_FATTIME() ((DWORD)(FF_NORTC_YEAR - 1980) << 25 | (DWORD)FF_NORTC_MON << 21 | (DWORD)FF_NORTC_MDAY << 16) +#else +#define GET_FATTIME() get_fattime() +#endif -/* File shareing feature */ -#if _FS_SHARE -#if _FS_READONLY -#error _FS_SHARE must be 0 on read-only cfg. + +/* File lock controls */ +#if FF_FS_LOCK != 0 +#if FF_FS_READONLY +#error FF_FS_LOCK must be 0 at read-only configuration #endif typedef struct { - FATFS *fs; /* File ID 1, volume (NULL:blank entry) */ - DWORD clu; /* File ID 2, directory */ - WORD idx; /* File ID 3, directory index */ - WORD ctr; /* File open counter, 0:none, 0x01..0xFF:read open count, 0x100:write mode */ + FATFS *fs; /* Object ID 1, volume (NULL:blank entry) */ + DWORD clu; /* Object ID 2, containing directory (0:root) */ + DWORD ofs; /* Object ID 3, offset in the directory */ + WORD ctr; /* Object open counter, 0:none, 0x01..0xFF:read mode open count, 0x100:write mode */ } FILESEM; #endif -/* Misc definitions */ -#define LD_CLUST(dir) (((DWORD)LD_WORD(dir+DIR_FstClusHI)<<16) | LD_WORD(dir+DIR_FstClusLO)) -#define ST_CLUST(dir,cl) {ST_WORD(dir+DIR_FstClusLO, cl); ST_WORD(dir+DIR_FstClusHI, (DWORD)cl>>16);} - - -/* DBCS code ranges and SBCS extend char conversion table */ - -#if _CODE_PAGE == 932 /* Japanese Shift-JIS */ -#define _DF1S 0x81 /* DBC 1st byte range 1 start */ -#define _DF1E 0x9F /* DBC 1st byte range 1 end */ -#define _DF2S 0xE0 /* DBC 1st byte range 2 start */ -#define _DF2E 0xFC /* DBC 1st byte range 2 end */ -#define _DS1S 0x40 /* DBC 2nd byte range 1 start */ -#define _DS1E 0x7E /* DBC 2nd byte range 1 end */ -#define _DS2S 0x80 /* DBC 2nd byte range 2 start */ -#define _DS2E 0xFC /* DBC 2nd byte range 2 end */ - -#elif _CODE_PAGE == 936 /* Simplified Chinese GBK */ -#define _DF1S 0x81 -#define _DF1E 0xFE -#define _DS1S 0x40 -#define _DS1E 0x7E -#define _DS2S 0x80 -#define _DS2E 0xFE - -#elif _CODE_PAGE == 949 /* Korean */ -#define _DF1S 0x81 -#define _DF1E 0xFE -#define _DS1S 0x41 -#define _DS1E 0x5A -#define _DS2S 0x61 -#define _DS2E 0x7A -#define _DS3S 0x81 -#define _DS3E 0xFE - -#elif _CODE_PAGE == 950 /* Traditional Chinese Big5 */ -#define _DF1S 0x81 -#define _DF1E 0xFE -#define _DS1S 0x40 -#define _DS1E 0x7E -#define _DS2S 0xA1 -#define _DS2E 0xFE - -#elif _CODE_PAGE == 437 /* U.S. (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x9A,0x90,0x41,0x8E,0x41,0x8F,0x80,0x45,0x45,0x45,0x49,0x49,0x49,0x8E,0x8F,0x90,0x92,0x92,0x4F,0x99,0x4F,0x55,0x55,0x59,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ - 0x41,0x49,0x4F,0x55,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0x21,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 720 /* Arabic (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x45,0x41,0x84,0x41,0x86,0x43,0x45,0x45,0x45,0x49,0x49,0x8D,0x8E,0x8F,0x90,0x92,0x92,0x93,0x94,0x95,0x49,0x49,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ - 0xA0,0xA1,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 737 /* Greek (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x92,0x92,0x93,0x94,0x95,0x96,0x97,0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87, \ - 0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0xAA,0x92,0x93,0x94,0x95,0x96,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0x97,0xEA,0xEB,0xEC,0xE4,0xED,0xEE,0xE7,0xE8,0xF1,0xEA,0xEB,0xEC,0xED,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 775 /* Baltic (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x9A,0x91,0xA0,0x8E,0x95,0x8F,0x80,0xAD,0xED,0x8A,0x8A,0xA1,0x8D,0x8E,0x8F,0x90,0x92,0x92,0xE2,0x99,0x95,0x96,0x97,0x97,0x99,0x9A,0x9D,0x9C,0x9D,0x9E,0x9F, \ - 0xA0,0xA1,0xE0,0xA3,0xA3,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xB5,0xB6,0xB7,0xB8,0xBD,0xBE,0xC6,0xC7,0xA5,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE5,0xE5,0xE6,0xE3,0xE8,0xE8,0xEA,0xEA,0xEE,0xED,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 850 /* Multilingual Latin 1 (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x9A,0x90,0xB6,0x8E,0xB7,0x8F,0x80,0xD2,0xD3,0xD4,0xD8,0xD7,0xDE,0x8E,0x8F,0x90,0x92,0x92,0xE2,0x99,0xE3,0xEA,0xEB,0x59,0x99,0x9A,0x9D,0x9C,0x9D,0x9E,0x9F, \ - 0xB5,0xD6,0xE0,0xE9,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0x21,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC7,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE5,0xE5,0xE6,0xE7,0xE7,0xE9,0xEA,0xEB,0xED,0xED,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 852 /* Latin 2 (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x9A,0x90,0xB6,0x8E,0xDE,0x8F,0x80,0x9D,0xD3,0x8A,0x8A,0xD7,0x8D,0x8E,0x8F,0x90,0x91,0x91,0xE2,0x99,0x95,0x95,0x97,0x97,0x99,0x9A,0x9B,0x9B,0x9D,0x9E,0x9F, \ - 0xB5,0xD6,0xE0,0xE9,0xA4,0xA4,0xA6,0xA6,0xA8,0xA8,0xAA,0x8D,0xAC,0xB8,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBD,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC6,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD1,0xD1,0xD2,0xD3,0xD2,0xD5,0xD6,0xD7,0xB7,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE3,0xD5,0xE6,0xE6,0xE8,0xE9,0xE8,0xEB,0xED,0xED,0xDD,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xEB,0xFC,0xFC,0xFE,0xFF} - -#elif _CODE_PAGE == 855 /* Cyrillic (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x81,0x81,0x83,0x83,0x85,0x85,0x87,0x87,0x89,0x89,0x8B,0x8B,0x8D,0x8D,0x8F,0x8F,0x91,0x91,0x93,0x93,0x95,0x95,0x97,0x97,0x99,0x99,0x9B,0x9B,0x9D,0x9D,0x9F,0x9F, \ - 0xA1,0xA1,0xA3,0xA3,0xA5,0xA5,0xA7,0xA7,0xA9,0xA9,0xAB,0xAB,0xAD,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB6,0xB6,0xB8,0xB8,0xB9,0xBA,0xBB,0xBC,0xBE,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC7,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD1,0xD1,0xD3,0xD3,0xD5,0xD5,0xD7,0xD7,0xDD,0xD9,0xDA,0xDB,0xDC,0xDD,0xE0,0xDF, \ - 0xE0,0xE2,0xE2,0xE4,0xE4,0xE6,0xE6,0xE8,0xE8,0xEA,0xEA,0xEC,0xEC,0xEE,0xEE,0xEF,0xF0,0xF2,0xF2,0xF4,0xF4,0xF6,0xF6,0xF8,0xF8,0xFA,0xFA,0xFC,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 857 /* Turkish (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x9A,0x90,0xB6,0x8E,0xB7,0x8F,0x80,0xD2,0xD3,0xD4,0xD8,0xD7,0x98,0x8E,0x8F,0x90,0x92,0x92,0xE2,0x99,0xE3,0xEA,0xEB,0x98,0x99,0x9A,0x9D,0x9C,0x9D,0x9E,0x9E, \ - 0xB5,0xD6,0xE0,0xE9,0xA5,0xA5,0xA6,0xA6,0xA8,0xA9,0xAA,0xAB,0xAC,0x21,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC7,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE5,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xDE,0x59,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 858 /* Multilingual Latin 1 + Euro (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x9A,0x90,0xB6,0x8E,0xB7,0x8F,0x80,0xD2,0xD3,0xD4,0xD8,0xD7,0xDE,0x8E,0x8F,0x90,0x92,0x92,0xE2,0x99,0xE3,0xEA,0xEB,0x59,0x99,0x9A,0x9D,0x9C,0x9D,0x9E,0x9F, \ - 0xB5,0xD6,0xE0,0xE9,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0x21,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC7,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD1,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE5,0xE5,0xE6,0xE7,0xE7,0xE9,0xEA,0xEB,0xED,0xED,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 862 /* Hebrew (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ - 0x41,0x49,0x4F,0x55,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0x21,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 866 /* Russian (OEM) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ - 0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0x90,0x91,0x92,0x93,0x9d,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F,0xF0,0xF0,0xF2,0xF2,0xF4,0xF4,0xF6,0xF6,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 874 /* Thai (OEM, Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ - 0xA0,0xA1,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 1250 /* Central Europe (Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x8A,0x9B,0x8C,0x8D,0x8E,0x8F, \ - 0xA0,0xA1,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xA3,0xB4,0xB5,0xB6,0xB7,0xB8,0xA5,0xAA,0xBB,0xBC,0xBD,0xBC,0xAF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xF7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xFF} - -#elif _CODE_PAGE == 1251 /* Cyrillic (Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x82,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x80,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x8A,0x9B,0x8C,0x8D,0x8E,0x8F, \ - 0xA0,0xA2,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB2,0xA5,0xB5,0xB6,0xB7,0xA8,0xB9,0xAA,0xBB,0xA3,0xBD,0xBD,0xAF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF} - -#elif _CODE_PAGE == 1252 /* Latin 1 (Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0xAd,0x9B,0x8C,0x9D,0xAE,0x9F, \ - 0xA0,0x21,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xF7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0x9F} - -#elif _CODE_PAGE == 1253 /* Greek (Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ - 0xA0,0xA1,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xA2,0xB8,0xB9,0xBA, \ - 0xE0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xF2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xFB,0xBC,0xFD,0xBF,0xFF} - -#elif _CODE_PAGE == 1254 /* Turkish (Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x8A,0x9B,0x8C,0x9D,0x9E,0x9F, \ - 0xA0,0x21,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xF7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0x9F} - -#elif _CODE_PAGE == 1255 /* Hebrew (Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ - 0xA0,0x21,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF,0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 1256 /* Arabic (Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x8C,0x9D,0x9E,0x9F, \ - 0xA0,0xA1,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0x41,0xE1,0x41,0xE3,0xE4,0xE5,0xE6,0x43,0x45,0x45,0x45,0x45,0xEC,0xED,0x49,0x49,0xF0,0xF1,0xF2,0xF3,0x4F,0xF5,0xF6,0xF7,0xF8,0x55,0xFA,0x55,0x55,0xFD,0xFE,0xFF} - -#elif _CODE_PAGE == 1257 /* Baltic (Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ - 0xA0,0xA1,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xA8,0xB9,0xAA,0xBB,0xBC,0xBD,0xBE,0xAF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xF7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xFF} - -#elif _CODE_PAGE == 1258 /* Vietnam (OEM, Windows) */ -#define _DF1S 0 -#define _EXCVT {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0xAC,0x9D,0x9E,0x9F, \ - 0xA0,0x21,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF,0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ - 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xEC,0xCD,0xCE,0xCF,0xD0,0xD1,0xF2,0xD3,0xD4,0xD5,0xD6,0xF7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xFE,0x9F} - -#elif _CODE_PAGE == 1 /* ASCII (for only non-LFN cfg) */ -#if _USE_LFN -#error Cannot use LFN feature without valid code page. -#endif -#define _DF1S 0 +/* SBCS up-case tables (\x80-\xFF) */ +#define TBL_CT437 {0x80,0x9A,0x45,0x41,0x8E,0x41,0x8F,0x80,0x45,0x45,0x45,0x49,0x49,0x49,0x8E,0x8F, \ + 0x90,0x92,0x92,0x4F,0x99,0x4F,0x55,0x55,0x59,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0x41,0x49,0x4F,0x55,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT720 {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F, \ + 0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0xA0,0xA1,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT737 {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F, \ + 0x90,0x92,0x92,0x93,0x94,0x95,0x96,0x97,0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87, \ + 0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F,0x90,0x91,0xAA,0x92,0x93,0x94,0x95,0x96, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0x97,0xEA,0xEB,0xEC,0xE4,0xED,0xEE,0xEF,0xF5,0xF0,0xEA,0xEB,0xEC,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT771 {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F, \ + 0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDC,0xDE,0xDE, \ + 0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0xF0,0xF0,0xF2,0xF2,0xF4,0xF4,0xF6,0xF6,0xF8,0xF8,0xFA,0xFA,0xFC,0xFC,0xFE,0xFF} +#define TBL_CT775 {0x80,0x9A,0x91,0xA0,0x8E,0x95,0x8F,0x80,0xAD,0xED,0x8A,0x8A,0xA1,0x8D,0x8E,0x8F, \ + 0x90,0x92,0x92,0xE2,0x99,0x95,0x96,0x97,0x97,0x99,0x9A,0x9D,0x9C,0x9D,0x9E,0x9F, \ + 0xA0,0xA1,0xE0,0xA3,0xA3,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xB5,0xB6,0xB7,0xB8,0xBD,0xBE,0xC6,0xC7,0xA5,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE5,0xE5,0xE6,0xE3,0xE8,0xE8,0xEA,0xEA,0xEE,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT850 {0x43,0x55,0x45,0x41,0x41,0x41,0x41,0x43,0x45,0x45,0x45,0x49,0x49,0x49,0x41,0x41, \ + 0x45,0x92,0x92,0x4F,0x4F,0x4F,0x55,0x55,0x59,0x4F,0x55,0x4F,0x9C,0x4F,0x9E,0x9F, \ + 0x41,0x49,0x4F,0x55,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0x41,0x41,0x41,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0x41,0x41,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD1,0xD1,0x45,0x45,0x45,0x49,0x49,0x49,0x49,0xD9,0xDA,0xDB,0xDC,0xDD,0x49,0xDF, \ + 0x4F,0xE1,0x4F,0x4F,0x4F,0x4F,0xE6,0xE8,0xE8,0x55,0x55,0x55,0x59,0x59,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT852 {0x80,0x9A,0x90,0xB6,0x8E,0xDE,0x8F,0x80,0x9D,0xD3,0x8A,0x8A,0xD7,0x8D,0x8E,0x8F, \ + 0x90,0x91,0x91,0xE2,0x99,0x95,0x95,0x97,0x97,0x99,0x9A,0x9B,0x9B,0x9D,0x9E,0xAC, \ + 0xB5,0xD6,0xE0,0xE9,0xA4,0xA4,0xA6,0xA6,0xA8,0xA8,0xAA,0x8D,0xAC,0xB8,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBD,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC6,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD1,0xD1,0xD2,0xD3,0xD2,0xD5,0xD6,0xD7,0xB7,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE3,0xD5,0xE6,0xE6,0xE8,0xE9,0xE8,0xEB,0xED,0xED,0xDD,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xEB,0xFC,0xFC,0xFE,0xFF} +#define TBL_CT855 {0x81,0x81,0x83,0x83,0x85,0x85,0x87,0x87,0x89,0x89,0x8B,0x8B,0x8D,0x8D,0x8F,0x8F, \ + 0x91,0x91,0x93,0x93,0x95,0x95,0x97,0x97,0x99,0x99,0x9B,0x9B,0x9D,0x9D,0x9F,0x9F, \ + 0xA1,0xA1,0xA3,0xA3,0xA5,0xA5,0xA7,0xA7,0xA9,0xA9,0xAB,0xAB,0xAD,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB6,0xB6,0xB8,0xB8,0xB9,0xBA,0xBB,0xBC,0xBE,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC7,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD1,0xD1,0xD3,0xD3,0xD5,0xD5,0xD7,0xD7,0xDD,0xD9,0xDA,0xDB,0xDC,0xDD,0xE0,0xDF, \ + 0xE0,0xE2,0xE2,0xE4,0xE4,0xE6,0xE6,0xE8,0xE8,0xEA,0xEA,0xEC,0xEC,0xEE,0xEE,0xEF, \ + 0xF0,0xF2,0xF2,0xF4,0xF4,0xF6,0xF6,0xF8,0xF8,0xFA,0xFA,0xFC,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT857 {0x80,0x9A,0x90,0xB6,0x8E,0xB7,0x8F,0x80,0xD2,0xD3,0xD4,0xD8,0xD7,0x49,0x8E,0x8F, \ + 0x90,0x92,0x92,0xE2,0x99,0xE3,0xEA,0xEB,0x98,0x99,0x9A,0x9D,0x9C,0x9D,0x9E,0x9E, \ + 0xB5,0xD6,0xE0,0xE9,0xA5,0xA5,0xA6,0xA6,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC7,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0x49,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE5,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xDE,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT860 {0x80,0x9A,0x90,0x8F,0x8E,0x91,0x86,0x80,0x89,0x89,0x92,0x8B,0x8C,0x98,0x8E,0x8F, \ + 0x90,0x91,0x92,0x8C,0x99,0xA9,0x96,0x9D,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0x86,0x8B,0x9F,0x96,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT861 {0x80,0x9A,0x90,0x41,0x8E,0x41,0x8F,0x80,0x45,0x45,0x45,0x8B,0x8B,0x8D,0x8E,0x8F, \ + 0x90,0x92,0x92,0x4F,0x99,0x8D,0x55,0x97,0x97,0x99,0x9A,0x9D,0x9C,0x9D,0x9E,0x9F, \ + 0xA4,0xA5,0xA6,0xA7,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT862 {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F, \ + 0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0x41,0x49,0x4F,0x55,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT863 {0x43,0x55,0x45,0x41,0x41,0x41,0x86,0x43,0x45,0x45,0x45,0x49,0x49,0x8D,0x41,0x8F, \ + 0x45,0x45,0x45,0x4F,0x45,0x49,0x55,0x55,0x98,0x4F,0x55,0x9B,0x9C,0x55,0x55,0x9F, \ + 0xA0,0xA1,0x4F,0x55,0xA4,0xA5,0xA6,0xA7,0x49,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT864 {0x80,0x9A,0x45,0x41,0x8E,0x41,0x8F,0x80,0x45,0x45,0x45,0x49,0x49,0x49,0x8E,0x8F, \ + 0x90,0x92,0x92,0x4F,0x99,0x4F,0x55,0x55,0x59,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0x41,0x49,0x4F,0x55,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT865 {0x80,0x9A,0x90,0x41,0x8E,0x41,0x8F,0x80,0x45,0x45,0x45,0x49,0x49,0x49,0x8E,0x8F, \ + 0x90,0x92,0x92,0x4F,0x99,0x4F,0x55,0x55,0x59,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0x41,0x49,0x4F,0x55,0xA5,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0xE0,0xE1,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xEB,0xEC,0xED,0xEE,0xEF, \ + 0xF0,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT866 {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F, \ + 0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xDB,0xDC,0xDD,0xDE,0xDF, \ + 0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x9B,0x9C,0x9D,0x9E,0x9F, \ + 0xF0,0xF0,0xF2,0xF2,0xF4,0xF4,0xF6,0xF6,0xF8,0xF9,0xFA,0xFB,0xFC,0xFD,0xFE,0xFF} +#define TBL_CT869 {0x80,0x81,0x82,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A,0x8B,0x8C,0x8D,0x8E,0x8F, \ + 0x90,0x91,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0x86,0x9C,0x8D,0x8F,0x90, \ + 0x91,0x90,0x92,0x95,0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xAB,0xAC,0xAD,0xAE,0xAF, \ + 0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF, \ + 0xC0,0xC1,0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xCB,0xCC,0xCD,0xCE,0xCF, \ + 0xD0,0xD1,0xD2,0xD3,0xD4,0xD5,0xA4,0xA5,0xA6,0xD9,0xDA,0xDB,0xDC,0xA7,0xA8,0xDF, \ + 0xA9,0xAA,0xAC,0xAD,0xB5,0xB6,0xB7,0xB8,0xBD,0xBE,0xC6,0xC7,0xCF,0xCF,0xD0,0xEF, \ + 0xF0,0xF1,0xD1,0xD2,0xD3,0xF5,0xD4,0xF7,0xF8,0xF9,0xD5,0x96,0x95,0x98,0xFE,0xFF} + + +/* DBCS code range |----- 1st byte -----| |----------- 2nd byte -----------| */ +#define TBL_DC932 {0x81, 0x9F, 0xE0, 0xFC, 0x40, 0x7E, 0x80, 0xFC, 0x00, 0x00} +#define TBL_DC936 {0x81, 0xFE, 0x00, 0x00, 0x40, 0x7E, 0x80, 0xFE, 0x00, 0x00} +#define TBL_DC949 {0x81, 0xFE, 0x00, 0x00, 0x41, 0x5A, 0x61, 0x7A, 0x81, 0xFE} +#define TBL_DC950 {0x81, 0xFE, 0x00, 0x00, 0x40, 0x7E, 0xA1, 0xFE, 0x00, 0x00} + + +/* Macros for table definitions */ +#define MERGE_2STR(a, b) a ## b +#define MKCVTBL(hd, cp) MERGE_2STR(hd, cp) -#else -#error Unknown code page -#endif -/* Character code support macros */ -#define IsUpper(c) (((c)>='A')&&((c)<='Z')) -#define IsLower(c) (((c)>='a')&&((c)<='z')) -#define IsDigit(c) (((c)>='0')&&((c)<='9')) +/*-------------------------------------------------------------------------- -#if _DF1S /* Code page is DBCS */ + Module Private Work Area -#ifdef _DF2S /* Two 1st byte areas */ -#define IsDBCS1(c) (((BYTE)(c) >= _DF1S && (BYTE)(c) <= _DF1E) || ((BYTE)(c) >= _DF2S && (BYTE)(c) <= _DF2E)) -#else /* One 1st byte area */ -#define IsDBCS1(c) ((BYTE)(c) >= _DF1S && (BYTE)(c) <= _DF1E) +---------------------------------------------------------------------------*/ +/* Remark: Variables defined here without initial value shall be guaranteed +/ zero/null at start-up. If not, the linker option or start-up routine is +/ not compliance with C standard. */ + +/*--------------------------------*/ +/* File/Volume controls */ +/*--------------------------------*/ + +#if FF_VOLUMES < 1 || FF_VOLUMES > 10 +#error Wrong FF_VOLUMES setting #endif +static FATFS* FatFs[FF_VOLUMES]; /* Pointer to the filesystem objects (logical drives) */ +static WORD Fsid; /* Filesystem mount ID */ -#ifdef _DS3S /* Three 2nd byte areas */ -#define IsDBCS2(c) (((BYTE)(c) >= _DS1S && (BYTE)(c) <= _DS1E) || ((BYTE)(c) >= _DS2S && (BYTE)(c) <= _DS2E) || ((BYTE)(c) >= _DS3S && (BYTE)(c) <= _DS3E)) -#else /* Two 2nd byte areas */ -#define IsDBCS2(c) (((BYTE)(c) >= _DS1S && (BYTE)(c) <= _DS1E) || ((BYTE)(c) >= _DS2S && (BYTE)(c) <= _DS2E)) +#if FF_FS_RPATH != 0 +static BYTE CurrVol; /* Current drive */ #endif -#else /* Code page is SBCS */ +#if FF_FS_LOCK != 0 +static FILESEM Files[FF_FS_LOCK]; /* Open object lock semaphores */ +#endif -#define IsDBCS1(c) 0 -#define IsDBCS2(c) 0 +#if FF_STR_VOLUME_ID +#ifdef FF_VOLUME_STRS +static const char* const VolumeStr[FF_VOLUMES] = {FF_VOLUME_STRS}; /* Pre-defined volume ID */ +#endif +#endif -#endif /* _DF1S */ +/*--------------------------------*/ +/* LFN/Directory working buffer */ +/*--------------------------------*/ -/* Name status flags */ -#define NS 11 /* Index of name status byte in fn[] */ -#define NS_LOSS 0x01 /* Out of 8.3 format */ -#define NS_LFN 0x02 /* Force to create LFN entry */ -#define NS_LAST 0x04 /* Last segment */ -#define NS_BODY 0x08 /* Lower case flag (body) */ -#define NS_EXT 0x10 /* Lower case flag (ext) */ -#define NS_DOT 0x20 /* Dot entry */ +#if FF_USE_LFN == 0 /* Non-LFN configuration */ +#if FF_FS_EXFAT +#error LFN must be enabled when enable exFAT +#endif +#define DEF_NAMBUF +#define INIT_NAMBUF(fs) +#define FREE_NAMBUF() +#define LEAVE_MKFS(res) return res + +#else /* LFN configurations */ +#if FF_MAX_LFN < 12 || FF_MAX_LFN > 255 +#error Wrong setting of FF_MAX_LFN +#endif +#if FF_LFN_BUF < FF_SFN_BUF || FF_SFN_BUF < 12 +#error Wrong setting of FF_LFN_BUF or FF_SFN_BUF +#endif +#if FF_LFN_UNICODE < 0 || FF_LFN_UNICODE > 3 +#error Wrong setting of FF_LFN_UNICODE +#endif +static const BYTE LfnOfs[] = {1,3,5,7,9,14,16,18,20,22,24,28,30}; /* FAT: Offset of LFN characters in the directory entry */ +#define MAXDIRB(nc) ((nc + 44U) / 15 * SZDIRE) /* exFAT: Size of directory entry block scratchpad buffer needed for the name length */ +#if FF_USE_LFN == 1 /* LFN enabled with static working buffer */ +#if FF_FS_EXFAT +static BYTE DirBuf[MAXDIRB(FF_MAX_LFN)]; /* Directory entry block scratchpad buffer */ +#endif +static WCHAR LfnBuf[FF_MAX_LFN + 1]; /* LFN working buffer */ +#define DEF_NAMBUF +#define INIT_NAMBUF(fs) +#define FREE_NAMBUF() +#define LEAVE_MKFS(res) return res + +#elif FF_USE_LFN == 2 /* LFN enabled with dynamic working buffer on the stack */ +#if FF_FS_EXFAT +#define DEF_NAMBUF WCHAR lbuf[FF_MAX_LFN+1]; BYTE dbuf[MAXDIRB(FF_MAX_LFN)]; /* LFN working buffer and directory entry block scratchpad buffer */ +#define INIT_NAMBUF(fs) { (fs)->lfnbuf = lbuf; (fs)->dirbuf = dbuf; } +#define FREE_NAMBUF() +#else +#define DEF_NAMBUF WCHAR lbuf[FF_MAX_LFN+1]; /* LFN working buffer */ +#define INIT_NAMBUF(fs) { (fs)->lfnbuf = lbuf; } +#define FREE_NAMBUF() +#endif +#define LEAVE_MKFS(res) return res -/* FAT sub-type boundaries */ -/* Note that the FAT spec by Microsoft says 4085 but Windows works with 4087! */ -#define MIN_FAT16 4086 /* Minimum number of clusters for FAT16 */ -#define MIN_FAT32 65526 /* Minimum number of clusters for FAT32 */ - - -/* FatFs refers the members in the FAT structures as byte array instead of -/ structure member because the structure is not binary compatible between -/ different platforms */ - -#define BS_jmpBoot 0 /* Jump instruction (3) */ -#define BS_OEMName 3 /* OEM name (8) */ -#define BPB_BytsPerSec 11 /* Sector size [byte] (2) */ -#define BPB_SecPerClus 13 /* Cluster size [sector] (1) */ -#define BPB_RsvdSecCnt 14 /* Size of reserved area [sector] (2) */ -#define BPB_NumFATs 16 /* Number of FAT copies (1) */ -#define BPB_RootEntCnt 17 /* Number of root dir entries for FAT12/16 (2) */ -#define BPB_TotSec16 19 /* Volume size [sector] (2) */ -#define BPB_Media 21 /* Media descriptor (1) */ -#define BPB_FATSz16 22 /* FAT size [sector] (2) */ -#define BPB_SecPerTrk 24 /* Track size [sector] (2) */ -#define BPB_NumHeads 26 /* Number of heads (2) */ -#define BPB_HiddSec 28 /* Number of special hidden sectors (4) */ -#define BPB_TotSec32 32 /* Volume size [sector] (4) */ -#define BS_DrvNum 36 /* Physical drive number (2) */ -#define BS_BootSig 38 /* Extended boot signature (1) */ -#define BS_VolID 39 /* Volume serial number (4) */ -#define BS_VolLab 43 /* Volume label (8) */ -#define BS_FilSysType 54 /* File system type (1) */ -#define BPB_FATSz32 36 /* FAT size [sector] (4) */ -#define BPB_ExtFlags 40 /* Extended flags (2) */ -#define BPB_FSVer 42 /* File system version (2) */ -#define BPB_RootClus 44 /* Root dir first cluster (4) */ -#define BPB_FSInfo 48 /* Offset of FSInfo sector (2) */ -#define BPB_BkBootSec 50 /* Offset of backup boot sectot (2) */ -#define BS_DrvNum32 64 /* Physical drive number (2) */ -#define BS_BootSig32 66 /* Extended boot signature (1) */ -#define BS_VolID32 67 /* Volume serial number (4) */ -#define BS_VolLab32 71 /* Volume label (8) */ -#define BS_FilSysType32 82 /* File system type (1) */ -#define FSI_LeadSig 0 /* FSI: Leading signature (4) */ -#define FSI_StrucSig 484 /* FSI: Structure signature (4) */ -#define FSI_Free_Count 488 /* FSI: Number of free clusters (4) */ -#define FSI_Nxt_Free 492 /* FSI: Last allocated cluster (4) */ -#define MBR_Table 446 /* MBR: Partition table offset (2) */ -#define SZ_PTE 16 /* MBR: Size of a partition table entry */ -#define BS_55AA 510 /* Boot sector signature (2) */ - -#define DIR_Name 0 /* Short file name (11) */ -#define DIR_Attr 11 /* Attribute (1) */ -#define DIR_NTres 12 /* NT flag (1) */ -#define DIR_CrtTime 14 /* Created time (2) */ -#define DIR_CrtDate 16 /* Created date (2) */ -#define DIR_FstClusHI 20 /* Higher 16-bit of first cluster (2) */ -#define DIR_WrtTime 22 /* Modified time (2) */ -#define DIR_WrtDate 24 /* Modified date (2) */ -#define DIR_FstClusLO 26 /* Lower 16-bit of first cluster (2) */ -#define DIR_FileSize 28 /* File size (4) */ -#define LDIR_Ord 0 /* LFN entry order and LLE flag (1) */ -#define LDIR_Attr 11 /* LFN attribute (1) */ -#define LDIR_Type 12 /* LFN type (1) */ -#define LDIR_Chksum 13 /* Sum of corresponding SFN entry */ -#define LDIR_FstClusLO 26 /* Filled by zero (0) */ -#define SZ_DIR 32 /* Size of a directory entry */ -#define LLE 0x40 /* Last long entry flag in LDIR_Ord */ -#define DDE 0xE5 /* Deleted directory enrty mark in DIR_Name[0] */ -#define NDDE 0x05 /* Replacement of a character collides with DDE */ - - -/*------------------------------------------------------------*/ -/* Module private work area */ -/*------------------------------------------------------------*/ -/* Note that uninitialized variables with static duration are -/ zeroed/nulled at start-up. If not, the compiler or start-up -/ routine is out of ANSI-C standard. -*/ - -#if _VOLUMES -static -FATFS *FatFs[_VOLUMES]; /* Pointer to the file system objects (logical drives) */ +#elif FF_USE_LFN == 3 /* LFN enabled with dynamic working buffer on the heap */ +#if FF_FS_EXFAT +#define DEF_NAMBUF WCHAR *lfn; /* Pointer to LFN working buffer and directory entry block scratchpad buffer */ +#define INIT_NAMBUF(fs) { lfn = ff_memalloc((FF_MAX_LFN+1)*2 + MAXDIRB(FF_MAX_LFN)); if (!lfn) LEAVE_FF(fs, FR_NOT_ENOUGH_CORE); (fs)->lfnbuf = lfn; (fs)->dirbuf = (BYTE*)(lfn+FF_MAX_LFN+1); } +#define FREE_NAMBUF() ff_memfree(lfn) #else -#error Number of volumes must not be 0. +#define DEF_NAMBUF WCHAR *lfn; /* Pointer to LFN working buffer */ +#define INIT_NAMBUF(fs) { lfn = ff_memalloc((FF_MAX_LFN+1)*2); if (!lfn) LEAVE_FF(fs, FR_NOT_ENOUGH_CORE); (fs)->lfnbuf = lfn; } +#define FREE_NAMBUF() ff_memfree(lfn) #endif +#define LEAVE_MKFS(res) { if (!work) ff_memfree(buf); return res; } +#define MAX_MALLOC 0x8000 /* Must be >=FF_MAX_SS */ -static -WORD Fsid; /* File system mount ID */ +#else +#error Wrong setting of FF_USE_LFN + +#endif /* FF_USE_LFN == 1 */ +#endif /* FF_USE_LFN == 0 */ + + + +/*--------------------------------*/ +/* Code conversion tables */ +/*--------------------------------*/ + +#if FF_CODE_PAGE == 0 /* Run-time code page configuration */ +#define CODEPAGE CodePage +static WORD CodePage; /* Current code page */ +static const BYTE *ExCvt, *DbcTbl; /* Pointer to current SBCS up-case table and DBCS code range table below */ + +static const BYTE Ct437[] = TBL_CT437; +static const BYTE Ct720[] = TBL_CT720; +static const BYTE Ct737[] = TBL_CT737; +static const BYTE Ct771[] = TBL_CT771; +static const BYTE Ct775[] = TBL_CT775; +static const BYTE Ct850[] = TBL_CT850; +static const BYTE Ct852[] = TBL_CT852; +static const BYTE Ct855[] = TBL_CT855; +static const BYTE Ct857[] = TBL_CT857; +static const BYTE Ct860[] = TBL_CT860; +static const BYTE Ct861[] = TBL_CT861; +static const BYTE Ct862[] = TBL_CT862; +static const BYTE Ct863[] = TBL_CT863; +static const BYTE Ct864[] = TBL_CT864; +static const BYTE Ct865[] = TBL_CT865; +static const BYTE Ct866[] = TBL_CT866; +static const BYTE Ct869[] = TBL_CT869; +static const BYTE Dc932[] = TBL_DC932; +static const BYTE Dc936[] = TBL_DC936; +static const BYTE Dc949[] = TBL_DC949; +static const BYTE Dc950[] = TBL_DC950; + +#elif FF_CODE_PAGE < 900 /* Static code page configuration (SBCS) */ +#define CODEPAGE FF_CODE_PAGE +static const BYTE ExCvt[] = MKCVTBL(TBL_CT, FF_CODE_PAGE); + +#else /* Static code page configuration (DBCS) */ +#define CODEPAGE FF_CODE_PAGE +static const BYTE DbcTbl[] = MKCVTBL(TBL_DC, FF_CODE_PAGE); -#if _FS_RPATH -static -BYTE CurrVol; /* Current drive */ #endif -#if _FS_SHARE -static -FILESEM Files[_FS_SHARE]; /* File lock semaphores */ -#endif -#if _USE_LFN == 0 /* No LFN feature */ -#define DEF_NAMEBUF BYTE sfn[12] -#define INIT_BUF(dobj) (dobj).fn = sfn -#define FREE_BUF() -#elif _USE_LFN == 1 /* LFN feature with static working buffer */ -static WCHAR LfnBuf[_MAX_LFN+1]; -#define DEF_NAMEBUF BYTE sfn[12] -#define INIT_BUF(dobj) { (dobj).fn = sfn; (dobj).lfn = LfnBuf; } -#define FREE_BUF() -#elif _USE_LFN == 2 /* LFN feature with dynamic working buffer on the stack */ -#define DEF_NAMEBUF BYTE sfn[12]; WCHAR lbuf[_MAX_LFN+1] -#define INIT_BUF(dobj) { (dobj).fn = sfn; (dobj).lfn = lbuf; } -#define FREE_BUF() +/*-------------------------------------------------------------------------- -#elif _USE_LFN == 3 /* LFN feature with dynamic working buffer on the heap */ -#define DEF_NAMEBUF BYTE sfn[12]; WCHAR *lfn -#define INIT_BUF(dobj) { lfn = ff_memalloc((_MAX_LFN + 1) * 2); \ - if (!lfn) LEAVE_FF((dobj).fs, FR_NOT_ENOUGH_CORE); \ - (dobj).lfn = lfn; (dobj).fn = sfn; } -#define FREE_BUF() ff_memfree(lfn) + Module Private Functions +---------------------------------------------------------------------------*/ + +#if 1 //dc42 +// Function to check whether a buffer pointer is suitably aligned. +// If it isn't then we must not do direct sector reads/writes due to limitations of the hardware +static inline _Bool isAligned(const BYTE *p) +{ +#if FF_DISKIO_ALIGN == 1 + return true; #else -#error Wrong LFN configuration. + return ((unsigned int)p & (FF_DISKIO_ALIGN - 1)) == 0; #endif +} +#endif + +/*-----------------------------------------------------------------------*/ +/* Load/Store multi-byte word in the FAT structure */ +/*-----------------------------------------------------------------------*/ +static WORD ld_word (const BYTE* ptr) /* Load a 2-byte little-endian word */ +{ + WORD rv; -//void debugPrintf(const char*, ...); + rv = ptr[1]; + rv = rv << 8 | ptr[0]; + return rv; +} -/*-------------------------------------------------------------------------- +static DWORD ld_dword (const BYTE* ptr) /* Load a 4-byte little-endian word */ +{ + DWORD rv; - Module Private Functions + rv = ptr[3]; + rv = rv << 8 | ptr[2]; + rv = rv << 8 | ptr[1]; + rv = rv << 8 | ptr[0]; + return rv; +} ----------------------------------------------------------------------------*/ +#if FF_FS_EXFAT +static QWORD ld_qword (const BYTE* ptr) /* Load an 8-byte little-endian word */ +{ + QWORD rv; + + rv = ptr[7]; + rv = rv << 8 | ptr[6]; + rv = rv << 8 | ptr[5]; + rv = rv << 8 | ptr[4]; + rv = rv << 8 | ptr[3]; + rv = rv << 8 | ptr[2]; + rv = rv << 8 | ptr[1]; + rv = rv << 8 | ptr[0]; + return rv; +} +#endif -// Function to check whether a buffer pointer is 32-bit aligned. -// If it isn't then we must not do direct sector reads/writes, because the DMA controller used for HSMCI transfers doesn't do unaligned memory accesses. -inline _Bool isAligned(const BYTE *p) +#if !FF_FS_READONLY +static void st_word (BYTE* ptr, WORD val) /* Store a 2-byte word in little-endian */ { - return ((unsigned int)p & 3) == 0; + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; } +static void st_dword (BYTE* ptr, DWORD val) /* Store a 4-byte word in little-endian */ +{ + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; +} + +#if FF_FS_EXFAT +static void st_qword (BYTE* ptr, QWORD val) /* Store an 8-byte word in little-endian */ +{ + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; val >>= 8; + *ptr++ = (BYTE)val; +} +#endif +#endif /* !FF_FS_READONLY */ + + + /*-----------------------------------------------------------------------*/ /* String functions */ /*-----------------------------------------------------------------------*/ -#if 1 +#if 1 // dc42 - use the intrinsic functions #include "string.h" #define mem_cpy(_dst, _src, _count) memcpy(_dst, _src, _count) @@ -547,288 +671,492 @@ inline _Bool isAligned(const BYTE *p) #else /* Copy memory to memory */ -static -void mem_cpy (void* dst, const void* src, UINT cnt) { +static void mem_cpy (void* dst, const void* src, UINT cnt) +{ BYTE *d = (BYTE*)dst; const BYTE *s = (const BYTE*)src; -#if _WORD_ACCESS == 1 - while (cnt >= sizeof(int)) { - *(int*)d = *(int*)s; - d += sizeof(int); s += sizeof(int); - cnt -= sizeof(int); + if (cnt != 0) { + do { + *d++ = *s++; + } while (--cnt); } -#endif - while (cnt--) - *d++ = *s++; } -/* Fill memory */ -static -void mem_set (void* dst, int val, UINT cnt) { + +/* Fill memory block */ +static void mem_set (void* dst, int val, UINT cnt) +{ BYTE *d = (BYTE*)dst; - while (cnt--) + do { *d++ = (BYTE)val; + } while (--cnt); } -/* Compare memory to memory */ -static -int mem_cmp (const void* dst, const void* src, UINT cnt) { + +/* Compare memory block */ +static int mem_cmp (const void* dst, const void* src, UINT cnt) /* ZR:same, NZ:different */ +{ const BYTE *d = (const BYTE *)dst, *s = (const BYTE *)src; int r = 0; - while (cnt-- && (r = *d++ - *s++) == 0) ; + do { + r = *d++ - *s++; + } while (--cnt && r == 0); + return r; } #endif /* Check if chr is contained in the string */ -static -int chk_chr (const char* str, int chr) { +static int chk_chr (const char* str, int chr) /* NZ:contained, ZR:not contained */ +{ while (*str && *str != chr) str++; return *str; } +/* Test if the character is DBC 1st byte */ +static int dbc_1st (BYTE c) +{ +#if FF_CODE_PAGE == 0 /* Variable code page */ + if (DbcTbl && c >= DbcTbl[0]) { + if (c <= DbcTbl[1]) return 1; /* 1st byte range 1 */ + if (c >= DbcTbl[2] && c <= DbcTbl[3]) return 1; /* 1st byte range 2 */ + } +#elif FF_CODE_PAGE >= 900 /* DBCS fixed code page */ + if (c >= DbcTbl[0]) { + if (c <= DbcTbl[1]) return 1; + if (c >= DbcTbl[2] && c <= DbcTbl[3]) return 1; + } +#else /* SBCS fixed code page */ + if (c != 0) return 0; /* Always false */ +#endif + return 0; +} + + +/* Test if the character is DBC 2nd byte */ +static int dbc_2nd (BYTE c) +{ +#if FF_CODE_PAGE == 0 /* Variable code page */ + if (DbcTbl && c >= DbcTbl[4]) { + if (c <= DbcTbl[5]) return 1; /* 2nd byte range 1 */ + if (c >= DbcTbl[6] && c <= DbcTbl[7]) return 1; /* 2nd byte range 2 */ + if (c >= DbcTbl[8] && c <= DbcTbl[9]) return 1; /* 2nd byte range 3 */ + } +#elif FF_CODE_PAGE >= 900 /* DBCS fixed code page */ + if (c >= DbcTbl[4]) { + if (c <= DbcTbl[5]) return 1; + if (c >= DbcTbl[6] && c <= DbcTbl[7]) return 1; + if (c >= DbcTbl[8] && c <= DbcTbl[9]) return 1; + } +#else /* SBCS fixed code page */ + if (c != 0) return 0; /* Always false */ +#endif + return 0; +} + + +#if FF_USE_LFN + +/* Get a character from TCHAR string in defined API encodeing */ +static DWORD tchar2uni ( /* Returns character in UTF-16 encoding (>=0x10000 on double encoding unit, 0xFFFFFFFF on decode error) */ + const TCHAR** str /* Pointer to pointer to TCHAR string in configured encoding */ +) +{ + DWORD uc; + const TCHAR *p = *str; + +#if FF_LFN_UNICODE == 1 /* UTF-16 input */ + WCHAR wc; + + uc = *p++; /* Get a unit */ + if (IsSurrogate(uc)) { /* Surrogate? */ + wc = *p++; /* Get low surrogate */ + if (!IsSurrogateH(uc) || !IsSurrogateL(wc)) return 0xFFFFFFFF; /* Wrong surrogate? */ + uc = uc << 16 | wc; + } + +#elif FF_LFN_UNICODE == 2 /* UTF-8 input */ + BYTE b; + int nf; + + uc = (BYTE)*p++; /* Get a unit */ + if (uc & 0x80) { /* Multiple byte code? */ + if ((uc & 0xE0) == 0xC0) { /* 2-byte sequence? */ + uc &= 0x1F; nf = 1; + } else { + if ((uc & 0xF0) == 0xE0) { /* 3-byte sequence? */ + uc &= 0x0F; nf = 2; + } else { + if ((uc & 0xF8) == 0xF0) { /* 4-byte sequence? */ + uc &= 0x07; nf = 3; + } else { /* Wrong sequence */ + return 0xFFFFFFFF; + } + } + } + do { /* Get trailing bytes */ + b = (BYTE)*p++; + if ((b & 0xC0) != 0x80) return 0xFFFFFFFF; /* Wrong sequence? */ + uc = uc << 6 | (b & 0x3F); + } while (--nf != 0); + if (uc < 0x80 || IsSurrogate(uc) || uc >= 0x110000) return 0xFFFFFFFF; /* Wrong code? */ + if (uc >= 0x010000) uc = 0xD800DC00 | ((uc - 0x10000) << 6 & 0x3FF0000) | (uc & 0x3FF); /* Make a surrogate pair if needed */ + } + +#elif FF_LFN_UNICODE == 3 /* UTF-32 input */ + uc = (TCHAR)*p++; /* Get a unit */ + if (uc >= 0x110000) return 0xFFFFFFFF; /* Wrong code? */ + if (uc >= 0x010000) uc = 0xD800DC00 | ((uc - 0x10000) << 6 & 0x3FF0000) | (uc & 0x3FF); /* Make a surrogate pair if needed */ + +#else /* ANSI/OEM input */ + BYTE b; + WCHAR wc; + + wc = (BYTE)*p++; /* Get a byte */ + if (dbc_1st((BYTE)wc)) { /* Is it a DBC 1st byte? */ + b = (BYTE)*p++; /* Get 2nd byte */ + if (!dbc_2nd(b)) return 0xFFFFFFFF; /* Invalid code? */ + wc = (wc << 8) + b; /* Make a DBC */ + } + if (wc != 0) { + wc = ff_oem2uni(wc, CODEPAGE); /* ANSI/OEM ==> Unicode */ + if (wc == 0) return 0xFFFFFFFF; /* Invalid code? */ + } + uc = wc; + +#endif + *str = p; /* Next read pointer */ + return uc; +} + +/* Output a TCHAR string in defined API encoding */ +static BYTE put_utf ( /* Returns number of encoding units written (0:buffer overflow or wrong encoding) */ + DWORD chr, /* UTF-16 encoded character (Double encoding unit char if >=0x10000) */ + TCHAR* buf, /* Output buffer */ + UINT szb /* Size of the buffer */ +) +{ +#if FF_LFN_UNICODE == 1 /* UTF-16 output */ + WCHAR hs, wc; + + hs = (WCHAR)(chr >> 16); + wc = (WCHAR)chr; + if (hs == 0) { /* Single encoding unit? */ + if (szb < 1 || IsSurrogate(wc)) return 0; /* Buffer overflow or wrong code? */ + *buf = wc; + return 1; + } + if (szb < 2 || !IsSurrogateH(hs) || !IsSurrogateL(wc)) return 0; /* Buffer overflow or wrong surrogate? */ + *buf++ = hs; + *buf++ = wc; + return 2; + +#elif FF_LFN_UNICODE == 2 /* UTF-8 output */ + DWORD hc; + + if (chr < 0x80) { /* Single byte code? */ + if (szb < 1) return 0; /* Buffer overflow? */ + *buf = (TCHAR)chr; + return 1; + } + if (chr < 0x800) { /* 2-byte sequence? */ + if (szb < 2) return 0; /* Buffer overflow? */ + *buf++ = (TCHAR)(0xC0 | (chr >> 6 & 0x1F)); + *buf++ = (TCHAR)(0x80 | (chr >> 0 & 0x3F)); + return 2; + } + if (chr < 0x10000) { /* 3-byte sequence? */ + if (szb < 3 || IsSurrogate(chr)) return 0; /* Buffer overflow or wrong code? */ + *buf++ = (TCHAR)(0xE0 | (chr >> 12 & 0x0F)); + *buf++ = (TCHAR)(0x80 | (chr >> 6 & 0x3F)); + *buf++ = (TCHAR)(0x80 | (chr >> 0 & 0x3F)); + return 3; + } + /* 4-byte sequence */ + if (szb < 4) return 0; /* Buffer overflow? */ + hc = ((chr & 0xFFFF0000) - 0xD8000000) >> 6; /* Get high 10 bits */ + chr = (chr & 0xFFFF) - 0xDC00; /* Get low 10 bits */ + if (hc >= 0x100000 || chr >= 0x400) return 0; /* Wrong surrogate? */ + chr = (hc | chr) + 0x10000; + *buf++ = (TCHAR)(0xF0 | (chr >> 18 & 0x07)); + *buf++ = (TCHAR)(0x80 | (chr >> 12 & 0x3F)); + *buf++ = (TCHAR)(0x80 | (chr >> 6 & 0x3F)); + *buf++ = (TCHAR)(0x80 | (chr >> 0 & 0x3F)); + return 4; + +#elif FF_LFN_UNICODE == 3 /* UTF-32 output */ + DWORD hc; + + if (szb < 1) return 0; /* Buffer overflow? */ + if (chr >= 0x10000) { /* Out of BMP? */ + hc = ((chr & 0xFFFF0000) - 0xD8000000) >> 6; /* Get high 10 bits */ + chr = (chr & 0xFFFF) - 0xDC00; /* Get low 10 bits */ + if (hc >= 0x100000 || chr >= 0x400) return 0; /* Wrong surrogate? */ + chr = (hc | chr) + 0x10000; + } + *buf++ = (TCHAR)chr; + return 1; + +#else /* ANSI/OEM output */ + WCHAR wc; + + wc = ff_uni2oem(chr, CODEPAGE); + if (wc >= 0x100) { /* Is this a DBC? */ + if (szb < 2) return 0; + *buf++ = (char)(wc >> 8); /* Store DBC 1st byte */ + *buf++ = (TCHAR)wc; /* Store DBC 2nd byte */ + return 2; + } + if (wc == 0 || szb < 1) return 0; /* Invalid char or buffer overflow? */ + *buf++ = (TCHAR)wc; /* Store the character */ + return 1; +#endif +} +#endif /* FF_USE_LFN */ + + +#if FF_FS_REENTRANT /*-----------------------------------------------------------------------*/ /* Request/Release grant to access the volume */ /*-----------------------------------------------------------------------*/ -#if _FS_REENTRANT - -static -int lock_fs ( - FATFS *fs /* File system object */ +static int lock_fs ( /* 1:Ok, 0:timeout */ + FATFS* fs /* Filesystem object */ ) { return ff_req_grant(fs->sobj); } -static -void unlock_fs ( - FATFS *fs, /* File system object */ +static void unlock_fs ( + FATFS* fs, /* Filesystem object */ FRESULT res /* Result code to be returned */ ) { - if (res != FR_NOT_ENABLED && - res != FR_INVALID_DRIVE && - res != FR_INVALID_OBJECT && - res != FR_TIMEOUT) { + if (fs && res != FR_NOT_ENABLED && res != FR_INVALID_DRIVE && res != FR_TIMEOUT) { ff_rel_grant(fs->sobj); } } + #endif +#if FF_FS_LOCK != 0 /*-----------------------------------------------------------------------*/ -/* File shareing control functions */ +/* File lock control functions */ /*-----------------------------------------------------------------------*/ -#if _FS_SHARE -static -FRESULT chk_lock ( /* Check if the file can be accessed */ - DIR* dj, /* Directory object pointing the file to be checked */ - int acc /* Desired access (0:Read, 1:Write, 2:Delete/Rename) */ +static FRESULT chk_lock ( /* Check if the file can be accessed */ + DIR* dp, /* Directory object pointing the file to be checked */ + int acc /* Desired access type (0:Read mode open, 1:Write mode open, 2:Delete or rename) */ ) { UINT i, be; - /* Search file semaphore table */ - for (i = be = 0; i < _FS_SHARE; i++) { + /* Search open object table for the object */ + be = 0; + for (i = 0; i < FF_FS_LOCK; i++) { if (Files[i].fs) { /* Existing entry */ - if (Files[i].fs == dj->fs && /* Check if the file matched with an open file */ - Files[i].clu == dj->sclust && - Files[i].idx == dj->index) break; + if (Files[i].fs == dp->obj.fs && /* Check if the object matches with an open object */ + Files[i].clu == dp->obj.sclust && + Files[i].ofs == dp->dptr) break; } else { /* Blank entry */ - be++; + be = 1; } } - if (i == _FS_SHARE) /* The file is not opened */ - return (be || acc == 2) ? FR_OK : FR_TOO_MANY_OPEN_FILES; /* Is there a blank entry for new file? */ + if (i == FF_FS_LOCK) { /* The object has not been opened */ + return (!be && acc != 2) ? FR_TOO_MANY_OPEN_FILES : FR_OK; /* Is there a blank entry for new object? */ + } - /* The file has been opened. Reject any open against writing file and all write mode open */ - return (acc || Files[i].ctr == 0x100) ? FR_LOCKED : FR_OK; + /* The object was opened. Reject any open against writing file and all write mode open */ + return (acc != 0 || Files[i].ctr == 0x100) ? FR_LOCKED : FR_OK; } -static -int enq_lock (void) /* Check if an entry is available for a new file */ +static int enq_lock (void) /* Check if an entry is available for a new object */ { UINT i; - for (i = 0; i < _FS_SHARE && Files[i].fs; i++) ; - return (i == _FS_SHARE) ? 0 : 1; + for (i = 0; i < FF_FS_LOCK && Files[i].fs; i++) ; + return (i == FF_FS_LOCK) ? 0 : 1; } -static -UINT inc_lock ( /* Increment file open counter and returns its index (0:int error) */ - DIR* dj, /* Directory object pointing the file to register or increment */ - int acc /* Desired access mode (0:Read, !0:Write) */ +static UINT inc_lock ( /* Increment object open counter and returns its index (0:Internal error) */ + DIR* dp, /* Directory object pointing the file to register or increment */ + int acc /* Desired access (0:Read, 1:Write, 2:Delete/Rename) */ ) { UINT i; - for (i = 0; i < _FS_SHARE; i++) { /* Find the file */ - if (Files[i].fs == dj->fs && - Files[i].clu == dj->sclust && - Files[i].idx == dj->index) break; + for (i = 0; i < FF_FS_LOCK; i++) { /* Find the object */ + if (Files[i].fs == dp->obj.fs && + Files[i].clu == dp->obj.sclust && + Files[i].ofs == dp->dptr) break; } - if (i == _FS_SHARE) { /* Not opened. Register it as new. */ - for (i = 0; i < _FS_SHARE && Files[i].fs; i++) ; - if (i == _FS_SHARE) return 0; /* No space to register (int err) */ - Files[i].fs = dj->fs; - Files[i].clu = dj->sclust; - Files[i].idx = dj->index; + if (i == FF_FS_LOCK) { /* Not opened. Register it as new. */ + for (i = 0; i < FF_FS_LOCK && Files[i].fs; i++) ; + if (i == FF_FS_LOCK) return 0; /* No free entry to register (int err) */ + Files[i].fs = dp->obj.fs; + Files[i].clu = dp->obj.sclust; + Files[i].ofs = dp->dptr; Files[i].ctr = 0; } - if (acc && Files[i].ctr) return 0; /* Access violation (int err) */ + if (acc >= 1 && Files[i].ctr) return 0; /* Access violation (int err) */ Files[i].ctr = acc ? 0x100 : Files[i].ctr + 1; /* Set semaphore value */ - return i + 1; + return i + 1; /* Index number origin from 1 */ } -static -FRESULT dec_lock ( /* Decrement file open counter */ - UINT i /* Semaphore index */ +static FRESULT dec_lock ( /* Decrement object open counter */ + UINT i /* Semaphore index (1..) */ ) { WORD n; FRESULT res; - if (--i < _FS_SHARE) { + if (--i < FF_FS_LOCK) { /* Index number origin from 0 */ n = Files[i].ctr; - if (n == 0x100) n = 0; - if (n) n--; + if (n == 0x100) n = 0; /* If write mode open, delete the entry */ + if (n > 0) n--; /* Decrement read mode open count */ Files[i].ctr = n; - if (!n) Files[i].fs = 0; + if (n == 0) Files[i].fs = 0; /* Delete the entry if open count gets zero */ res = FR_OK; } else { - res = FR_INT_ERR; + res = FR_INT_ERR; /* Invalid index nunber */ } return res; } -static -void clear_lock ( /* Clear lock entries of the volume */ +static void clear_lock ( /* Clear lock entries of the volume */ FATFS *fs ) { UINT i; - for (i = 0; i < _FS_SHARE; i++) { + for (i = 0; i < FF_FS_LOCK; i++) { if (Files[i].fs == fs) Files[i].fs = 0; } } -#endif + +#endif /* FF_FS_LOCK != 0 */ /*-----------------------------------------------------------------------*/ -/* Change window offset */ +/* Move/Flush disk access window in the filesystem object */ /*-----------------------------------------------------------------------*/ - -static -FRESULT move_window ( - FATFS *fs, /* File system object */ - DWORD sector /* Sector number to make appearance in the fs->win[] */ -) /* Move to zero only writes back dirty window */ +#if !FF_FS_READONLY +static FRESULT sync_window ( /* Returns FR_OK or FR_DISK_ERR */ + FATFS* fs /* Filesystem object */ +) { - DWORD wsect; - - - wsect = fs->winsect; - if (wsect != sector) { /* Changed current window */ -#if !_FS_READONLY - if (fs->wflag) { /* Write back dirty window if needed */ - if (disk_write(fs->drv, fs->win, wsect, 1) != RES_OK) - return FR_DISK_ERR; - fs->wflag = 0; - if (wsect < (fs->fatbase + fs->fsize)) { /* In FAT area */ - BYTE nf; - for (nf = fs->n_fats; nf > 1; nf--) { /* Reflect the change to all FAT copies */ - wsect += fs->fsize; - disk_write(fs->drv, fs->win, wsect, 1); - } + FRESULT res = FR_OK; + + + if (fs->wflag) { /* Is the disk access window dirty */ + if (disk_write(fs->pdrv, fs->win, fs->winsect, 1) == RES_OK) { /* Write back the window */ + fs->wflag = 0; /* Clear window dirty flag */ + if (fs->winsect - fs->fatbase < fs->fsize) { /* Is it in the 1st FAT? */ + if (fs->n_fats == 2) disk_write(fs->pdrv, fs->win, fs->winsect + fs->fsize, 1); /* Reflect it to 2nd FAT if needed */ } + } else { + res = FR_DISK_ERR; } + } + return res; +} #endif - if (sector) { - if (disk_read(fs->drv, fs->win, sector, 1) != RES_OK) - return FR_DISK_ERR; + + +static FRESULT move_window ( /* Returns FR_OK or FR_DISK_ERR */ + FATFS* fs, /* Filesystem object */ + DWORD sector /* Sector number to make appearance in the fs->win[] */ +) +{ + FRESULT res = FR_OK; + + + if (sector != fs->winsect) { /* Window offset changed? */ +#if !FF_FS_READONLY + res = sync_window(fs); /* Write-back changes */ +#endif + if (res == FR_OK) { /* Fill sector window with new data */ + if (disk_read(fs->pdrv, fs->win, sector, 1) != RES_OK) { + sector = 0xFFFFFFFF; /* Invalidate window if read data is not valid */ + res = FR_DISK_ERR; + } fs->winsect = sector; } } - - return FR_OK; + return res; } +#if !FF_FS_READONLY /*-----------------------------------------------------------------------*/ -/* Clean-up cached data */ +/* Synchronize filesystem and data on the storage */ /*-----------------------------------------------------------------------*/ -#if !_FS_READONLY -static -FRESULT sync ( /* FR_OK: successful, FR_DISK_ERR: failed */ - FATFS *fs /* File system object */ + +static FRESULT sync_fs ( /* Returns FR_OK or FR_DISK_ERR */ + FATFS* fs /* Filesystem object */ ) { FRESULT res; - res = move_window(fs, 0); + res = sync_window(fs); if (res == FR_OK) { - /* Update FSInfo sector if needed */ - if (fs->fs_type == FS_FAT32 && fs->fsi_flag) { - fs->winsect = 0; + if (fs->fs_type == FS_FAT32 && fs->fsi_flag == 1) { /* FAT32: Update FSInfo sector if needed */ /* Create FSInfo structure */ - mem_set(fs->win, 0, 512); - ST_WORD(fs->win+BS_55AA, 0xAA55); - ST_DWORD(fs->win+FSI_LeadSig, 0x41615252); - ST_DWORD(fs->win+FSI_StrucSig, 0x61417272); - ST_DWORD(fs->win+FSI_Free_Count, fs->free_clust); - ST_DWORD(fs->win+FSI_Nxt_Free, fs->last_clust); + mem_set(fs->win, 0, sizeof fs->win); + st_word(fs->win + BS_55AA, 0xAA55); + st_dword(fs->win + FSI_LeadSig, 0x41615252); + st_dword(fs->win + FSI_StrucSig, 0x61417272); + st_dword(fs->win + FSI_Free_Count, fs->free_clst); + st_dword(fs->win + FSI_Nxt_Free, fs->last_clst); /* Write it into the FSInfo sector */ - disk_write(fs->drv, fs->win, fs->fsi_sector, 1); + fs->winsect = fs->volbase + 1; + disk_write(fs->pdrv, fs->win, fs->winsect, 1); fs->fsi_flag = 0; } - /* Make sure that no pending write process in the physical drive */ - if (disk_ioctl(fs->drv, CTRL_SYNC, 0) != RES_OK) - res = FR_DISK_ERR; + /* Make sure that no pending write process in the lower layer */ + if (disk_ioctl(fs->pdrv, CTRL_SYNC, 0) != RES_OK) res = FR_DISK_ERR; } return res; } -#endif +#endif /*-----------------------------------------------------------------------*/ -/* Get sector# from cluster# */ +/* Get physical sector number from cluster number */ /*-----------------------------------------------------------------------*/ - -static DWORD clust2sect ( /* !=0: Sector number, 0: Failed - invalid cluster# */ - FATFS *fs, /* File system object */ +static DWORD clst2sect ( /* !=0:Sector number, 0:Failed (invalid cluster#) */ + FATFS* fs, /* Filesystem object */ DWORD clst /* Cluster# to be converted */ ) { - clst -= 2; - if (clst >= (fs->n_fatent - 2)) return 0; /* Invalid cluster# */ - return clst * fs->csize + fs->database; + clst -= 2; /* Cluster number is origin from 2 */ + if (clst >= fs->n_fatent - 2) return 0; /* Is it invalid cluster number? */ + return fs->database + fs->csize * clst; /* Start sector number of the cluster */ } @@ -838,246 +1166,533 @@ static DWORD clust2sect ( /* !=0: Sector number, 0: Failed - invalid cluster# */ /* FAT access - Read value of a FAT entry */ /*-----------------------------------------------------------------------*/ - -static DWORD get_fat ( /* 0xFFFFFFFF:Disk error, 1:Internal error, Else:Cluster status */ - FATFS *fs, /* File system object */ - DWORD clst /* Cluster# to get the link information */ +static DWORD get_fat ( /* 0xFFFFFFFF:Disk error, 1:Internal error, 2..0x7FFFFFFF:Cluster status */ + FFOBJID* obj, /* Corresponding object */ + DWORD clst /* Cluster number to get the value */ ) { UINT wc, bc; - BYTE *p; + DWORD val; + FATFS *fs = obj->fs; - if (clst < 2 || clst >= fs->n_fatent) /* Chack range */ - return 1; + if (clst < 2 || clst >= fs->n_fatent) { /* Check if in valid range */ + val = 1; /* Internal error */ + + } else { + val = 0xFFFFFFFF; /* Default value falls on disk error */ - switch (fs->fs_type) { - case FS_FAT12 : - bc = (UINT)clst; bc += bc / 2; - if (move_window(fs, fs->fatbase + (bc / SS(fs)))) break; - wc = fs->win[bc % SS(fs)]; bc++; - if (move_window(fs, fs->fatbase + (bc / SS(fs)))) break; - wc |= fs->win[bc % SS(fs)] << 8; - return (clst & 1) ? (wc >> 4) : (wc & 0xFFF); + switch (fs->fs_type) { + case FS_FAT12 : + bc = (UINT)clst; bc += bc / 2; + if (move_window(fs, fs->fatbase + (bc / SS(fs))) != FR_OK) break; + wc = fs->win[bc++ % SS(fs)]; /* Get 1st byte of the entry */ + if (move_window(fs, fs->fatbase + (bc / SS(fs))) != FR_OK) break; + wc |= fs->win[bc % SS(fs)] << 8; /* Merge 2nd byte of the entry */ + val = (clst & 1) ? (wc >> 4) : (wc & 0xFFF); /* Adjust bit position */ + break; - case FS_FAT16 : - if (move_window(fs, fs->fatbase + (clst / (SS(fs) / 2)))) break; - p = &fs->win[clst * 2 % SS(fs)]; - return LD_WORD(p); + case FS_FAT16 : + if (move_window(fs, fs->fatbase + (clst / (SS(fs) / 2))) != FR_OK) break; + val = ld_word(fs->win + clst * 2 % SS(fs)); /* Simple WORD array */ + break; - case FS_FAT32 : - if (move_window(fs, fs->fatbase + (clst / (SS(fs) / 4)))) break; - p = &fs->win[clst * 4 % SS(fs)]; - return LD_DWORD(p) & 0x0FFFFFFF; + case FS_FAT32 : + if (move_window(fs, fs->fatbase + (clst / (SS(fs) / 4))) != FR_OK) break; + val = ld_dword(fs->win + clst * 4 % SS(fs)) & 0x0FFFFFFF; /* Simple DWORD array but mask out upper 4 bits */ + break; +#if FF_FS_EXFAT + case FS_EXFAT : + if ((obj->objsize != 0 && obj->sclust != 0) || obj->stat == 0) { /* Object except root dir must have valid data length */ + DWORD cofs = clst - obj->sclust; /* Offset from start cluster */ + DWORD clen = (DWORD)((obj->objsize - 1) / SS(fs)) / fs->csize; /* Number of clusters - 1 */ + + if (obj->stat == 2 && cofs <= clen) { /* Is it a contiguous chain? */ + val = (cofs == clen) ? 0x7FFFFFFF : clst + 1; /* No data on the FAT, generate the value */ + break; + } + if (obj->stat == 3 && cofs < obj->n_cont) { /* Is it in the 1st fragment? */ + val = clst + 1; /* Generate the value */ + break; + } + if (obj->stat != 2) { /* Get value from FAT if FAT chain is valid */ + if (obj->n_frag != 0) { /* Is it on the growing edge? */ + val = 0x7FFFFFFF; /* Generate EOC */ + } else { + if (move_window(fs, fs->fatbase + (clst / (SS(fs) / 4))) != FR_OK) break; + val = ld_dword(fs->win + clst * 4 % SS(fs)) & 0x7FFFFFFF; + } + break; + } + } + /* go to default */ +#endif + default: + val = 1; /* Internal error */ + } } - return 0xFFFFFFFF; /* An error occurred at the disk I/O layer */ + return val; } +#if !FF_FS_READONLY /*-----------------------------------------------------------------------*/ /* FAT access - Change value of a FAT entry */ /*-----------------------------------------------------------------------*/ -#if !_FS_READONLY -static FRESULT put_fat ( - FATFS *fs, /* File system object */ - DWORD clst, /* Cluster# to be changed in range of 2 to fs->n_fatent - 1 */ - DWORD val /* New value to mark the cluster */ +static FRESULT put_fat ( /* FR_OK(0):succeeded, !=0:error */ + FATFS* fs, /* Corresponding filesystem object */ + DWORD clst, /* FAT index number (cluster number) to be changed */ + DWORD val /* New value to be set to the entry */ ) { UINT bc; BYTE *p; - FRESULT res; - + FRESULT res = FR_INT_ERR; - if (clst < 2 || clst >= fs->n_fatent) { /* Check range */ - res = FR_INT_ERR; - } else { + if (clst >= 2 && clst < fs->n_fatent) { /* Check if in valid range */ switch (fs->fs_type) { case FS_FAT12 : - bc = clst; bc += bc / 2; + bc = (UINT)clst; bc += bc / 2; /* bc: byte offset of the entry */ res = move_window(fs, fs->fatbase + (bc / SS(fs))); if (res != FR_OK) break; - p = &fs->win[bc % SS(fs)]; - *p = (clst & 1) ? ((*p & 0x0F) | ((BYTE)val << 4)) : (BYTE)val; - bc++; + p = fs->win + bc++ % SS(fs); + *p = (clst & 1) ? ((*p & 0x0F) | ((BYTE)val << 4)) : (BYTE)val; /* Put 1st byte */ fs->wflag = 1; res = move_window(fs, fs->fatbase + (bc / SS(fs))); if (res != FR_OK) break; - p = &fs->win[bc % SS(fs)]; - *p = (clst & 1) ? (BYTE)(val >> 4) : ((*p & 0xF0) | ((BYTE)(val >> 8) & 0x0F)); + p = fs->win + bc % SS(fs); + *p = (clst & 1) ? (BYTE)(val >> 4) : ((*p & 0xF0) | ((BYTE)(val >> 8) & 0x0F)); /* Put 2nd byte */ + fs->wflag = 1; break; case FS_FAT16 : res = move_window(fs, fs->fatbase + (clst / (SS(fs) / 2))); if (res != FR_OK) break; - p = &fs->win[clst * 2 % SS(fs)]; - ST_WORD(p, (WORD)val); + st_word(fs->win + clst * 2 % SS(fs), (WORD)val); /* Simple WORD array */ + fs->wflag = 1; break; case FS_FAT32 : +#if FF_FS_EXFAT + case FS_EXFAT : +#endif res = move_window(fs, fs->fatbase + (clst / (SS(fs) / 4))); if (res != FR_OK) break; - p = &fs->win[clst * 4 % SS(fs)]; - val |= LD_DWORD(p) & 0xF0000000; - ST_DWORD(p, val); + if (!FF_FS_EXFAT || fs->fs_type != FS_EXFAT) { + val = (val & 0x0FFFFFFF) | (ld_dword(fs->win + clst * 4 % SS(fs)) & 0xF0000000); + } + st_dword(fs->win + clst * 4 % SS(fs), val); + fs->wflag = 1; break; + } + } + return res; +} - default : - res = FR_INT_ERR; - break; +#endif /* !FF_FS_READONLY */ + + + + +#if FF_FS_EXFAT && !FF_FS_READONLY +/*-----------------------------------------------------------------------*/ +/* exFAT: Accessing FAT and Allocation Bitmap */ +/*-----------------------------------------------------------------------*/ + +/*--------------------------------------*/ +/* Find a contiguous free cluster block */ +/*--------------------------------------*/ + +static DWORD find_bitmap ( /* 0:Not found, 2..:Cluster block found, 0xFFFFFFFF:Disk error */ + FATFS* fs, /* Filesystem object */ + DWORD clst, /* Cluster number to scan from */ + DWORD ncl /* Number of contiguous clusters to find (1..) */ +) +{ + BYTE bm, bv; + UINT i; + DWORD val, scl, ctr; + + + clst -= 2; /* The first bit in the bitmap corresponds to cluster #2 */ + if (clst >= fs->n_fatent - 2) clst = 0; + scl = val = clst; ctr = 0; + for (;;) { + if (move_window(fs, fs->bitbase + val / 8 / SS(fs)) != FR_OK) return 0xFFFFFFFF; + i = val / 8 % SS(fs); bm = 1 << (val % 8); + do { + do { + bv = fs->win[i] & bm; bm <<= 1; /* Get bit value */ + if (++val >= fs->n_fatent - 2) { /* Next cluster (with wrap-around) */ + val = 0; bm = 0; i = SS(fs); + } + if (bv == 0) { /* Is it a free cluster? */ + if (++ctr == ncl) return scl + 2; /* Check if run length is sufficient for required */ + } else { + scl = val; ctr = 0; /* Encountered a cluster in-use, restart to scan */ + } + if (val == clst) return 0; /* All cluster scanned? */ + } while (bm != 0); + bm = 1; + } while (++i < SS(fs)); + } +} + + +/*----------------------------------------*/ +/* Set/Clear a block of allocation bitmap */ +/*----------------------------------------*/ + +static FRESULT change_bitmap ( + FATFS* fs, /* Filesystem object */ + DWORD clst, /* Cluster number to change from */ + DWORD ncl, /* Number of clusters to be changed */ + int bv /* bit value to be set (0 or 1) */ +) +{ + BYTE bm; + UINT i; + DWORD sect; + + + clst -= 2; /* The first bit corresponds to cluster #2 */ + sect = fs->bitbase + clst / 8 / SS(fs); /* Sector address */ + i = clst / 8 % SS(fs); /* Byte offset in the sector */ + bm = 1 << (clst % 8); /* Bit mask in the byte */ + for (;;) { + if (move_window(fs, sect++) != FR_OK) return FR_DISK_ERR; + do { + do { + if (bv == (int)((fs->win[i] & bm) != 0)) return FR_INT_ERR; /* Is the bit expected value? */ + fs->win[i] ^= bm; /* Flip the bit */ + fs->wflag = 1; + if (--ncl == 0) return FR_OK; /* All bits processed? */ + } while (bm <<= 1); /* Next bit */ + bm = 1; + } while (++i < SS(fs)); /* Next byte */ + i = 0; + } +} + + +/*---------------------------------------------*/ +/* Fill the first fragment of the FAT chain */ +/*---------------------------------------------*/ + +static FRESULT fill_first_frag ( + FFOBJID* obj /* Pointer to the corresponding object */ +) +{ + FRESULT res; + DWORD cl, n; + + + if (obj->stat == 3) { /* Has the object been changed 'fragmented' in this session? */ + for (cl = obj->sclust, n = obj->n_cont; n; cl++, n--) { /* Create cluster chain on the FAT */ + res = put_fat(obj->fs, cl, cl + 1); + if (res != FR_OK) return res; } - fs->wflag = 1; + obj->stat = 0; /* Change status 'FAT chain is valid' */ } + return FR_OK; +} - return res; + +/*---------------------------------------------*/ +/* Fill the last fragment of the FAT chain */ +/*---------------------------------------------*/ + +static FRESULT fill_last_frag ( + FFOBJID* obj, /* Pointer to the corresponding object */ + DWORD lcl, /* Last cluster of the fragment */ + DWORD term /* Value to set the last FAT entry */ +) +{ + FRESULT res; + + + while (obj->n_frag > 0) { /* Create the chain of last fragment */ + res = put_fat(obj->fs, lcl - obj->n_frag + 1, (obj->n_frag > 1) ? lcl - obj->n_frag + 2 : term); + if (res != FR_OK) return res; + obj->n_frag--; + } + return FR_OK; } -#endif /* !_FS_READONLY */ +#endif /* FF_FS_EXFAT && !FF_FS_READONLY */ +#if !FF_FS_READONLY /*-----------------------------------------------------------------------*/ /* FAT handling - Remove a cluster chain */ /*-----------------------------------------------------------------------*/ -#if !_FS_READONLY -static -FRESULT remove_chain ( - FATFS *fs, /* File system object */ - DWORD clst /* Cluster# to remove a chain from */ + +static FRESULT remove_chain ( /* FR_OK(0):succeeded, !=0:error */ + FFOBJID* obj, /* Corresponding object */ + DWORD clst, /* Cluster to remove a chain from */ + DWORD pclst /* Previous cluster of clst (0 if entire chain) */ ) { - FRESULT res; + FRESULT res = FR_OK; DWORD nxt; -#if _USE_ERASE - DWORD scl = clst, ecl = clst, resion[2]; + FATFS *fs = obj->fs; +#if FF_FS_EXFAT || FF_USE_TRIM + DWORD scl = clst, ecl = clst; +#endif +#if FF_USE_TRIM + DWORD rt[2]; #endif - if (clst < 2 || clst >= fs->n_fatent) { /* Check range */ - res = FR_INT_ERR; + if (clst < 2 || clst >= fs->n_fatent) return FR_INT_ERR; /* Check if in valid range */ - } else { - res = FR_OK; - while (clst < fs->n_fatent) { /* Not a last link? */ - nxt = get_fat(fs, clst); /* Get cluster status */ - if (nxt == 0) break; /* Empty cluster? */ - if (nxt == 1) { res = FR_INT_ERR; break; } /* Internal error? */ - if (nxt == 0xFFFFFFFF) { res = FR_DISK_ERR; break; } /* Disk error? */ - res = put_fat(fs, clst, 0); /* Mark the cluster "empty" */ - if (res != FR_OK) break; - if (fs->free_clust != 0xFFFFFFFF) { /* Update FSInfo */ - fs->free_clust++; - fs->fsi_flag = 1; - } -#if _USE_ERASE - if (ecl + 1 == nxt) { /* Next cluster is contiguous */ - ecl = nxt; - } else { /* End of contiguous clusters */ - resion[0] = clust2sect(fs, scl); /* Start sector */ - resion[1] = clust2sect(fs, ecl) + fs->csize - 1; /* End sector */ - disk_ioctl(fs->drv, CTRL_ERASE_SECTOR, resion); /* Erase the block */ - scl = ecl = nxt; + /* Mark the previous cluster 'EOC' on the FAT if it exists */ + if (pclst != 0 && (!FF_FS_EXFAT || fs->fs_type != FS_EXFAT || obj->stat != 2)) { + res = put_fat(fs, pclst, 0xFFFFFFFF); + if (res != FR_OK) return res; + } + + /* Remove the chain */ + do { + nxt = get_fat(obj, clst); /* Get cluster status */ + if (nxt == 0) break; /* Empty cluster? */ + if (nxt == 1) return FR_INT_ERR; /* Internal error? */ + if (nxt == 0xFFFFFFFF) return FR_DISK_ERR; /* Disk error? */ + if (!FF_FS_EXFAT || fs->fs_type != FS_EXFAT) { + res = put_fat(fs, clst, 0); /* Mark the cluster 'free' on the FAT */ + if (res != FR_OK) return res; + } + if (fs->free_clst < fs->n_fatent - 2) { /* Update FSINFO */ + fs->free_clst++; + fs->fsi_flag |= 1; + } +#if FF_FS_EXFAT || FF_USE_TRIM + if (ecl + 1 == nxt) { /* Is next cluster contiguous? */ + ecl = nxt; + } else { /* End of contiguous cluster block */ +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + res = change_bitmap(fs, scl, ecl - scl + 1, 0); /* Mark the cluster block 'free' on the bitmap */ + if (res != FR_OK) return res; } #endif - clst = nxt; /* Next cluster */ +#if FF_USE_TRIM + rt[0] = clst2sect(fs, scl); /* Start of data area freed */ + rt[1] = clst2sect(fs, ecl) + fs->csize - 1; /* End of data area freed */ + disk_ioctl(fs->pdrv, CTRL_TRIM, rt); /* Inform device the data in the block is no longer needed */ +#endif + scl = ecl = nxt; + } +#endif + clst = nxt; /* Next cluster */ + } while (clst < fs->n_fatent); /* Repeat while not the last link */ + +#if FF_FS_EXFAT + /* Some post processes for chain status */ + if (fs->fs_type == FS_EXFAT) { + if (pclst == 0) { /* Has the entire chain been removed? */ + obj->stat = 0; /* Change the chain status 'initial' */ + } else { + if (obj->stat == 0) { /* Is it a fragmented chain from the beginning of this session? */ + clst = obj->sclust; /* Follow the chain to check if it gets contiguous */ + while (clst != pclst) { + nxt = get_fat(obj, clst); + if (nxt < 2) return FR_INT_ERR; + if (nxt == 0xFFFFFFFF) return FR_DISK_ERR; + if (nxt != clst + 1) break; /* Not contiguous? */ + clst++; + } + if (clst == pclst) { /* Has the chain got contiguous again? */ + obj->stat = 2; /* Change the chain status 'contiguous' */ + } + } else { + if (obj->stat == 3 && pclst >= obj->sclust && pclst <= obj->sclust + obj->n_cont) { /* Was the chain fragmented in this session and got contiguous again? */ + obj->stat = 2; /* Change the chain status 'contiguous' */ + } + } } } - - return res; -} #endif + return FR_OK; +} /*-----------------------------------------------------------------------*/ -/* FAT handling - Stretch or Create a cluster chain */ +/* FAT handling - Stretch a chain or Create a new chain */ /*-----------------------------------------------------------------------*/ -#if !_FS_READONLY -static -DWORD create_chain ( /* 0:No free cluster, 1:Internal error, 0xFFFFFFFF:Disk error, >=2:New cluster# */ - FATFS *fs, /* File system object */ - DWORD clst /* Cluster# to stretch. 0 means create a new chain. */ + +static DWORD create_chain ( /* 0:No free cluster, 1:Internal error, 0xFFFFFFFF:Disk error, >=2:New cluster# */ + FFOBJID* obj, /* Corresponding object */ + DWORD clst /* Cluster# to stretch, 0:Create a new chain */ ) { DWORD cs, ncl, scl; FRESULT res; + FATFS *fs = obj->fs; - if (clst == 0) { /* Create a new chain */ - scl = fs->last_clust; /* Get suggested start point */ - if (!scl || scl >= fs->n_fatent) scl = 1; + if (clst == 0) { /* Create a new chain */ + scl = fs->last_clst; /* Suggested cluster to start to find */ + if (scl == 0 || scl >= fs->n_fatent) scl = 1; } - else { /* Stretch the current chain */ - cs = get_fat(fs, clst); /* Check the cluster status */ - if (cs < 2) return 1; /* It is an invalid cluster */ + else { /* Stretch a chain */ + cs = get_fat(obj, clst); /* Check the cluster status */ + if (cs < 2) return 1; /* Test for insanity */ + if (cs == 0xFFFFFFFF) return cs; /* Test for disk error */ if (cs < fs->n_fatent) return cs; /* It is already followed by next cluster */ - scl = clst; + scl = clst; /* Cluster to start to find */ } - - ncl = scl; /* Start cluster */ - for (;;) { - ncl++; /* Next cluster */ - if (ncl >= fs->n_fatent) { /* Wrap around */ - ncl = 2; - if (ncl > scl) return 0; /* No free cluster */ + if (fs->free_clst == 0) return 0; /* No free cluster */ + +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* On the exFAT volume */ + ncl = find_bitmap(fs, scl, 1); /* Find a free cluster */ + if (ncl == 0 || ncl == 0xFFFFFFFF) return ncl; /* No free cluster or hard error? */ + res = change_bitmap(fs, ncl, 1, 1); /* Mark the cluster 'in use' */ + if (res == FR_INT_ERR) return 1; + if (res == FR_DISK_ERR) return 0xFFFFFFFF; + if (clst == 0) { /* Is it a new chain? */ + obj->stat = 2; /* Set status 'contiguous' */ + } else { /* It is a stretched chain */ + if (obj->stat == 2 && ncl != scl + 1) { /* Is the chain got fragmented? */ + obj->n_cont = scl - obj->sclust; /* Set size of the contiguous part */ + obj->stat = 3; /* Change status 'just fragmented' */ + } + } + if (obj->stat != 2) { /* Is the file non-contiguous? */ + if (ncl == clst + 1) { /* Is the cluster next to previous one? */ + obj->n_frag = obj->n_frag ? obj->n_frag + 1 : 2; /* Increment size of last framgent */ + } else { /* New fragment */ + if (obj->n_frag == 0) obj->n_frag = 1; + res = fill_last_frag(obj, clst, ncl); /* Fill last fragment on the FAT and link it to new one */ + if (res == FR_OK) obj->n_frag = 1; + } + } + } else +#endif + { /* On the FAT/FAT32 volume */ + ncl = 0; + if (scl == clst) { /* Stretching an existing chain? */ + ncl = scl + 1; /* Test if next cluster is free */ + if (ncl >= fs->n_fatent) ncl = 2; + cs = get_fat(obj, ncl); /* Get next cluster status */ + if (cs == 1 || cs == 0xFFFFFFFF) return cs; /* Test for error */ + if (cs != 0) { /* Not free? */ + cs = fs->last_clst; /* Start at suggested cluster if it is valid */ + if (cs >= 2 && cs < fs->n_fatent) scl = cs; + ncl = 0; + } + } + if (ncl == 0) { /* The new cluster cannot be contiguous and find another fragment */ + ncl = scl; /* Start cluster */ + for (;;) { + ncl++; /* Next cluster */ + if (ncl >= fs->n_fatent) { /* Check wrap-around */ + ncl = 2; + if (ncl > scl) return 0; /* No free cluster found? */ + } + cs = get_fat(obj, ncl); /* Get the cluster status */ + if (cs == 0) break; /* Found a free cluster? */ + if (cs == 1 || cs == 0xFFFFFFFF) return cs; /* Test for error */ + if (ncl == scl) return 0; /* No free cluster found? */ + } + } + res = put_fat(fs, ncl, 0xFFFFFFFF); /* Mark the new cluster 'EOC' */ + if (res == FR_OK && clst != 0) { + res = put_fat(fs, clst, ncl); /* Link it from the previous one if needed */ } - cs = get_fat(fs, ncl); /* Get the cluster status */ - if (cs == 0) break; /* Found a free cluster */ - if (cs == 0xFFFFFFFF || cs == 1)/* An error occurred */ - return cs; - if (ncl == scl) return 0; /* No free cluster */ } - res = put_fat(fs, ncl, 0x0FFFFFFF); /* Mark the new cluster "last link" */ - if (res == FR_OK && clst != 0) { - res = put_fat(fs, clst, ncl); /* Link it to the previous one if needed */ - } - if (res == FR_OK) { - fs->last_clust = ncl; /* Update FSINFO */ - if (fs->free_clust != 0xFFFFFFFF) { - fs->free_clust--; - fs->fsi_flag = 1; - } + if (res == FR_OK) { /* Update FSINFO if function succeeded. */ + fs->last_clst = ncl; + if (fs->free_clst <= fs->n_fatent - 2) fs->free_clst--; + fs->fsi_flag |= 1; } else { - ncl = (res == FR_DISK_ERR) ? 0xFFFFFFFF : 1; + ncl = (res == FR_DISK_ERR) ? 0xFFFFFFFF : 1; /* Failed. Generate error status */ } - return ncl; /* Return new cluster number or error code */ + return ncl; /* Return new cluster number or error status */ } -#endif /* !_FS_READONLY */ + +#endif /* !FF_FS_READONLY */ + +#if FF_USE_FASTSEEK /*-----------------------------------------------------------------------*/ /* FAT handling - Convert offset into cluster with link map table */ /*-----------------------------------------------------------------------*/ -#if _USE_FASTSEEK -static -DWORD clmt_clust ( /* <2:Error, >=2:Cluster number */ +static DWORD clmt_clust ( /* <2:Error, >=2:Cluster number */ FIL* fp, /* Pointer to the file object */ - DWORD ofs /* File offset to be converted to cluster# */ + FSIZE_t ofs /* File offset to be converted to cluster# */ ) { DWORD cl, ncl, *tbl; + FATFS *fs = fp->obj.fs; tbl = fp->cltbl + 1; /* Top of CLMT */ - cl = ofs / SS(fp->fs) / fp->fs->csize; /* Cluster order from top of the file */ + cl = (DWORD)(ofs / SS(fs) / fs->csize); /* Cluster order from top of the file */ for (;;) { - ncl = *tbl++; /* Number of clusters in the fragment */ - if (!ncl) return 0; /* End of table? (error) */ + ncl = *tbl++; /* Number of cluters in the fragment */ + if (ncl == 0) return 0; /* End of table? (error) */ if (cl < ncl) break; /* In this fragment? */ cl -= ncl; tbl++; /* Next fragment */ } return cl + *tbl; /* Return the cluster number */ } -#endif /* _USE_FASTSEEK */ + +#endif /* FF_USE_FASTSEEK */ + + + + +/*-----------------------------------------------------------------------*/ +/* Directory handling - Fill a cluster with zeros */ +/*-----------------------------------------------------------------------*/ + +#if !FF_FS_READONLY +static FRESULT dir_clear ( /* Returns FR_OK or FR_DISK_ERR */ + FATFS *fs, /* Filesystem object */ + DWORD clst /* Directory table to clear */ +) +{ + DWORD sect; + UINT n, szb; + BYTE *ibuf; + + + if (sync_window(fs) != FR_OK) return FR_DISK_ERR; /* Flush disk access window */ + sect = clst2sect(fs, clst); /* Top of the cluster */ + fs->winsect = sect; /* Set window to top of the cluster */ + mem_set(fs->win, 0, sizeof fs->win); /* Clear window buffer */ +#if FF_USE_LFN == 3 /* Quick table clear by using multi-secter write */ + /* Allocate a temporary buffer */ + for (szb = ((DWORD)fs->csize * SS(fs) >= MAX_MALLOC) ? MAX_MALLOC : fs->csize * SS(fs), ibuf = 0; szb > SS(fs) && (ibuf = ff_memalloc(szb)) == 0; szb /= 2) ; + if (szb > SS(fs)) { /* Buffer allocated? */ + mem_set(ibuf, 0, szb); + szb /= SS(fs); /* Bytes -> Sectors */ + for (n = 0; n < fs->csize && disk_write(fs->pdrv, ibuf, sect + n, szb) == RES_OK; n += szb) ; /* Fill the cluster with 0 */ + ff_memfree(ibuf); + } else +#endif + { + ibuf = fs->win; szb = 1; /* Use window buffer (many single-sector writes may take a time) */ + for (n = 0; n < fs->csize && disk_write(fs->pdrv, ibuf, sect + n, szb) == RES_OK; n += szb) ; /* Fill the cluster with 0 */ + } + return (n == fs->csize) ? FR_OK : FR_DISK_ERR; +} +#endif /* !FF_FS_READONLY */ + @@ -1085,111 +1700,103 @@ DWORD clmt_clust ( /* <2:Error, >=2:Cluster number */ /* Directory handling - Set directory index */ /*-----------------------------------------------------------------------*/ -static -FRESULT dir_sdi ( - DIR *dj, /* Pointer to directory object */ - WORD idx /* Directory index number */ +static FRESULT dir_sdi ( /* FR_OK(0):succeeded, !=0:error */ + DIR* dp, /* Pointer to directory object */ + DWORD ofs /* Offset of directory table */ ) { - DWORD clst; - WORD ic; + DWORD csz, clst; + FATFS *fs = dp->obj.fs; - dj->index = idx; - clst = dj->sclust; - if (clst == 1 || clst >= dj->fs->n_fatent) /* Check start cluster range */ + if (ofs >= (DWORD)((FF_FS_EXFAT && fs->fs_type == FS_EXFAT) ? MAX_DIR_EX : MAX_DIR) || ofs % SZDIRE) { /* Check range of offset and alignment */ return FR_INT_ERR; - if (!clst && dj->fs->fs_type == FS_FAT32) /* Replace cluster# 0 with root cluster# if in FAT32 */ - clst = dj->fs->dirbase; - - if (clst == 0) { /* Static table (root-dir in FAT12/16) */ - dj->clust = clst; - if (idx >= dj->fs->n_rootdir) /* Index is out of range */ - return FR_INT_ERR; - dj->sect = dj->fs->dirbase + idx / (SS(dj->fs) / SZ_DIR); /* Sector# */ - } - else { /* Dynamic table (sub-dirs or root-dir in FAT32) */ - ic = SS(dj->fs) / SZ_DIR * dj->fs->csize; /* Entries per cluster */ - while (idx >= ic) { /* Follow cluster chain */ - clst = get_fat(dj->fs, clst); /* Get next cluster */ + } + dp->dptr = ofs; /* Set current offset */ + clst = dp->obj.sclust; /* Table start cluster (0:root) */ + if (clst == 0 && fs->fs_type >= FS_FAT32) { /* Replace cluster# 0 with root cluster# */ + clst = fs->dirbase; + if (FF_FS_EXFAT) dp->obj.stat = 0; /* exFAT: Root dir has an FAT chain */ + } + + if (clst == 0) { /* Static table (root-directory on the FAT volume) */ + if (ofs / SZDIRE >= fs->n_rootdir) return FR_INT_ERR; /* Is index out of range? */ + dp->sect = fs->dirbase; + + } else { /* Dynamic table (sub-directory or root-directory on the FAT32/exFAT volume) */ + csz = (DWORD)fs->csize * SS(fs); /* Bytes per cluster */ + while (ofs >= csz) { /* Follow cluster chain */ + clst = get_fat(&dp->obj, clst); /* Get next cluster */ if (clst == 0xFFFFFFFF) return FR_DISK_ERR; /* Disk error */ - if (clst < 2 || clst >= dj->fs->n_fatent) /* Reached to end of table or int error */ - return FR_INT_ERR; - idx -= ic; + if (clst < 2 || clst >= fs->n_fatent) return FR_INT_ERR; /* Reached to end of table or internal error */ + ofs -= csz; } - dj->clust = clst; - dj->sect = clust2sect(dj->fs, clst) + idx / (SS(dj->fs) / SZ_DIR); /* Sector# */ + dp->sect = clst2sect(fs, clst); } + dp->clust = clst; /* Current cluster# */ + if (dp->sect == 0) return FR_INT_ERR; + dp->sect += ofs / SS(fs); /* Sector# of the directory entry */ + dp->dir = fs->win + (ofs % SS(fs)); /* Pointer to the entry in the win[] */ - dj->dir = dj->fs->win + (idx % (SS(dj->fs) / SZ_DIR)) * SZ_DIR; /* Ptr to the entry in the sector */ - - return FR_OK; /* Seek succeeded */ + return FR_OK; } /*-----------------------------------------------------------------------*/ -/* Directory handling - Move directory index next */ +/* Directory handling - Move directory table index next */ /*-----------------------------------------------------------------------*/ -static -FRESULT dir_next ( /* FR_OK:Succeeded, FR_NO_FILE:End of table, FR_DENIED:EOT and could not stretch */ - DIR *dj, /* Pointer to directory object */ - int stretch /* 0: Do not stretch table, 1: Stretch table if needed */ +static FRESULT dir_next ( /* FR_OK(0):succeeded, FR_NO_FILE:End of table, FR_DENIED:Could not stretch */ + DIR* dp, /* Pointer to the directory object */ + int stretch /* 0: Do not stretch table, 1: Stretch table if needed */ ) { - DWORD clst; - WORD i; + DWORD ofs, clst; + FATFS *fs = dp->obj.fs; - //stretch = stretch; /* To suppress warning on read-only cfg. */ - i = dj->index + 1; - if (!i || !dj->sect) /* Report EOT when index has reached 65535 */ - return FR_NO_FILE; + ofs = dp->dptr + SZDIRE; /* Next entry */ + if (ofs >= (DWORD)((FF_FS_EXFAT && fs->fs_type == FS_EXFAT) ? MAX_DIR_EX : MAX_DIR)) dp->sect = 0; /* Disable it if the offset reached the max value */ + if (dp->sect == 0) return FR_NO_FILE; /* Report EOT if it has been disabled */ - if (!(i % (SS(dj->fs) / SZ_DIR))) { /* Sector changed? */ - dj->sect++; /* Next sector */ + if (ofs % SS(fs) == 0) { /* Sector changed? */ + dp->sect++; /* Next sector */ - if (dj->clust == 0) { /* Static table */ - if (i >= dj->fs->n_rootdir) /* Report EOT when end of table */ - return FR_NO_FILE; + if (dp->clust == 0) { /* Static table */ + if (ofs / SZDIRE >= fs->n_rootdir) { /* Report EOT if it reached end of static table */ + dp->sect = 0; return FR_NO_FILE; + } } else { /* Dynamic table */ - if (((i / (SS(dj->fs) / SZ_DIR)) & (dj->fs->csize - 1)) == 0) { /* Cluster changed? */ - clst = get_fat(dj->fs, dj->clust); /* Get next cluster */ - if (clst <= 1) return FR_INT_ERR; - if (clst == 0xFFFFFFFF) return FR_DISK_ERR; - if (clst >= dj->fs->n_fatent) { /* When it reached end of dynamic table */ -#if !_FS_READONLY - BYTE c; - if (!stretch) return FR_NO_FILE; /* When do not stretch, report EOT */ - clst = create_chain(dj->fs, dj->clust); /* Stretch cluster chain */ - if (clst == 0) return FR_DENIED; /* No free cluster */ - if (clst == 1) return FR_INT_ERR; - if (clst == 0xFFFFFFFF) return FR_DISK_ERR; - /* Clean-up stretched table */ - if (move_window(dj->fs, 0)) return FR_DISK_ERR; /* Flush active window */ - mem_set(dj->fs->win, 0, SS(dj->fs)); /* Clear window buffer */ - dj->fs->winsect = clust2sect(dj->fs, clst); /* Cluster start sector */ - for (c = 0; c < dj->fs->csize; c++) { /* Fill the new cluster with 0 */ - dj->fs->wflag = 1; - if (move_window(dj->fs, 0)) return FR_DISK_ERR; - dj->fs->winsect++; + if ((ofs / SS(fs) & (fs->csize - 1)) == 0) { /* Cluster changed? */ + clst = get_fat(&dp->obj, dp->clust); /* Get next cluster */ + if (clst <= 1) return FR_INT_ERR; /* Internal error */ + if (clst == 0xFFFFFFFF) return FR_DISK_ERR; /* Disk error */ + if (clst >= fs->n_fatent) { /* It reached end of dynamic table */ +#if !FF_FS_READONLY + if (!stretch) { /* If no stretch, report EOT */ + dp->sect = 0; return FR_NO_FILE; } - dj->fs->winsect -= c; /* Rewind window address */ + clst = create_chain(&dp->obj, dp->clust); /* Allocate a cluster */ + if (clst == 0) return FR_DENIED; /* No free cluster */ + if (clst == 1) return FR_INT_ERR; /* Internal error */ + if (clst == 0xFFFFFFFF) return FR_DISK_ERR; /* Disk error */ + if (dir_clear(fs, clst) != FR_OK) return FR_DISK_ERR; /* Clean up the stretched table */ + if (FF_FS_EXFAT) dp->obj.stat |= 4; /* exFAT: The directory has been stretched */ #else - return FR_NO_FILE; /* Report EOT */ + if (!stretch) dp->sect = 0; /* (this line is to suppress compiler warning) */ + dp->sect = 0; return FR_NO_FILE; /* Report EOT */ #endif } - dj->clust = clst; /* Initialize data for new cluster */ - dj->sect = clust2sect(dj->fs, clst); + dp->clust = clst; /* Initialize data for new cluster */ + dp->sect = clst2sect(fs, clst); } } } - - dj->index = i; - dj->dir = dj->fs->win + (i % (SS(dj->fs) / SZ_DIR)) * SZ_DIR; + dp->dptr = ofs; /* Current entry */ + dp->dir = fs->win + ofs % SS(fs); /* Pointer to the entry in the win[] */ return FR_OK; } @@ -1197,145 +1804,242 @@ FRESULT dir_next ( /* FR_OK:Succeeded, FR_NO_FILE:End of table, FR_DENIED:EOT an +#if !FF_FS_READONLY /*-----------------------------------------------------------------------*/ -/* LFN handling - Test/Pick/Fit an LFN segment from/to directory entry */ +/* Directory handling - Reserve a block of directory entries */ /*-----------------------------------------------------------------------*/ -#if _USE_LFN -static -const BYTE LfnOfs[] = {1,3,5,7,9,14,16,18,20,22,24,28,30}; /* Offset of LFN chars in the directory entry */ +static FRESULT dir_alloc ( /* FR_OK(0):succeeded, !=0:error */ + DIR* dp, /* Pointer to the directory object */ + UINT nent /* Number of contiguous entries to allocate */ +) +{ + FRESULT res; + UINT n; + FATFS *fs = dp->obj.fs; + + + res = dir_sdi(dp, 0); + if (res == FR_OK) { + n = 0; + do { + res = move_window(fs, dp->sect); + if (res != FR_OK) break; +#if FF_FS_EXFAT + if ((fs->fs_type == FS_EXFAT) ? (int)((dp->dir[XDIR_Type] & 0x80) == 0) : (int)(dp->dir[DIR_Name] == DDEM || dp->dir[DIR_Name] == 0)) { +#else + if (dp->dir[DIR_Name] == DDEM || dp->dir[DIR_Name] == 0) { +#endif + if (++n == nent) break; /* A block of contiguous free entries is found */ + } else { + n = 0; /* Not a blank entry. Restart to search */ + } + res = dir_next(dp, 1); + } while (res == FR_OK); /* Next entry with table stretch enabled */ + } + + if (res == FR_NO_FILE) res = FR_DENIED; /* No directory entry to allocate */ + return res; +} + +#endif /* !FF_FS_READONLY */ -static -int cmp_lfn ( /* 1:Matched, 0:Not matched */ - WCHAR *lfnbuf, /* Pointer to the LFN to be compared */ - BYTE *dir /* Pointer to the directory entry containing a part of LFN */ + + + +/*-----------------------------------------------------------------------*/ +/* FAT: Directory handling - Load/Store start cluster number */ +/*-----------------------------------------------------------------------*/ + +static DWORD ld_clust ( /* Returns the top cluster value of the SFN entry */ + FATFS* fs, /* Pointer to the fs object */ + const BYTE* dir /* Pointer to the key entry */ +) +{ + DWORD cl; + + cl = ld_word(dir + DIR_FstClusLO); + if (fs->fs_type == FS_FAT32) { + cl |= (DWORD)ld_word(dir + DIR_FstClusHI) << 16; + } + + return cl; +} + + +#if !FF_FS_READONLY +static void st_clust ( + FATFS* fs, /* Pointer to the fs object */ + BYTE* dir, /* Pointer to the key entry */ + DWORD cl /* Value to be set */ +) +{ + st_word(dir + DIR_FstClusLO, (WORD)cl); + if (fs->fs_type == FS_FAT32) { + st_word(dir + DIR_FstClusHI, (WORD)(cl >> 16)); + } +} +#endif + + + +#if FF_USE_LFN +/*--------------------------------------------------------*/ +/* FAT-LFN: Compare a part of file name with an LFN entry */ +/*--------------------------------------------------------*/ + +static int cmp_lfn ( /* 1:matched, 0:not matched */ + const WCHAR* lfnbuf, /* Pointer to the LFN working buffer to be compared */ + BYTE* dir /* Pointer to the directory entry containing the part of LFN */ ) { UINT i, s; WCHAR wc, uc; - i = ((dir[LDIR_Ord] & ~LLE) - 1) * 13; /* Get offset in the LFN buffer */ - s = 0; wc = 1; - do { - uc = LD_WORD(dir+LfnOfs[s]); /* Pick an LFN character from the entry */ - if (wc) { /* Last char has not been processed */ - wc = ff_wtoupper(uc); /* Convert it to upper case */ - if (i >= _MAX_LFN || wc != ff_wtoupper(lfnbuf[i++])) /* Compare it */ - return 0; /* Not matched */ + if (ld_word(dir + LDIR_FstClusLO) != 0) return 0; /* Check LDIR_FstClusLO */ + + i = ((dir[LDIR_Ord] & 0x3F) - 1) * 13; /* Offset in the LFN buffer */ + + for (wc = 1, s = 0; s < 13; s++) { /* Process all characters in the entry */ + uc = ld_word(dir + LfnOfs[s]); /* Pick an LFN character */ + if (wc != 0) { + if (i >= FF_MAX_LFN || ff_wtoupper(uc) != ff_wtoupper(lfnbuf[i++])) { /* Compare it */ + return 0; /* Not matched */ + } + wc = uc; } else { - if (uc != 0xFFFF) return 0; /* Check filler */ + if (uc != 0xFFFF) return 0; /* Check filler */ } - } while (++s < 13); /* Repeat until all chars in the entry are checked */ + } - if ((dir[LDIR_Ord] & LLE) && wc && lfnbuf[i]) /* Last segment matched but different length */ - return 0; + if ((dir[LDIR_Ord] & LLEF) && wc && lfnbuf[i]) return 0; /* Last segment matched but different length */ - return 1; /* The part of LFN matched */ + return 1; /* The part of LFN matched */ } +#if FF_FS_MINIMIZE <= 1 || FF_FS_RPATH >= 2 || FF_USE_LABEL || FF_FS_EXFAT +/*-----------------------------------------------------*/ +/* FAT-LFN: Pick a part of file name from an LFN entry */ +/*-----------------------------------------------------*/ -static -int pick_lfn ( /* 1:Succeeded, 0:Buffer overflow */ - WCHAR *lfnbuf, /* Pointer to the Unicode-LFN buffer */ - BYTE *dir /* Pointer to the directory entry */ +static int pick_lfn ( /* 1:succeeded, 0:buffer overflow or invalid LFN entry */ + WCHAR* lfnbuf, /* Pointer to the LFN working buffer */ + BYTE* dir /* Pointer to the LFN entry */ ) { UINT i, s; WCHAR wc, uc; - i = ((dir[LDIR_Ord] & 0x3F) - 1) * 13; /* Offset in the LFN buffer */ + if (ld_word(dir + LDIR_FstClusLO) != 0) return 0; /* Check LDIR_FstClusLO is 0 */ - s = 0; wc = 1; - do { - uc = LD_WORD(dir+LfnOfs[s]); /* Pick an LFN character from the entry */ - if (wc) { /* Last char has not been processed */ - if (i >= _MAX_LFN) return 0; /* Buffer overflow? */ + i = ((dir[LDIR_Ord] & ~LLEF) - 1) * 13; /* Offset in the LFN buffer */ + + for (wc = 1, s = 0; s < 13; s++) { /* Process all characters in the entry */ + uc = ld_word(dir + LfnOfs[s]); /* Pick an LFN character */ + if (wc != 0) { + if (i >= FF_MAX_LFN) return 0; /* Buffer overflow? */ lfnbuf[i++] = wc = uc; /* Store it */ } else { if (uc != 0xFFFF) return 0; /* Check filler */ } - } while (++s < 13); /* Read all character in the entry */ + } - if (dir[LDIR_Ord] & LLE) { /* Put terminator if it is the last LFN part */ - if (i >= _MAX_LFN) return 0; /* Buffer overflow? */ + if (dir[LDIR_Ord] & LLEF) { /* Put terminator if it is the last LFN part */ + if (i >= FF_MAX_LFN) return 0; /* Buffer overflow? */ lfnbuf[i] = 0; } - return 1; + return 1; /* The part of LFN is valid */ } +#endif -#if !_FS_READONLY -static -void fit_lfn ( - const WCHAR *lfnbuf, /* Pointer to the LFN buffer */ - BYTE *dir, /* Pointer to the directory entry */ - BYTE ord, /* LFN order (1-20) */ - BYTE sum /* SFN sum */ +#if !FF_FS_READONLY +/*-----------------------------------------*/ +/* FAT-LFN: Create an entry of LFN entries */ +/*-----------------------------------------*/ + +static void put_lfn ( + const WCHAR* lfn, /* Pointer to the LFN */ + BYTE* dir, /* Pointer to the LFN entry to be created */ + BYTE ord, /* LFN order (1-20) */ + BYTE sum /* Checksum of the corresponding SFN */ ) { UINT i, s; WCHAR wc; - dir[LDIR_Chksum] = sum; /* Set check sum */ + dir[LDIR_Chksum] = sum; /* Set checksum */ dir[LDIR_Attr] = AM_LFN; /* Set attribute. LFN entry */ dir[LDIR_Type] = 0; - ST_WORD(dir+LDIR_FstClusLO, 0); + st_word(dir + LDIR_FstClusLO, 0); - i = (ord - 1) * 13; /* Get offset in the LFN buffer */ + i = (ord - 1) * 13; /* Get offset in the LFN working buffer */ s = wc = 0; do { - if (wc != 0xFFFF) wc = lfnbuf[i++]; /* Get an effective char */ - ST_WORD(dir+LfnOfs[s], wc); /* Put it */ - if (!wc) wc = 0xFFFF; /* Padding chars following last char */ + if (wc != 0xFFFF) wc = lfn[i++]; /* Get an effective character */ + st_word(dir + LfnOfs[s], wc); /* Put it */ + if (wc == 0) wc = 0xFFFF; /* Padding characters for left locations */ } while (++s < 13); - if (wc == 0xFFFF || !lfnbuf[i]) ord |= LLE; /* Bottom LFN part is the start of LFN sequence */ + if (wc == 0xFFFF || !lfn[i]) ord |= LLEF; /* Last LFN part is the start of LFN sequence */ dir[LDIR_Ord] = ord; /* Set the LFN order */ } -#endif -#endif +#endif /* !FF_FS_READONLY */ +#endif /* FF_USE_LFN */ +#if FF_USE_LFN && !FF_FS_READONLY /*-----------------------------------------------------------------------*/ -/* Create numbered name */ +/* FAT-LFN: Create a Numbered SFN */ /*-----------------------------------------------------------------------*/ -#if _USE_LFN + static void gen_numname ( - BYTE *dst, /* Pointer to generated SFN */ - const BYTE *src, /* Pointer to source SFN to be modified */ - const WCHAR *lfn, /* Pointer to LFN */ - WORD seq /* Sequence number */ + BYTE* dst, /* Pointer to the buffer to store numbered SFN */ + const BYTE* src, /* Pointer to SFN */ + const WCHAR* lfn, /* Pointer to LFN */ + UINT seq /* Sequence number */ ) { BYTE ns[8], c; UINT i, j; + WCHAR wc; + DWORD sr; mem_cpy(dst, src, 11); - if (seq > 5) { /* On many collisions, generate a hash number instead of sequential number */ - do seq = (seq >> 1) + (seq << 15) + (WORD)*lfn++; while (*lfn); + if (seq > 5) { /* In case of many collisions, generate a hash number instead of sequential number */ + sr = seq; + while (*lfn) { /* Create a CRC as hash value */ + wc = *lfn++; + for (i = 0; i < 16; i++) { + sr = (sr << 1) + (wc & 1); + wc >>= 1; + if (sr & 0x10000) sr ^= 0x11021; + } + } + seq = (UINT)sr; } /* itoa (hexdecimal) */ i = 7; do { - c = (seq % 16) + '0'; + c = (BYTE)((seq % 16) + '0'); if (c > '9') c += 7; ns[i--] = c; seq /= 16; } while (seq); ns[i] = '~'; - /* Append the number */ + /* Append the number to the SFN body */ for (j = 0; j < i && dst[j] != ' '; j++) { - if (IsDBCS1(dst[j])) { + if (dbc_1st(dst[j])) { if (j == i - 1) break; j++; } @@ -1344,447 +2048,938 @@ static void gen_numname ( dst[j++] = (i < 8) ? ns[i++] : ' '; } while (j < 8); } -#endif - +#endif /* FF_USE_LFN && !FF_FS_READONLY */ +#if FF_USE_LFN /*-----------------------------------------------------------------------*/ -/* Calculate sum of an SFN */ +/* FAT-LFN: Calculate checksum of an SFN entry */ /*-----------------------------------------------------------------------*/ -#if _USE_LFN -static -BYTE sum_sfn ( - const BYTE *dir /* Ptr to directory entry */ + +static BYTE sum_sfn ( + const BYTE* dir /* Pointer to the SFN entry */ ) { BYTE sum = 0; UINT n = 11; - do sum = (sum >> 1) + (sum << 7) + *dir++; while (--n); + do { + sum = (sum >> 1) + (sum << 7) + *dir++; + } while (--n); return sum; } -#endif +#endif /* FF_USE_LFN */ +#if FF_FS_EXFAT /*-----------------------------------------------------------------------*/ -/* Directory handling - Find an object in the directory */ +/* exFAT: Checksum */ /*-----------------------------------------------------------------------*/ -static -FRESULT dir_find ( - DIR *dj /* Pointer to the directory object linked to the file name */ +static WORD xdir_sum ( /* Get checksum of the directoly entry block */ + const BYTE* dir /* Directory entry block to be calculated */ ) { - FRESULT res; - BYTE c, *dir; -#if _USE_LFN - BYTE a, ord, sum; + UINT i, szblk; + WORD sum; + + + szblk = (dir[XDIR_NumSec] + 1) * SZDIRE; /* Number of bytes of the entry block */ + for (i = sum = 0; i < szblk; i++) { + if (i == XDIR_SetSum) { /* Skip 2-byte sum field */ + i++; + } else { + sum = ((sum & 1) ? 0x8000 : 0) + (sum >> 1) + dir[i]; + } + } + return sum; +} + + + +static WORD xname_sum ( /* Get check sum (to be used as hash) of the file name */ + const WCHAR* name /* File name to be calculated */ +) +{ + WCHAR chr; + WORD sum = 0; + + + while ((chr = *name++) != 0) { + chr = (WCHAR)ff_wtoupper(chr); /* File name needs to be up-case converted */ + sum = ((sum & 1) ? 0x8000 : 0) + (sum >> 1) + (chr & 0xFF); + sum = ((sum & 1) ? 0x8000 : 0) + (sum >> 1) + (chr >> 8); + } + return sum; +} + + +#if !FF_FS_READONLY && FF_USE_MKFS +static DWORD xsum32 ( /* Returns 32-bit checksum */ + BYTE dat, /* Byte to be calculated (byte-by-byte processing) */ + DWORD sum /* Previous sum value */ +) +{ + sum = ((sum & 1) ? 0x80000000 : 0) + (sum >> 1) + dat; + return sum; +} #endif - res = dir_sdi(dj, 0); /* Rewind directory object */ + +#if FF_FS_MINIMIZE <= 1 || FF_FS_RPATH >= 2 +/*------------------------------------------------------*/ +/* exFAT: Get object information from a directory block */ +/*------------------------------------------------------*/ + +static void get_xfileinfo ( + BYTE* dirb, /* Pointer to the direcotry entry block 85+C0+C1s */ + FILINFO* fno /* Buffer to store the extracted file information */ +) +{ + WCHAR wc, hs; + UINT di, si, nc; + + /* Get file name from the entry block */ + si = SZDIRE * 2; /* 1st C1 entry */ + nc = 0; hs = 0; di = 0; + while (nc < dirb[XDIR_NumName]) { + if (si >= MAXDIRB(FF_MAX_LFN)) { di = 0; break; } /* Truncated directory block? */ + if ((si % SZDIRE) == 0) si += 2; /* Skip entry type field */ + wc = ld_word(dirb + si); si += 2; nc++; /* Get a character */ + if (hs == 0 && IsSurrogate(wc)) { /* Is it a surrogate? */ + hs = wc; continue; /* Get low surrogate */ + } + wc = put_utf((DWORD)hs << 16 | wc, &fno->fname[di], FF_LFN_BUF - di); /* Store it in API encoding */ + if (wc == 0) { di = 0; break; } /* Buffer overflow or wrong encoding? */ + di += wc; + hs = 0; + } + if (hs != 0) di = 0; /* Broken surrogate pair? */ + if (di == 0) fno->fname[di++] = '?'; /* Inaccessible object name? */ + fno->fname[di] = 0; /* Terminate the name */ + fno->altname[0] = 0; /* exFAT does not support SFN */ + + fno->fattrib = dirb[XDIR_Attr]; /* Attribute */ + fno->fsize = (fno->fattrib & AM_DIR) ? 0 : ld_qword(dirb + XDIR_FileSize); /* Size */ + fno->ftime = ld_word(dirb + XDIR_ModTime + 0); /* Time */ + fno->fdate = ld_word(dirb + XDIR_ModTime + 2); /* Date */ +} + +#endif /* FF_FS_MINIMIZE <= 1 || FF_FS_RPATH >= 2 */ + + +/*-----------------------------------*/ +/* exFAT: Get a directry entry block */ +/*-----------------------------------*/ + +static FRESULT load_xdir ( /* FR_INT_ERR: invalid entry block */ + DIR* dp /* Reading direcotry object pointing top of the entry block to load */ +) +{ + FRESULT res; + UINT i, sz_ent; + BYTE* dirb = dp->obj.fs->dirbuf; /* Pointer to the on-memory direcotry entry block 85+C0+C1s */ + + + /* Load file-directory entry */ + res = move_window(dp->obj.fs, dp->sect); + if (res != FR_OK) return res; + if (dp->dir[XDIR_Type] != ET_FILEDIR) return FR_INT_ERR; /* Invalid order */ + mem_cpy(dirb + 0 * SZDIRE, dp->dir, SZDIRE); + sz_ent = (dirb[XDIR_NumSec] + 1) * SZDIRE; + if (sz_ent < 3 * SZDIRE || sz_ent > 19 * SZDIRE) return FR_INT_ERR; + + /* Load stream-extension entry */ + res = dir_next(dp, 0); + if (res == FR_NO_FILE) res = FR_INT_ERR; /* It cannot be */ if (res != FR_OK) return res; + res = move_window(dp->obj.fs, dp->sect); + if (res != FR_OK) return res; + if (dp->dir[XDIR_Type] != ET_STREAM) return FR_INT_ERR; /* Invalid order */ + mem_cpy(dirb + 1 * SZDIRE, dp->dir, SZDIRE); + if (MAXDIRB(dirb[XDIR_NumName]) > sz_ent) return FR_INT_ERR; -#if _USE_LFN - ord = sum = 0xFF; + /* Load file-name entries */ + i = 2 * SZDIRE; /* Name offset to load */ + do { + res = dir_next(dp, 0); + if (res == FR_NO_FILE) res = FR_INT_ERR; /* It cannot be */ + if (res != FR_OK) return res; + res = move_window(dp->obj.fs, dp->sect); + if (res != FR_OK) return res; + if (dp->dir[XDIR_Type] != ET_FILENAME) return FR_INT_ERR; /* Invalid order */ + if (i < MAXDIRB(FF_MAX_LFN)) mem_cpy(dirb + i, dp->dir, SZDIRE); + } while ((i += SZDIRE) < sz_ent); + + /* Sanity check (do it for only accessible object) */ + if (i <= MAXDIRB(FF_MAX_LFN)) { + if (xdir_sum(dirb) != ld_word(dirb + XDIR_SetSum)) return FR_INT_ERR; + } + return FR_OK; +} + + +/*------------------------------------------------------------------*/ +/* exFAT: Initialize object allocation info with loaded entry block */ +/*------------------------------------------------------------------*/ + +static void init_alloc_info ( + FATFS* fs, /* Filesystem object */ + FFOBJID* obj /* Object allocation information to be initialized */ +) +{ + obj->sclust = ld_dword(fs->dirbuf + XDIR_FstClus); /* Start cluster */ + obj->objsize = ld_qword(fs->dirbuf + XDIR_FileSize); /* Size */ + obj->stat = fs->dirbuf[XDIR_GenFlags] & 2; /* Allocation status */ + obj->n_frag = 0; /* No last fragment info */ +} + + + +#if !FF_FS_READONLY || FF_FS_RPATH != 0 +/*------------------------------------------------*/ +/* exFAT: Load the object's directory entry block */ +/*------------------------------------------------*/ + +static FRESULT load_obj_xdir ( + DIR* dp, /* Blank directory object to be used to access containing direcotry */ + const FFOBJID* obj /* Object with its containing directory information */ +) +{ + FRESULT res; + + /* Open object containing directory */ + dp->obj.fs = obj->fs; + dp->obj.sclust = obj->c_scl; + dp->obj.stat = (BYTE)obj->c_size; + dp->obj.objsize = obj->c_size & 0xFFFFFF00; + dp->obj.n_frag = 0; + dp->blk_ofs = obj->c_ofs; + + res = dir_sdi(dp, dp->blk_ofs); /* Goto object's entry block */ + if (res == FR_OK) { + res = load_xdir(dp); /* Load the object's entry block */ + } + return res; +} #endif + + +#if !FF_FS_READONLY +/*----------------------------------------*/ +/* exFAT: Store the directory entry block */ +/*----------------------------------------*/ + +static FRESULT store_xdir ( + DIR* dp /* Pointer to the direcotry object */ +) +{ + FRESULT res; + UINT nent; + BYTE* dirb = dp->obj.fs->dirbuf; /* Pointer to the direcotry entry block 85+C0+C1s */ + + /* Create set sum */ + st_word(dirb + XDIR_SetSum, xdir_sum(dirb)); + nent = dirb[XDIR_NumSec] + 1; + + /* Store the direcotry entry block to the directory */ + res = dir_sdi(dp, dp->blk_ofs); + while (res == FR_OK) { + res = move_window(dp->obj.fs, dp->sect); + if (res != FR_OK) break; + mem_cpy(dp->dir, dirb, SZDIRE); + dp->obj.fs->wflag = 1; + if (--nent == 0) break; + dirb += SZDIRE; + res = dir_next(dp, 0); + } + return (res == FR_OK || res == FR_DISK_ERR) ? res : FR_INT_ERR; +} + + + +/*-------------------------------------------*/ +/* exFAT: Create a new directory enrty block */ +/*-------------------------------------------*/ + +static void create_xdir ( + BYTE* dirb, /* Pointer to the direcotry entry block buffer */ + const WCHAR* lfn /* Pointer to the object name */ +) +{ + UINT i; + BYTE nc1, nlen; + WCHAR wc; + + + /* Create file-directory and stream-extension entry */ + mem_set(dirb, 0, 2 * SZDIRE); + dirb[0 * SZDIRE + XDIR_Type] = ET_FILEDIR; + dirb[1 * SZDIRE + XDIR_Type] = ET_STREAM; + + /* Create file-name entries */ + i = SZDIRE * 2; /* Top of file_name entries */ + nlen = nc1 = 0; wc = 1; do { - res = move_window(dj->fs, dj->sect); + dirb[i++] = ET_FILENAME; dirb[i++] = 0; + do { /* Fill name field */ + if (wc != 0 && (wc = lfn[nlen]) != 0) nlen++; /* Get a character if exist */ + st_word(dirb + i, wc); /* Store it */ + i += 2; + } while (i % SZDIRE != 0); + nc1++; + } while (lfn[nlen]); /* Fill next entry if any char follows */ + + dirb[XDIR_NumName] = nlen; /* Set name length */ + dirb[XDIR_NumSec] = 1 + nc1; /* Set secondary count (C0 + C1s) */ + st_word(dirb + XDIR_NameHash, xname_sum(lfn)); /* Set name hash */ +} + +#endif /* !FF_FS_READONLY */ +#endif /* FF_FS_EXFAT */ + + + +#if FF_FS_MINIMIZE <= 1 || FF_FS_RPATH >= 2 || FF_USE_LABEL || FF_FS_EXFAT +/*-----------------------------------------------------------------------*/ +/* Read an object from the directory */ +/*-----------------------------------------------------------------------*/ + +#define DIR_READ_FILE(dp) dir_read(dp, 0) +#define DIR_READ_LABEL(dp) dir_read(dp, 1) + +static FRESULT dir_read ( + DIR* dp, /* Pointer to the directory object */ + int vol /* Filtered by 0:file/directory or 1:volume label */ +) +{ + FRESULT res = FR_NO_FILE; + FATFS *fs = dp->obj.fs; + BYTE attr, b; +#if FF_USE_LFN + BYTE ord = 0xFF, sum = 0xFF; +#endif + + while (dp->sect) { + res = move_window(fs, dp->sect); if (res != FR_OK) break; - dir = dj->dir; /* Ptr to the directory entry of current index */ - c = dir[DIR_Name]; - if (c == 0) { res = FR_NO_FILE; break; } /* Reached to end of table */ -#if _USE_LFN /* LFN configuration */ - a = dir[DIR_Attr] & AM_MASK; - if (c == DDE || ((a & AM_VOL) && a != AM_LFN)) { /* An entry without valid data */ - ord = 0xFF; - } else { - if (a == AM_LFN) { /* An LFN entry is found */ - if (dj->lfn) { - if (c & LLE) { /* Is it start of LFN sequence? */ - sum = dir[LDIR_Chksum]; - c &= ~LLE; ord = c; /* LFN start order */ - dj->lfn_idx = dj->index; + b = dp->dir[DIR_Name]; /* Test for the entry type */ + if (b == 0) { + res = FR_NO_FILE; break; /* Reached to end of the directory */ + } +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* On the exFAT volume */ + if (FF_USE_LABEL && vol) { + if (b == ET_VLABEL) break; /* Volume label entry? */ + } else { + if (b == ET_FILEDIR) { /* Start of the file entry block? */ + dp->blk_ofs = dp->dptr; /* Get location of the block */ + res = load_xdir(dp); /* Load the entry block */ + if (res == FR_OK) { + dp->obj.attr = fs->dirbuf[XDIR_Attr] & AM_MASK; /* Get attribute */ } - /* Check validity of the LFN entry and compare it with given name */ - ord = (c == ord && sum == dir[LDIR_Chksum] && cmp_lfn(dj->lfn, dir)) ? ord - 1 : 0xFF; + break; + } + } + } else +#endif + { /* On the FAT/FAT32 volume */ + dp->obj.attr = attr = dp->dir[DIR_Attr] & AM_MASK; /* Get attribute */ +#if FF_USE_LFN /* LFN configuration */ + if (b == DDEM || b == '.' || (int)((attr & ~AM_ARC) == AM_VOL) != vol) { /* An entry without valid data */ + ord = 0xFF; + } else { + if (attr == AM_LFN) { /* An LFN entry is found */ + if (b & LLEF) { /* Is it start of an LFN sequence? */ + sum = dp->dir[LDIR_Chksum]; + b &= (BYTE)~LLEF; ord = b; + dp->blk_ofs = dp->dptr; + } + /* Check LFN validity and capture it */ + ord = (b == ord && sum == dp->dir[LDIR_Chksum] && pick_lfn(fs->lfnbuf, dp->dir)) ? ord - 1 : 0xFF; + } else { /* An SFN entry is found */ + if (ord != 0 || sum != sum_sfn(dp->dir)) { /* Is there a valid LFN? */ + dp->blk_ofs = 0xFFFFFFFF; /* It has no LFN. */ + } + break; } - } else { /* An SFN entry is found */ - if (!ord && sum == sum_sfn(dir)) break; /* LFN matched? */ - ord = 0xFF; dj->lfn_idx = 0xFFFF; /* Reset LFN sequence */ - if (!(dj->fn[NS] & NS_LOSS) && !mem_cmp(dir, dj->fn, 11)) break; /* SFN matched? */ } - } #else /* Non LFN configuration */ - if (!(dir[DIR_Attr] & AM_VOL) && !mem_cmp(dir, dj->fn, 11)) /* Is it a valid entry? */ - break; + if (b != DDEM && b != '.' && attr != AM_LFN && (int)((attr & ~AM_ARC) == AM_VOL) == vol) { /* Is it a valid entry? */ + break; + } #endif - res = dir_next(dj, 0); /* Next entry */ - } while (res == FR_OK); + } + res = dir_next(dp, 0); /* Next entry */ + if (res != FR_OK) break; + } + if (res != FR_OK) dp->sect = 0; /* Terminate the read operation on error or EOT */ return res; } +#endif /* FF_FS_MINIMIZE <= 1 || FF_USE_LABEL || FF_FS_RPATH >= 2 */ /*-----------------------------------------------------------------------*/ -/* Read an object from the directory */ +/* Directory handling - Find an object in the directory */ /*-----------------------------------------------------------------------*/ -#if _FS_MINIMIZE <= 1 -static -FRESULT dir_read ( - DIR *dj /* Pointer to the directory object that pointing the entry to be read */ + +static FRESULT dir_find ( /* FR_OK(0):succeeded, !=0:error */ + DIR* dp /* Pointer to the directory object with the file name */ ) { FRESULT res; - BYTE c, *dir; -#if _USE_LFN - BYTE a, ord = 0xFF, sum = 0xFF; + FATFS *fs = dp->obj.fs; + BYTE c; +#if FF_USE_LFN + BYTE a, ord, sum; #endif - res = FR_NO_FILE; - while (dj->sect) { - res = move_window(dj->fs, dj->sect); + res = dir_sdi(dp, 0); /* Rewind directory object */ + if (res != FR_OK) return res; +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* On the exFAT volume */ + BYTE nc; + UINT di, ni; + WORD hash = xname_sum(fs->lfnbuf); /* Hash value of the name to find */ + + while ((res = DIR_READ_FILE(dp)) == FR_OK) { /* Read an item */ +#if FF_MAX_LFN < 255 + if (fs->dirbuf[XDIR_NumName] > FF_MAX_LFN) continue; /* Skip comparison if inaccessible object name */ +#endif + if (ld_word(fs->dirbuf + XDIR_NameHash) != hash) continue; /* Skip comparison if hash mismatched */ + for (nc = fs->dirbuf[XDIR_NumName], di = SZDIRE * 2, ni = 0; nc; nc--, di += 2, ni++) { /* Compare the name */ + if ((di % SZDIRE) == 0) di += 2; + if (ff_wtoupper(ld_word(fs->dirbuf + di)) != ff_wtoupper(fs->lfnbuf[ni])) break; + } + if (nc == 0 && !fs->lfnbuf[ni]) break; /* Name matched? */ + } + return res; + } +#endif + /* On the FAT/FAT32 volume */ +#if FF_USE_LFN + ord = sum = 0xFF; dp->blk_ofs = 0xFFFFFFFF; /* Reset LFN sequence */ +#endif + do { + res = move_window(fs, dp->sect); if (res != FR_OK) break; - dir = dj->dir; /* Ptr to the directory entry of current index */ - c = dir[DIR_Name]; + c = dp->dir[DIR_Name]; if (c == 0) { res = FR_NO_FILE; break; } /* Reached to end of table */ -#if _USE_LFN /* LFN configuration */ - a = dir[DIR_Attr] & AM_MASK; - if (c == DDE || (!_FS_RPATH && c == '.') || ((a & AM_VOL) && a != AM_LFN)) { /* An entry without valid data */ - ord = 0xFF; +#if FF_USE_LFN /* LFN configuration */ + dp->obj.attr = a = dp->dir[DIR_Attr] & AM_MASK; + if (c == DDEM || ((a & AM_VOL) && a != AM_LFN)) { /* An entry without valid data */ + ord = 0xFF; dp->blk_ofs = 0xFFFFFFFF; /* Reset LFN sequence */ } else { if (a == AM_LFN) { /* An LFN entry is found */ - if (c & LLE) { /* Is it start of LFN sequence? */ - sum = dir[LDIR_Chksum]; - c &= ~LLE; ord = c; - dj->lfn_idx = dj->index; + if (!(dp->fn[NSFLAG] & NS_NOLFN)) { + if (c & LLEF) { /* Is it start of LFN sequence? */ + sum = dp->dir[LDIR_Chksum]; + c &= (BYTE)~LLEF; ord = c; /* LFN start order */ + dp->blk_ofs = dp->dptr; /* Start offset of LFN */ + } + /* Check validity of the LFN entry and compare it with given name */ + ord = (c == ord && sum == dp->dir[LDIR_Chksum] && cmp_lfn(fs->lfnbuf, dp->dir)) ? ord - 1 : 0xFF; } - /* Check LFN validity and capture it */ - ord = (c == ord && sum == dir[LDIR_Chksum] && pick_lfn(dj->lfn, dir)) ? ord - 1 : 0xFF; } else { /* An SFN entry is found */ - if (ord || sum != sum_sfn(dir)) /* Is there a valid LFN? */ - dj->lfn_idx = 0xFFFF; /* It has no LFN. */ - break; + if (ord == 0 && sum == sum_sfn(dp->dir)) break; /* LFN matched? */ + if (!(dp->fn[NSFLAG] & NS_LOSS) && !mem_cmp(dp->dir, dp->fn, 11)) break; /* SFN matched? */ + ord = 0xFF; dp->blk_ofs = 0xFFFFFFFF; /* Reset LFN sequence */ } } #else /* Non LFN configuration */ - if (c != DDE && (_FS_RPATH || c != '.') && !(dir[DIR_Attr] & AM_VOL)) /* Is it a valid entry? */ - break; + dp->obj.attr = dp->dir[DIR_Attr] & AM_MASK; + if (!(dp->dir[DIR_Attr] & AM_VOL) && !mem_cmp(dp->dir, dp->fn, 11)) break; /* Is it a valid entry? */ #endif - res = dir_next(dj, 0); /* Next entry */ - if (res != FR_OK) break; - } - - if (res != FR_OK) dj->sect = 0; + res = dir_next(dp, 0); /* Next entry */ + } while (res == FR_OK); return res; } -#endif + +#if !FF_FS_READONLY /*-----------------------------------------------------------------------*/ /* Register an object to the directory */ /*-----------------------------------------------------------------------*/ -#if !_FS_READONLY -static -FRESULT dir_register ( /* FR_OK:Successful, FR_DENIED:No free entry or too many SFN collision, FR_DISK_ERR:Disk error */ - DIR *dj /* Target directory with object name to be created */ + +static FRESULT dir_register ( /* FR_OK:succeeded, FR_DENIED:no free entry or too many SFN collision, FR_DISK_ERR:disk error */ + DIR* dp /* Target directory with object name to be created */ ) { FRESULT res; - BYTE c, *dir; -#if _USE_LFN /* LFN configuration */ - WORD n, ne, is; - BYTE sn[12], *fn, sum; - WCHAR *lfn; - - - fn = dj->fn; lfn = dj->lfn; - mem_cpy(sn, fn, 12); - - if (_FS_RPATH && (sn[NS] & NS_DOT)) /* Cannot create dot entry */ - return FR_INVALID_NAME; + FATFS *fs = dp->obj.fs; +#if FF_USE_LFN /* LFN configuration */ + UINT n, nlen, nent; + BYTE sn[12], sum; + + + if (dp->fn[NSFLAG] & (NS_DOT | NS_NONAME)) return FR_INVALID_NAME; /* Check name validity */ + for (nlen = 0; fs->lfnbuf[nlen]; nlen++) ; /* Get lfn length */ + +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* On the exFAT volume */ + nent = (nlen + 14) / 15 + 2; /* Number of entries to allocate (85+C0+C1s) */ + res = dir_alloc(dp, nent); /* Allocate directory entries */ + if (res != FR_OK) return res; + dp->blk_ofs = dp->dptr - SZDIRE * (nent - 1); /* Set the allocated entry block offset */ + + if (dp->obj.stat & 4) { /* Has the directory been stretched by new allocation? */ + dp->obj.stat &= ~4; + res = fill_first_frag(&dp->obj); /* Fill the first fragment on the FAT if needed */ + if (res != FR_OK) return res; + res = fill_last_frag(&dp->obj, dp->clust, 0xFFFFFFFF); /* Fill the last fragment on the FAT if needed */ + if (res != FR_OK) return res; + if (dp->obj.sclust != 0) { /* Is it a sub-directory? */ + DIR dj; + + res = load_obj_xdir(&dj, &dp->obj); /* Load the object status */ + if (res != FR_OK) return res; + dp->obj.objsize += (DWORD)fs->csize * SS(fs); /* Increase the directory size by cluster size */ + st_qword(fs->dirbuf + XDIR_FileSize, dp->obj.objsize); /* Update the allocation status */ + st_qword(fs->dirbuf + XDIR_ValidFileSize, dp->obj.objsize); + fs->dirbuf[XDIR_GenFlags] = dp->obj.stat | 1; + res = store_xdir(&dj); /* Store the object status */ + if (res != FR_OK) return res; + } + } - if (sn[NS] & NS_LOSS) { /* When LFN is out of 8.3 format, generate a numbered name */ - fn[NS] = 0; dj->lfn = 0; /* Find only SFN */ + create_xdir(fs->dirbuf, fs->lfnbuf); /* Create on-memory directory block to be written later */ + return FR_OK; + } +#endif + /* On the FAT/FAT32 volume */ + mem_cpy(sn, dp->fn, 12); + if (sn[NSFLAG] & NS_LOSS) { /* When LFN is out of 8.3 format, generate a numbered name */ + dp->fn[NSFLAG] = NS_NOLFN; /* Find only SFN */ for (n = 1; n < 100; n++) { - gen_numname(fn, sn, lfn, n); /* Generate a numbered name */ - res = dir_find(dj); /* Check if the name collides with existing SFN */ + gen_numname(dp->fn, sn, fs->lfnbuf, n); /* Generate a numbered name */ + res = dir_find(dp); /* Check if the name collides with existing SFN */ if (res != FR_OK) break; } if (n == 100) return FR_DENIED; /* Abort if too many collisions */ if (res != FR_NO_FILE) return res; /* Abort if the result is other than 'not collided' */ - fn[NS] = sn[NS]; dj->lfn = lfn; - } - - if (sn[NS] & NS_LFN) { /* When LFN is to be created, reserve an SFN + LFN entries. */ - for (ne = 0; lfn[ne]; ne++) ; - ne = (ne + 25) / 13; - } else { /* Otherwise reserve only an SFN entry. */ - ne = 1; + dp->fn[NSFLAG] = sn[NSFLAG]; } - /* Reserve contiguous entries */ - res = dir_sdi(dj, 0); - if (res != FR_OK) return res; - n = is = 0; - do { - res = move_window(dj->fs, dj->sect); - if (res != FR_OK) break; - c = *dj->dir; /* Check the entry status */ - if (c == DDE || c == 0) { /* Is it a blank entry? */ - if (n == 0) is = dj->index; /* First index of the contiguous entry */ - if (++n == ne) break; /* A contiguous entry that required count is found */ - } else { - n = 0; /* Not a blank entry. Restart to search */ - } - res = dir_next(dj, 1); /* Next entry with table stretch */ - } while (res == FR_OK); - - if (res == FR_OK && ne > 1) { /* Initialize LFN entry if needed */ - res = dir_sdi(dj, is); + /* Create an SFN with/without LFNs. */ + nent = (sn[NSFLAG] & NS_LFN) ? (nlen + 12) / 13 + 1 : 1; /* Number of entries to allocate */ + res = dir_alloc(dp, nent); /* Allocate entries */ + if (res == FR_OK && --nent) { /* Set LFN entry if needed */ + res = dir_sdi(dp, dp->dptr - nent * SZDIRE); if (res == FR_OK) { - sum = sum_sfn(dj->fn); /* Sum of the SFN tied to the LFN */ - ne--; + sum = sum_sfn(dp->fn); /* Checksum value of the SFN tied to the LFN */ do { /* Store LFN entries in bottom first */ - res = move_window(dj->fs, dj->sect); + res = move_window(fs, dp->sect); if (res != FR_OK) break; - fit_lfn(dj->lfn, dj->dir, (BYTE)ne, sum); - dj->fs->wflag = 1; - res = dir_next(dj, 0); /* Next entry */ - } while (res == FR_OK && --ne); + put_lfn(fs->lfnbuf, dp->dir, (BYTE)nent, sum); + fs->wflag = 1; + res = dir_next(dp, 0); /* Next entry */ + } while (res == FR_OK && --nent); } } #else /* Non LFN configuration */ - res = dir_sdi(dj, 0); - if (res == FR_OK) { - do { /* Find a blank entry for the SFN */ - res = move_window(dj->fs, dj->sect); - if (res != FR_OK) break; - c = *dj->dir; - if (c == DDE || c == 0) break; /* Is it a blank entry? */ - res = dir_next(dj, 1); /* Next entry with table stretch */ - } while (res == FR_OK); - } + res = dir_alloc(dp, 1); /* Allocate an entry for SFN */ + #endif - if (res == FR_OK) { /* Initialize the SFN entry */ - res = move_window(dj->fs, dj->sect); + /* Set SFN entry */ + if (res == FR_OK) { + res = move_window(fs, dp->sect); if (res == FR_OK) { - dir = dj->dir; - mem_set(dir, 0, SZ_DIR); /* Clean the entry */ - mem_cpy(dir, dj->fn, 11); /* Put SFN */ -#if _USE_LFN - dir[DIR_NTres] = *(dj->fn+NS) & (NS_BODY | NS_EXT); /* Put NT flag */ + mem_set(dp->dir, 0, SZDIRE); /* Clean the entry */ + mem_cpy(dp->dir + DIR_Name, dp->fn, 11); /* Put SFN */ +#if FF_USE_LFN + dp->dir[DIR_NTres] = dp->fn[NSFLAG] & (NS_BODY | NS_EXT); /* Put NT flag */ #endif - dj->fs->wflag = 1; + fs->wflag = 1; } } return res; } -#endif /* !_FS_READONLY */ +#endif /* !FF_FS_READONLY */ +#if !FF_FS_READONLY && FF_FS_MINIMIZE == 0 /*-----------------------------------------------------------------------*/ /* Remove an object from the directory */ /*-----------------------------------------------------------------------*/ -#if !_FS_READONLY && !_FS_MINIMIZE -static -FRESULT dir_remove ( /* FR_OK: Successful, FR_DISK_ERR: A disk error */ - DIR *dj /* Directory object pointing the entry to be removed */ + +static FRESULT dir_remove ( /* FR_OK:Succeeded, FR_DISK_ERR:A disk error */ + DIR* dp /* Directory object pointing the entry to be removed */ ) { FRESULT res; -#if _USE_LFN /* LFN configuration */ - WORD i; + FATFS *fs = dp->obj.fs; +#if FF_USE_LFN /* LFN configuration */ + DWORD last = dp->dptr; - i = dj->index; /* SFN index */ - res = dir_sdi(dj, (WORD)((dj->lfn_idx == 0xFFFF) ? i : dj->lfn_idx)); /* Goto the SFN or top of the LFN entries */ + res = (dp->blk_ofs == 0xFFFFFFFF) ? FR_OK : dir_sdi(dp, dp->blk_ofs); /* Goto top of the entry block if LFN is exist */ if (res == FR_OK) { do { - res = move_window(dj->fs, dj->sect); + res = move_window(fs, dp->sect); if (res != FR_OK) break; - *dj->dir = DDE; /* Mark the entry "deleted" */ - dj->fs->wflag = 1; - if (dj->index >= i) break; /* When reached SFN, all entries of the object has been deleted. */ - res = dir_next(dj, 0); /* Next entry */ + if (FF_FS_EXFAT && fs->fs_type == FS_EXFAT) { /* On the exFAT volume */ + dp->dir[XDIR_Type] &= 0x7F; /* Clear the entry InUse flag. */ + } else { /* On the FAT/FAT32 volume */ + dp->dir[DIR_Name] = DDEM; /* Mark the entry 'deleted'. */ + } + fs->wflag = 1; + if (dp->dptr >= last) break; /* If reached last entry then all entries of the object has been deleted. */ + res = dir_next(dp, 0); /* Next entry */ } while (res == FR_OK); if (res == FR_NO_FILE) res = FR_INT_ERR; } - #else /* Non LFN configuration */ - res = dir_sdi(dj, dj->index); + + res = move_window(fs, dp->sect); if (res == FR_OK) { - res = move_window(dj->fs, dj->sect); - if (res == FR_OK) { - *dj->dir = DDE; /* Mark the entry "deleted" */ - dj->fs->wflag = 1; - } + dp->dir[DIR_Name] = DDEM; /* Mark the entry 'deleted'.*/ + fs->wflag = 1; } #endif return res; } -#endif /* !_FS_READONLY */ +#endif /* !FF_FS_READONLY && FF_FS_MINIMIZE == 0 */ +#if FF_FS_MINIMIZE <= 1 || FF_FS_RPATH >= 2 /*-----------------------------------------------------------------------*/ -/* Pick a segment and create the object name in directory form */ +/* Get file information from directory entry */ /*-----------------------------------------------------------------------*/ -static -FRESULT create_name ( - DIR *dj, /* Pointer to the directory object */ - const TCHAR **path /* Pointer to pointer to the segment in the path string */ +static void get_fileinfo ( + DIR* dp, /* Pointer to the directory object */ + FILINFO* fno /* Pointer to the file information to be filled */ ) { -#ifdef _EXCVT - static const BYTE excvt[] = _EXCVT; /* Upper conversion table for extended chars */ + UINT si, di; +#if FF_USE_LFN + WCHAR wc, hs; + FATFS *fs = dp->obj.fs; +#else + TCHAR c; #endif -#if _USE_LFN /* LFN configuration */ + + fno->fname[0] = 0; /* Invaidate file info */ + if (dp->sect == 0) return; /* Exit if read pointer has reached end of directory */ + +#if FF_USE_LFN /* LFN configuration */ +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* On the exFAT volume */ + get_xfileinfo(fs->dirbuf, fno); + return; + } else +#endif + { /* On the FAT/FAT32 volume */ + if (dp->blk_ofs != 0xFFFFFFFF) { /* Get LFN if available */ + si = di = hs = 0; + while (fs->lfnbuf[si] != 0) { + wc = fs->lfnbuf[si++]; /* Get an LFN character (UTF-16) */ + if (hs == 0 && IsSurrogate(wc)) { /* Is it a surrogate? */ + hs = wc; continue; /* Get low surrogate */ + } + wc = put_utf((DWORD)hs << 16 | wc, &fno->fname[di], FF_LFN_BUF - di); /* Store it in UTF-16 or UTF-8 encoding */ + if (wc == 0) { di = 0; break; } /* Invalid char or buffer overflow? */ + di += wc; + hs = 0; + } + if (hs != 0) di = 0; /* Broken surrogate pair? */ + fno->fname[di] = 0; /* Terminate the LFN (null string means LFN is invalid) */ + } + } + + si = di = 0; + while (si < 11) { /* Get SFN from SFN entry */ + wc = dp->dir[si++]; /* Get a char */ + if (wc == ' ') continue; /* Skip padding spaces */ + if (wc == RDDEM) wc = DDEM; /* Restore replaced DDEM character */ + if (si == 9 && di < FF_SFN_BUF) fno->altname[di++] = '.'; /* Insert a . if extension is exist */ +#if FF_LFN_UNICODE >= 1 /* Unicode output */ + if (dbc_1st((BYTE)wc) && si != 8 && si != 11 && dbc_2nd(dp->dir[si])) { /* Make a DBC if needed */ + wc = wc << 8 | dp->dir[si++]; + } + wc = ff_oem2uni(wc, CODEPAGE); /* ANSI/OEM -> Unicode */ + if (wc == 0) { di = 0; break; } /* Wrong char in the current code page? */ + wc = put_utf(wc, &fno->altname[di], FF_SFN_BUF - di); /* Store it in Unicode */ + if (wc == 0) { di = 0; break; } /* Buffer overflow? */ + di += wc; +#else /* ANSI/OEM output */ + fno->altname[di++] = (TCHAR)wc; /* Store it without any conversion */ +#endif + } + fno->altname[di] = 0; /* Terminate the SFN (null string means SFN is invalid) */ + + if (fno->fname[0] == 0) { /* If LFN is invalid, altname[] needs to be copied to fname[] */ + if (di == 0) { /* If LFN and SFN both are invalid, this object is inaccesible */ + fno->fname[di++] = '?'; + } else { + for (si = di = 0; fno->altname[si]; si++, di++) { /* Copy altname[] to fname[] with case information */ + wc = (WCHAR)fno->altname[si]; + if (IsUpper(wc) && (dp->dir[DIR_NTres] & ((si >= 9) ? NS_EXT : NS_BODY))) wc += 0x20; + fno->fname[di] = (TCHAR)wc; + } + } + fno->fname[di] = 0; /* Terminate the LFN */ + if (!dp->dir[DIR_NTres]) fno->altname[0] = 0; /* Altname is not needed if neither LFN nor case info is exist. */ + } + +#else /* Non-LFN configuration */ + si = di = 0; + while (si < 11) { /* Copy name body and extension */ + c = (TCHAR)dp->dir[si++]; + if (c == ' ') continue; /* Skip padding spaces */ + if (c == RDDEM) c = DDEM; /* Restore replaced DDEM character */ + if (si == 9) fno->fname[di++] = '.';/* Insert a . if extension is exist */ + fno->fname[di++] = c; + } + fno->fname[di] = 0; +#endif + + fno->fattrib = dp->dir[DIR_Attr]; /* Attribute */ + fno->fsize = ld_dword(dp->dir + DIR_FileSize); /* Size */ + fno->ftime = ld_word(dp->dir + DIR_ModTime + 0); /* Time */ + fno->fdate = ld_word(dp->dir + DIR_ModTime + 2); /* Date */ +} + +#endif /* FF_FS_MINIMIZE <= 1 || FF_FS_RPATH >= 2 */ + + + +#if FF_USE_FIND && FF_FS_MINIMIZE <= 1 +/*-----------------------------------------------------------------------*/ +/* Pattern matching */ +/*-----------------------------------------------------------------------*/ + +static DWORD get_achar ( /* Get a character and advances ptr */ + const TCHAR** ptr /* Pointer to pointer to the ANSI/OEM or Unicode string */ +) +{ + DWORD chr; + + +#if FF_USE_LFN && FF_LFN_UNICODE >= 1 /* Unicode input */ + chr = tchar2uni(ptr); + if (chr == 0xFFFFFFFF) chr = 0; /* Wrong UTF encoding is recognized as end of the string */ + chr = ff_wtoupper(chr); + +#else /* ANSI/OEM input */ + chr = (BYTE)*(*ptr)++; /* Get a byte */ + if (IsLower(chr)) chr -= 0x20; /* To upper ASCII char */ +#if FF_CODE_PAGE == 0 + if (ExCvt && chr >= 0x80) chr = ExCvt[chr - 0x80]; /* To upper SBCS extended char */ +#elif FF_CODE_PAGE < 900 + if (chr >= 0x80) chr = ExCvt[chr - 0x80]; /* To upper SBCS extended char */ +#endif +#if FF_CODE_PAGE == 0 || FF_CODE_PAGE >= 900 + if (dbc_1st((BYTE)chr)) { /* Get DBC 2nd byte if needed */ + chr = dbc_2nd((BYTE)**ptr) ? chr << 8 | (BYTE)*(*ptr)++ : 0; + } +#endif + +#endif + return chr; +} + + +static int pattern_matching ( /* 0:not matched, 1:matched */ + const TCHAR* pat, /* Matching pattern */ + const TCHAR* nam, /* String to be tested */ + int skip, /* Number of pre-skip chars (number of ?s) */ + int inf /* Infinite search (* specified) */ +) +{ + const TCHAR *pp, *np; + DWORD pc, nc; + int nm, nx; + + + while (skip--) { /* Pre-skip name chars */ + if (!get_achar(&nam)) return 0; /* Branch mismatched if less name chars */ + } + if (*pat == 0 && inf) return 1; /* (short circuit) */ + + do { + pp = pat; np = nam; /* Top of pattern and name to match */ + for (;;) { + if (*pp == '?' || *pp == '*') { /* Wildcard? */ + nm = nx = 0; + do { /* Analyze the wildcard block */ + if (*pp++ == '?') nm++; else nx = 1; + } while (*pp == '?' || *pp == '*'); + if (pattern_matching(pp, np, nm, nx)) return 1; /* Test new branch (recurs upto number of wildcard blocks in the pattern) */ + nc = *np; break; /* Branch mismatched */ + } + pc = get_achar(&pp); /* Get a pattern char */ + nc = get_achar(&np); /* Get a name char */ + if (pc != nc) break; /* Branch mismatched? */ + if (pc == 0) return 1; /* Branch matched? (matched at end of both strings) */ + } + get_achar(&nam); /* nam++ */ + } while (inf && nc); /* Retry until end of name if infinite search is specified */ + + return 0; +} + +#endif /* FF_USE_FIND && FF_FS_MINIMIZE <= 1 */ + + + +/*-----------------------------------------------------------------------*/ +/* Pick a top segment and create the object name in directory form */ +/*-----------------------------------------------------------------------*/ + +static FRESULT create_name ( /* FR_OK: successful, FR_INVALID_NAME: could not create */ + DIR* dp, /* Pointer to the directory object */ + const TCHAR** path /* Pointer to pointer to the segment in the path string */ +) +{ +#if FF_USE_LFN /* LFN configuration */ BYTE b, cf; - WCHAR w, *lfn; + WCHAR wc, *lfn; + DWORD uc; UINT i, ni, si, di; const TCHAR *p; - /* Create LFN in Unicode */ - for (p = *path; *p == '/' || *p == '\\'; p++) ; /* Strip duplicated separator */ - lfn = dj->lfn; - si = di = 0; + + /* Create LFN into LFN working buffer */ + p = *path; lfn = dp->obj.fs->lfnbuf; di = 0; for (;;) { - w = p[si++]; /* Get a character */ - if (w < ' ' || w == '/' || w == '\\') break; /* Break on end of segment */ - if (di >= _MAX_LFN) /* Reject too long name */ - return FR_INVALID_NAME; -#if !_LFN_UNICODE - w &= 0xFF; - if (IsDBCS1(w)) { /* Check if it is a DBC 1st byte (always false on SBCS cfg) */ - b = (BYTE)p[si++]; /* Get 2nd byte */ - if (!IsDBCS2(b)) - return FR_INVALID_NAME; /* Reject invalid sequence */ - w = (w << 8) + b; /* Create a DBC */ - } - w = ff_convert(w, 1); /* Convert ANSI/OEM to Unicode */ - if (!w) return FR_INVALID_NAME; /* Reject invalid code */ -#endif - if (w < 0x80 && chk_chr("\"*:<>\?|\x7F", w)) /* Reject illegal chars for LFN */ - return FR_INVALID_NAME; - lfn[di++] = w; /* Store the Unicode char */ - } - *path = &p[si]; /* Return pointer to the next segment */ - cf = (w < ' ') ? NS_LAST : 0; /* Set last segment flag if end of path */ -#if _FS_RPATH - if ((di == 1 && lfn[di-1] == '.') || /* Is this a dot entry? */ - (di == 2 && lfn[di-1] == '.' && lfn[di-2] == '.')) { + uc = tchar2uni(&p); /* Get a character */ + if (uc == 0xFFFFFFFF) return FR_INVALID_NAME; /* Invalid code or UTF decode error */ + if (uc >= 0x10000) lfn[di++] = (WCHAR)(uc >> 16); /* Store high surrogate if needed */ + wc = (WCHAR)uc; + if (wc < ' ' || wc == '/' || wc == '\\') break; /* Break if end of the path or a separator is found */ + if (wc < 0x80 && chk_chr("\"*:<>\?|\x7F", wc)) return FR_INVALID_NAME; /* Reject illegal characters for LFN */ + if (di >= FF_MAX_LFN) return FR_INVALID_NAME; /* Reject too long name */ + lfn[di++] = wc; /* Store the Unicode character */ + } + while (*p == '/' || *p == '\\') p++; /* Skip duplicated separators if exist */ + *path = p; /* Return pointer to the next segment */ + cf = (wc < ' ') ? NS_LAST : 0; /* Set last segment flag if end of the path */ + +#if FF_FS_RPATH != 0 + if ((di == 1 && lfn[di - 1] == '.') || + (di == 2 && lfn[di - 1] == '.' && lfn[di - 2] == '.')) { /* Is this segment a dot name? */ lfn[di] = 0; - for (i = 0; i < 11; i++) - dj->fn[i] = (i < di) ? '.' : ' '; - dj->fn[i] = cf | NS_DOT; /* This is a dot entry */ + for (i = 0; i < 11; i++) { /* Create dot name for SFN entry */ + dp->fn[i] = (i < di) ? '.' : ' '; + } + dp->fn[i] = cf | NS_DOT; /* This is a dot entry */ return FR_OK; } #endif - while (di) { /* Strip trailing spaces and dots */ - w = lfn[di-1]; - if (w != ' ' && w != '.') break; + while (di) { /* Snip off trailing spaces and dots if exist */ + wc = lfn[di - 1]; + if (wc != ' ' && wc != '.') break; di--; } - if (!di) return FR_INVALID_NAME; /* Reject nul string */ - - lfn[di] = 0; /* LFN is created */ + lfn[di] = 0; /* LFN is created into the working buffer */ + if (di == 0) return FR_INVALID_NAME; /* Reject null name */ /* Create SFN in directory form */ - mem_set(dj->fn, ' ', 11); - for (si = 0; lfn[si] == ' ' || lfn[si] == '.'; si++) ; /* Strip leading spaces and dots */ - if (si) cf |= NS_LOSS | NS_LFN; - while (di && lfn[di - 1] != '.') di--; /* Find extension (di<=si: no extension) */ + for (si = 0; lfn[si] == ' '; si++) ; /* Remove leading spaces */ + if (si > 0 || lfn[si] == '.') cf |= NS_LOSS | NS_LFN; /* Is there any leading space or dot? */ + while (di > 0 && lfn[di - 1] != '.') di--; /* Find last dot (di<=si: no extension) */ - b = i = 0; ni = 8; + mem_set(dp->fn, ' ', 11); + i = b = 0; ni = 8; for (;;) { - w = lfn[si++]; /* Get an LFN char */ - if (!w) break; /* Break on end of the LFN */ - if (w == ' ' || (w == '.' && si != di)) { /* Remove spaces and dots */ - cf |= NS_LOSS | NS_LFN; continue; + wc = lfn[si++]; /* Get an LFN character */ + if (wc == 0) break; /* Break on end of the LFN */ + if (wc == ' ' || (wc == '.' && si != di)) { /* Remove embedded spaces and dots */ + cf |= NS_LOSS | NS_LFN; + continue; } - if (i >= ni || si == di) { /* Extension or end of SFN */ - if (ni == 11) { /* Long extension */ - cf |= NS_LOSS | NS_LFN; break; + if (i >= ni || si == di) { /* End of field? */ + if (ni == 11) { /* Name extension overflow? */ + cf |= NS_LOSS | NS_LFN; + break; } - if (si != di) cf |= NS_LOSS | NS_LFN; /* Out of 8.3 format */ - if (si > di) break; /* No extension */ - si = di; i = 8; ni = 11; /* Enter extension section */ - b <<= 2; continue; + if (si != di) cf |= NS_LOSS | NS_LFN; /* Name body overflow? */ + if (si > di) break; /* No name extension? */ + si = di; i = 8; ni = 11; b <<= 2; /* Enter name extension */ + continue; } - if (w >= 0x80) { /* Non ASCII char */ -#ifdef _EXCVT - w = ff_convert(w, 0); /* Unicode -> OEM code */ - if (w) w = excvt[w - 0x80]; /* Convert extended char to upper (SBCS) */ -#else - w = ff_convert(ff_wtoupper(w), 0); /* Upper converted Unicode -> OEM code */ + if (wc >= 0x80) { /* Is this a non-ASCII character? */ + cf |= NS_LFN; /* LFN entry needs to be created */ +#if FF_CODE_PAGE == 0 + if (ExCvt) { /* At SBCS */ + wc = ff_uni2oem(wc, CODEPAGE); /* Unicode ==> ANSI/OEM code */ + if (wc & 0x80) wc = ExCvt[wc & 0x7F]; /* Convert extended character to upper (SBCS) */ + } else { /* At DBCS */ + wc = ff_uni2oem(ff_wtoupper(wc), CODEPAGE); /* Unicode ==> Upper convert ==> ANSI/OEM code */ + } +#elif FF_CODE_PAGE < 900 /* SBCS cfg */ + wc = ff_uni2oem(wc, CODEPAGE); /* Unicode ==> ANSI/OEM code */ + if (wc & 0x80) wc = ExCvt[wc & 0x7F]; /* Convert extended character to upper (SBCS) */ +#else /* DBCS cfg */ + wc = ff_uni2oem(ff_wtoupper(wc), CODEPAGE); /* Unicode ==> Upper convert ==> ANSI/OEM code */ #endif - cf |= NS_LFN; /* Force create LFN entry */ } - if (_DF1S && w >= 0x100) { /* Double byte char (always false on SBCS cfg) */ - if (i >= ni - 1) { - cf |= NS_LOSS | NS_LFN; i = ni; continue; + if (wc >= 0x100) { /* Is this a DBC? */ + if (i >= ni - 1) { /* Field overflow? */ + cf |= NS_LOSS | NS_LFN; + i = ni; continue; /* Next field */ } - dj->fn[i++] = (BYTE)(w >> 8); - } else { /* Single byte char */ - if (!w || chk_chr("+,;=[]", w)) { /* Replace illegal chars for SFN */ - w = '_'; cf |= NS_LOSS | NS_LFN;/* Lossy conversion */ + dp->fn[i++] = (BYTE)(wc >> 8); /* Put 1st byte */ + } else { /* SBC */ + if (wc == 0 || chk_chr("+,;=[]", wc)) { /* Replace illegal characters for SFN if needed */ + wc = '_'; cf |= NS_LOSS | NS_LFN;/* Lossy conversion */ } else { - if (IsUpper(w)) { /* ASCII large capital */ + if (IsUpper(wc)) { /* ASCII upper case? */ b |= 2; - } else { - if (IsLower(w)) { /* ASCII small capital */ - b |= 1; w -= 0x20; - } + } + if (IsLower(wc)) { /* ASCII lower case? */ + b |= 1; wc -= 0x20; } } } - dj->fn[i++] = (BYTE)w; + dp->fn[i++] = (BYTE)wc; } - if (dj->fn[0] == DDE) dj->fn[0] = NDDE; /* If the first char collides with deleted mark, replace it with 0x05 */ + if (dp->fn[0] == DDEM) dp->fn[0] = RDDEM; /* If the first character collides with DDEM, replace it with RDDEM */ - if (ni == 8) b <<= 2; - if ((b & 0x0C) == 0x0C || (b & 0x03) == 0x03) /* Create LFN entry when there are composite capitals */ - cf |= NS_LFN; - if (!(cf & NS_LFN)) { /* When LFN is in 8.3 format without extended char, NT flags are created */ - if ((b & 0x03) == 0x01) cf |= NS_EXT; /* NT flag (Extension has only small capital) */ - if ((b & 0x0C) == 0x04) cf |= NS_BODY; /* NT flag (Filename has only small capital) */ + if (ni == 8) b <<= 2; /* Shift capital flags if no extension */ + if ((b & 0x0C) == 0x0C || (b & 0x03) == 0x03) cf |= NS_LFN; /* LFN entry needs to be created if composite capitals */ + if (!(cf & NS_LFN)) { /* When LFN is in 8.3 format without extended character, NT flags are created */ + if (b & 0x01) cf |= NS_EXT; /* NT flag (Extension has small capital letters only) */ + if (b & 0x04) cf |= NS_BODY; /* NT flag (Body has small capital letters only) */ } - dj->fn[NS] = cf; /* SFN is created */ + dp->fn[NSFLAG] = cf; /* SFN is created into dp->fn[] */ return FR_OK; -#else /* Non-LFN configuration */ - BYTE b, c, d, *sfn; +#else /* FF_USE_LFN : Non-LFN configuration */ + BYTE c, d, *sfn; UINT ni, si, i; const char *p; /* Create file name in directory form */ - for (p = *path; *p == '/' || *p == '\\'; p++) ; /* Strip duplicated separator */ - sfn = dj->fn; + p = *path; sfn = dp->fn; mem_set(sfn, ' ', 11); - si = i = b = 0; ni = 8; -#if _FS_RPATH + si = i = 0; ni = 8; +#if FF_FS_RPATH != 0 if (p[si] == '.') { /* Is this a dot entry? */ for (;;) { c = (BYTE)p[si++]; @@ -1792,398 +2987,479 @@ FRESULT create_name ( sfn[i++] = c; } if (c != '/' && c != '\\' && c > ' ') return FR_INVALID_NAME; - *path = &p[si]; /* Return pointer to the next segment */ - sfn[NS] = (c <= ' ') ? NS_LAST | NS_DOT : NS_DOT; /* Set last segment flag if end of path */ + *path = p + si; /* Return pointer to the next segment */ + sfn[NSFLAG] = (c <= ' ') ? NS_LAST | NS_DOT : NS_DOT; /* Set last segment flag if end of the path */ return FR_OK; } #endif for (;;) { - c = (BYTE)p[si++]; - if (c <= ' ' || c == '/' || c == '\\') break; /* Break on end of segment */ - if (c == '.' || i >= ni) { - if (ni != 8 || c != '.') return FR_INVALID_NAME; - i = 8; ni = 11; - b <<= 2; continue; - } - if (c >= 0x80) { /* Extended char? */ - b |= 3; /* Eliminate NT flag */ -#ifdef _EXCVT - c = excvt[c-0x80]; /* Upper conversion (SBCS) */ -#else -#if !_DF1S /* ASCII only cfg */ - return FR_INVALID_NAME; -#endif -#endif + c = (BYTE)p[si++]; /* Get a byte */ + if (c <= ' ') break; /* Break if end of the path name */ + if (c == '/' || c == '\\') { /* Break if a separator is found */ + while (p[si] == '/' || p[si] == '\\') si++; /* Skip duplicated separator if exist */ + break; + } + if (c == '.' || i >= ni) { /* End of body or field overflow? */ + if (ni == 11 || c != '.') return FR_INVALID_NAME; /* Field overflow or invalid dot? */ + i = 8; ni = 11; /* Enter file extension field */ + continue; + } +#if FF_CODE_PAGE == 0 + if (ExCvt && c >= 0x80) { /* Is SBC extended character? */ + c = ExCvt[c & 0x7F]; /* To upper SBC extended character */ + } +#elif FF_CODE_PAGE < 900 + if (c >= 0x80) { /* Is SBC extended character? */ + c = ExCvt[c & 0x7F]; /* To upper SBC extended character */ } - if (IsDBCS1(c)) { /* Check if it is a DBC 1st byte (always false on SBCS cfg) */ +#endif + if (dbc_1st(c)) { /* Check if it is a DBC 1st byte */ d = (BYTE)p[si++]; /* Get 2nd byte */ - if (!IsDBCS2(d) || i >= ni - 1) /* Reject invalid DBC */ - return FR_INVALID_NAME; + if (!dbc_2nd(d) || i >= ni - 1) return FR_INVALID_NAME; /* Reject invalid DBC */ sfn[i++] = c; sfn[i++] = d; - } else { /* Single byte code */ - if (chk_chr("\"*+,:;<=>\?[]|\x7F", c)) /* Reject illegal chrs for SFN */ - return FR_INVALID_NAME; - if (IsUpper(c)) { /* ASCII large capital? */ - b |= 2; - } else { - if (IsLower(c)) { /* ASCII small capital? */ - b |= 1; c -= 0x20; - } - } + } else { /* SBC */ + if (chk_chr("\"*+,:;<=>\?[]|\x7F", c)) return FR_INVALID_NAME; /* Reject illegal chrs for SFN */ + if (IsLower(c)) c -= 0x20; /* To upper */ sfn[i++] = c; } } - *path = &p[si]; /* Return pointer to the next segment */ - c = (c <= ' ') ? NS_LAST : 0; /* Set last segment flag if end of path */ - - if (!i) return FR_INVALID_NAME; /* Reject nul string */ - if (sfn[0] == DDE) sfn[0] = NDDE; /* When first char collides with DDE, replace it with 0x05 */ + *path = p + si; /* Return pointer to the next segment */ + if (i == 0) return FR_INVALID_NAME; /* Reject nul string */ - if (ni == 8) b <<= 2; - if ((b & 0x03) == 0x01) c |= NS_EXT; /* NT flag (Name extension has only small capital) */ - if ((b & 0x0C) == 0x04) c |= NS_BODY; /* NT flag (Name body has only small capital) */ - - sfn[NS] = c; /* Store NT flag, File name is created */ + if (sfn[0] == DDEM) sfn[0] = RDDEM; /* If the first character collides with DDEM, replace it with RDDEM */ + sfn[NSFLAG] = (c <= ' ') ? NS_LAST : 0; /* Set last segment flag if end of the path */ return FR_OK; -#endif +#endif /* FF_USE_LFN */ } /*-----------------------------------------------------------------------*/ -/* Get file information from directory entry */ +/* Follow a file path */ /*-----------------------------------------------------------------------*/ -#if _FS_MINIMIZE <= 1 -static -void get_fileinfo ( /* No return code */ - DIR *dj, /* Pointer to the directory object */ - FILINFO *fno /* Pointer to the file information to be filled */ + +static FRESULT follow_path ( /* FR_OK(0): successful, !=0: error code */ + DIR* dp, /* Directory object to return last directory and found object */ + const TCHAR* path /* Full-path string to find a file or directory */ ) { - UINT i; - BYTE nt, *dir; - TCHAR *p, c; - - - p = fno->fname; - if (dj->sect) { - dir = dj->dir; - nt = dir[DIR_NTres]; /* NT flag */ - for (i = 0; i < 8; i++) { /* Copy name body */ - c = dir[i]; - if (c == ' ') break; - if (c == NDDE) c = (TCHAR)DDE; - if (_USE_LFN && (nt & NS_BODY) && IsUpper(c)) c += 0x20; -#if _LFN_UNICODE - if (IsDBCS1(c) && i < 7 && IsDBCS2(dir[i+1])) - c = (c << 8) | dir[++i]; - c = ff_convert(c, 1); - if (!c) c = '?'; -#endif - *p++ = c; - } - if (dir[8] != ' ') { /* Copy name extension */ - *p++ = '.'; - for (i = 8; i < 11; i++) { - c = dir[i]; - if (c == ' ') break; - if (_USE_LFN && (nt & NS_EXT) && IsUpper(c)) c += 0x20; -#if _LFN_UNICODE - if (IsDBCS1(c) && i < 10 && IsDBCS2(dir[i+1])) - c = (c << 8) | dir[++i]; - c = ff_convert(c, 1); - if (!c) c = '?'; -#endif - *p++ = c; - } - } + FRESULT res; + BYTE ns; + FATFS *fs = dp->obj.fs; - fno->fattrib = dir[DIR_Attr]; /* Attribute */ - fno->fsize = LD_DWORD(dir+DIR_FileSize); /* Size */ - fno->fdate = LD_WORD(dir+DIR_WrtDate); /* Date */ - fno->ftime = LD_WORD(dir+DIR_WrtTime); /* Time */ + +#if FF_FS_RPATH != 0 + if (*path != '/' && *path != '\\') { /* Without heading separator */ + dp->obj.sclust = fs->cdir; /* Start from current directory */ + } else +#endif + { /* With heading separator */ + while (*path == '/' || *path == '\\') path++; /* Strip heading separator */ + dp->obj.sclust = 0; /* Start from root directory */ } - *p = 0; /* Terminate SFN str by a \0 */ +#if FF_FS_EXFAT + dp->obj.n_frag = 0; /* Invalidate last fragment counter of the object */ +#if FF_FS_RPATH != 0 + if (fs->fs_type == FS_EXFAT && dp->obj.sclust) { /* exFAT: Retrieve the sub-directory's status */ + DIR dj; + + dp->obj.c_scl = fs->cdc_scl; + dp->obj.c_size = fs->cdc_size; + dp->obj.c_ofs = fs->cdc_ofs; + res = load_obj_xdir(&dj, &dp->obj); + if (res != FR_OK) return res; + dp->obj.objsize = ld_dword(fs->dirbuf + XDIR_FileSize); + dp->obj.stat = fs->dirbuf[XDIR_GenFlags] & 2; + } +#endif +#endif -#if _USE_LFN - if (fno->lfname && fno->lfsize) { - TCHAR *tp = fno->lfname; - WCHAR w, *lfn; + if ((UINT)*path < ' ') { /* Null path name is the origin directory itself */ + dp->fn[NSFLAG] = NS_NONAME; + res = dir_sdi(dp, 0); - i = 0; - if (dj->sect && dj->lfn_idx != 0xFFFF) {/* Get LFN if available */ - lfn = dj->lfn; - while ((w = *lfn++) != 0) { /* Get an LFN char */ -#if !_LFN_UNICODE - w = ff_convert(w, 0); /* Unicode -> OEM conversion */ - if (!w) { i = 0; break; } /* Could not convert, no LFN */ - if (_DF1S && w >= 0x100) /* Put 1st byte if it is a DBC (always false on SBCS cfg) */ - tp[i++] = (TCHAR)(w >> 8); -#endif - if (i >= fno->lfsize - 1) { i = 0; break; } /* Buffer overflow, no LFN */ - tp[i++] = (TCHAR)w; + } else { /* Follow path */ + for (;;) { + res = create_name(dp, &path); /* Get a segment name of the path */ + if (res != FR_OK) break; + res = dir_find(dp); /* Find an object with the segment name */ + ns = dp->fn[NSFLAG]; + if (res != FR_OK) { /* Failed to find the object */ + if (res == FR_NO_FILE) { /* Object is not found */ + if (FF_FS_RPATH && (ns & NS_DOT)) { /* If dot entry is not exist, stay there */ + if (!(ns & NS_LAST)) continue; /* Continue to follow if not last segment */ + dp->fn[NSFLAG] = NS_NONAME; + res = FR_OK; + } else { /* Could not find the object */ + if (!(ns & NS_LAST)) res = FR_NO_PATH; /* Adjust error code if not last segment */ + } + } + break; + } + if (ns & NS_LAST) break; /* Last segment matched. Function completed. */ + /* Get into the sub-directory */ + if (!(dp->obj.attr & AM_DIR)) { /* It is not a sub-directory and cannot follow */ + res = FR_NO_PATH; break; + } +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* Save containing directory information for next dir */ + dp->obj.c_scl = dp->obj.sclust; + dp->obj.c_size = ((DWORD)dp->obj.objsize & 0xFFFFFF00) | dp->obj.stat; + dp->obj.c_ofs = dp->blk_ofs; + init_alloc_info(fs, &dp->obj); /* Open next directory */ + } else +#endif + { + dp->obj.sclust = ld_clust(fs, fs->win + dp->dptr % SS(fs)); /* Open next directory */ } } - tp[i] = 0; /* Terminate the LFN str by a \0 */ } -#endif + return res; } -#endif /* _FS_MINIMIZE <= 1 */ /*-----------------------------------------------------------------------*/ -/* Follow a file path */ +/* Get logical drive number from path name */ /*-----------------------------------------------------------------------*/ -static -FRESULT follow_path ( /* FR_OK(0): successful, !=0: error code */ - DIR *dj, /* Directory object to return last directory and found object */ - const TCHAR *path /* Full-path string to find a file or directory */ +static int get_ldnumber ( /* Returns logical drive number (-1:invalid drive number or null pointer) */ + const TCHAR** path /* Pointer to pointer to the path name */ ) { - FRESULT res; - BYTE *dir, ns; - - -#if _FS_RPATH - if (*path == '/' || *path == '\\') { /* There is a heading separator */ - path++; dj->sclust = 0; /* Strip it and start from the root dir */ - } else { /* No heading separator */ - dj->sclust = dj->fs->cdir; /* Start from the current dir */ - } -#else - if (*path == '/' || *path == '\\') /* Strip heading separator if exist */ - path++; - dj->sclust = 0; /* Start from the root dir */ + const TCHAR *tp, *tt; + TCHAR tc; + int i, vol = -1; +#if FF_STR_VOLUME_ID /* Find string volume ID */ + const char *sp; + char c; #endif - if ((UINT)*path < ' ') { /* Nul path means the start directory itself */ - res = dir_sdi(dj, 0); - dj->dir = 0; + tt = tp = *path; + if (!tp) return vol; /* Invalid path name? */ + do tc = *tt++; while ((UINT)tc >= (FF_USE_LFN ? ' ' : '!') && tc != ':'); /* Find a colon in the path */ - } else { /* Follow path */ - for (;;) { - res = create_name(dj, &path); /* Get a segment */ - if (res != FR_OK) break; - res = dir_find(dj); /* Find it */ - ns = *(dj->fn+NS); - if (res != FR_OK) { /* Failed to find the object */ - if (res != FR_NO_FILE) break; /* Abort if any hard error occured */ - /* Object not found */ - if (_FS_RPATH && (ns & NS_DOT)) { /* If dot entry is not exit */ - dj->sclust = 0; dj->dir = 0; /* It is the root dir */ - res = FR_OK; - if (!(ns & NS_LAST)) continue; - } else { /* Could not find the object */ - if (!(ns & NS_LAST)) res = FR_NO_PATH; - } - break; - } - if (ns & NS_LAST) break; /* Last segment match. Function completed. */ - dir = dj->dir; /* There is next segment. Follow the sub directory */ - if (!(dir[DIR_Attr] & AM_DIR)) { /* Cannot follow because it is a file */ - res = FR_NO_PATH; break; - } - dj->sclust = LD_CLUST(dir); + if (tc == ':') { /* DOS/Windows style volume ID? */ + i = FF_VOLUMES; + if (IsDigit(*tp) && tp + 2 == tt) { /* Is there a numeric volume ID + colon? */ + i = (int)*tp - '0'; /* Get the LD number */ + } +#if FF_STR_VOLUME_ID == 1 /* Arbitrary string is enabled */ + else { + i = 0; + do { + sp = VolumeStr[i]; tp = *path; /* This string volume ID and path name */ + do { /* Compare the volume ID with path name */ + c = *sp++; tc = *tp++; + if (IsLower(c)) c -= 0x20; + if (IsLower(tc)) tc -= 0x20; + } while (c && (TCHAR)c == tc); + } while ((c || tp != tt) && ++i < FF_VOLUMES); /* Repeat for each id until pattern match */ } +#endif + if (i < FF_VOLUMES) { /* If a volume ID is found, get the drive number and strip it */ + vol = i; /* Drive number */ + *path = tt; /* Snip the drive prefix off */ + } + return vol; } - - return res; +#if FF_STR_VOLUME_ID == 2 /* Unix style volume ID is enabled */ + if (*tp == '/') { + i = 0; + do { + sp = VolumeStr[i]; tp = *path; /* This string volume ID and path name */ + do { /* Compare the volume ID with path name */ + c = *sp++; tc = *(++tp); + if (IsLower(c)) c -= 0x20; + if (IsLower(tc)) tc -= 0x20; + } while (c && (TCHAR)c == tc); + } while ((c || (tc != '/' && (UINT)tc >= (FF_USE_LFN ? ' ' : '!'))) && ++i < FF_VOLUMES); /* Repeat for each ID until pattern match */ + if (i < FF_VOLUMES) { /* If a volume ID is found, get the drive number and strip it */ + vol = i; /* Drive number */ + *path = tp; /* Snip the drive prefix off */ + return vol; + } + } +#endif + /* No drive prefix is found */ +#if FF_FS_RPATH != 0 + vol = CurrVol; /* Default drive is current drive */ +#else + vol = 0; /* Default drive is 0 */ +#endif + return vol; /* Return the default drive */ } /*-----------------------------------------------------------------------*/ -/* Load a sector and check if it is an FAT Volume Boot Record */ +/* Load a sector and check if it is an FAT VBR */ /*-----------------------------------------------------------------------*/ -static -BYTE check_fs ( /* 0:FAT-VBR, 1:Valid BR but not FAT, 2:Not a BR, 3:Disk error */ - FATFS *fs, /* File system object */ - DWORD sect /* Sector# (lba) to check if it is an FAT boot record or not */ +static BYTE check_fs ( /* 0:FAT, 1:exFAT, 2:Valid BS but not FAT, 3:Not a BS, 4:Disk error */ + FATFS* fs, /* Filesystem object */ + DWORD sect /* Sector# (lba) to load and check if it is an FAT-VBR or not */ ) { - if (disk_read(fs->drv, fs->win, sect, 1) != RES_OK) /* Load boot record */ - return 3; - if (LD_WORD(&fs->win[BS_55AA]) != 0xAA55) /* Check record signature (always placed at offset 510 even if the sector size is >512) */ - return 2; + fs->wflag = 0; fs->winsect = 0xFFFFFFFF; /* Invaidate window */ + if (move_window(fs, sect) != FR_OK) return 4; /* Load boot record */ - if ((LD_DWORD(&fs->win[BS_FilSysType]) & 0xFFFFFF) == 0x544146) /* Check "FAT" string */ - return 0; - if ((LD_DWORD(&fs->win[BS_FilSysType32]) & 0xFFFFFF) == 0x544146) - return 0; + if (ld_word(fs->win + BS_55AA) != 0xAA55) return 3; /* Check boot record signature (always here regardless of the sector size) */ - return 1; +#if FF_FS_EXFAT + if (!mem_cmp(fs->win + BS_JmpBoot, "\xEB\x76\x90" "EXFAT ", 11)) return 1; /* Check if exFAT VBR */ +#endif + if (fs->win[BS_JmpBoot] == 0xE9 || fs->win[BS_JmpBoot] == 0xEB || fs->win[BS_JmpBoot] == 0xE8) { /* Valid JumpBoot code? */ + if (!mem_cmp(fs->win + BS_FilSysType, "FAT", 3)) return 0; /* Is it an FAT VBR? */ + if (!mem_cmp(fs->win + BS_FilSysType32, "FAT32", 5)) return 0; /* Is it an FAT32 VBR? */ + } + return 2; /* Valid BS but not FAT */ } /*-----------------------------------------------------------------------*/ -/* Check if the file system object is valid or not */ +/* Determine logical drive number and mount the volume if needed */ /*-----------------------------------------------------------------------*/ -static -FRESULT chk_mounted ( /* FR_OK(0): successful, !=0: any error occurred */ - const TCHAR **path, /* Pointer to pointer to the path name (drive number) */ - FATFS **rfs, /* Pointer to pointer to the found file system object */ - BYTE chk_wp /* !=0: Check media write protection for write access */ +static FRESULT find_volume ( /* FR_OK(0): successful, !=0: an error occurred */ + const TCHAR** path, /* Pointer to pointer to the path name (drive number) */ + FATFS** rfs, /* Pointer to pointer to the found filesystem object */ + BYTE mode /* !=0: Check write protection for write access */ ) { - BYTE fmt, b, pi, *tbl; - UINT vol; + BYTE fmt, *pt; + int vol; DSTATUS stat; - DWORD bsect, fasize, tsect, sysect, nclst, szbfat; + DWORD bsect, fasize, tsect, sysect, nclst, szbfat, br[4]; WORD nrsv; - const TCHAR *p = *path; FATFS *fs; + UINT i; - /* Get logical drive number from the path name */ - vol = p[0] - '0'; /* Is there a drive number? */ - if (vol <= 9 && p[1] == ':') { /* Found a drive number, get and strip it */ - p += 2; *path = p; /* Return pointer to the path name */ - } else { /* No drive number is given */ -#if _FS_RPATH - vol = CurrVol; /* Use current drive */ -#else - vol = 0; /* Use drive 0 */ -#endif - } - /* Check if the file system object is valid or not */ - if (vol >= _VOLUMES) /* Is the drive number valid? */ - return FR_INVALID_DRIVE; - *rfs = fs = FatFs[vol]; /* Return pointer to the corresponding file system object */ - if (!fs) return FR_NOT_ENABLED; /* Is the file system object available? */ + /* Get logical drive number */ + *rfs = 0; + vol = get_ldnumber(path); + if (vol < 0) return FR_INVALID_DRIVE; - ENTER_FF(fs); /* Lock file system */ + /* Check if the filesystem object is valid or not */ + fs = FatFs[vol]; /* Get pointer to the filesystem object */ + if (!fs) return FR_NOT_ENABLED; /* Is the filesystem object available? */ +#if FF_FS_REENTRANT + if (!lock_fs(fs)) return FR_TIMEOUT; /* Lock the volume */ +#endif + *rfs = fs; /* Return pointer to the filesystem object */ - if (fs->fs_type) { /* If the logical drive has been mounted */ - stat = disk_status(fs->drv); - if (!(stat & STA_NOINIT)) { /* and the physical drive is kept initialized (has not been changed), */ - if (!_FS_READONLY && chk_wp && (stat & STA_PROTECT)) /* Check write protection if needed */ + mode &= (BYTE)~FA_READ; /* Desired access mode, write access or not */ + if (fs->fs_type != 0) { /* If the volume has been mounted */ + stat = disk_status(fs->pdrv); + if (!(stat & STA_NOINIT)) { /* and the physical drive is kept initialized */ + if (!FF_FS_READONLY && mode && (stat & STA_PROTECT)) { /* Check write protection if needed */ return FR_WRITE_PROTECTED; - return FR_OK; /* The file system object is valid */ + } + return FR_OK; /* The filesystem object is valid */ } } - /* The file system object is not valid. */ - /* Following code attempts to mount the volume. (analyze BPB and initialize the fs object) */ + /* The filesystem object is not valid. */ + /* Following code attempts to mount the volume. (analyze BPB and initialize the filesystem object) */ - fs->fs_type = 0; /* Clear the file system object */ - fs->drv = LD2PD(vol); /* Bind the logical drive and a physical drive */ - stat = disk_initialize(fs->drv); /* Initialize low level disk I/O layer */ - if (stat & STA_NOINIT) /* Check if the initialization succeeded */ - return FR_NOT_READY; /* Failed to initialize due to no media or hard error */ - if (!_FS_READONLY && chk_wp && (stat & STA_PROTECT)) /* Check disk write protection if needed */ + fs->fs_type = 0; /* Clear the filesystem object */ + fs->pdrv = LD2PD(vol); /* Bind the logical drive and a physical drive */ + stat = disk_initialize(fs->pdrv); /* Initialize the physical drive */ + if (stat & STA_NOINIT) { /* Check if the initialization succeeded */ + return FR_NOT_READY; /* Failed to initialize due to no medium or hard error */ + } + if (!FF_FS_READONLY && mode && (stat & STA_PROTECT)) { /* Check disk write protection if needed */ return FR_WRITE_PROTECTED; -#if _MAX_SS != 512 /* Get disk sector size (variable sector size cfg only) */ - if (disk_ioctl(fs->drv, GET_SECTOR_SIZE, &fs->ssize) != RES_OK) - return FR_DISK_ERR; -#endif - /* Search FAT partition on the drive. Supports only generic partitionings, FDISK and SFD. */ - fmt = check_fs(fs, bsect = 0); /* Load sector 0 and check if it is an FAT-VBR (in SFD) */ - if (LD2PT(vol) && !fmt) fmt = 1; /* Force non-SFD if the volume is forced partition */ - if (fmt == 1) { /* Not an FAT-VBR, the physical drive can be partitioned */ - /* Check the partition listed in the partition table */ - pi = LD2PT(vol); - if (pi) pi--; - tbl = &fs->win[MBR_Table + pi * SZ_PTE];/* Partition table */ - if (tbl[4]) { /* Is the partition existing? */ - bsect = LD_DWORD(&tbl[8]); /* Partition offset in LBA */ - fmt = check_fs(fs, bsect); /* Check the partition */ - } - } - if (fmt == 3) return FR_DISK_ERR; - if (fmt) return FR_NO_FILESYSTEM; /* No FAT volume is found */ - - /* An FAT volume is found. Following code initializes the file system object */ - - if (LD_WORD(fs->win+BPB_BytsPerSec) != SS(fs)) /* (BPB_BytsPerSec must be equal to the physical sector size) */ - return FR_NO_FILESYSTEM; - - fasize = LD_WORD(fs->win+BPB_FATSz16); /* Number of sectors per FAT */ - if (!fasize) fasize = LD_DWORD(fs->win+BPB_FATSz32); - fs->fsize = fasize; - - fs->n_fats = b = fs->win[BPB_NumFATs]; /* Number of FAT copies */ - if (b != 1 && b != 2) return FR_NO_FILESYSTEM; /* (Must be 1 or 2) */ - fasize *= b; /* Number of sectors for FAT area */ - - fs->csize = b = fs->win[BPB_SecPerClus]; /* Number of sectors per cluster */ - if (!b || (b & (b - 1))) return FR_NO_FILESYSTEM; /* (Must be power of 2) */ - - fs->n_rootdir = LD_WORD(fs->win+BPB_RootEntCnt); /* Number of root directory entries */ - if (fs->n_rootdir % (SS(fs) / SZ_DIR)) return FR_NO_FILESYSTEM; /* (BPB_RootEntCnt must be sector aligned) */ - - tsect = LD_WORD(fs->win+BPB_TotSec16); /* Number of sectors on the volume */ - if (!tsect) tsect = LD_DWORD(fs->win+BPB_TotSec32); - - nrsv = LD_WORD(fs->win+BPB_RsvdSecCnt); /* Number of reserved sectors */ - if (!nrsv) return FR_NO_FILESYSTEM; /* (BPB_RsvdSecCnt must not be 0) */ - - /* Determine the FAT sub type */ - sysect = nrsv + fasize + fs->n_rootdir / (SS(fs) / SZ_DIR); /* RSV+FAT+DIR */ - if (tsect < sysect) return FR_NO_FILESYSTEM; /* (Invalid volume size) */ - nclst = (tsect - sysect) / fs->csize; /* Number of clusters */ - if (!nclst) return FR_NO_FILESYSTEM; /* (Invalid volume size) */ - fmt = FS_FAT12; - if (nclst >= MIN_FAT16) fmt = FS_FAT16; - if (nclst >= MIN_FAT32) fmt = FS_FAT32; - - /* Boundaries and Limits */ - fs->n_fatent = nclst + 2; /* Number of FAT entries */ - fs->database = bsect + sysect; /* Data start sector */ - fs->fatbase = bsect + nrsv; /* FAT start sector */ - if (fmt == FS_FAT32) { - if (fs->n_rootdir) return FR_NO_FILESYSTEM; /* (BPB_RootEntCnt must be 0) */ - fs->dirbase = LD_DWORD(fs->win+BPB_RootClus); /* Root directory start cluster */ - szbfat = fs->n_fatent * 4; /* (Required FAT size) */ - } else { - if (!fs->n_rootdir) return FR_NO_FILESYSTEM; /* (BPB_RootEntCnt must not be 0) */ - fs->dirbase = fs->fatbase + fasize; /* Root directory start sector */ - szbfat = (fmt == FS_FAT16) ? /* (Required FAT size) */ - fs->n_fatent * 2 : fs->n_fatent * 3 / 2 + (fs->n_fatent & 1); } - if (fs->fsize < (szbfat + (SS(fs) - 1)) / SS(fs)) /* (BPB_FATSz must not be less than required) */ - return FR_NO_FILESYSTEM; - -#if !_FS_READONLY - /* Initialize cluster allocation information */ - fs->free_clust = 0xFFFFFFFF; - fs->last_clust = 0; +#if FF_MAX_SS != FF_MIN_SS /* Get sector size (multiple sector size cfg only) */ + if (disk_ioctl(fs->pdrv, GET_SECTOR_SIZE, &SS(fs)) != RES_OK) return FR_DISK_ERR; + if (SS(fs) > FF_MAX_SS || SS(fs) < FF_MIN_SS || (SS(fs) & (SS(fs) - 1))) return FR_DISK_ERR; +#endif - /* Get fsinfo if available */ - if (fmt == FS_FAT32) { - fs->fsi_flag = 0; - fs->fsi_sector = bsect + LD_WORD(fs->win+BPB_FSInfo); - if (disk_read(fs->drv, fs->win, fs->fsi_sector, 1) == RES_OK && - LD_WORD(fs->win+BS_55AA) == 0xAA55 && - LD_DWORD(fs->win+FSI_LeadSig) == 0x41615252 && - LD_DWORD(fs->win+FSI_StrucSig) == 0x61417272) { - fs->last_clust = LD_DWORD(fs->win+FSI_Nxt_Free); - fs->free_clust = LD_DWORD(fs->win+FSI_Free_Count); + /* Find an FAT partition on the drive. Supports only generic partitioning rules, FDISK (MBR) and SFD (w/o partition). */ + bsect = 0; + fmt = check_fs(fs, bsect); /* Load sector 0 and check if it is an FAT-VBR as SFD */ + if (fmt == 2 || (fmt < 2 && LD2PT(vol) != 0)) { /* Not an FAT-VBR or forced partition number */ + for (i = 0; i < 4; i++) { /* Get partition offset */ + pt = fs->win + (MBR_Table + i * SZ_PTE); + br[i] = pt[PTE_System] ? ld_dword(pt + PTE_StLba) : 0; } + i = LD2PT(vol); /* Partition number: 0:auto, 1-4:forced */ + if (i != 0) i--; + do { /* Find an FAT volume */ + bsect = br[i]; + fmt = bsect ? check_fs(fs, bsect) : 3; /* Check the partition */ + } while (LD2PT(vol) == 0 && fmt >= 2 && ++i < 4); } + if (fmt == 4) return FR_DISK_ERR; /* An error occured in the disk I/O layer */ + if (fmt >= 2) return FR_NO_FILESYSTEM; /* No FAT volume is found */ + + /* An FAT volume is found (bsect). Following code initializes the filesystem object */ + +#if FF_FS_EXFAT + if (fmt == 1) { + QWORD maxlba; + DWORD so, cv, bcl; + + for (i = BPB_ZeroedEx; i < BPB_ZeroedEx + 53 && fs->win[i] == 0; i++) ; /* Check zero filler */ + if (i < BPB_ZeroedEx + 53) return FR_NO_FILESYSTEM; + + if (ld_word(fs->win + BPB_FSVerEx) != 0x100) return FR_NO_FILESYSTEM; /* Check exFAT version (must be version 1.0) */ + + if (1 << fs->win[BPB_BytsPerSecEx] != SS(fs)) { /* (BPB_BytsPerSecEx must be equal to the physical sector size) */ + return FR_NO_FILESYSTEM; + } + + maxlba = ld_qword(fs->win + BPB_TotSecEx) + bsect; /* Last LBA + 1 of the volume */ + if (maxlba >= 0x100000000) return FR_NO_FILESYSTEM; /* (It cannot be handled in 32-bit LBA) */ + + fs->fsize = ld_dword(fs->win + BPB_FatSzEx); /* Number of sectors per FAT */ + + fs->n_fats = fs->win[BPB_NumFATsEx]; /* Number of FATs */ + if (fs->n_fats != 1) return FR_NO_FILESYSTEM; /* (Supports only 1 FAT) */ + + fs->csize = 1 << fs->win[BPB_SecPerClusEx]; /* Cluster size */ + if (fs->csize == 0) return FR_NO_FILESYSTEM; /* (Must be 1..32768) */ + + nclst = ld_dword(fs->win + BPB_NumClusEx); /* Number of clusters */ + if (nclst > MAX_EXFAT) return FR_NO_FILESYSTEM; /* (Too many clusters) */ + fs->n_fatent = nclst + 2; + + /* Boundaries and Limits */ + fs->volbase = bsect; + fs->database = bsect + ld_dword(fs->win + BPB_DataOfsEx); + fs->fatbase = bsect + ld_dword(fs->win + BPB_FatOfsEx); + if (maxlba < (QWORD)fs->database + nclst * fs->csize) return FR_NO_FILESYSTEM; /* (Volume size must not be smaller than the size requiered) */ + fs->dirbase = ld_dword(fs->win + BPB_RootClusEx); + + /* Get bitmap location and check if it is contiguous (implementation assumption) */ + so = i = 0; + for (;;) { /* Find the bitmap entry in the root directory (in only first cluster) */ + if (i == 0) { + if (so >= fs->csize) return FR_NO_FILESYSTEM; /* Not found? */ + if (move_window(fs, clst2sect(fs, fs->dirbase) + so) != FR_OK) return FR_DISK_ERR; + so++; + } + if (fs->win[i] == ET_BITMAP) break; /* Is it a bitmap entry? */ + i = (i + SZDIRE) % SS(fs); /* Next entry */ + } + bcl = ld_dword(fs->win + i + 20); /* Bitmap cluster */ + if (bcl < 2 || bcl >= fs->n_fatent) return FR_NO_FILESYSTEM; + fs->bitbase = fs->database + fs->csize * (bcl - 2); /* Bitmap sector */ + for (;;) { /* Check if bitmap is contiguous */ + if (move_window(fs, fs->fatbase + bcl / (SS(fs) / 4)) != FR_OK) return FR_DISK_ERR; + cv = ld_dword(fs->win + bcl % (SS(fs) / 4) * 4); + if (cv == 0xFFFFFFFF) break; /* Last link? */ + if (cv != ++bcl) return FR_NO_FILESYSTEM; /* Fragmented? */ + } + +#if !FF_FS_READONLY + fs->last_clst = fs->free_clst = 0xFFFFFFFF; /* Initialize cluster allocation information */ +#endif + fmt = FS_EXFAT; /* FAT sub-type */ + } else +#endif /* FF_FS_EXFAT */ + { + if (ld_word(fs->win + BPB_BytsPerSec) != SS(fs)) return FR_NO_FILESYSTEM; /* (BPB_BytsPerSec must be equal to the physical sector size) */ + + fasize = ld_word(fs->win + BPB_FATSz16); /* Number of sectors per FAT */ + if (fasize == 0) fasize = ld_dword(fs->win + BPB_FATSz32); + fs->fsize = fasize; + + fs->n_fats = fs->win[BPB_NumFATs]; /* Number of FATs */ + if (fs->n_fats != 1 && fs->n_fats != 2) return FR_NO_FILESYSTEM; /* (Must be 1 or 2) */ + fasize *= fs->n_fats; /* Number of sectors for FAT area */ + + fs->csize = fs->win[BPB_SecPerClus]; /* Cluster size */ + if (fs->csize == 0 || (fs->csize & (fs->csize - 1))) return FR_NO_FILESYSTEM; /* (Must be power of 2) */ + + fs->n_rootdir = ld_word(fs->win + BPB_RootEntCnt); /* Number of root directory entries */ + if (fs->n_rootdir % (SS(fs) / SZDIRE)) return FR_NO_FILESYSTEM; /* (Must be sector aligned) */ + + tsect = ld_word(fs->win + BPB_TotSec16); /* Number of sectors on the volume */ + if (tsect == 0) tsect = ld_dword(fs->win + BPB_TotSec32); + + nrsv = ld_word(fs->win + BPB_RsvdSecCnt); /* Number of reserved sectors */ + if (nrsv == 0) return FR_NO_FILESYSTEM; /* (Must not be 0) */ + + /* Determine the FAT sub type */ + sysect = nrsv + fasize + fs->n_rootdir / (SS(fs) / SZDIRE); /* RSV + FAT + DIR */ + if (tsect < sysect) return FR_NO_FILESYSTEM; /* (Invalid volume size) */ + nclst = (tsect - sysect) / fs->csize; /* Number of clusters */ + if (nclst == 0) return FR_NO_FILESYSTEM; /* (Invalid volume size) */ + fmt = 0; + if (nclst <= MAX_FAT32) fmt = FS_FAT32; + if (nclst <= MAX_FAT16) fmt = FS_FAT16; + if (nclst <= MAX_FAT12) fmt = FS_FAT12; + if (fmt == 0) return FR_NO_FILESYSTEM; + + /* Boundaries and Limits */ + fs->n_fatent = nclst + 2; /* Number of FAT entries */ + fs->volbase = bsect; /* Volume start sector */ + fs->fatbase = bsect + nrsv; /* FAT start sector */ + fs->database = bsect + sysect; /* Data start sector */ + if (fmt == FS_FAT32) { + if (ld_word(fs->win + BPB_FSVer32) != 0) return FR_NO_FILESYSTEM; /* (Must be FAT32 revision 0.0) */ + if (fs->n_rootdir != 0) return FR_NO_FILESYSTEM; /* (BPB_RootEntCnt must be 0) */ + fs->dirbase = ld_dword(fs->win + BPB_RootClus32); /* Root directory start cluster */ + szbfat = fs->n_fatent * 4; /* (Needed FAT size) */ + } else { + if (fs->n_rootdir == 0) return FR_NO_FILESYSTEM; /* (BPB_RootEntCnt must not be 0) */ + fs->dirbase = fs->fatbase + fasize; /* Root directory start sector */ + szbfat = (fmt == FS_FAT16) ? /* (Needed FAT size) */ + fs->n_fatent * 2 : fs->n_fatent * 3 / 2 + (fs->n_fatent & 1); + } + if (fs->fsize < (szbfat + (SS(fs) - 1)) / SS(fs)) return FR_NO_FILESYSTEM; /* (BPB_FATSz must not be less than the size needed) */ + +#if !FF_FS_READONLY + /* Get FSInfo if available */ + fs->last_clst = fs->free_clst = 0xFFFFFFFF; /* Initialize cluster allocation information */ + fs->fsi_flag = 0x80; +#if (FF_FS_NOFSINFO & 3) != 3 + if (fmt == FS_FAT32 /* Allow to update FSInfo only if BPB_FSInfo32 == 1 */ + && ld_word(fs->win + BPB_FSInfo32) == 1 + && move_window(fs, bsect + 1) == FR_OK) + { + fs->fsi_flag = 0; + if (ld_word(fs->win + BS_55AA) == 0xAA55 /* Load FSInfo data if available */ + && ld_dword(fs->win + FSI_LeadSig) == 0x41615252 + && ld_dword(fs->win + FSI_StrucSig) == 0x61417272) + { +#if (FF_FS_NOFSINFO & 1) == 0 + fs->free_clst = ld_dword(fs->win + FSI_Free_Count); +#endif +#if (FF_FS_NOFSINFO & 2) == 0 + fs->last_clst = ld_dword(fs->win + FSI_Nxt_Free); #endif + } + } +#endif /* (FF_FS_NOFSINFO & 3) != 3 */ +#endif /* !FF_FS_READONLY */ + } + fs->fs_type = fmt; /* FAT sub-type */ - fs->id = ++Fsid; /* File system mount ID */ - fs->winsect = 0; /* Invalidate sector cache */ - fs->wflag = 0; -#if _FS_RPATH - fs->cdir = 0; /* Current directory (root dir) */ + fs->id = ++Fsid; /* Volume mount ID */ +#if FF_USE_LFN == 1 + fs->lfnbuf = LfnBuf; /* Static LFN working buffer */ +#if FF_FS_EXFAT + fs->dirbuf = DirBuf; /* Static directory block scratchpad buuffer */ +#endif +#endif +#if FF_FS_RPATH != 0 + fs->cdir = 0; /* Initialize current directory */ #endif -#if _FS_SHARE /* Clear file lock semaphores */ +#if FF_FS_LOCK != 0 /* Clear file lock semaphores */ clear_lock(fs); #endif - return FR_OK; } @@ -2191,34 +3467,46 @@ FRESULT chk_mounted ( /* FR_OK(0): successful, !=0: any error occurred */ /*-----------------------------------------------------------------------*/ -/* Check if the file/dir object is valid or not */ +/* Check if the file/directory object is valid or not */ /*-----------------------------------------------------------------------*/ -static -FRESULT validate ( /* FR_OK(0): The object is valid, !=0: Invalid */ - FATFS *fs, /* Pointer to the file system object */ - WORD id /* Member id of the target object to be checked */ +static FRESULT validate ( /* Returns FR_OK or FR_INVALID_OBJECT */ + FFOBJID* obj, /* Pointer to the FFOBJID, the 1st member in the FIL/DIR object, to check validity */ + FATFS** rfs /* Pointer to pointer to the owner filesystem object to return */ ) { - if (!fs || !fs->fs_type || fs->id != id) - return FR_INVALID_OBJECT; - - ENTER_FF(fs); /* Lock file system */ + FRESULT res = FR_INVALID_OBJECT; - if (disk_status(fs->drv) & STA_NOINIT) - return FR_NOT_READY; - return FR_OK; + if (obj && obj->fs && obj->fs->fs_type && obj->id == obj->fs->id) { /* Test if the object is valid */ +#if FF_FS_REENTRANT + if (lock_fs(obj->fs)) { /* Obtain the filesystem object */ + if (!(disk_status(obj->fs->pdrv) & STA_NOINIT)) { /* Test if the phsical drive is kept initialized */ + res = FR_OK; + } else { + unlock_fs(obj->fs, FR_OK); + } + } else { + res = FR_TIMEOUT; + } +#else + if (!(disk_status(obj->fs->pdrv) & STA_NOINIT)) { /* Test if the phsical drive is kept initialized */ + res = FR_OK; + } +#endif + } + *rfs = (res == FR_OK) ? obj->fs : 0; /* Corresponding filesystem object */ + return res; } -/*-------------------------------------------------------------------------- +/*--------------------------------------------------------------------------- - Public Functions + Public Functions (FatFs API) ---------------------------------------------------------------------------*/ +----------------------------------------------------------------------------*/ @@ -2227,36 +3515,44 @@ FRESULT validate ( /* FR_OK(0): The object is valid, !=0: Invalid */ /*-----------------------------------------------------------------------*/ FRESULT f_mount ( - BYTE vol, /* Logical drive number to be mounted/unmounted */ - FATFS *fs /* Pointer to new file system object (NULL for unmount)*/ + FATFS* fs, /* Pointer to the filesystem object (NULL:unmount)*/ + const TCHAR* path, /* Logical drive number to be mounted/unmounted */ + BYTE opt /* Mode option 0:Do not mount (delayed mount), 1:Mount immediately */ ) { - FATFS *rfs; + FATFS *cfs; + int vol; + FRESULT res; + const TCHAR *rp = path; - if (vol >= _VOLUMES) /* Check if the drive number is valid */ - return FR_INVALID_DRIVE; - rfs = FatFs[vol]; /* Get current fs object */ + /* Get logical drive number */ + vol = get_ldnumber(&rp); + if (vol < 0) return FR_INVALID_DRIVE; + cfs = FatFs[vol]; /* Pointer to fs object */ - if (rfs) { -#if _FS_SHARE - clear_lock(rfs); + if (cfs) { +#if FF_FS_LOCK != 0 + clear_lock(cfs); #endif -#if _FS_REENTRANT /* Discard sync object of the current volume */ - if (!ff_del_syncobj(rfs->sobj)) return FR_INT_ERR; +#if FF_FS_REENTRANT /* Discard sync object of the current volume */ + if (!ff_del_syncobj(cfs->sobj)) return FR_INT_ERR; #endif - rfs->fs_type = 0; /* Clear old fs object */ + cfs->fs_type = 0; /* Clear old fs object */ } if (fs) { - fs->fs_type = 0; /* Clear new fs object */ -#if _FS_REENTRANT /* Create sync object for the new volume */ - if (!ff_cre_syncobj(vol, &fs->sobj)) return FR_INT_ERR; + fs->fs_type = 0; /* Clear new fs object */ +#if FF_FS_REENTRANT /* Create sync object for the new volume */ + if (!ff_cre_syncobj((BYTE)vol, &fs->sobj)) return FR_INT_ERR; #endif } - FatFs[vol] = fs; /* Register new fs object */ + FatFs[vol] = fs; /* Register new fs object */ - return FR_OK; + if (opt == 0) return FR_OK; /* Do not mount now, it will be mounted later */ + + res = find_volume(&path, &fs, 0); /* Force mounted the volume */ + LEAVE_FF(fs, res); } @@ -2267,126 +3563,186 @@ FRESULT f_mount ( /*-----------------------------------------------------------------------*/ FRESULT f_open ( - FIL *fp, /* Pointer to the blank file object */ - const TCHAR *path, /* Pointer to the file name */ + FIL* fp, /* Pointer to the blank file object */ + const TCHAR* path, /* Pointer to the file name */ BYTE mode /* Access mode and file open mode flags */ ) { FRESULT res; DIR dj; - BYTE *dir; - DEF_NAMEBUF; - + FATFS *fs; +#if !FF_FS_READONLY + DWORD dw, cl, bcs, clst, sc; + FSIZE_t ofs; +#endif + DEF_NAMBUF - fp->fs = 0; /* Clear file object */ -#if !_FS_READONLY - mode &= FA_READ | FA_WRITE | FA_CREATE_ALWAYS | FA_OPEN_ALWAYS | FA_CREATE_NEW; - res = chk_mounted(&path, &dj.fs, (BYTE)(mode & ~FA_READ)); -#else - mode &= FA_READ; - res = chk_mounted(&path, &dj.fs, 0); -#endif - INIT_BUF(dj); - if (res == FR_OK) - res = follow_path(&dj, path); /* Follow the file path */ - dir = dj.dir; + if (!fp) return FR_INVALID_OBJECT; -#if !_FS_READONLY /* R/W configuration */ + /* Get logical drive number */ + mode &= FF_FS_READONLY ? FA_READ : FA_READ | FA_WRITE | FA_CREATE_ALWAYS | FA_CREATE_NEW | FA_OPEN_ALWAYS | FA_OPEN_APPEND; + res = find_volume(&path, &fs, mode); if (res == FR_OK) { - if (!dir) /* Current dir itself */ - res = FR_INVALID_NAME; -#if _FS_SHARE - else - res = chk_lock(&dj, (mode & ~FA_READ) ? 1 : 0); + dj.obj.fs = fs; + INIT_NAMBUF(fs); + res = follow_path(&dj, path); /* Follow the file path */ +#if !FF_FS_READONLY /* Read/Write configuration */ + if (res == FR_OK) { + if (dj.fn[NSFLAG] & NS_NONAME) { /* Origin directory itself? */ + res = FR_INVALID_NAME; + } +#if FF_FS_LOCK != 0 + else { + res = chk_lock(&dj, (mode & ~FA_READ) ? 1 : 0); /* Check if the file can be used */ + } #endif - } - /* Create or Open a file */ - if (mode & (FA_CREATE_ALWAYS | FA_OPEN_ALWAYS | FA_CREATE_NEW)) { - DWORD dw, cl; - - if (res != FR_OK) { /* No file, create new */ - if (res == FR_NO_FILE) /* There is no file to open, create a new entry */ -#if _FS_SHARE - res = enq_lock() ? dir_register(&dj) : FR_TOO_MANY_OPEN_FILES; + } + /* Create or Open a file */ + if (mode & (FA_CREATE_ALWAYS | FA_OPEN_ALWAYS | FA_CREATE_NEW)) { + if (res != FR_OK) { /* No file, create new */ + if (res == FR_NO_FILE) { /* There is no file to open, create a new entry */ +#if FF_FS_LOCK != 0 + res = enq_lock() ? dir_register(&dj) : FR_TOO_MANY_OPEN_FILES; #else - res = dir_register(&dj); + res = dir_register(&dj); #endif - mode |= FA_CREATE_ALWAYS; /* File is created */ - dir = dj.dir; /* New entry */ - } - else { /* Any object is already existing */ - if (dir[DIR_Attr] & (AM_RDO | AM_DIR)) { /* Cannot overwrite it (R/O or DIR) */ - res = FR_DENIED; - } else { - if (mode & FA_CREATE_NEW) /* Cannot create as new file */ - res = FR_EXIST; + } + mode |= FA_CREATE_ALWAYS; /* File is created */ + } + else { /* Any object with the same name is already existing */ + if (dj.obj.attr & (AM_RDO | AM_DIR)) { /* Cannot overwrite it (R/O or DIR) */ + res = FR_DENIED; + } else { + if (mode & FA_CREATE_NEW) res = FR_EXIST; /* Cannot create as new file */ + } + } + if (res == FR_OK && (mode & FA_CREATE_ALWAYS)) { /* Truncate the file if overwrite mode */ +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + /* Get current allocation info */ + fp->obj.fs = fs; + init_alloc_info(fs, &fp->obj); + /* Set directory entry block initial state */ + mem_set(fs->dirbuf + 2, 0, 30); /* Clear 85 entry except for NumSec */ + mem_set(fs->dirbuf + 38, 0, 26); /* Clear C0 entry except for NumName and NameHash */ + fs->dirbuf[XDIR_Attr] = AM_ARC; + st_dword(fs->dirbuf + XDIR_CrtTime, GET_FATTIME()); + fs->dirbuf[XDIR_GenFlags] = 1; + res = store_xdir(&dj); + if (res == FR_OK && fp->obj.sclust != 0) { /* Remove the cluster chain if exist */ + res = remove_chain(&fp->obj, fp->obj.sclust, 0); + fs->last_clst = fp->obj.sclust - 1; /* Reuse the cluster hole */ + } + } else +#endif + { + /* Set directory entry initial state */ + cl = ld_clust(fs, dj.dir); /* Get current cluster chain */ + st_dword(dj.dir + DIR_CrtTime, GET_FATTIME()); /* Set created time */ + dj.dir[DIR_Attr] = AM_ARC; /* Reset attribute */ + st_clust(fs, dj.dir, 0); /* Reset file allocation info */ + st_dword(dj.dir + DIR_FileSize, 0); + fs->wflag = 1; + if (cl != 0) { /* Remove the cluster chain if exist */ + dw = fs->winsect; + res = remove_chain(&dj.obj, cl, 0); + if (res == FR_OK) { + res = move_window(fs, dw); + fs->last_clst = cl - 1; /* Reuse the cluster hole */ + } + } + } } } - if (res == FR_OK && (mode & FA_CREATE_ALWAYS)) { /* Truncate it if overwrite mode */ - dw = get_fattime(); /* Created time */ - ST_DWORD(dir+DIR_CrtTime, dw); - dir[DIR_Attr] = 0; /* Reset attribute */ - ST_DWORD(dir+DIR_FileSize, 0); /* size = 0 */ - cl = LD_CLUST(dir); /* Get start cluster */ - ST_CLUST(dir, 0); /* cluster = 0 */ - dj.fs->wflag = 1; - if (cl) { /* Remove the cluster chain if exist */ - dw = dj.fs->winsect; - res = remove_chain(dj.fs, cl); - if (res == FR_OK) { - dj.fs->last_clust = cl - 1; /* Reuse the cluster hole */ - res = move_window(dj.fs, dw); + else { /* Open an existing file */ + if (res == FR_OK) { /* Is the object exsiting? */ + if (dj.obj.attr & AM_DIR) { /* File open against a directory */ + res = FR_NO_FILE; + } else { + if ((mode & FA_WRITE) && (dj.obj.attr & AM_RDO)) { /* Write mode open against R/O file */ + res = FR_DENIED; + } } } } - } - else { /* Open an existing file */ - if (res == FR_OK) { /* Follow succeeded */ - if (dir[DIR_Attr] & AM_DIR) { /* It is a directory */ - res = FR_NO_FILE; + if (res == FR_OK) { + if (mode & FA_CREATE_ALWAYS) mode |= FA_MODIFIED; /* Set file change flag if created or overwritten */ + fp->dir_sect = fs->winsect; /* Pointer to the directory entry */ + fp->dir_ptr = dj.dir; +#if FF_FS_LOCK != 0 + fp->obj.lockid = inc_lock(&dj, (mode & ~FA_READ) ? 1 : 0); /* Lock the file for this session */ + if (fp->obj.lockid == 0) res = FR_INT_ERR; +#endif + } +#else /* R/O configuration */ + if (res == FR_OK) { + if (dj.fn[NSFLAG] & NS_NONAME) { /* Is it origin directory itself? */ + res = FR_INVALID_NAME; } else { - if ((mode & FA_WRITE) && (dir[DIR_Attr] & AM_RDO)) /* R/O violation */ - res = FR_DENIED; + if (dj.obj.attr & AM_DIR) { /* Is it a directory? */ + res = FR_NO_FILE; + } } } - } - if (res == FR_OK) { - if (mode & FA_CREATE_ALWAYS) /* Set file change flag if created or overwritten */ - mode |= FA__WRITTEN; - fp->dir_sect = dj.fs->winsect; /* Pointer to the directory entry */ - fp->dir_ptr = dir; -#if _FS_SHARE - fp->lockid = inc_lock(&dj, (mode & ~FA_READ) ? 1 : 0); - if (!fp->lockid) res = FR_INT_ERR; #endif - } -#else /* R/O configuration */ - if (res == FR_OK) { /* Follow succeeded */ - if (!dir) { /* Current dir itself */ - res = FR_INVALID_NAME; - } else { - if (dir[DIR_Attr] & AM_DIR) /* It is a directory */ - res = FR_NO_FILE; - } - } + if (res == FR_OK) { +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + fp->obj.c_scl = dj.obj.sclust; /* Get containing directory info */ + fp->obj.c_size = ((DWORD)dj.obj.objsize & 0xFFFFFF00) | dj.obj.stat; + fp->obj.c_ofs = dj.blk_ofs; + init_alloc_info(fs, &fp->obj); + } else #endif - FREE_BUF(); - - if (res == FR_OK) { - fp->flag = mode; /* File access mode */ - fp->sclust = LD_CLUST(dir); /* File start cluster */ - fp->fsize = LD_DWORD(dir+DIR_FileSize); /* File size */ - fp->fptr = 0; /* File pointer */ - fp->dsect = 0; -#if _USE_FASTSEEK - fp->cltbl = 0; /* Normal seek mode */ + { + fp->obj.sclust = ld_clust(fs, dj.dir); /* Get object allocation info */ + fp->obj.objsize = ld_dword(dj.dir + DIR_FileSize); + } +#if FF_USE_FASTSEEK + fp->cltbl = 0; /* Disable fast seek mode */ #endif - fp->fs = dj.fs; fp->id = dj.fs->id; /* Validate file object */ + fp->obj.fs = fs; /* Validate the file object */ + fp->obj.id = fs->id; + fp->flag = mode; /* Set file access mode */ + fp->err = 0; /* Clear error flag */ + fp->sect = 0; /* Invalidate current data sector */ + fp->fptr = 0; /* Set file pointer top of the file */ +#if !FF_FS_READONLY +#if !FF_FS_TINY + mem_set(fp->buf, 0, sizeof fp->buf); /* Clear sector buffer */ +#endif + if ((mode & FA_SEEKEND) && fp->obj.objsize > 0) { /* Seek to end of file if FA_OPEN_APPEND is specified */ + fp->fptr = fp->obj.objsize; /* Offset to seek */ + bcs = (DWORD)fs->csize * SS(fs); /* Cluster size in byte */ + clst = fp->obj.sclust; /* Follow the cluster chain */ + for (ofs = fp->obj.objsize; res == FR_OK && ofs > bcs; ofs -= bcs) { + clst = get_fat(&fp->obj, clst); + if (clst <= 1) res = FR_INT_ERR; + if (clst == 0xFFFFFFFF) res = FR_DISK_ERR; + } + fp->clust = clst; + if (res == FR_OK && ofs % SS(fs)) { /* Fill sector buffer if not on the sector boundary */ + if ((sc = clst2sect(fs, clst)) == 0) { + res = FR_INT_ERR; + } else { + fp->sect = sc + (DWORD)(ofs / SS(fs)); +#if !FF_FS_TINY + if (disk_read(fs->pdrv, fp->buf, fp->sect, 1) != RES_OK) res = FR_DISK_ERR; +#endif + } + } + } +#endif + } + + FREE_NAMBUF(); } - LEAVE_FF(dj.fs, res); + if (res != FR_OK) fp->obj.fs = 0; /* Invalidate file object on error */ + + LEAVE_FF(fs, res); } @@ -2397,264 +3753,307 @@ FRESULT f_open ( /*-----------------------------------------------------------------------*/ FRESULT f_read ( - FIL *fp, /* Pointer to the file object */ - void *buff, /* Pointer to data buffer */ - UINT btr, /* Number of bytes to read */ - UINT *br /* Pointer to number of bytes read */ + FIL* fp, /* Pointer to the file object */ + void* buff, /* Pointer to data buffer */ + UINT btr, /* Number of bytes to read */ + UINT* br /* Pointer to number of bytes read */ ) { FRESULT res; - DWORD clst, sect, remain; - UINT rcnt, cc; - BYTE csect, *rbuff = buff; - - *br = 0; /* Initialize byte counter */ - - res = validate(fp->fs, fp->id); /* Check validity */ - if (res != FR_OK) LEAVE_FF(fp->fs, res); - if (fp->flag & FA__ERROR) /* Aborted file? */ - LEAVE_FF(fp->fs, FR_INT_ERR); - if (!(fp->flag & FA_READ)) /* Check access mode */ - LEAVE_FF(fp->fs, FR_DENIED); - remain = fp->fsize - fp->fptr; + FATFS *fs; + DWORD clst, sect; + FSIZE_t remain; + UINT rcnt, cc, csect; + BYTE *rbuff = (BYTE*)buff; + + + *br = 0; /* Clear read byte counter */ + res = validate(&fp->obj, &fs); /* Check validity of the file object */ + if (res != FR_OK || (res = (FRESULT)fp->err) != FR_OK) LEAVE_FF(fs, res); /* Check validity */ + if (!(fp->flag & FA_READ)) LEAVE_FF(fs, FR_DENIED); /* Check access mode */ + remain = fp->obj.objsize - fp->fptr; if (btr > remain) btr = (UINT)remain; /* Truncate btr by remaining bytes */ - for ( ; btr; /* Repeat until all data read */ - rbuff += rcnt, fp->fptr += rcnt, *br += rcnt, btr -= rcnt) { - if ((fp->fptr % SS(fp->fs)) == 0) { /* On the sector boundary? */ - csect = (BYTE)(fp->fptr / SS(fp->fs) & (fp->fs->csize - 1)); /* Sector offset in the cluster */ + for ( ; btr; /* Repeat until btr bytes read */ + btr -= rcnt, *br += rcnt, rbuff += rcnt, fp->fptr += rcnt) { + if (fp->fptr % SS(fs) == 0) { /* On the sector boundary? */ + csect = (UINT)(fp->fptr / SS(fs) & (fs->csize - 1)); /* Sector offset in the cluster */ if (csect == 0) { /* On the cluster boundary? */ if (fp->fptr == 0) { /* On the top of the file? */ - clst = fp->sclust; /* Follow from the origin */ + clst = fp->obj.sclust; /* Follow cluster chain from the origin */ } else { /* Middle or end of the file */ -#if _USE_FASTSEEK - if (fp->cltbl) +#if FF_USE_FASTSEEK + if (fp->cltbl) { clst = clmt_clust(fp, fp->fptr); /* Get cluster# from the CLMT */ - else + } else #endif - clst = get_fat(fp->fs, fp->clust); /* Follow cluster chain on the FAT */ + { + clst = get_fat(&fp->obj, fp->clust); /* Follow cluster chain on the FAT */ + } } - if (clst < 2) ABORT(fp->fs, FR_INT_ERR); - if (clst == 0xFFFFFFFF) ABORT(fp->fs, FR_DISK_ERR); + if (clst < 2) ABORT(fs, FR_INT_ERR); + if (clst == 0xFFFFFFFF) ABORT(fs, FR_DISK_ERR); fp->clust = clst; /* Update current cluster */ } - sect = clust2sect(fp->fs, fp->clust); /* Get current sector */ - if (!sect) ABORT(fp->fs, FR_INT_ERR); + sect = clst2sect(fs, fp->clust); /* Get current sector */ + if (sect == 0) ABORT(fs, FR_INT_ERR); sect += csect; - cc = btr / SS(fp->fs); /* When remaining bytes >= sector size, */ + cc = btr / SS(fs); /* When remaining bytes >= sector size, */ +#if 1 //dc42 if (cc != 0 && isAligned(rbuff)) { /* Read maximum contiguous sectors directly */ - if (csect + cc > fp->fs->csize) /* Clip at cluster boundary */ - cc = fp->fs->csize - csect; - if (disk_read(fp->fs->drv, rbuff, sect, (BYTE)cc) != RES_OK) - ABORT(fp->fs, FR_DISK_ERR); -#if !_FS_READONLY && _FS_MINIMIZE <= 2 /* Replace one of the read sectors with cached data if it contains a dirty sector */ -#if _FS_TINY - if (fp->fs->wflag && fp->fs->winsect - sect < cc) - mem_cpy(rbuff + ((fp->fs->winsect - sect) * SS(fp->fs)), fp->fs->win, SS(fp->fs)); #else - if ((fp->flag & FA__DIRTY) && fp->dsect - sect < cc) - mem_cpy(rbuff + ((fp->dsect - sect) * SS(fp->fs)), fp->buf, SS(fp->fs)); + if (cc > 0) { /* Read maximum contiguous sectors directly */ +#endif + if (csect + cc > fs->csize) { /* Clip at cluster boundary */ + cc = fs->csize - csect; + } + if (disk_read(fs->pdrv, rbuff, sect, cc) != RES_OK) ABORT(fs, FR_DISK_ERR); +#if !FF_FS_READONLY && FF_FS_MINIMIZE <= 2 /* Replace one of the read sectors with cached data if it contains a dirty sector */ +#if FF_FS_TINY + if (fs->wflag && fs->winsect - sect < cc) { + mem_cpy(rbuff + ((fs->winsect - sect) * SS(fs)), fs->win, SS(fs)); + } +#else + if ((fp->flag & FA_DIRTY) && fp->sect - sect < cc) { + mem_cpy(rbuff + ((fp->sect - sect) * SS(fs)), fp->buf, SS(fs)); + } #endif #endif - rcnt = SS(fp->fs) * cc; /* Number of bytes transferred */ + rcnt = SS(fs) * cc; /* Number of bytes transferred */ continue; } -// else if (cc > 1) { debugPrintf("Unaligned read\n"); } -#if !_FS_TINY - if (fp->dsect != sect) { /* Load data sector if not in cache */ -#if !_FS_READONLY - if (fp->flag & FA__DIRTY) { /* Write-back dirty sector cache */ - if (disk_write(fp->fs->drv, fp->buf, fp->dsect, 1) != RES_OK) - ABORT(fp->fs, FR_DISK_ERR); - fp->flag &= ~FA__DIRTY; +#if !FF_FS_TINY + if (fp->sect != sect) { /* Load data sector if not in cache */ +#if !FF_FS_READONLY + if (fp->flag & FA_DIRTY) { /* Write-back dirty sector cache */ + if (disk_write(fs->pdrv, fp->buf, fp->sect, 1) != RES_OK) ABORT(fs, FR_DISK_ERR); + fp->flag &= (BYTE)~FA_DIRTY; } #endif - if (disk_read(fp->fs->drv, fp->buf, sect, 1) != RES_OK) /* Fill sector cache */ - ABORT(fp->fs, FR_DISK_ERR); + if (disk_read(fs->pdrv, fp->buf, sect, 1) != RES_OK) ABORT(fs, FR_DISK_ERR); /* Fill sector cache */ } #endif - fp->dsect = sect; + fp->sect = sect; } - rcnt = SS(fp->fs) - (fp->fptr % SS(fp->fs)); /* Get partial sector data from sector buffer */ - if (rcnt > btr) rcnt = btr; -#if _FS_TINY - if (move_window(fp->fs, fp->dsect)) /* Move sector window */ - ABORT(fp->fs, FR_DISK_ERR); - mem_cpy(rbuff, &fp->fs->win[fp->fptr % SS(fp->fs)], rcnt); /* Pick partial sector */ + rcnt = SS(fs) - (UINT)fp->fptr % SS(fs); /* Number of bytes left in the sector */ + if (rcnt > btr) rcnt = btr; /* Clip it by btr if needed */ +#if FF_FS_TINY + if (move_window(fs, fp->sect) != FR_OK) ABORT(fs, FR_DISK_ERR); /* Move sector window */ + mem_cpy(rbuff, fs->win + fp->fptr % SS(fs), rcnt); /* Extract partial sector */ #else - mem_cpy(rbuff, &fp->buf[fp->fptr % SS(fp->fs)], rcnt); /* Pick partial sector */ + mem_cpy(rbuff, fp->buf + fp->fptr % SS(fs), rcnt); /* Extract partial sector */ #endif } - LEAVE_FF(fp->fs, FR_OK); + LEAVE_FF(fs, FR_OK); } -#if !_FS_READONLY +#if !FF_FS_READONLY /*-----------------------------------------------------------------------*/ /* Write File */ /*-----------------------------------------------------------------------*/ FRESULT f_write ( - FIL *fp, /* Pointer to the file object */ - const void *buff, /* Pointer to the data to be written */ + FIL* fp, /* Pointer to the file object */ + const void* buff, /* Pointer to the data to be written */ UINT btw, /* Number of bytes to write */ - UINT *bw /* Pointer to number of bytes written */ + UINT* bw /* Pointer to number of bytes written */ ) { FRESULT res; + FATFS *fs; DWORD clst, sect; - UINT wcnt, cc; - const BYTE *wbuff = buff; - BYTE csect; + UINT wcnt, cc, csect; + const BYTE *wbuff = (const BYTE*)buff; - *bw = 0; /* Initialize byte counter */ - res = validate(fp->fs, fp->id); /* Check validity */ - if (res != FR_OK) LEAVE_FF(fp->fs, res); - if (fp->flag & FA__ERROR) /* Aborted file? */ - LEAVE_FF(fp->fs, FR_INT_ERR); - if (!(fp->flag & FA_WRITE)) /* Check access mode */ - LEAVE_FF(fp->fs, FR_DENIED); - if ((DWORD)(fp->fsize + btw) < fp->fsize) btw = 0; /* File size cannot reach 4GB */ + *bw = 0; /* Clear write byte counter */ + res = validate(&fp->obj, &fs); /* Check validity of the file object */ + if (res != FR_OK || (res = (FRESULT)fp->err) != FR_OK) LEAVE_FF(fs, res); /* Check validity */ + if (!(fp->flag & FA_WRITE)) LEAVE_FF(fs, FR_DENIED); /* Check access mode */ + + /* Check fptr wrap-around (file size cannot reach 4 GiB at FAT volume) */ + if ((!FF_FS_EXFAT || fs->fs_type != FS_EXFAT) && (DWORD)(fp->fptr + btw) < (DWORD)fp->fptr) { + btw = (UINT)(0xFFFFFFFF - (DWORD)fp->fptr); + } for ( ; btw; /* Repeat until all data written */ - wbuff += wcnt, fp->fptr += wcnt, *bw += wcnt, btw -= wcnt) { - if ((fp->fptr % SS(fp->fs)) == 0) { /* On the sector boundary? */ - csect = (BYTE)(fp->fptr / SS(fp->fs) & (fp->fs->csize - 1)); /* Sector offset in the cluster */ + btw -= wcnt, *bw += wcnt, wbuff += wcnt, fp->fptr += wcnt, fp->obj.objsize = (fp->fptr > fp->obj.objsize) ? fp->fptr : fp->obj.objsize) { + if (fp->fptr % SS(fs) == 0) { /* On the sector boundary? */ + csect = (UINT)(fp->fptr / SS(fs)) & (fs->csize - 1); /* Sector offset in the cluster */ if (csect == 0) { /* On the cluster boundary? */ if (fp->fptr == 0) { /* On the top of the file? */ - clst = fp->sclust; /* Follow from the origin */ - if (clst == 0) /* When no cluster is allocated, */ - fp->sclust = clst = create_chain(fp->fs, 0); /* Create a new cluster chain */ - } else { /* Middle or end of the file */ -#if _USE_FASTSEEK - if (fp->cltbl) + clst = fp->obj.sclust; /* Follow from the origin */ + if (clst == 0) { /* If no cluster is allocated, */ + clst = create_chain(&fp->obj, 0); /* create a new cluster chain */ + } + } else { /* On the middle or end of the file */ +#if FF_USE_FASTSEEK + if (fp->cltbl) { clst = clmt_clust(fp, fp->fptr); /* Get cluster# from the CLMT */ - else + } else #endif - clst = create_chain(fp->fs, fp->clust); /* Follow or stretch cluster chain on the FAT */ + { + clst = create_chain(&fp->obj, fp->clust); /* Follow or stretch cluster chain on the FAT */ + } } if (clst == 0) break; /* Could not allocate a new cluster (disk full) */ - if (clst == 1) ABORT(fp->fs, FR_INT_ERR); - if (clst == 0xFFFFFFFF) ABORT(fp->fs, FR_DISK_ERR); + if (clst == 1) ABORT(fs, FR_INT_ERR); + if (clst == 0xFFFFFFFF) ABORT(fs, FR_DISK_ERR); fp->clust = clst; /* Update current cluster */ + if (fp->obj.sclust == 0) fp->obj.sclust = clst; /* Set start cluster if the first write */ } -#if _FS_TINY - if (fp->fs->winsect == fp->dsect && move_window(fp->fs, 0)) /* Write-back sector cache */ - ABORT(fp->fs, FR_DISK_ERR); +#if FF_FS_TINY + if (fs->winsect == fp->sect && sync_window(fs) != FR_OK) ABORT(fs, FR_DISK_ERR); /* Write-back sector cache */ #else - if (fp->flag & FA__DIRTY) { /* Write-back sector cache */ - if (disk_write(fp->fs->drv, fp->buf, fp->dsect, 1) != RES_OK) - ABORT(fp->fs, FR_DISK_ERR); - fp->flag &= ~FA__DIRTY; + if (fp->flag & FA_DIRTY) { /* Write-back sector cache */ + if (disk_write(fs->pdrv, fp->buf, fp->sect, 1) != RES_OK) ABORT(fs, FR_DISK_ERR); + fp->flag &= (BYTE)~FA_DIRTY; } #endif - sect = clust2sect(fp->fs, fp->clust); /* Get current sector */ - if (!sect) ABORT(fp->fs, FR_INT_ERR); + sect = clst2sect(fs, fp->clust); /* Get current sector */ + if (sect == 0) ABORT(fs, FR_INT_ERR); sect += csect; - cc = btw / SS(fp->fs); /* When remaining bytes >= sector size, */ + cc = btw / SS(fs); /* When remaining bytes >= sector size, */ +#if 1 //dc42 if (cc != 0 && isAligned(wbuff)) { /* Write maximum contiguous sectors directly */ - if (csect + cc > fp->fs->csize) /* Clip at cluster boundary */ - cc = fp->fs->csize - csect; - if (disk_write(fp->fs->drv, wbuff, sect, (BYTE)cc) != RES_OK) - ABORT(fp->fs, FR_DISK_ERR); -#if _FS_TINY - if (fp->fs->winsect - sect < cc) { /* Refill sector cache if it gets invalidated by the direct write */ - mem_cpy(fp->fs->win, wbuff + ((fp->fs->winsect - sect) * SS(fp->fs)), SS(fp->fs)); - fp->fs->wflag = 0; +#else + if (cc > 0) { /* Write maximum contiguous sectors directly */ +#endif + if (csect + cc > fs->csize) { /* Clip at cluster boundary */ + cc = fs->csize - csect; + } + if (disk_write(fs->pdrv, wbuff, sect, cc) != RES_OK) ABORT(fs, FR_DISK_ERR); +#if FF_FS_MINIMIZE <= 2 +#if FF_FS_TINY + if (fs->winsect - sect < cc) { /* Refill sector cache if it gets invalidated by the direct write */ + mem_cpy(fs->win, wbuff + ((fs->winsect - sect) * SS(fs)), SS(fs)); + fs->wflag = 0; } #else - if (fp->dsect - sect < cc) { /* Refill sector cache if it gets invalidated by the direct write */ - mem_cpy(fp->buf, wbuff + ((fp->dsect - sect) * SS(fp->fs)), SS(fp->fs)); - fp->flag &= ~FA__DIRTY; + if (fp->sect - sect < cc) { /* Refill sector cache if it gets invalidated by the direct write */ + mem_cpy(fp->buf, wbuff + ((fp->sect - sect) * SS(fs)), SS(fs)); + fp->flag &= (BYTE)~FA_DIRTY; } #endif - wcnt = SS(fp->fs) * cc; /* Number of bytes transferred */ +#endif + wcnt = SS(fs) * cc; /* Number of bytes transferred */ continue; } -// else if (cc > 1) { debugPrintf("Unaligned write\n"); } //DEBUG -#if _FS_TINY - if (fp->fptr >= fp->fsize) { /* Avoid silly cache filling at growing edge */ - if (move_window(fp->fs, 0)) ABORT(fp->fs, FR_DISK_ERR); - fp->fs->winsect = sect; +#if FF_FS_TINY + if (fp->fptr >= fp->obj.objsize) { /* Avoid silly cache filling on the growing edge */ + if (sync_window(fs) != FR_OK) ABORT(fs, FR_DISK_ERR); + fs->winsect = sect; } #else - if (fp->dsect != sect) { /* Fill sector cache with file data */ - if (fp->fptr < fp->fsize && - disk_read(fp->fs->drv, fp->buf, sect, 1) != RES_OK) - ABORT(fp->fs, FR_DISK_ERR); + if (fp->sect != sect && /* Fill sector cache with file data */ + fp->fptr < fp->obj.objsize && + disk_read(fs->pdrv, fp->buf, sect, 1) != RES_OK) { + ABORT(fs, FR_DISK_ERR); } #endif - fp->dsect = sect; + fp->sect = sect; } - wcnt = SS(fp->fs) - (fp->fptr % SS(fp->fs));/* Put partial sector into file I/O buffer */ - if (wcnt > btw) wcnt = btw; -#if _FS_TINY - if (move_window(fp->fs, fp->dsect)) /* Move sector window */ - ABORT(fp->fs, FR_DISK_ERR); - mem_cpy(&fp->fs->win[fp->fptr % SS(fp->fs)], wbuff, wcnt); /* Fit partial sector */ - fp->fs->wflag = 1; + wcnt = SS(fs) - (UINT)fp->fptr % SS(fs); /* Number of bytes left in the sector */ + if (wcnt > btw) wcnt = btw; /* Clip it by btw if needed */ +#if FF_FS_TINY + if (move_window(fs, fp->sect) != FR_OK) ABORT(fs, FR_DISK_ERR); /* Move sector window */ + mem_cpy(fs->win + fp->fptr % SS(fs), wbuff, wcnt); /* Fit data to the sector */ + fs->wflag = 1; #else - mem_cpy(&fp->buf[fp->fptr % SS(fp->fs)], wbuff, wcnt); /* Fit partial sector */ - fp->flag |= FA__DIRTY; + mem_cpy(fp->buf + fp->fptr % SS(fs), wbuff, wcnt); /* Fit data to the sector */ + fp->flag |= FA_DIRTY; #endif } - if (fp->fptr > fp->fsize) fp->fsize = fp->fptr; /* Update file size if needed */ - fp->flag |= FA__WRITTEN; /* Set file change flag */ + fp->flag |= FA_MODIFIED; /* Set file change flag */ - LEAVE_FF(fp->fs, FR_OK); + LEAVE_FF(fs, FR_OK); } /*-----------------------------------------------------------------------*/ -/* Synchronize the File Object */ +/* Synchronize the File */ /*-----------------------------------------------------------------------*/ FRESULT f_sync ( - FIL *fp /* Pointer to the file object */ + FIL* fp /* Pointer to the file object */ ) { FRESULT res; - DWORD tim; + FATFS *fs; + DWORD tm; BYTE *dir; - res = validate(fp->fs, fp->id); /* Check validity of the object */ + res = validate(&fp->obj, &fs); /* Check validity of the file object */ if (res == FR_OK) { - if (fp->flag & FA__WRITTEN) { /* Has the file been written? */ -#if !_FS_TINY /* Write-back dirty buffer */ - if (fp->flag & FA__DIRTY) { - if (disk_write(fp->fs->drv, fp->buf, fp->dsect, 1) != RES_OK) - LEAVE_FF(fp->fs, FR_DISK_ERR); - fp->flag &= ~FA__DIRTY; + if (fp->flag & FA_MODIFIED) { /* Is there any change to the file? */ +#if !FF_FS_TINY + if (fp->flag & FA_DIRTY) { /* Write-back cached data if needed */ + if (disk_write(fs->pdrv, fp->buf, fp->sect, 1) != RES_OK) LEAVE_FF(fs, FR_DISK_ERR); + fp->flag &= (BYTE)~FA_DIRTY; } #endif /* Update the directory entry */ - res = move_window(fp->fs, fp->dir_sect); - if (res == FR_OK) { - dir = fp->dir_ptr; - dir[DIR_Attr] |= AM_ARC; /* Set archive bit */ - ST_DWORD(dir+DIR_FileSize, fp->fsize); /* Update file size */ - ST_CLUST(dir, fp->sclust); /* Update start cluster */ - tim = get_fattime(); /* Update updated time */ - ST_DWORD(dir+DIR_WrtTime, tim); - fp->flag &= ~FA__WRITTEN; - fp->fs->wflag = 1; - res = sync(fp->fs); + tm = GET_FATTIME(); /* Modified time */ +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + res = fill_first_frag(&fp->obj); /* Fill first fragment on the FAT if needed */ + if (res == FR_OK) { + res = fill_last_frag(&fp->obj, fp->clust, 0xFFFFFFFF); /* Fill last fragment on the FAT if needed */ + } + if (res == FR_OK) { + DIR dj; + DEF_NAMBUF + + INIT_NAMBUF(fs); + res = load_obj_xdir(&dj, &fp->obj); /* Load directory entry block */ + if (res == FR_OK) { + fs->dirbuf[XDIR_Attr] |= AM_ARC; /* Set archive attribute to indicate that the file has been changed */ + fs->dirbuf[XDIR_GenFlags] = fp->obj.stat | 1; /* Update file allocation information */ + st_dword(fs->dirbuf + XDIR_FstClus, fp->obj.sclust); + st_qword(fs->dirbuf + XDIR_FileSize, fp->obj.objsize); + st_qword(fs->dirbuf + XDIR_ValidFileSize, fp->obj.objsize); + st_dword(fs->dirbuf + XDIR_ModTime, tm); /* Update modified time */ + fs->dirbuf[XDIR_ModTime10] = 0; + st_dword(fs->dirbuf + XDIR_AccTime, 0); + res = store_xdir(&dj); /* Restore it to the directory */ + if (res == FR_OK) { + res = sync_fs(fs); + fp->flag &= (BYTE)~FA_MODIFIED; + } + } + FREE_NAMBUF(); + } + } else +#endif + { + res = move_window(fs, fp->dir_sect); + if (res == FR_OK) { + dir = fp->dir_ptr; + dir[DIR_Attr] |= AM_ARC; /* Set archive attribute to indicate that the file has been changed */ + st_clust(fp->obj.fs, dir, fp->obj.sclust); /* Update file allocation information */ + st_dword(dir + DIR_FileSize, (DWORD)fp->obj.objsize); /* Update file size */ + st_dword(dir + DIR_ModTime, tm); /* Update modified time */ + st_word(dir + DIR_LstAccDate, 0); + fs->wflag = 1; + res = sync_fs(fs); /* Restore it to the directory */ + fp->flag &= (BYTE)~FA_MODIFIED; + } } } } - LEAVE_FF(fp->fs, res); + LEAVE_FF(fs, res); } -#endif /* !_FS_READONLY */ +#endif /* !FF_FS_READONLY */ @@ -2664,53 +4063,52 @@ FRESULT f_sync ( /*-----------------------------------------------------------------------*/ FRESULT f_close ( - FIL *fp /* Pointer to the file object to be closed */ + FIL* fp /* Pointer to the file object to be closed */ ) { FRESULT res; + FATFS *fs; -#if _FS_READONLY - FATFS *fs = fp->fs; - res = validate(fs, fp->id); - if (res == FR_OK) fp->fs = 0; /* Discard file object */ - LEAVE_FF(fs, res); - -#else - res = f_sync(fp); /* Flush cached data */ -#if _FS_SHARE - if (res == FR_OK) { /* Decrement open counter */ -#if _FS_REENTRANT - res = validate(fp->fs, fp->id); +#if !FF_FS_READONLY + res = f_sync(fp); /* Flush cached data */ + if (res == FR_OK) +#endif + { + res = validate(&fp->obj, &fs); /* Lock volume */ if (res == FR_OK) { - res = dec_lock(fp->lockid); - unlock_fs(fp->fs, FR_OK); - } +#if FF_FS_LOCK != 0 + res = dec_lock(fp->obj.lockid); /* Decrement file open counter */ + if (res == FR_OK) fp->obj.fs = 0; /* Invalidate file object */ #else - res = dec_lock(fp->lockid); + fp->obj.fs = 0; /* Invalidate file object */ #endif - } +#if FF_FS_REENTRANT + unlock_fs(fs, FR_OK); /* Unlock volume */ #endif - if (res == FR_OK) fp->fs = 0; /* Discard file object */ + } + } return res; -#endif } +#if FF_FS_RPATH >= 1 /*-----------------------------------------------------------------------*/ -/* Current Drive/Directory Handlings */ +/* Change Current Directory or Current Drive, Get Current Directory */ /*-----------------------------------------------------------------------*/ -#if _FS_RPATH >= 1 - FRESULT f_chdrive ( - BYTE drv /* Drive number */ + const TCHAR* path /* Drive number to set */ ) { - if (drv >= _VOLUMES) return FR_INVALID_DRIVE; + int vol; - CurrVol = drv; + + /* Get logical drive number */ + vol = get_ldnumber(&path); + if (vol < 0) return FR_INVALID_DRIVE; + CurrVol = (BYTE)vol; /* Set it as current volume */ return FR_OK; } @@ -2718,179 +4116,235 @@ FRESULT f_chdrive ( FRESULT f_chdir ( - const TCHAR *path /* Pointer to the directory path */ + const TCHAR* path /* Pointer to the directory path */ ) { +#if FF_STR_VOLUME_ID == 2 + UINT i; +#endif FRESULT res; DIR dj; - DEF_NAMEBUF; + FATFS *fs; + DEF_NAMBUF - res = chk_mounted(&path, &dj.fs, 0); + /* Get logical drive */ + res = find_volume(&path, &fs, 0); if (res == FR_OK) { - INIT_BUF(dj); + dj.obj.fs = fs; + INIT_NAMBUF(fs); res = follow_path(&dj, path); /* Follow the path */ - FREE_BUF(); if (res == FR_OK) { /* Follow completed */ - if (!dj.dir) { - dj.fs->cdir = dj.sclust; /* Start directory itself */ + if (dj.fn[NSFLAG] & NS_NONAME) { /* Is it the start directory itself? */ + fs->cdir = dj.obj.sclust; +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + fs->cdc_scl = dj.obj.c_scl; + fs->cdc_size = dj.obj.c_size; + fs->cdc_ofs = dj.obj.c_ofs; + } +#endif } else { - if (dj.dir[DIR_Attr] & AM_DIR) /* Reached to the directory */ - dj.fs->cdir = LD_CLUST(dj.dir); - else + if (dj.obj.attr & AM_DIR) { /* It is a sub-directory */ +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + fs->cdir = ld_dword(fs->dirbuf + XDIR_FstClus); /* Sub-directory cluster */ + fs->cdc_scl = dj.obj.sclust; /* Save containing directory information */ + fs->cdc_size = ((DWORD)dj.obj.objsize & 0xFFFFFF00) | dj.obj.stat; + fs->cdc_ofs = dj.blk_ofs; + } else +#endif + { + fs->cdir = ld_clust(fs, dj.dir); /* Sub-directory cluster */ + } + } else { res = FR_NO_PATH; /* Reached but a file */ + } } } + FREE_NAMBUF(); if (res == FR_NO_FILE) res = FR_NO_PATH; +#if FF_STR_VOLUME_ID == 2 /* Also current drive is changed at Unix style volume ID */ + if (res == FR_OK) { + for (i = FF_VOLUMES - 1; i && fs != FatFs[i]; i--) ; /* Set current drive */ + CurrVol = (BYTE)i; + } +#endif } - LEAVE_FF(dj.fs, res); + LEAVE_FF(fs, res); } -#if _FS_RPATH >= 2 +#if FF_FS_RPATH >= 2 FRESULT f_getcwd ( - TCHAR *path, /* Pointer to the directory path */ - UINT sz_path /* Size of path */ + TCHAR* buff, /* Pointer to the directory path */ + UINT len /* Size of buff in unit of TCHAR */ ) { FRESULT res; DIR dj; + FATFS *fs; UINT i, n; DWORD ccl; - TCHAR *tp; + TCHAR *tp = buff; +#if FF_VOLUMES >= 2 + UINT vl; +#endif +#if FF_STR_VOLUME_ID + const char *vp; +#endif FILINFO fno; - DEF_NAMEBUF; + DEF_NAMBUF - *path = 0; - res = chk_mounted((const TCHAR**)&path, &dj.fs, 0); /* Get current volume */ + /* Get logical drive */ + buff[0] = 0; /* Set null string to get current volume */ + res = find_volume((const TCHAR**)&buff, &fs, 0); /* Get current volume */ if (res == FR_OK) { - INIT_BUF(dj); - i = sz_path; /* Bottom of buffer (dir stack base) */ - dj.sclust = dj.fs->cdir; /* Start to follow upper dir from current dir */ - while ((ccl = dj.sclust) != 0) { /* Repeat while current dir is a sub-dir */ - res = dir_sdi(&dj, 1); /* Get parent dir */ - if (res != FR_OK) break; - res = dir_read(&dj); - if (res != FR_OK) break; - dj.sclust = LD_CLUST(dj.dir); /* Goto parent dir */ - res = dir_sdi(&dj, 0); - if (res != FR_OK) break; - do { /* Find the entry links to the child dir */ - res = dir_read(&dj); + dj.obj.fs = fs; + INIT_NAMBUF(fs); + + /* Follow parent directories and create the path */ + i = len; /* Bottom of buffer (directory stack base) */ + if (!FF_FS_EXFAT || fs->fs_type != FS_EXFAT) { /* (Cannot do getcwd on exFAT and returns root path) */ + dj.obj.sclust = fs->cdir; /* Start to follow upper directory from current directory */ + while ((ccl = dj.obj.sclust) != 0) { /* Repeat while current directory is a sub-directory */ + res = dir_sdi(&dj, 1 * SZDIRE); /* Get parent directory */ if (res != FR_OK) break; - if (ccl == LD_CLUST(dj.dir)) break; /* Found the entry */ - res = dir_next(&dj, 0); - } while (res == FR_OK); - if (res == FR_NO_FILE) res = FR_INT_ERR;/* It cannot be 'not found'. */ - if (res != FR_OK) break; -#if _USE_LFN - fno.lfname = path; - fno.lfsize = i; -#endif - get_fileinfo(&dj, &fno); /* Get the dir name and push it to the buffer */ - tp = fno.fname; - if (_USE_LFN && *path) tp = path; - for (n = 0; tp[n]; n++) ; - if (i < n + 3) { - res = FR_NOT_ENOUGH_CORE; break; + res = move_window(fs, dj.sect); + if (res != FR_OK) break; + dj.obj.sclust = ld_clust(fs, dj.dir); /* Goto parent directory */ + res = dir_sdi(&dj, 0); + if (res != FR_OK) break; + do { /* Find the entry links to the child directory */ + res = DIR_READ_FILE(&dj); + if (res != FR_OK) break; + if (ccl == ld_clust(fs, dj.dir)) break; /* Found the entry */ + res = dir_next(&dj, 0); + } while (res == FR_OK); + if (res == FR_NO_FILE) res = FR_INT_ERR;/* It cannot be 'not found'. */ + if (res != FR_OK) break; + get_fileinfo(&dj, &fno); /* Get the directory name and push it to the buffer */ + for (n = 0; fno.fname[n]; n++) ; /* Name length */ + if (i < n + 1) { /* Insufficient space to store the path name? */ + res = FR_NOT_ENOUGH_CORE; break; + } + while (n) buff[--i] = fno.fname[--n]; /* Stack the name */ + buff[--i] = '/'; } - while (n) path[--i] = tp[--n]; - path[--i] = '/'; } - tp = path; if (res == FR_OK) { - *tp++ = '0' + CurrVol; /* Put drive number */ - *tp++ = ':'; - if (i == sz_path) { /* Root-dir */ - *tp++ = '/'; - } else { /* Sub-dir */ - do /* Add stacked path str */ - *tp++ = path[i++]; - while (i < sz_path); + if (i == len) buff[--i] = '/'; /* Is it the root-directory? */ +#if FF_VOLUMES >= 2 /* Put drive prefix */ + vl = 0; +#if FF_STR_VOLUME_ID >= 1 /* String volume ID */ + for (n = 0, vp = (const char*)VolumeStr[CurrVol]; vp[n]; n++) ; + if (i >= n + 2) { + if (FF_STR_VOLUME_ID == 2) *tp++ = (TCHAR)'/'; + for (vl = 0; vl < n; *tp++ = (TCHAR)vp[vl], vl++) ; + if (FF_STR_VOLUME_ID == 1) *tp++ = (TCHAR)':'; + vl++; + } +#else /* Numeric volume ID */ + if (i >= 3) { + *tp++ = (TCHAR)'0' + CurrVol; + *tp++ = (TCHAR)':'; + vl = 2; + } +#endif + if (vl == 0) res = FR_NOT_ENOUGH_CORE; +#endif + /* Add current directory path */ + if (res == FR_OK) { + do *tp++ = buff[i++]; while (i < len); /* Copy stacked path string */ } } - *tp = 0; - FREE_BUF(); + FREE_NAMBUF(); } - LEAVE_FF(dj.fs, res); + *tp = 0; + LEAVE_FF(fs, res); } -#endif /* _FS_RPATH >= 2 */ -#endif /* _FS_RPATH >= 1 */ + +#endif /* FF_FS_RPATH >= 2 */ +#endif /* FF_FS_RPATH >= 1 */ -#if _FS_MINIMIZE <= 2 +#if FF_FS_MINIMIZE <= 2 /*-----------------------------------------------------------------------*/ -/* Seek File R/W Pointer */ +/* Seek File Read/Write Pointer */ /*-----------------------------------------------------------------------*/ FRESULT f_lseek ( - FIL *fp, /* Pointer to the file object */ - DWORD ofs /* File pointer from top of file */ + FIL* fp, /* Pointer to the file object */ + FSIZE_t ofs /* File pointer from top of file */ ) { FRESULT res; + FATFS *fs; + DWORD clst, bcs, nsect; + FSIZE_t ifptr; +#if FF_USE_FASTSEEK + DWORD cl, pcl, ncl, tcl, dsc, tlen, ulen, *tbl; +#endif + res = validate(&fp->obj, &fs); /* Check validity of the file object */ + if (res == FR_OK) res = (FRESULT)fp->err; +#if FF_FS_EXFAT && !FF_FS_READONLY + if (res == FR_OK && fs->fs_type == FS_EXFAT) { + res = fill_last_frag(&fp->obj, fp->clust, 0xFFFFFFFF); /* Fill last fragment on the FAT if needed */ + } +#endif + if (res != FR_OK) LEAVE_FF(fs, res); - res = validate(fp->fs, fp->id); /* Check validity of the object */ - if (res != FR_OK) LEAVE_FF(fp->fs, res); - if (fp->flag & FA__ERROR) /* Check abort flag */ - LEAVE_FF(fp->fs, FR_INT_ERR); - -#if _USE_FASTSEEK +#if FF_USE_FASTSEEK if (fp->cltbl) { /* Fast seek */ - DWORD cl, pcl, ncl, tcl, dsc, tlen, ulen, *tbl; - if (ofs == CREATE_LINKMAP) { /* Create CLMT */ tbl = fp->cltbl; tlen = *tbl++; ulen = 2; /* Given table size and required table size */ - cl = fp->sclust; /* Top of the chain */ - if (cl) { + cl = fp->obj.sclust; /* Origin of the chain */ + if (cl != 0) { do { /* Get a fragment */ tcl = cl; ncl = 0; ulen += 2; /* Top, length and used items */ do { pcl = cl; ncl++; - cl = get_fat(fp->fs, cl); - if (cl <= 1) ABORT(fp->fs, FR_INT_ERR); - if (cl == 0xFFFFFFFF) ABORT(fp->fs, FR_DISK_ERR); + cl = get_fat(&fp->obj, cl); + if (cl <= 1) ABORT(fs, FR_INT_ERR); + if (cl == 0xFFFFFFFF) ABORT(fs, FR_DISK_ERR); } while (cl == pcl + 1); if (ulen <= tlen) { /* Store the length and top of the fragment */ *tbl++ = ncl; *tbl++ = tcl; } - } while (cl < fp->fs->n_fatent); /* Repeat until end of chain */ + } while (cl < fs->n_fatent); /* Repeat until end of chain */ } *fp->cltbl = ulen; /* Number of items used */ - if (ulen <= tlen) + if (ulen <= tlen) { *tbl = 0; /* Terminate table */ - else + } else { res = FR_NOT_ENOUGH_CORE; /* Given table size is smaller than required */ - + } } else { /* Fast seek */ - if (ofs > fp->fsize) /* Clip offset at the file size */ - ofs = fp->fsize; + if (ofs > fp->obj.objsize) ofs = fp->obj.objsize; /* Clip offset at the file size */ fp->fptr = ofs; /* Set file pointer */ - if (ofs) { + if (ofs > 0) { fp->clust = clmt_clust(fp, ofs - 1); - dsc = clust2sect(fp->fs, fp->clust); - if (!dsc) ABORT(fp->fs, FR_INT_ERR); - dsc += (ofs - 1) / SS(fp->fs) & (fp->fs->csize - 1); - if (fp->fptr % SS(fp->fs) && dsc != fp->dsect) { /* Refill sector cache if needed */ -#if !_FS_TINY -#if !_FS_READONLY - if (fp->flag & FA__DIRTY) { /* Write-back dirty sector cache */ - if (disk_write(fp->fs->drv, fp->buf, fp->dsect, 1) != RES_OK) - ABORT(fp->fs, FR_DISK_ERR); - fp->flag &= ~FA__DIRTY; + dsc = clst2sect(fs, fp->clust); + if (dsc == 0) ABORT(fs, FR_INT_ERR); + dsc += (DWORD)((ofs - 1) / SS(fs)) & (fs->csize - 1); + if (fp->fptr % SS(fs) && dsc != fp->sect) { /* Refill sector cache if needed */ +#if !FF_FS_TINY +#if !FF_FS_READONLY + if (fp->flag & FA_DIRTY) { /* Write-back dirty sector cache */ + if (disk_write(fs->pdrv, fp->buf, fp->sect, 1) != RES_OK) ABORT(fs, FR_DISK_ERR); + fp->flag &= (BYTE)~FA_DIRTY; } #endif - if (disk_read(fp->fs->drv, fp->buf, dsc, 1) != RES_OK) /* Load current sector */ - ABORT(fp->fs, FR_DISK_ERR); + if (disk_read(fs->pdrv, fp->buf, dsc, 1) != RES_OK) ABORT(fs, FR_DISK_ERR); /* Load current sector */ #endif - fp->dsect = dsc; + fp->sect = dsc; } } } @@ -2899,262 +4353,390 @@ FRESULT f_lseek ( /* Normal Seek */ { - DWORD clst, bcs, nsect, ifptr; - - if (ofs > fp->fsize /* In read-only mode, clip offset with the file size */ -#if !_FS_READONLY - && !(fp->flag & FA_WRITE) +#if FF_FS_EXFAT + if (fs->fs_type != FS_EXFAT && ofs >= 0x100000000) ofs = 0xFFFFFFFF; /* Clip at 4 GiB - 1 if at FATxx */ #endif - ) ofs = fp->fsize; - + if (ofs > fp->obj.objsize && (FF_FS_READONLY || !(fp->flag & FA_WRITE))) { /* In read-only mode, clip offset with the file size */ + ofs = fp->obj.objsize; + } ifptr = fp->fptr; fp->fptr = nsect = 0; - if (ofs) { - bcs = (DWORD)fp->fs->csize * SS(fp->fs); /* Cluster size (byte) */ + if (ofs > 0) { + bcs = (DWORD)fs->csize * SS(fs); /* Cluster size (byte) */ if (ifptr > 0 && (ofs - 1) / bcs >= (ifptr - 1) / bcs) { /* When seek to same or following cluster, */ - fp->fptr = (ifptr - 1) & ~(bcs - 1); /* start from the current cluster */ + fp->fptr = (ifptr - 1) & ~(FSIZE_t)(bcs - 1); /* start from the current cluster */ ofs -= fp->fptr; clst = fp->clust; } else { /* When seek to back cluster, */ - clst = fp->sclust; /* start from the first cluster */ -#if !_FS_READONLY + clst = fp->obj.sclust; /* start from the first cluster */ +#if !FF_FS_READONLY if (clst == 0) { /* If no cluster chain, create a new chain */ - clst = create_chain(fp->fs, 0); - if (clst == 1) ABORT(fp->fs, FR_INT_ERR); - if (clst == 0xFFFFFFFF) ABORT(fp->fs, FR_DISK_ERR); - fp->sclust = clst; + clst = create_chain(&fp->obj, 0); + if (clst == 1) ABORT(fs, FR_INT_ERR); + if (clst == 0xFFFFFFFF) ABORT(fs, FR_DISK_ERR); + fp->obj.sclust = clst; } #endif fp->clust = clst; } if (clst != 0) { while (ofs > bcs) { /* Cluster following loop */ -#if !_FS_READONLY + ofs -= bcs; fp->fptr += bcs; +#if !FF_FS_READONLY if (fp->flag & FA_WRITE) { /* Check if in write mode or not */ - clst = create_chain(fp->fs, clst); /* Force stretch if in write mode */ - if (clst == 0) { /* When disk gets full, clip file size */ - ofs = bcs; break; + if (FF_FS_EXFAT && fp->fptr > fp->obj.objsize) { /* No FAT chain object needs correct objsize to generate FAT value */ + fp->obj.objsize = fp->fptr; + fp->flag |= FA_MODIFIED; + } + clst = create_chain(&fp->obj, clst); /* Follow chain with forceed stretch */ + if (clst == 0) { /* Clip file size in case of disk full */ + ofs = 0; break; } } else #endif - clst = get_fat(fp->fs, clst); /* Follow cluster chain if not in write mode */ - if (clst == 0xFFFFFFFF) ABORT(fp->fs, FR_DISK_ERR); - if (clst <= 1 || clst >= fp->fs->n_fatent) ABORT(fp->fs, FR_INT_ERR); + { + clst = get_fat(&fp->obj, clst); /* Follow cluster chain if not in write mode */ + } + if (clst == 0xFFFFFFFF) ABORT(fs, FR_DISK_ERR); + if (clst <= 1 || clst >= fs->n_fatent) ABORT(fs, FR_INT_ERR); fp->clust = clst; - fp->fptr += bcs; - ofs -= bcs; } fp->fptr += ofs; - if (ofs % SS(fp->fs)) { - nsect = clust2sect(fp->fs, clst); /* Current sector */ - if (!nsect) ABORT(fp->fs, FR_INT_ERR); - nsect += ofs / SS(fp->fs); + if (ofs % SS(fs)) { + nsect = clst2sect(fs, clst); /* Current sector */ + if (nsect == 0) ABORT(fs, FR_INT_ERR); + nsect += (DWORD)(ofs / SS(fs)); } } } - if (fp->fptr % SS(fp->fs) && nsect != fp->dsect) { /* Fill sector cache if needed */ -#if !_FS_TINY -#if !_FS_READONLY - if (fp->flag & FA__DIRTY) { /* Write-back dirty sector cache */ - if (disk_write(fp->fs->drv, fp->buf, fp->dsect, 1) != RES_OK) - ABORT(fp->fs, FR_DISK_ERR); - fp->flag &= ~FA__DIRTY; + if (!FF_FS_READONLY && fp->fptr > fp->obj.objsize) { /* Set file change flag if the file size is extended */ + fp->obj.objsize = fp->fptr; + fp->flag |= FA_MODIFIED; + } + if (fp->fptr % SS(fs) && nsect != fp->sect) { /* Fill sector cache if needed */ +#if !FF_FS_TINY +#if !FF_FS_READONLY + if (fp->flag & FA_DIRTY) { /* Write-back dirty sector cache */ + if (disk_write(fs->pdrv, fp->buf, fp->sect, 1) != RES_OK) ABORT(fs, FR_DISK_ERR); + fp->flag &= (BYTE)~FA_DIRTY; } #endif - if (disk_read(fp->fs->drv, fp->buf, nsect, 1) != RES_OK) /* Fill sector cache */ - ABORT(fp->fs, FR_DISK_ERR); + if (disk_read(fs->pdrv, fp->buf, nsect, 1) != RES_OK) ABORT(fs, FR_DISK_ERR); /* Fill sector cache */ #endif - fp->dsect = nsect; - } -#if !_FS_READONLY - if (fp->fptr > fp->fsize) { /* Set file change flag if the file size is extended */ - fp->fsize = fp->fptr; - fp->flag |= FA__WRITTEN; + fp->sect = nsect; } -#endif } - LEAVE_FF(fp->fs, res); + LEAVE_FF(fs, res); } -#if _FS_MINIMIZE <= 1 +#if FF_FS_MINIMIZE <= 1 /*-----------------------------------------------------------------------*/ /* Create a Directory Object */ /*-----------------------------------------------------------------------*/ FRESULT f_opendir ( - DIR *dj, /* Pointer to directory object to create */ - const TCHAR *path /* Pointer to the directory path */ + DIR* dp, /* Pointer to directory object to create */ + const TCHAR* path /* Pointer to the directory path */ ) { FRESULT res; - DEF_NAMEBUF; + FATFS *fs; + DEF_NAMBUF + + if (!dp) return FR_INVALID_OBJECT; - res = chk_mounted(&path, &dj->fs, 0); + /* Get logical drive */ + res = find_volume(&path, &fs, 0); if (res == FR_OK) { - INIT_BUF(*dj); - res = follow_path(dj, path); /* Follow the path to the directory */ - FREE_BUF(); + dp->obj.fs = fs; + INIT_NAMBUF(fs); + res = follow_path(dp, path); /* Follow the path to the directory */ if (res == FR_OK) { /* Follow completed */ - if (dj->dir) { /* It is not the root dir */ - if (dj->dir[DIR_Attr] & AM_DIR) { /* The object is a directory */ - dj->sclust = LD_CLUST(dj->dir); - } else { /* The object is not a directory */ + if (!(dp->fn[NSFLAG] & NS_NONAME)) { /* It is not the origin directory itself */ + if (dp->obj.attr & AM_DIR) { /* This object is a sub-directory */ +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + dp->obj.c_scl = dp->obj.sclust; /* Get containing directory inforamation */ + dp->obj.c_size = ((DWORD)dp->obj.objsize & 0xFFFFFF00) | dp->obj.stat; + dp->obj.c_ofs = dp->blk_ofs; + init_alloc_info(fs, &dp->obj); /* Get object allocation info */ + } else +#endif + { + dp->obj.sclust = ld_clust(fs, dp->dir); /* Get object allocation info */ + } + } else { /* This object is a file */ res = FR_NO_PATH; } } if (res == FR_OK) { - dj->id = dj->fs->id; - res = dir_sdi(dj, 0); /* Rewind dir */ + dp->obj.id = fs->id; + res = dir_sdi(dp, 0); /* Rewind directory */ +#if FF_FS_LOCK != 0 + if (res == FR_OK) { + if (dp->obj.sclust != 0) { + dp->obj.lockid = inc_lock(dp, 0); /* Lock the sub directory */ + if (!dp->obj.lockid) res = FR_TOO_MANY_OPEN_FILES; + } else { + dp->obj.lockid = 0; /* Root directory need not to be locked */ + } + } +#endif } } + FREE_NAMBUF(); if (res == FR_NO_FILE) res = FR_NO_PATH; } + if (res != FR_OK) dp->obj.fs = 0; /* Invalidate the directory object if function faild */ + + LEAVE_FF(fs, res); +} - LEAVE_FF(dj->fs, res); + + + +/*-----------------------------------------------------------------------*/ +/* Close Directory */ +/*-----------------------------------------------------------------------*/ + +FRESULT f_closedir ( + DIR *dp /* Pointer to the directory object to be closed */ +) +{ + FRESULT res; + FATFS *fs; + + + res = validate(&dp->obj, &fs); /* Check validity of the file object */ + if (res == FR_OK) { +#if FF_FS_LOCK != 0 + if (dp->obj.lockid) res = dec_lock(dp->obj.lockid); /* Decrement sub-directory open counter */ + if (res == FR_OK) dp->obj.fs = 0; /* Invalidate directory object */ +#else + dp->obj.fs = 0; /* Invalidate directory object */ +#endif +#if FF_FS_REENTRANT + unlock_fs(fs, FR_OK); /* Unlock volume */ +#endif + } + return res; } /*-----------------------------------------------------------------------*/ -/* Read Directory Entry in Sequence */ +/* Read Directory Entries in Sequence */ /*-----------------------------------------------------------------------*/ FRESULT f_readdir ( - DIR *dj, /* Pointer to the open directory object */ - FILINFO *fno /* Pointer to file information to return */ + DIR* dp, /* Pointer to the open directory object */ + FILINFO* fno /* Pointer to file information to return */ ) { FRESULT res; - DEF_NAMEBUF; + FATFS *fs; + DEF_NAMBUF + - res = validate(dj->fs, dj->id); /* Check validity of the object */ + res = validate(&dp->obj, &fs); /* Check validity of the directory object */ if (res == FR_OK) { if (!fno) { - res = dir_sdi(dj, 0); /* Rewind the directory object */ + res = dir_sdi(dp, 0); /* Rewind the directory object */ } else { - INIT_BUF(*dj); - res = dir_read(dj); /* Read an directory item */ - if (res == FR_NO_FILE) { /* Reached end of dir */ - dj->sect = 0; - res = FR_OK; - } + INIT_NAMBUF(fs); + res = DIR_READ_FILE(dp); /* Read an item */ + if (res == FR_NO_FILE) res = FR_OK; /* Ignore end of directory */ if (res == FR_OK) { /* A valid entry is found */ - get_fileinfo(dj, fno); /* Get the object information */ - res = dir_next(dj, 0); /* Increment index for next */ - if (res == FR_NO_FILE) { - dj->sect = 0; - res = FR_OK; - } + get_fileinfo(dp, fno); /* Get the object information */ + res = dir_next(dp, 0); /* Increment index for next */ + if (res == FR_NO_FILE) res = FR_OK; /* Ignore end of directory now */ } - FREE_BUF(); + FREE_NAMBUF(); } } + LEAVE_FF(fs, res); +} + + + +#if FF_USE_FIND +/*-----------------------------------------------------------------------*/ +/* Find Next File */ +/*-----------------------------------------------------------------------*/ + +FRESULT f_findnext ( + DIR* dp, /* Pointer to the open directory object */ + FILINFO* fno /* Pointer to the file information structure */ +) +{ + FRESULT res; + + + for (;;) { + res = f_readdir(dp, fno); /* Get a directory item */ + if (res != FR_OK || !fno || !fno->fname[0]) break; /* Terminate if any error or end of directory */ + if (pattern_matching(dp->pat, fno->fname, 0, 0)) break; /* Test for the file name */ +#if FF_USE_LFN && FF_USE_FIND == 2 + if (pattern_matching(dp->pat, fno->altname, 0, 0)) break; /* Test for alternative name if exist */ +#endif + } + return res; +} + + + +/*-----------------------------------------------------------------------*/ +/* Find First File */ +/*-----------------------------------------------------------------------*/ - LEAVE_FF(dj->fs, res); +FRESULT f_findfirst ( + DIR* dp, /* Pointer to the blank directory object */ + FILINFO* fno, /* Pointer to the file information structure */ + const TCHAR* path, /* Pointer to the directory to open */ + const TCHAR* pattern /* Pointer to the matching pattern */ +) +{ + FRESULT res; + + + dp->pat = pattern; /* Save pointer to pattern string */ + res = f_opendir(dp, path); /* Open the target directory */ + if (res == FR_OK) { + res = f_findnext(dp, fno); /* Find the first item */ + } + return res; } +#endif /* FF_USE_FIND */ + -#if _FS_MINIMIZE == 0 +#if FF_FS_MINIMIZE == 0 /*-----------------------------------------------------------------------*/ /* Get File Status */ /*-----------------------------------------------------------------------*/ FRESULT f_stat ( - const TCHAR *path, /* Pointer to the file path */ - FILINFO *fno /* Pointer to file information to return */ + const TCHAR* path, /* Pointer to the file path */ + FILINFO* fno /* Pointer to file information to return */ ) { FRESULT res; DIR dj; - DEF_NAMEBUF; + DEF_NAMBUF - res = chk_mounted(&path, &dj.fs, 0); + /* Get logical drive */ + res = find_volume(&path, &dj.obj.fs, 0); if (res == FR_OK) { - INIT_BUF(dj); + INIT_NAMBUF(dj.obj.fs); res = follow_path(&dj, path); /* Follow the file path */ if (res == FR_OK) { /* Follow completed */ - if (dj.dir) /* Found an object */ - get_fileinfo(&dj, fno); - else /* It is root dir */ + if (dj.fn[NSFLAG] & NS_NONAME) { /* It is origin directory */ res = FR_INVALID_NAME; + } else { /* Found an object */ + if (fno) get_fileinfo(&dj, fno); + } } - FREE_BUF(); + FREE_NAMBUF(); } - LEAVE_FF(dj.fs, res); + LEAVE_FF(dj.obj.fs, res); } -#if !_FS_READONLY +#if !FF_FS_READONLY /*-----------------------------------------------------------------------*/ /* Get Number of Free Clusters */ /*-----------------------------------------------------------------------*/ FRESULT f_getfree ( - const TCHAR *path, /* Pointer to the logical drive number (root dir) */ - DWORD *nclst, /* Pointer to the variable to return number of free clusters */ - FATFS **fatfs /* Pointer to pointer to corresponding file system object to return */ + const TCHAR* path, /* Logical drive number */ + DWORD* nclst, /* Pointer to a variable to return number of free clusters */ + FATFS** fatfs /* Pointer to return pointer to corresponding filesystem object */ ) { FRESULT res; - DWORD n, clst, sect, stat; + FATFS *fs; + DWORD nfree, clst, sect, stat; UINT i; - BYTE fat, *p; + FFOBJID obj; - /* Get drive number */ - res = chk_mounted(&path, fatfs, 0); + /* Get logical drive */ + res = find_volume(&path, &fs, 0); if (res == FR_OK) { - /* If free_clust is valid, return it without full cluster scan */ - if ((*fatfs)->free_clust <= (*fatfs)->n_fatent - 2) { - *nclst = (*fatfs)->free_clust; + *fatfs = fs; /* Return ptr to the fs object */ + /* If free_clst is valid, return it without full FAT scan */ + if (fs->free_clst <= fs->n_fatent - 2) { + *nclst = fs->free_clst; } else { - /* Get number of free clusters */ - fat = (*fatfs)->fs_type; - n = 0; - if (fat == FS_FAT12) { - clst = 2; + /* Scan FAT to obtain number of free clusters */ + nfree = 0; + if (fs->fs_type == FS_FAT12) { /* FAT12: Scan bit field FAT entries */ + clst = 2; obj.fs = fs; do { - stat = get_fat(*fatfs, clst); + stat = get_fat(&obj, clst); if (stat == 0xFFFFFFFF) { res = FR_DISK_ERR; break; } if (stat == 1) { res = FR_INT_ERR; break; } - if (stat == 0) n++; - } while (++clst < (*fatfs)->n_fatent); + if (stat == 0) nfree++; + } while (++clst < fs->n_fatent); } else { - clst = (*fatfs)->n_fatent; - sect = (*fatfs)->fatbase; - i = 0; p = 0; - do { - if (!i) { - res = move_window(*fatfs, sect++); - if (res != FR_OK) break; - p = (*fatfs)->win; - i = SS(*fatfs); - } - if (fat == FS_FAT16) { - if (LD_WORD(p) == 0) n++; - p += 2; i -= 2; - } else { - if ((LD_DWORD(p) & 0x0FFFFFFF) == 0) n++; - p += 4; i -= 4; - } - } while (--clst); +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* exFAT: Scan allocation bitmap */ + BYTE bm; + UINT b; + + clst = fs->n_fatent - 2; /* Number of clusters */ + sect = fs->bitbase; /* Bitmap sector */ + i = 0; /* Offset in the sector */ + do { /* Counts numbuer of bits with zero in the bitmap */ + if (i == 0) { + res = move_window(fs, sect++); + if (res != FR_OK) break; + } + for (b = 8, bm = fs->win[i]; b && clst; b--, clst--) { + if (!(bm & 1)) nfree++; + bm >>= 1; + } + i = (i + 1) % SS(fs); + } while (clst); + } else +#endif + { /* FAT16/32: Scan WORD/DWORD FAT entries */ + clst = fs->n_fatent; /* Number of entries */ + sect = fs->fatbase; /* Top of the FAT */ + i = 0; /* Offset in the sector */ + do { /* Counts numbuer of entries with zero in the FAT */ + if (i == 0) { + res = move_window(fs, sect++); + if (res != FR_OK) break; + } + if (fs->fs_type == FS_FAT16) { + if (ld_word(fs->win + i) == 0) nfree++; + i += 2; + } else { + if ((ld_dword(fs->win + i) & 0x0FFFFFFF) == 0) nfree++; + i += 4; + } + i %= SS(fs); + } while (--clst); + } } - (*fatfs)->free_clust = n; - if (fat == FS_FAT32) (*fatfs)->fsi_flag = 1; - *nclst = n; + *nclst = nfree; /* Return the free clusters */ + fs->free_clst = nfree; /* Now free_clst is valid */ + fs->fsi_flag |= 1; /* FAT32: FSInfo is to be updated */ } } - LEAVE_FF(*fatfs, res); + + LEAVE_FF(fs, res); } @@ -3165,112 +4747,140 @@ FRESULT f_getfree ( /*-----------------------------------------------------------------------*/ FRESULT f_truncate ( - FIL *fp /* Pointer to the file object */ + FIL* fp /* Pointer to the file object */ ) { FRESULT res; + FATFS *fs; DWORD ncl; - res = validate(fp->fs, fp->id); /* Check validity of the object */ - if (res == FR_OK) { - if (fp->flag & FA__ERROR) { /* Check abort flag */ - res = FR_INT_ERR; - } else { - if (!(fp->flag & FA_WRITE)) /* Check access mode */ - res = FR_DENIED; + res = validate(&fp->obj, &fs); /* Check validity of the file object */ + if (res != FR_OK || (res = (FRESULT)fp->err) != FR_OK) LEAVE_FF(fs, res); + if (!(fp->flag & FA_WRITE)) LEAVE_FF(fs, FR_DENIED); /* Check access mode */ + + if (fp->fptr < fp->obj.objsize) { /* Process when fptr is not on the eof */ + if (fp->fptr == 0) { /* When set file size to zero, remove entire cluster chain */ + res = remove_chain(&fp->obj, fp->obj.sclust, 0); + fp->obj.sclust = 0; + } else { /* When truncate a part of the file, remove remaining clusters */ + ncl = get_fat(&fp->obj, fp->clust); + res = FR_OK; + if (ncl == 0xFFFFFFFF) res = FR_DISK_ERR; + if (ncl == 1) res = FR_INT_ERR; + if (res == FR_OK && ncl < fs->n_fatent) { + res = remove_chain(&fp->obj, ncl, fp->clust); + } } - } - if (res == FR_OK) { - if (fp->fsize > fp->fptr) { - fp->fsize = fp->fptr; /* Set file size to current R/W point */ - fp->flag |= FA__WRITTEN; - if (fp->fptr == 0) { /* When set file size to zero, remove entire cluster chain */ - res = remove_chain(fp->fs, fp->sclust); - fp->sclust = 0; - } else { /* When truncate a part of the file, remove remaining clusters */ - ncl = get_fat(fp->fs, fp->clust); - res = FR_OK; - if (ncl == 0xFFFFFFFF) res = FR_DISK_ERR; - if (ncl == 1) res = FR_INT_ERR; - if (res == FR_OK && ncl < fp->fs->n_fatent) { - res = put_fat(fp->fs, fp->clust, 0x0FFFFFFF); - if (res == FR_OK) res = remove_chain(fp->fs, ncl); - } + fp->obj.objsize = fp->fptr; /* Set file size to current read/write point */ + fp->flag |= FA_MODIFIED; +#if !FF_FS_TINY + if (res == FR_OK && (fp->flag & FA_DIRTY)) { + if (disk_write(fs->pdrv, fp->buf, fp->sect, 1) != RES_OK) { + res = FR_DISK_ERR; + } else { + fp->flag &= (BYTE)~FA_DIRTY; } } - if (res != FR_OK) fp->flag |= FA__ERROR; +#endif + if (res != FR_OK) ABORT(fs, res); } - LEAVE_FF(fp->fs, res); + LEAVE_FF(fs, res); } /*-----------------------------------------------------------------------*/ -/* Delete a File or Directory */ +/* Delete a File/Directory */ /*-----------------------------------------------------------------------*/ FRESULT f_unlink ( - const TCHAR *path /* Pointer to the file or directory path */ + const TCHAR* path /* Pointer to the file or directory path */ ) { FRESULT res; DIR dj, sdj; - BYTE *dir; - DWORD dclst; - DEF_NAMEBUF; + DWORD dclst = 0; + FATFS *fs; +#if FF_FS_EXFAT + FFOBJID obj; +#endif + DEF_NAMBUF - res = chk_mounted(&path, &dj.fs, 1); + /* Get logical drive */ + res = find_volume(&path, &fs, FA_WRITE); if (res == FR_OK) { - INIT_BUF(dj); + dj.obj.fs = fs; + INIT_NAMBUF(fs); res = follow_path(&dj, path); /* Follow the file path */ - if (_FS_RPATH && res == FR_OK && (dj.fn[NS] & NS_DOT)) + if (FF_FS_RPATH && res == FR_OK && (dj.fn[NSFLAG] & NS_DOT)) { res = FR_INVALID_NAME; /* Cannot remove dot entry */ -#if _FS_SHARE - if (res == FR_OK) res = chk_lock(&dj, 2); /* Cannot remove open file */ + } +#if FF_FS_LOCK != 0 + if (res == FR_OK) res = chk_lock(&dj, 2); /* Check if it is an open object */ #endif if (res == FR_OK) { /* The object is accessible */ - dir = dj.dir; - if (!dir) { - res = FR_INVALID_NAME; /* Cannot remove the start directory */ + if (dj.fn[NSFLAG] & NS_NONAME) { + res = FR_INVALID_NAME; /* Cannot remove the origin directory */ } else { - if (dir[DIR_Attr] & AM_RDO) + if (dj.obj.attr & AM_RDO) { res = FR_DENIED; /* Cannot remove R/O object */ + } } - dclst = LD_CLUST(dir); - if (res == FR_OK && (dir[DIR_Attr] & AM_DIR)) { /* Is it a sub-dir? */ - if (dclst < 2) { - res = FR_INT_ERR; - } else { - mem_cpy(&sdj, &dj, sizeof(DIR)); /* Check if the sub-dir is empty or not */ - sdj.sclust = dclst; - res = dir_sdi(&sdj, 2); /* Exclude dot entries */ - if (res == FR_OK) { - res = dir_read(&sdj); - if (res == FR_OK /* Not empty dir */ -#if _FS_RPATH - || dclst == sdj.fs->cdir /* Current dir */ + if (res == FR_OK) { +#if FF_FS_EXFAT + obj.fs = fs; + if (fs->fs_type == FS_EXFAT) { + init_alloc_info(fs, &obj); + dclst = obj.sclust; + } else +#endif + { + dclst = ld_clust(fs, dj.dir); + } + if (dj.obj.attr & AM_DIR) { /* Is it a sub-directory? */ +#if FF_FS_RPATH != 0 + if (dclst == fs->cdir) { /* Is it the current directory? */ + res = FR_DENIED; + } else +#endif + { + sdj.obj.fs = fs; /* Open the sub-directory */ + sdj.obj.sclust = dclst; +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + sdj.obj.objsize = obj.objsize; + sdj.obj.stat = obj.stat; + } #endif - ) res = FR_DENIED; - if (res == FR_NO_FILE) res = FR_OK; /* Empty */ + res = dir_sdi(&sdj, 0); + if (res == FR_OK) { + res = DIR_READ_FILE(&sdj); /* Test if the directory is empty */ + if (res == FR_OK) res = FR_DENIED; /* Not empty? */ + if (res == FR_NO_FILE) res = FR_OK; /* Empty? */ + } } } } if (res == FR_OK) { - res = dir_remove(&dj); /* Remove the directory entry */ - if (res == FR_OK) { - if (dclst) /* Remove the cluster chain if exist */ - res = remove_chain(dj.fs, dclst); - if (res == FR_OK) res = sync(dj.fs); + res = dir_remove(&dj); /* Remove the directory entry */ + if (res == FR_OK && dclst != 0) { /* Remove the cluster chain if exist */ +#if FF_FS_EXFAT + res = remove_chain(&obj, dclst, 0); +#else + res = remove_chain(&dj.obj, dclst, 0); +#endif } + if (res == FR_OK) res = sync_fs(fs); } } - FREE_BUF(); + FREE_NAMBUF(); } - LEAVE_FF(dj.fs, res); + + LEAVE_FF(fs, res); } @@ -3281,111 +4891,237 @@ FRESULT f_unlink ( /*-----------------------------------------------------------------------*/ FRESULT f_mkdir ( - const TCHAR *path /* Pointer to the directory path */ + const TCHAR* path /* Pointer to the directory path */ ) { FRESULT res; DIR dj; - BYTE *dir, n; - DWORD dsc, dcl, pcl, tim = get_fattime(); - DEF_NAMEBUF; + FFOBJID sobj; + FATFS *fs; + DWORD dcl, pcl, tm; + DEF_NAMBUF - res = chk_mounted(&path, &dj.fs, 1); + res = find_volume(&path, &fs, FA_WRITE); /* Get logical drive */ if (res == FR_OK) { - INIT_BUF(dj); + dj.obj.fs = fs; + INIT_NAMBUF(fs); res = follow_path(&dj, path); /* Follow the file path */ - if (res == FR_OK) res = FR_EXIST; /* Any object with same name is already existing */ - if (_FS_RPATH && res == FR_NO_FILE && (dj.fn[NS] & NS_DOT)) + if (res == FR_OK) res = FR_EXIST; /* Name collision? */ + if (FF_FS_RPATH && res == FR_NO_FILE && (dj.fn[NSFLAG] & NS_DOT)) { /* Invalid name? */ res = FR_INVALID_NAME; - if (res == FR_NO_FILE) { /* Can create a new directory */ - dcl = create_chain(dj.fs, 0); /* Allocate a cluster for the new directory table */ + } + if (res == FR_NO_FILE) { /* It is clear to create a new directory */ + sobj.fs = fs; /* New object id to create a new chain */ + dcl = create_chain(&sobj, 0); /* Allocate a cluster for the new directory */ res = FR_OK; - if (dcl == 0) res = FR_DENIED; /* No space to allocate a new cluster */ - if (dcl == 1) res = FR_INT_ERR; - if (dcl == 0xFFFFFFFF) res = FR_DISK_ERR; - if (res == FR_OK) /* Flush FAT */ - res = move_window(dj.fs, 0); - if (res == FR_OK) { /* Initialize the new directory table */ - dsc = clust2sect(dj.fs, dcl); - dir = dj.fs->win; - mem_set(dir, 0, SS(dj.fs)); - mem_set(dir+DIR_Name, ' ', 8+3); /* Create "." entry */ - dir[DIR_Name] = '.'; - dir[DIR_Attr] = AM_DIR; - ST_DWORD(dir+DIR_WrtTime, tim); - ST_CLUST(dir, dcl); - mem_cpy(dir+SZ_DIR, dir, SZ_DIR); /* Create ".." entry */ - dir[33] = '.'; pcl = dj.sclust; - if (dj.fs->fs_type == FS_FAT32 && pcl == dj.fs->dirbase) - pcl = 0; - ST_CLUST(dir+SZ_DIR, pcl); - for (n = dj.fs->csize; n; n--) { /* Write dot entries and clear following sectors */ - dj.fs->winsect = dsc++; - dj.fs->wflag = 1; - res = move_window(dj.fs, 0); - if (res != FR_OK) break; - mem_set(dir, 0, SS(dj.fs)); + if (dcl == 0) res = FR_DENIED; /* No space to allocate a new cluster? */ + if (dcl == 1) res = FR_INT_ERR; /* Any insanity? */ + if (dcl == 0xFFFFFFFF) res = FR_DISK_ERR; /* Disk error? */ + tm = GET_FATTIME(); + if (res == FR_OK) { + res = dir_clear(fs, dcl); /* Clean up the new table */ + if (res == FR_OK) { + if (!FF_FS_EXFAT || fs->fs_type != FS_EXFAT) { /* Create dot entries (FAT only) */ + mem_set(fs->win + DIR_Name, ' ', 11); /* Create "." entry */ + fs->win[DIR_Name] = '.'; + fs->win[DIR_Attr] = AM_DIR; + st_dword(fs->win + DIR_ModTime, tm); + st_clust(fs, fs->win, dcl); + mem_cpy(fs->win + SZDIRE, fs->win, SZDIRE); /* Create ".." entry */ + fs->win[SZDIRE + 1] = '.'; pcl = dj.obj.sclust; + st_clust(fs, fs->win + SZDIRE, pcl); + fs->wflag = 1; + } + res = dir_register(&dj); /* Register the object to the parent directoy */ } } - if (res == FR_OK) res = dir_register(&dj); /* Register the object to the directoy */ - if (res != FR_OK) { - remove_chain(dj.fs, dcl); /* Could not register, remove cluster chain */ + if (res == FR_OK) { +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* Initialize directory entry block */ + st_dword(fs->dirbuf + XDIR_ModTime, tm); /* Created time */ + st_dword(fs->dirbuf + XDIR_FstClus, dcl); /* Table start cluster */ + st_dword(fs->dirbuf + XDIR_FileSize, (DWORD)fs->csize * SS(fs)); /* File size needs to be valid */ + st_dword(fs->dirbuf + XDIR_ValidFileSize, (DWORD)fs->csize * SS(fs)); + fs->dirbuf[XDIR_GenFlags] = 3; /* Initialize the object flag */ + fs->dirbuf[XDIR_Attr] = AM_DIR; /* Attribute */ + res = store_xdir(&dj); + } else +#endif + { + st_dword(dj.dir + DIR_ModTime, tm); /* Created time */ + st_clust(fs, dj.dir, dcl); /* Table start cluster */ + dj.dir[DIR_Attr] = AM_DIR; /* Attribute */ + fs->wflag = 1; + } + if (res == FR_OK) { + res = sync_fs(fs); + } } else { - dir = dj.dir; - dir[DIR_Attr] = AM_DIR; /* Attribute */ - ST_DWORD(dir+DIR_WrtTime, tim); /* Created time */ - ST_CLUST(dir, dcl); /* Table start cluster */ - dj.fs->wflag = 1; - res = sync(dj.fs); + remove_chain(&sobj, dcl, 0); /* Could not register, remove the allocated cluster */ + } + } + FREE_NAMBUF(); + } + + LEAVE_FF(fs, res); +} + + + + +/*-----------------------------------------------------------------------*/ +/* Rename a File/Directory */ +/*-----------------------------------------------------------------------*/ + +FRESULT f_rename ( + const TCHAR* path_old, /* Pointer to the object name to be renamed */ + const TCHAR* path_new /* Pointer to the new name */ +) +{ + FRESULT res; + DIR djo, djn; + FATFS *fs; + BYTE buf[FF_FS_EXFAT ? SZDIRE * 2 : SZDIRE], *dir; + DWORD dw; + DEF_NAMBUF + + + get_ldnumber(&path_new); /* Snip the drive number of new name off */ + res = find_volume(&path_old, &fs, FA_WRITE); /* Get logical drive of the old object */ + if (res == FR_OK) { + djo.obj.fs = fs; + INIT_NAMBUF(fs); + res = follow_path(&djo, path_old); /* Check old object */ + if (res == FR_OK && (djo.fn[NSFLAG] & (NS_DOT | NS_NONAME))) res = FR_INVALID_NAME; /* Check validity of name */ +#if FF_FS_LOCK != 0 + if (res == FR_OK) { + res = chk_lock(&djo, 2); + } +#endif + if (res == FR_OK) { /* Object to be renamed is found */ +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* At exFAT volume */ + BYTE nf, nn; + WORD nh; + + mem_cpy(buf, fs->dirbuf, SZDIRE * 2); /* Save 85+C0 entry of old object */ + mem_cpy(&djn, &djo, sizeof djo); + res = follow_path(&djn, path_new); /* Make sure if new object name is not in use */ + if (res == FR_OK) { /* Is new name already in use by any other object? */ + res = (djn.obj.sclust == djo.obj.sclust && djn.dptr == djo.dptr) ? FR_NO_FILE : FR_EXIST; + } + if (res == FR_NO_FILE) { /* It is a valid path and no name collision */ + res = dir_register(&djn); /* Register the new entry */ + if (res == FR_OK) { + nf = fs->dirbuf[XDIR_NumSec]; nn = fs->dirbuf[XDIR_NumName]; + nh = ld_word(fs->dirbuf + XDIR_NameHash); + mem_cpy(fs->dirbuf, buf, SZDIRE * 2); /* Restore 85+C0 entry */ + fs->dirbuf[XDIR_NumSec] = nf; fs->dirbuf[XDIR_NumName] = nn; + st_word(fs->dirbuf + XDIR_NameHash, nh); + if (!(fs->dirbuf[XDIR_Attr] & AM_DIR)) fs->dirbuf[XDIR_Attr] |= AM_ARC; /* Set archive attribute if it is a file */ +/* Start of critical section where an interruption can cause a cross-link */ + res = store_xdir(&djn); + } + } + } else +#endif + { /* At FAT/FAT32 volume */ + mem_cpy(buf, djo.dir, SZDIRE); /* Save directory entry of the object */ + mem_cpy(&djn, &djo, sizeof (DIR)); /* Duplicate the directory object */ + res = follow_path(&djn, path_new); /* Make sure if new object name is not in use */ + if (res == FR_OK) { /* Is new name already in use by any other object? */ + res = (djn.obj.sclust == djo.obj.sclust && djn.dptr == djo.dptr) ? FR_NO_FILE : FR_EXIST; + } + if (res == FR_NO_FILE) { /* It is a valid path and no name collision */ + res = dir_register(&djn); /* Register the new entry */ + if (res == FR_OK) { + dir = djn.dir; /* Copy directory entry of the object except name */ + mem_cpy(dir + 13, buf + 13, SZDIRE - 13); + dir[DIR_Attr] = buf[DIR_Attr]; + if (!(dir[DIR_Attr] & AM_DIR)) dir[DIR_Attr] |= AM_ARC; /* Set archive attribute if it is a file */ + fs->wflag = 1; + if ((dir[DIR_Attr] & AM_DIR) && djo.obj.sclust != djn.obj.sclust) { /* Update .. entry in the sub-directory if needed */ + dw = clst2sect(fs, ld_clust(fs, dir)); + if (dw == 0) { + res = FR_INT_ERR; + } else { +/* Start of critical section where an interruption can cause a cross-link */ + res = move_window(fs, dw); + dir = fs->win + SZDIRE * 1; /* Ptr to .. entry */ + if (res == FR_OK && dir[1] == '.') { + st_clust(fs, dir, djn.obj.sclust); + fs->wflag = 1; + } + } + } + } + } } + if (res == FR_OK) { + res = dir_remove(&djo); /* Remove old entry */ + if (res == FR_OK) { + res = sync_fs(fs); + } + } +/* End of the critical section */ } - FREE_BUF(); + FREE_NAMBUF(); } - LEAVE_FF(dj.fs, res); + LEAVE_FF(fs, res); } +#endif /* !FF_FS_READONLY */ +#endif /* FF_FS_MINIMIZE == 0 */ +#endif /* FF_FS_MINIMIZE <= 1 */ +#endif /* FF_FS_MINIMIZE <= 2 */ +#if FF_USE_CHMOD && !FF_FS_READONLY /*-----------------------------------------------------------------------*/ /* Change Attribute */ /*-----------------------------------------------------------------------*/ FRESULT f_chmod ( - const TCHAR *path, /* Pointer to the file path */ - BYTE value, /* Attribute bits */ + const TCHAR* path, /* Pointer to the file path */ + BYTE attr, /* Attribute bits */ BYTE mask /* Attribute mask to change */ ) { FRESULT res; DIR dj; - BYTE *dir; - DEF_NAMEBUF; + FATFS *fs; + DEF_NAMBUF - res = chk_mounted(&path, &dj.fs, 1); + res = find_volume(&path, &fs, FA_WRITE); /* Get logical drive */ if (res == FR_OK) { - INIT_BUF(dj); - res = follow_path(&dj, path); /* Follow the file path */ - FREE_BUF(); - if (_FS_RPATH && res == FR_OK && (dj.fn[NS] & NS_DOT)) - res = FR_INVALID_NAME; + dj.obj.fs = fs; + INIT_NAMBUF(fs); + res = follow_path(&dj, path); /* Follow the file path */ + if (res == FR_OK && (dj.fn[NSFLAG] & (NS_DOT | NS_NONAME))) res = FR_INVALID_NAME; /* Check object validity */ if (res == FR_OK) { - dir = dj.dir; - if (!dir) { /* Is it a root directory? */ - res = FR_INVALID_NAME; - } else { /* File or sub directory */ - mask &= AM_RDO|AM_HID|AM_SYS|AM_ARC; /* Valid attribute mask */ - dir[DIR_Attr] = (value & mask) | (dir[DIR_Attr] & (BYTE)~mask); /* Apply attribute change */ - dj.fs->wflag = 1; - res = sync(dj.fs); + mask &= AM_RDO|AM_HID|AM_SYS|AM_ARC; /* Valid attribute mask */ +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + fs->dirbuf[XDIR_Attr] = (attr & mask) | (fs->dirbuf[XDIR_Attr] & (BYTE)~mask); /* Apply attribute change */ + res = store_xdir(&dj); + } else +#endif + { + dj.dir[DIR_Attr] = (attr & mask) | (dj.dir[DIR_Attr] & (BYTE)~mask); /* Apply attribute change */ + fs->wflag = 1; + } + if (res == FR_OK) { + res = sync_fs(fs); } } + FREE_NAMBUF(); } - LEAVE_FF(dj.fs, res); + LEAVE_FF(fs, res); } @@ -3396,434 +5132,904 @@ FRESULT f_chmod ( /*-----------------------------------------------------------------------*/ FRESULT f_utime ( - const TCHAR *path, /* Pointer to the file/directory name */ - const FILINFO *fno /* Pointer to the time stamp to be set */ + const TCHAR* path, /* Pointer to the file/directory name */ + const FILINFO* fno /* Pointer to the timestamp to be set */ ) { FRESULT res; DIR dj; - BYTE *dir; - DEF_NAMEBUF; + FATFS *fs; + DEF_NAMBUF - res = chk_mounted(&path, &dj.fs, 1); + res = find_volume(&path, &fs, FA_WRITE); /* Get logical drive */ if (res == FR_OK) { - INIT_BUF(dj); + dj.obj.fs = fs; + INIT_NAMBUF(fs); res = follow_path(&dj, path); /* Follow the file path */ - FREE_BUF(); - if (_FS_RPATH && res == FR_OK && (dj.fn[NS] & NS_DOT)) - res = FR_INVALID_NAME; + if (res == FR_OK && (dj.fn[NSFLAG] & (NS_DOT | NS_NONAME))) res = FR_INVALID_NAME; /* Check object validity */ if (res == FR_OK) { - dir = dj.dir; - if (!dir) { /* Root directory */ - res = FR_INVALID_NAME; - } else { /* File or sub-directory */ - ST_WORD(dir+DIR_WrtTime, fno->ftime); - ST_WORD(dir+DIR_WrtDate, fno->fdate); - dj.fs->wflag = 1; - res = sync(dj.fs); +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + st_dword(fs->dirbuf + XDIR_ModTime, (DWORD)fno->fdate << 16 | fno->ftime); + res = store_xdir(&dj); + } else +#endif + { + st_dword(dj.dir + DIR_ModTime, (DWORD)fno->fdate << 16 | fno->ftime); + fs->wflag = 1; + } + if (res == FR_OK) { + res = sync_fs(fs); } } + FREE_NAMBUF(); } - LEAVE_FF(dj.fs, res); + LEAVE_FF(fs, res); } +#endif /* FF_USE_CHMOD && !FF_FS_READONLY */ +#if FF_USE_LABEL /*-----------------------------------------------------------------------*/ -/* Rename File/Directory */ +/* Get Volume Label */ /*-----------------------------------------------------------------------*/ -FRESULT f_rename ( - const TCHAR *path_old, /* Pointer to the old name */ - const TCHAR *path_new /* Pointer to the new name */ +FRESULT f_getlabel ( + const TCHAR* path, /* Logical drive number */ + TCHAR* label, /* Buffer to store the volume label */ + DWORD* vsn /* Variable to store the volume serial number */ ) { FRESULT res; - DIR djo, djn; - BYTE buf[21], *dir; - DWORD dw; - DEF_NAMEBUF; + DIR dj; + FATFS *fs; + UINT si, di; + WCHAR wc; + /* Get logical drive */ + res = find_volume(&path, &fs, 0); - res = chk_mounted(&path_old, &djo.fs, 1); - if (res == FR_OK) { - djn.fs = djo.fs; - INIT_BUF(djo); - res = follow_path(&djo, path_old); /* Check old object */ - if (_FS_RPATH && res == FR_OK && (djo.fn[NS] & NS_DOT)) - res = FR_INVALID_NAME; -#if _FS_SHARE - if (res == FR_OK) res = chk_lock(&djo, 2); + /* Get volume label */ + if (res == FR_OK && label) { + dj.obj.fs = fs; dj.obj.sclust = 0; /* Open root directory */ + res = dir_sdi(&dj, 0); + if (res == FR_OK) { + res = DIR_READ_LABEL(&dj); /* Find a volume label entry */ + if (res == FR_OK) { +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + WCHAR hs; + + for (si = di = hs = 0; si < dj.dir[XDIR_NumLabel]; si++) { /* Extract volume label from 83 entry */ + wc = ld_word(dj.dir + XDIR_Label + si * 2); + if (hs == 0 && IsSurrogate(wc)) { /* Is the code a surrogate? */ + hs = wc; continue; + } + wc = put_utf((DWORD)hs << 16 | wc, &label[di], 4); + if (wc == 0) { di = 0; break; } + di += wc; + hs = 0; + } + if (hs != 0) di = 0; /* Broken surrogate pair? */ + label[di] = 0; + } else +#endif + { + si = di = 0; /* Extract volume label from AM_VOL entry */ + while (si < 11) { + wc = dj.dir[si++]; +#if FF_USE_LFN && FF_LFN_UNICODE >= 1 /* Unicode output */ + if (dbc_1st((BYTE)wc) && si < 11) wc = wc << 8 | dj.dir[si++]; /* Is it a DBC? */ + wc = ff_oem2uni(wc, CODEPAGE); /* Convert it into Unicode */ + if (wc != 0) wc = put_utf(wc, &label[di], 4); /* Put it in Unicode */ + if (wc == 0) { di = 0; break; } + di += wc; +#else /* ANSI/OEM output */ + label[di++] = (TCHAR)wc; #endif - if (res == FR_OK) { /* Old object is found */ - if (!djo.dir) { /* Is root dir? */ - res = FR_NO_FILE; + } + do { /* Truncate trailing spaces */ + label[di] = 0; + if (di == 0) break; + } while (label[--di] == ' '); + } + } + } + if (res == FR_NO_FILE) { /* No label entry and return nul string */ + label[0] = 0; + res = FR_OK; + } + } + + /* Get volume serial number */ + if (res == FR_OK && vsn) { + res = move_window(fs, fs->volbase); + if (res == FR_OK) { + switch (fs->fs_type) { + case FS_EXFAT: + di = BPB_VolIDEx; break; + + case FS_FAT32: + di = BS_VolID32; break; + + default: + di = BS_VolID; + } + *vsn = ld_dword(fs->win + di); + } + } + + LEAVE_FF(fs, res); +} + + + +#if !FF_FS_READONLY +/*-----------------------------------------------------------------------*/ +/* Set Volume Label */ +/*-----------------------------------------------------------------------*/ + +FRESULT f_setlabel ( + const TCHAR* label /* Volume label to set with heading logical drive number */ +) +{ + FRESULT res; + DIR dj; + FATFS *fs; + BYTE dirvn[22]; + UINT di; + WCHAR wc; + static const char badchr[] = "+.,;=[]/\\\"*:<>\?|\x7F"; /* [0..] for FAT, [7..] for exFAT */ +#if FF_USE_LFN + DWORD dc; +#endif + + /* Get logical drive */ + res = find_volume(&label, &fs, FA_WRITE); + if (res != FR_OK) LEAVE_FF(fs, res); + +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { /* On the exFAT volume */ + mem_set(dirvn, 0, 22); + di = 0; + while ((UINT)*label >= ' ') { /* Create volume label */ + dc = tchar2uni(&label); /* Get a Unicode character */ + if (dc >= 0x10000) { + if (dc == 0xFFFFFFFF || di >= 10) { /* Wrong surrogate or buffer overflow */ + dc = 0; + } else { + st_word(dirvn + di * 2, (WCHAR)(dc >> 16)); di++; + } + } + if (dc == 0 || chk_chr(badchr + 7, (int)dc) || di >= 11) { /* Check validity of the volume label */ + LEAVE_FF(fs, FR_INVALID_NAME); + } + st_word(dirvn + di * 2, (WCHAR)dc); di++; + } + } else +#endif + { /* On the FAT/FAT32 volume */ + mem_set(dirvn, ' ', 11); + di = 0; + while ((UINT)*label >= ' ') { /* Create volume label */ +#if FF_USE_LFN + dc = tchar2uni(&label); + wc = (dc < 0x10000) ? ff_uni2oem(ff_wtoupper(dc), CODEPAGE) : 0; +#else /* ANSI/OEM input */ + wc = (BYTE)*label++; + if (dbc_1st((BYTE)wc)) wc = dbc_2nd((BYTE)*label) ? wc << 8 | (BYTE)*label++ : 0; + if (IsLower(wc)) wc -= 0x20; /* To upper ASCII characters */ +#if FF_CODE_PAGE == 0 + if (ExCvt && wc >= 0x80) wc = ExCvt[wc - 0x80]; /* To upper extended characters (SBCS cfg) */ +#elif FF_CODE_PAGE < 900 + if (wc >= 0x80) wc = ExCvt[wc - 0x80]; /* To upper extended characters (SBCS cfg) */ +#endif +#endif + if (wc == 0 || chk_chr(badchr + 0, (int)wc) || di >= (UINT)((wc >= 0x100) ? 10 : 11)) { /* Reject invalid characters for volume label */ + LEAVE_FF(fs, FR_INVALID_NAME); + } + if (wc >= 0x100) dirvn[di++] = (BYTE)(wc >> 8); + dirvn[di++] = (BYTE)wc; + } + if (dirvn[0] == DDEM) LEAVE_FF(fs, FR_INVALID_NAME); /* Reject illegal name (heading DDEM) */ + while (di && dirvn[di - 1] == ' ') di--; /* Snip trailing spaces */ + } + + /* Set volume label */ + dj.obj.fs = fs; dj.obj.sclust = 0; /* Open root directory */ + res = dir_sdi(&dj, 0); + if (res == FR_OK) { + res = DIR_READ_LABEL(&dj); /* Get volume label entry */ + if (res == FR_OK) { + if (FF_FS_EXFAT && fs->fs_type == FS_EXFAT) { + dj.dir[XDIR_NumLabel] = (BYTE)di; /* Change the volume label */ + mem_cpy(dj.dir + XDIR_Label, dirvn, 22); } else { - mem_cpy(buf, djo.dir+DIR_Attr, 21); /* Save the object information except for name */ - mem_cpy(&djn, &djo, sizeof(DIR)); /* Check new object */ - res = follow_path(&djn, path_new); - if (res == FR_OK) res = FR_EXIST; /* The new object name is already existing */ - if (res == FR_NO_FILE) { /* Is it a valid path and no name collision? */ -/* Start critical section that any interruption or error can cause cross-link */ - res = dir_register(&djn); /* Register the new entry */ + if (di != 0) { + mem_cpy(dj.dir, dirvn, 11); /* Change the volume label */ + } else { + dj.dir[DIR_Name] = DDEM; /* Remove the volume label */ + } + } + fs->wflag = 1; + res = sync_fs(fs); + } else { /* No volume label entry or an error */ + if (res == FR_NO_FILE) { + res = FR_OK; + if (di != 0) { /* Create a volume label entry */ + res = dir_alloc(&dj, 1); /* Allocate an entry */ if (res == FR_OK) { - dir = djn.dir; /* Copy object information except for name */ - mem_cpy(dir+13, buf+2, 19); - dir[DIR_Attr] = buf[0] | AM_ARC; - djo.fs->wflag = 1; - if (djo.sclust != djn.sclust && (dir[DIR_Attr] & AM_DIR)) { /* Update .. entry in the directory if needed */ - dw = clust2sect(djn.fs, LD_CLUST(dir)); - if (!dw) { - res = FR_INT_ERR; - } else { - res = move_window(djn.fs, dw); - dir = djn.fs->win+SZ_DIR; /* .. entry */ - if (res == FR_OK && dir[1] == '.') { - dw = (djn.fs->fs_type == FS_FAT32 && djn.sclust == djn.fs->dirbase) ? 0 : djn.sclust; - ST_CLUST(dir, dw); - djn.fs->wflag = 1; - } - } - } - if (res == FR_OK) { - res = dir_remove(&djo); /* Remove old entry */ - if (res == FR_OK) - res = sync(djo.fs); + mem_set(dj.dir, 0, SZDIRE); /* Clean the entry */ + if (FF_FS_EXFAT && fs->fs_type == FS_EXFAT) { + dj.dir[XDIR_Type] = ET_VLABEL; /* Create volume label entry */ + dj.dir[XDIR_NumLabel] = (BYTE)di; + mem_cpy(dj.dir + XDIR_Label, dirvn, 22); + } else { + dj.dir[DIR_Attr] = AM_VOL; /* Create volume label entry */ + mem_cpy(dj.dir, dirvn, 11); } + fs->wflag = 1; + res = sync_fs(fs); } -/* End critical section */ } } } - FREE_BUF(); } - LEAVE_FF(djo.fs, res); + + LEAVE_FF(fs, res); +} + +#endif /* !FF_FS_READONLY */ +#endif /* FF_USE_LABEL */ + + + +#if FF_USE_EXPAND && !FF_FS_READONLY +/*-----------------------------------------------------------------------*/ +/* Allocate a Contiguous Blocks to the File */ +/*-----------------------------------------------------------------------*/ + +FRESULT f_expand ( + FIL* fp, /* Pointer to the file object */ + FSIZE_t fsz, /* File size to be expanded to */ + BYTE opt /* Operation mode 0:Find and prepare or 1:Find and allocate */ +) +{ + FRESULT res; + FATFS *fs; + DWORD n, clst, stcl, scl, ncl, tcl, lclst; + + + res = validate(&fp->obj, &fs); /* Check validity of the file object */ + if (res != FR_OK || (res = (FRESULT)fp->err) != FR_OK) LEAVE_FF(fs, res); + if (fsz == 0 || fp->obj.objsize != 0 || !(fp->flag & FA_WRITE)) LEAVE_FF(fs, FR_DENIED); +#if FF_FS_EXFAT + if (fs->fs_type != FS_EXFAT && fsz >= 0x100000000) LEAVE_FF(fs, FR_DENIED); /* Check if in size limit */ +#endif + n = (DWORD)fs->csize * SS(fs); /* Cluster size */ + tcl = (DWORD)(fsz / n) + ((fsz & (n - 1)) ? 1 : 0); /* Number of clusters required */ + stcl = fs->last_clst; lclst = 0; + if (stcl < 2 || stcl >= fs->n_fatent) stcl = 2; + +#if FF_FS_EXFAT + if (fs->fs_type == FS_EXFAT) { + scl = find_bitmap(fs, stcl, tcl); /* Find a contiguous cluster block */ + if (scl == 0) res = FR_DENIED; /* No contiguous cluster block was found */ + if (scl == 0xFFFFFFFF) res = FR_DISK_ERR; + if (res == FR_OK) { /* A contiguous free area is found */ + if (opt) { /* Allocate it now */ + res = change_bitmap(fs, scl, tcl, 1); /* Mark the cluster block 'in use' */ + lclst = scl + tcl - 1; + } else { /* Set it as suggested point for next allocation */ + lclst = scl - 1; + } + } + } else +#endif + { + scl = clst = stcl; ncl = 0; + for (;;) { /* Find a contiguous cluster block */ + n = get_fat(&fp->obj, clst); + if (++clst >= fs->n_fatent) clst = 2; + if (n == 1) { res = FR_INT_ERR; break; } + if (n == 0xFFFFFFFF) { res = FR_DISK_ERR; break; } + if (n == 0) { /* Is it a free cluster? */ + if (++ncl == tcl) break; /* Break if a contiguous cluster block is found */ + } else { + scl = clst; ncl = 0; /* Not a free cluster */ + } + if (clst == stcl) { res = FR_DENIED; break; } /* No contiguous cluster? */ + } + if (res == FR_OK) { /* A contiguous free area is found */ + if (opt) { /* Allocate it now */ + for (clst = scl, n = tcl; n; clst++, n--) { /* Create a cluster chain on the FAT */ + res = put_fat(fs, clst, (n == 1) ? 0xFFFFFFFF : clst + 1); + if (res != FR_OK) break; + lclst = clst; + } + } else { /* Set it as suggested point for next allocation */ + lclst = scl - 1; + } + } + } + + if (res == FR_OK) { + fs->last_clst = lclst; /* Set suggested start cluster to start next */ + if (opt) { /* Is it allocated now? */ + fp->obj.sclust = scl; /* Update object allocation information */ + fp->obj.objsize = fsz; + if (FF_FS_EXFAT) fp->obj.stat = 2; /* Set status 'contiguous chain' */ + fp->flag |= FA_MODIFIED; + if (fs->free_clst <= fs->n_fatent - 2) { /* Update FSINFO */ + fs->free_clst -= tcl; + fs->fsi_flag |= 1; + } + } + } + + LEAVE_FF(fs, res); } -#endif /* !_FS_READONLY */ -#endif /* _FS_MINIMIZE == 0 */ -#endif /* _FS_MINIMIZE <= 1 */ -#endif /* _FS_MINIMIZE <= 2 */ +#endif /* FF_USE_EXPAND && !FF_FS_READONLY */ +#if FF_USE_FORWARD /*-----------------------------------------------------------------------*/ -/* Forward data to the stream directly (available on only tiny cfg) */ +/* Forward Data to the Stream Directly */ /*-----------------------------------------------------------------------*/ -#if _USE_FORWARD && _FS_TINY FRESULT f_forward ( - FIL *fp, /* Pointer to the file object */ + FIL* fp, /* Pointer to the file object */ UINT (*func)(const BYTE*,UINT), /* Pointer to the streaming function */ - UINT btr, /* Number of bytes to forward */ - UINT *bf /* Pointer to number of bytes forwarded */ + UINT btf, /* Number of bytes to forward */ + UINT* bf /* Pointer to number of bytes forwarded */ ) { FRESULT res; - DWORD remain, clst, sect; - UINT rcnt; - BYTE csect; - + FATFS *fs; + DWORD clst, sect; + FSIZE_t remain; + UINT rcnt, csect; + BYTE *dbuf; - *bf = 0; /* Initialize byte counter */ - res = validate(fp->fs, fp->id); /* Check validity of the object */ - if (res != FR_OK) LEAVE_FF(fp->fs, res); - if (fp->flag & FA__ERROR) /* Check error flag */ - LEAVE_FF(fp->fs, FR_INT_ERR); - if (!(fp->flag & FA_READ)) /* Check access mode */ - LEAVE_FF(fp->fs, FR_DENIED); + *bf = 0; /* Clear transfer byte counter */ + res = validate(&fp->obj, &fs); /* Check validity of the file object */ + if (res != FR_OK || (res = (FRESULT)fp->err) != FR_OK) LEAVE_FF(fs, res); + if (!(fp->flag & FA_READ)) LEAVE_FF(fs, FR_DENIED); /* Check access mode */ - remain = fp->fsize - fp->fptr; - if (btr > remain) btr = (UINT)remain; /* Truncate btr by remaining bytes */ + remain = fp->obj.objsize - fp->fptr; + if (btf > remain) btf = (UINT)remain; /* Truncate btf by remaining bytes */ - for ( ; btr && (*func)(0, 0); /* Repeat until all data transferred or stream becomes busy */ - fp->fptr += rcnt, *bf += rcnt, btr -= rcnt) { - csect = (BYTE)(fp->fptr / SS(fp->fs) & (fp->fs->csize - 1)); /* Sector offset in the cluster */ - if ((fp->fptr % SS(fp->fs)) == 0) { /* On the sector boundary? */ - if (!csect) { /* On the cluster boundary? */ + for ( ; btf && (*func)(0, 0); /* Repeat until all data transferred or stream goes busy */ + fp->fptr += rcnt, *bf += rcnt, btf -= rcnt) { + csect = (UINT)(fp->fptr / SS(fs) & (fs->csize - 1)); /* Sector offset in the cluster */ + if (fp->fptr % SS(fs) == 0) { /* On the sector boundary? */ + if (csect == 0) { /* On the cluster boundary? */ clst = (fp->fptr == 0) ? /* On the top of the file? */ - fp->sclust : get_fat(fp->fs, fp->clust); - if (clst <= 1) ABORT(fp->fs, FR_INT_ERR); - if (clst == 0xFFFFFFFF) ABORT(fp->fs, FR_DISK_ERR); + fp->obj.sclust : get_fat(&fp->obj, fp->clust); + if (clst <= 1) ABORT(fs, FR_INT_ERR); + if (clst == 0xFFFFFFFF) ABORT(fs, FR_DISK_ERR); fp->clust = clst; /* Update current cluster */ } } - sect = clust2sect(fp->fs, fp->clust); /* Get current data sector */ - if (!sect) ABORT(fp->fs, FR_INT_ERR); + sect = clst2sect(fs, fp->clust); /* Get current data sector */ + if (sect == 0) ABORT(fs, FR_INT_ERR); sect += csect; - if (move_window(fp->fs, sect)) /* Move sector window */ - ABORT(fp->fs, FR_DISK_ERR); - fp->dsect = sect; - rcnt = SS(fp->fs) - (WORD)(fp->fptr % SS(fp->fs)); /* Forward data from sector window */ - if (rcnt > btr) rcnt = btr; - rcnt = (*func)(&fp->fs->win[(WORD)fp->fptr % SS(fp->fs)], rcnt); - if (!rcnt) ABORT(fp->fs, FR_INT_ERR); +#if FF_FS_TINY + if (move_window(fs, sect) != FR_OK) ABORT(fs, FR_DISK_ERR); /* Move sector window to the file data */ + dbuf = fs->win; +#else + if (fp->sect != sect) { /* Fill sector cache with file data */ +#if !FF_FS_READONLY + if (fp->flag & FA_DIRTY) { /* Write-back dirty sector cache */ + if (disk_write(fs->pdrv, fp->buf, fp->sect, 1) != RES_OK) ABORT(fs, FR_DISK_ERR); + fp->flag &= (BYTE)~FA_DIRTY; + } +#endif + if (disk_read(fs->pdrv, fp->buf, sect, 1) != RES_OK) ABORT(fs, FR_DISK_ERR); + } + dbuf = fp->buf; +#endif + fp->sect = sect; + rcnt = SS(fs) - (UINT)fp->fptr % SS(fs); /* Number of bytes left in the sector */ + if (rcnt > btf) rcnt = btf; /* Clip it by btr if needed */ + rcnt = (*func)(dbuf + ((UINT)fp->fptr % SS(fs)), rcnt); /* Forward the file data */ + if (rcnt == 0) ABORT(fs, FR_INT_ERR); } - LEAVE_FF(fp->fs, FR_OK); + LEAVE_FF(fs, FR_OK); } -#endif /* _USE_FORWARD */ +#endif /* FF_USE_FORWARD */ -#if _USE_MKFS && !_FS_READONLY +#if FF_USE_MKFS && !FF_FS_READONLY /*-----------------------------------------------------------------------*/ -/* Create File System on the Drive */ +/* Create an FAT/exFAT volume */ /*-----------------------------------------------------------------------*/ -#define N_ROOTDIR 512 /* Number of root dir entries for FAT12/16 */ -#define N_FATS 1 /* Number of FAT copies (1 or 2) */ - FRESULT f_mkfs ( - BYTE drv, /* Logical drive number */ - BYTE sfd, /* Partitioning rule 0:FDISK, 1:SFD */ - UINT au /* Allocation unit size [bytes] */ + const TCHAR* path, /* Logical drive number */ + BYTE opt, /* Format option */ + DWORD au, /* Size of allocation unit (cluster) [byte] */ + void* work, /* Pointer to working buffer (null: use heap memory) */ + UINT len /* Size of working buffer [byte] */ ) { - static const WORD vst[] = { 1024, 512, 256, 128, 64, 32, 16, 8, 4, 2, 0}; - static const WORD cst[] = {32768, 16384, 8192, 4096, 2048, 16384, 8192, 4096, 2048, 1024, 512}; - BYTE fmt, md, sys, *tbl, pdrv, part; - DWORD n_clst, vs, n, wsect; + const UINT n_fats = 1; /* Number of FATs for FAT/FAT32 volume (1 or 2) */ + const UINT n_rootdir = 512; /* Number of root directory entries for FAT volume */ + static const WORD cst[] = {1, 4, 16, 64, 256, 512, 0}; /* Cluster size boundary for FAT volume (4Ks unit) */ + static const WORD cst32[] = {1, 2, 4, 8, 16, 32, 0}; /* Cluster size boundary for FAT32 volume (128Ks unit) */ + BYTE fmt, sys, *buf, *pte, pdrv, part; + WORD ss; /* Sector size */ + DWORD szb_buf, sz_buf, sz_blk, n_clst, pau, sect, nsect, n; + DWORD b_vol, b_fat, b_data; /* Base LBA for volume, fat, data */ + DWORD sz_vol, sz_rsv, sz_fat, sz_dir; /* Size for volume, fat, dir, data */ UINT i; - DWORD b_vol, b_fat, b_dir, b_data; /* LBA */ - DWORD n_vol, n_rsv, n_fat, n_dir; /* Size */ - FATFS *fs; + int vol; DSTATUS stat; +#if FF_USE_TRIM || FF_FS_EXFAT + DWORD tbl[3]; +#endif /* Check mounted drive and clear work area */ - if (drv >= _VOLUMES) return FR_INVALID_DRIVE; - if (sfd > 1) return FR_INVALID_PARAMETER; - if (au & (au - 1)) return FR_INVALID_PARAMETER; - fs = FatFs[drv]; - if (!fs) return FR_NOT_ENABLED; - fs->fs_type = 0; - pdrv = LD2PD(drv); /* Physical drive */ - part = LD2PT(drv); /* Partition (0:auto detect, 1-4:get from partition table)*/ - - /* Get disk statics */ + vol = get_ldnumber(&path); /* Get target logical drive */ + if (vol < 0) return FR_INVALID_DRIVE; + if (FatFs[vol]) FatFs[vol]->fs_type = 0; /* Clear the volume if mounted */ + pdrv = LD2PD(vol); /* Physical drive */ + part = LD2PT(vol); /* Partition (0:create as new, 1-4:get from partition table) */ + + /* Check physical drive status */ stat = disk_initialize(pdrv); if (stat & STA_NOINIT) return FR_NOT_READY; if (stat & STA_PROTECT) return FR_WRITE_PROTECTED; -#if _MAX_SS != 512 /* Get disk sector size */ - if (disk_ioctl(pdrv, GET_SECTOR_SIZE, &SS(fs)) != RES_OK || SS(fs) > _MAX_SS) - return FR_DISK_ERR; + if (disk_ioctl(pdrv, GET_BLOCK_SIZE, &sz_blk) != RES_OK || !sz_blk || sz_blk > 32768 || (sz_blk & (sz_blk - 1))) sz_blk = 1; /* Erase block to align data area */ +#if FF_MAX_SS != FF_MIN_SS /* Get sector size of the medium if variable sector size cfg. */ + if (disk_ioctl(pdrv, GET_SECTOR_SIZE, &ss) != RES_OK) return FR_DISK_ERR; + if (ss > FF_MAX_SS || ss < FF_MIN_SS || (ss & (ss - 1))) return FR_DISK_ERR; +#else + ss = FF_MAX_SS; #endif - if (_MULTI_PARTITION && part) { + if ((au != 0 && au < ss) || au > 0x1000000 || (au & (au - 1))) return FR_INVALID_PARAMETER; /* Check if au is valid */ + au /= ss; /* Cluster size in unit of sector */ + + /* Get working buffer */ +#if FF_USE_LFN == 3 + if (!work) { /* Use heap memory for working buffer */ + for (szb_buf = MAX_MALLOC, buf = 0; szb_buf >= ss && (buf = ff_memalloc(szb_buf)) == 0; szb_buf /= 2) ; + sz_buf = szb_buf / ss; /* Size of working buffer (sector) */ + } else +#endif + { + buf = (BYTE*)work; /* Working buffer */ + sz_buf = len / ss; /* Size of working buffer (sector) */ + szb_buf = sz_buf * ss; /* Size of working buffer (byte) */ + } + if (!buf || sz_buf == 0) return FR_NOT_ENOUGH_CORE; + + /* Determine where the volume to be located (b_vol, sz_vol) */ + if (FF_MULTI_PARTITION && part != 0) { /* Get partition information from partition table in the MBR */ - if (disk_read(pdrv, fs->win, 0, 1) != RES_OK) return FR_DISK_ERR; - if (LD_WORD(fs->win+BS_55AA) != 0xAA55) return FR_MKFS_ABORTED; - tbl = &fs->win[MBR_Table + (part - 1) * SZ_PTE]; - if (!tbl[4]) return FR_MKFS_ABORTED; /* No partition? */ - b_vol = LD_DWORD(tbl+8); /* Volume start sector */ - n_vol = LD_DWORD(tbl+12); /* Volume size */ - } else { - /* Create a partition in this function */ - if (disk_ioctl(pdrv, GET_SECTOR_COUNT, &n_vol) != RES_OK || n_vol < 128) - return FR_DISK_ERR; - b_vol = (sfd) ? 0 : 63; /* Volume start sector */ - n_vol -= b_vol; /* Volume size */ - } - - if (!au) { /* AU auto selection */ - vs = n_vol / (2000 / (SS(fs) / 512)); - for (i = 0; vs < vst[i]; i++) ; - au = cst[i]; - } - au /= SS(fs); /* Number of sectors per cluster */ - if (au == 0) au = 1; - if (au > 128) au = 128; - - /* Pre-compute number of clusters and FAT syb-type */ - n_clst = n_vol / au; - fmt = FS_FAT12; - if (n_clst >= MIN_FAT16) fmt = FS_FAT16; - if (n_clst >= MIN_FAT32) fmt = FS_FAT32; - - /* Determine offset and size of FAT structure */ - if (fmt == FS_FAT32) { - n_fat = ((n_clst * 4) + 8 + SS(fs) - 1) / SS(fs); - n_rsv = 32; - n_dir = 0; - } else { - n_fat = (fmt == FS_FAT12) ? (n_clst * 3 + 1) / 2 + 3 : (n_clst * 2) + 4; - n_fat = (n_fat + SS(fs) - 1) / SS(fs); - n_rsv = 1; - n_dir = (DWORD)N_ROOTDIR * SZ_DIR / SS(fs); - } - b_fat = b_vol + n_rsv; /* FAT area start sector */ - b_dir = b_fat + n_fat * N_FATS; /* Directory area start sector */ - b_data = b_dir + n_dir; /* Data area start sector */ - if (n_vol < b_data + au - b_vol) return FR_MKFS_ABORTED; /* Too small volume */ - - /* Align data start sector to erase block boundary (for flash memory media) */ - if (disk_ioctl(pdrv, GET_BLOCK_SIZE, &n) != RES_OK || !n || n > 32768) n = 1; - n = (b_data + n - 1) & ~(n - 1); /* Next nearest erase block from current data start */ - n = (n - b_data) / N_FATS; - if (fmt == FS_FAT32) { /* FAT32: Move FAT offset */ - n_rsv += n; - b_fat += n; - } else { /* FAT12/16: Expand FAT size */ - n_fat += n; - } - - /* Determine number of clusters and final check of validity of the FAT sub-type */ - n_clst = (n_vol - n_rsv - n_fat * N_FATS - n_dir) / au; - if ( (fmt == FS_FAT16 && n_clst < MIN_FAT16) - || (fmt == FS_FAT32 && n_clst < MIN_FAT32)) - return FR_MKFS_ABORTED; - - switch (fmt) { /* Determine system ID for partition table */ - case FS_FAT12: sys = 0x01; break; - case FS_FAT16: sys = (n_vol < 0x10000) ? 0x04 : 0x06; break; - default: sys = 0x0C; break; - } - - if (_MULTI_PARTITION && part) { - /* Update system ID in the partition table */ - tbl = &fs->win[MBR_Table + (part - 1) * SZ_PTE]; - tbl[4] = sys; - if (disk_write(pdrv, fs->win, 0, 1) != RES_OK) return FR_DISK_ERR; - md = 0xF8; - } else { - if (sfd) { /* No patition table (SFD) */ - md = 0xF0; - } else { /* Create partition table (FDISK) */ - mem_set(fs->win, 0, SS(fs)); - tbl = fs->win+MBR_Table; /* Create partiton table for single partition in the drive */ - tbl[1] = 1; /* Partition start head */ - tbl[2] = 1; /* Partition start sector */ - tbl[3] = 0; /* Partition start cylinder */ - tbl[4] = sys; /* System type */ - tbl[5] = 254; /* Partition end head */ - n = (b_vol + n_vol) / 63 / 255; - tbl[6] = (BYTE)((n >> 2) | 63); /* Partiiton end sector */ - tbl[7] = (BYTE)n; /* End cylinder */ - ST_DWORD(tbl+8, 63); /* Partition start in LBA */ - ST_DWORD(tbl+12, n_vol); /* Partition size in LBA */ - ST_WORD(fs->win+BS_55AA, 0xAA55); /* MBR signature */ - if (disk_write(pdrv, fs->win, 0, 1) != RES_OK) /* Write it to the MBR sector */ - return FR_DISK_ERR; - md = 0xF8; - } - } - - /* Create BPB in the VBR */ - tbl = fs->win; /* Clear sector */ - mem_set(tbl, 0, SS(fs)); - mem_cpy(tbl, "\xEB\xFE\x90" "MSDOS5.0", 11);/* Boot jump code, OEM name */ - i = SS(fs); /* Sector size */ - ST_WORD(tbl+BPB_BytsPerSec, i); - tbl[BPB_SecPerClus] = (BYTE)au; /* Sectors per cluster */ - ST_WORD(tbl+BPB_RsvdSecCnt, n_rsv); /* Reserved sectors */ - tbl[BPB_NumFATs] = N_FATS; /* Number of FATs */ - i = (fmt == FS_FAT32) ? 0 : N_ROOTDIR; /* Number of rootdir entries */ - ST_WORD(tbl+BPB_RootEntCnt, i); - if (n_vol < 0x10000) { /* Number of total sectors */ - ST_WORD(tbl+BPB_TotSec16, n_vol); + if (disk_read(pdrv, buf, 0, 1) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); /* Load MBR */ + if (ld_word(buf + BS_55AA) != 0xAA55) LEAVE_MKFS(FR_MKFS_ABORTED); /* Check if MBR is valid */ + pte = buf + (MBR_Table + (part - 1) * SZ_PTE); + if (pte[PTE_System] == 0) LEAVE_MKFS(FR_MKFS_ABORTED); /* No partition? */ + b_vol = ld_dword(pte + PTE_StLba); /* Get volume start sector */ + sz_vol = ld_dword(pte + PTE_SizLba); /* Get volume size */ } else { - ST_DWORD(tbl+BPB_TotSec32, n_vol); - } - tbl[BPB_Media] = md; /* Media descriptor */ - ST_WORD(tbl+BPB_SecPerTrk, 63); /* Number of sectors per track */ - ST_WORD(tbl+BPB_NumHeads, 255); /* Number of heads */ - ST_DWORD(tbl+BPB_HiddSec, b_vol); /* Hidden sectors */ - n = get_fattime(); /* Use current time as VSN */ - if (fmt == FS_FAT32) { - ST_DWORD(tbl+BS_VolID32, n); /* VSN */ - ST_DWORD(tbl+BPB_FATSz32, n_fat); /* Number of sectors per FAT */ - ST_DWORD(tbl+BPB_RootClus, 2); /* Root directory start cluster (2) */ - ST_WORD(tbl+BPB_FSInfo, 1); /* FSInfo record offset (VBR+1) */ - ST_WORD(tbl+BPB_BkBootSec, 6); /* Backup boot record offset (VBR+6) */ - tbl[BS_DrvNum32] = 0x80; /* Drive number */ - tbl[BS_BootSig32] = 0x29; /* Extended boot signature */ - mem_cpy(tbl+BS_VolLab32, "NO NAME " "FAT32 ", 19); /* Volume label, FAT signature */ - } else { - ST_DWORD(tbl+BS_VolID, n); /* VSN */ - ST_WORD(tbl+BPB_FATSz16, n_fat); /* Number of sectors per FAT */ - tbl[BS_DrvNum] = 0x80; /* Drive number */ - tbl[BS_BootSig] = 0x29; /* Extended boot signature */ - mem_cpy(tbl+BS_VolLab, "NO NAME " "FAT ", 19); /* Volume label, FAT signature */ - } - ST_WORD(tbl+BS_55AA, 0xAA55); /* Signature (Offset is fixed here regardless of sector size) */ - if (disk_write(pdrv, tbl, b_vol, 1) != RES_OK) /* Write it to the VBR sector */ - return FR_DISK_ERR; - if (fmt == FS_FAT32) /* Write backup VBR if needed (VBR+6) */ - disk_write(pdrv, tbl, b_vol + 6, 1); - - /* Initialize FAT area */ - wsect = b_fat; - for (i = 0; i < N_FATS; i++) { /* Initialize each FAT copy */ - mem_set(tbl, 0, SS(fs)); /* 1st sector of the FAT */ - n = md; /* Media descriptor byte */ - if (fmt != FS_FAT32) { - n |= (fmt == FS_FAT12) ? 0x00FFFF00 : 0xFFFFFF00; - ST_DWORD(tbl+0, n); /* Reserve cluster #0-1 (FAT12/16) */ + /* Create a single-partition in this function */ + if (disk_ioctl(pdrv, GET_SECTOR_COUNT, &sz_vol) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + b_vol = (opt & FM_SFD) ? 0 : 63; /* Volume start sector */ + if (sz_vol < b_vol) LEAVE_MKFS(FR_MKFS_ABORTED); + sz_vol -= b_vol; /* Volume size */ + } + if (sz_vol < 128) LEAVE_MKFS(FR_MKFS_ABORTED); /* Check if volume size is >=128s */ + + /* Pre-determine the FAT type */ + do { + if (FF_FS_EXFAT && (opt & FM_EXFAT)) { /* exFAT possible? */ + if ((opt & FM_ANY) == FM_EXFAT || sz_vol >= 0x4000000 || au > 128) { /* exFAT only, vol >= 64Ms or au > 128s ? */ + fmt = FS_EXFAT; break; + } + } + if (au > 128) LEAVE_MKFS(FR_INVALID_PARAMETER); /* Too large au for FAT/FAT32 */ + if (opt & FM_FAT32) { /* FAT32 possible? */ + if ((opt & FM_ANY) == FM_FAT32 || !(opt & FM_FAT)) { /* FAT32 only or no-FAT? */ + fmt = FS_FAT32; break; + } + } + if (!(opt & FM_FAT)) LEAVE_MKFS(FR_INVALID_PARAMETER); /* no-FAT? */ + fmt = FS_FAT16; + } while (0); + +#if FF_FS_EXFAT + if (fmt == FS_EXFAT) { /* Create an exFAT volume */ + DWORD szb_bit, szb_case, sum, nb, cl; + WCHAR ch, si; + UINT j, st; + BYTE b; + + if (sz_vol < 0x1000) LEAVE_MKFS(FR_MKFS_ABORTED); /* Too small volume? */ +#if FF_USE_TRIM + tbl[0] = b_vol; tbl[1] = b_vol + sz_vol - 1; /* Inform the device the volume area may be erased */ + disk_ioctl(pdrv, CTRL_TRIM, tbl); +#endif + /* Determine FAT location, data location and number of clusters */ + if (au == 0) { /* au auto-selection */ + au = 8; + if (sz_vol >= 0x80000) au = 64; /* >= 512Ks */ + if (sz_vol >= 0x4000000) au = 256; /* >= 64Ms */ + } + b_fat = b_vol + 32; /* FAT start at offset 32 */ + sz_fat = ((sz_vol / au + 2) * 4 + ss - 1) / ss; /* Number of FAT sectors */ + b_data = (b_fat + sz_fat + sz_blk - 1) & ~(sz_blk - 1); /* Align data area to the erase block boundary */ + if (b_data >= sz_vol / 2) LEAVE_MKFS(FR_MKFS_ABORTED); /* Too small volume? */ + n_clst = (sz_vol - (b_data - b_vol)) / au; /* Number of clusters */ + if (n_clst <16) LEAVE_MKFS(FR_MKFS_ABORTED); /* Too few clusters? */ + if (n_clst > MAX_EXFAT) LEAVE_MKFS(FR_MKFS_ABORTED); /* Too many clusters? */ + + szb_bit = (n_clst + 7) / 8; /* Size of allocation bitmap */ + tbl[0] = (szb_bit + au * ss - 1) / (au * ss); /* Number of allocation bitmap clusters */ + + /* Create a compressed up-case table */ + sect = b_data + au * tbl[0]; /* Table start sector */ + sum = 0; /* Table checksum to be stored in the 82 entry */ + st = 0; si = 0; i = 0; j = 0; szb_case = 0; + do { + switch (st) { + case 0: + ch = (WCHAR)ff_wtoupper(si); /* Get an up-case char */ + if (ch != si) { + si++; break; /* Store the up-case char if exist */ + } + for (j = 1; (WCHAR)(si + j) && (WCHAR)(si + j) == ff_wtoupper((WCHAR)(si + j)); j++) ; /* Get run length of no-case block */ + if (j >= 128) { + ch = 0xFFFF; st = 2; break; /* Compress the no-case block if run is >= 128 */ + } + st = 1; /* Do not compress short run */ + /* go to next case */ + case 1: + ch = si++; /* Fill the short run */ + if (--j == 0) st = 0; + break; + + default: + ch = (WCHAR)j; si += (WCHAR)j; /* Number of chars to skip */ + st = 0; + } + sum = xsum32(buf[i + 0] = (BYTE)ch, sum); /* Put it into the write buffer */ + sum = xsum32(buf[i + 1] = (BYTE)(ch >> 8), sum); + i += 2; szb_case += 2; + if (si == 0 || i == szb_buf) { /* Write buffered data when buffer full or end of process */ + n = (i + ss - 1) / ss; + if (disk_write(pdrv, buf, sect, n) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + sect += n; i = 0; + } + } while (si); + tbl[1] = (szb_case + au * ss - 1) / (au * ss); /* Number of up-case table clusters */ + tbl[2] = 1; /* Number of root dir clusters */ + + /* Initialize the allocation bitmap */ + sect = b_data; nsect = (szb_bit + ss - 1) / ss; /* Start of bitmap and number of sectors */ + nb = tbl[0] + tbl[1] + tbl[2]; /* Number of clusters in-use by system */ + do { + mem_set(buf, 0, szb_buf); + for (i = 0; nb >= 8 && i < szb_buf; buf[i++] = 0xFF, nb -= 8) ; + for (b = 1; nb != 0 && i < szb_buf; buf[i] |= b, b <<= 1, nb--) ; + n = (nsect > sz_buf) ? sz_buf : nsect; /* Write the buffered data */ + if (disk_write(pdrv, buf, sect, n) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + sect += n; nsect -= n; + } while (nsect); + + /* Initialize the FAT */ + sect = b_fat; nsect = sz_fat; /* Start of FAT and number of FAT sectors */ + j = nb = cl = 0; + do { + mem_set(buf, 0, szb_buf); i = 0; /* Clear work area and reset write index */ + if (cl == 0) { /* Set entry 0 and 1 */ + st_dword(buf + i, 0xFFFFFFF8); i += 4; cl++; + st_dword(buf + i, 0xFFFFFFFF); i += 4; cl++; + } + do { /* Create chains of bitmap, up-case and root dir */ + while (nb != 0 && i < szb_buf) { /* Create a chain */ + st_dword(buf + i, (nb > 1) ? cl + 1 : 0xFFFFFFFF); + i += 4; cl++; nb--; + } + if (nb == 0 && j < 3) nb = tbl[j++]; /* Next chain */ + } while (nb != 0 && i < szb_buf); + n = (nsect > sz_buf) ? sz_buf : nsect; /* Write the buffered data */ + if (disk_write(pdrv, buf, sect, n) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + sect += n; nsect -= n; + } while (nsect); + + /* Initialize the root directory */ + mem_set(buf, 0, szb_buf); + buf[SZDIRE * 0 + 0] = ET_VLABEL; /* Volume label entry */ + buf[SZDIRE * 1 + 0] = ET_BITMAP; /* Bitmap entry */ + st_dword(buf + SZDIRE * 1 + 20, 2); /* cluster */ + st_dword(buf + SZDIRE * 1 + 24, szb_bit); /* size */ + buf[SZDIRE * 2 + 0] = ET_UPCASE; /* Up-case table entry */ + st_dword(buf + SZDIRE * 2 + 4, sum); /* sum */ + st_dword(buf + SZDIRE * 2 + 20, 2 + tbl[0]); /* cluster */ + st_dword(buf + SZDIRE * 2 + 24, szb_case); /* size */ + sect = b_data + au * (tbl[0] + tbl[1]); nsect = au; /* Start of the root directory and number of sectors */ + do { /* Fill root directory sectors */ + n = (nsect > sz_buf) ? sz_buf : nsect; + if (disk_write(pdrv, buf, sect, n) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + mem_set(buf, 0, ss); + sect += n; nsect -= n; + } while (nsect); + + /* Create two set of the exFAT VBR blocks */ + sect = b_vol; + for (n = 0; n < 2; n++) { + /* Main record (+0) */ + mem_set(buf, 0, ss); + mem_cpy(buf + BS_JmpBoot, "\xEB\x76\x90" "EXFAT ", 11); /* Boot jump code (x86), OEM name */ + st_dword(buf + BPB_VolOfsEx, b_vol); /* Volume offset in the physical drive [sector] */ + st_dword(buf + BPB_TotSecEx, sz_vol); /* Volume size [sector] */ + st_dword(buf + BPB_FatOfsEx, b_fat - b_vol); /* FAT offset [sector] */ + st_dword(buf + BPB_FatSzEx, sz_fat); /* FAT size [sector] */ + st_dword(buf + BPB_DataOfsEx, b_data - b_vol); /* Data offset [sector] */ + st_dword(buf + BPB_NumClusEx, n_clst); /* Number of clusters */ + st_dword(buf + BPB_RootClusEx, 2 + tbl[0] + tbl[1]); /* Root dir cluster # */ + st_dword(buf + BPB_VolIDEx, GET_FATTIME()); /* VSN */ + st_word(buf + BPB_FSVerEx, 0x100); /* Filesystem version (1.00) */ + for (buf[BPB_BytsPerSecEx] = 0, i = ss; i >>= 1; buf[BPB_BytsPerSecEx]++) ; /* Log2 of sector size [byte] */ + for (buf[BPB_SecPerClusEx] = 0, i = au; i >>= 1; buf[BPB_SecPerClusEx]++) ; /* Log2 of cluster size [sector] */ + buf[BPB_NumFATsEx] = 1; /* Number of FATs */ + buf[BPB_DrvNumEx] = 0x80; /* Drive number (for int13) */ + st_word(buf + BS_BootCodeEx, 0xFEEB); /* Boot code (x86) */ + st_word(buf + BS_55AA, 0xAA55); /* Signature (placed here regardless of sector size) */ + for (i = sum = 0; i < ss; i++) { /* VBR checksum */ + if (i != BPB_VolFlagEx && i != BPB_VolFlagEx + 1 && i != BPB_PercInUseEx) sum = xsum32(buf[i], sum); + } + if (disk_write(pdrv, buf, sect++, 1) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + /* Extended bootstrap record (+1..+8) */ + mem_set(buf, 0, ss); + st_word(buf + ss - 2, 0xAA55); /* Signature (placed at end of sector) */ + for (j = 1; j < 9; j++) { + for (i = 0; i < ss; sum = xsum32(buf[i++], sum)) ; /* VBR checksum */ + if (disk_write(pdrv, buf, sect++, 1) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + } + /* OEM/Reserved record (+9..+10) */ + mem_set(buf, 0, ss); + for ( ; j < 11; j++) { + for (i = 0; i < ss; sum = xsum32(buf[i++], sum)) ; /* VBR checksum */ + if (disk_write(pdrv, buf, sect++, 1) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + } + /* Sum record (+11) */ + for (i = 0; i < ss; i += 4) st_dword(buf + i, sum); /* Fill with checksum value */ + if (disk_write(pdrv, buf, sect++, 1) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + } + + } else +#endif /* FF_FS_EXFAT */ + { /* Create an FAT/FAT32 volume */ + do { + pau = au; + /* Pre-determine number of clusters and FAT sub-type */ + if (fmt == FS_FAT32) { /* FAT32 volume */ + if (pau == 0) { /* au auto-selection */ + n = sz_vol / 0x20000; /* Volume size in unit of 128KS */ + for (i = 0, pau = 1; cst32[i] && cst32[i] <= n; i++, pau <<= 1) ; /* Get from table */ + } + n_clst = sz_vol / pau; /* Number of clusters */ + sz_fat = (n_clst * 4 + 8 + ss - 1) / ss; /* FAT size [sector] */ + sz_rsv = 32; /* Number of reserved sectors */ + sz_dir = 0; /* No static directory */ + if (n_clst <= MAX_FAT16 || n_clst > MAX_FAT32) LEAVE_MKFS(FR_MKFS_ABORTED); + } else { /* FAT volume */ + if (pau == 0) { /* au auto-selection */ + n = sz_vol / 0x1000; /* Volume size in unit of 4KS */ + for (i = 0, pau = 1; cst[i] && cst[i] <= n; i++, pau <<= 1) ; /* Get from table */ + } + n_clst = sz_vol / pau; + if (n_clst > MAX_FAT12) { + n = n_clst * 2 + 4; /* FAT size [byte] */ + } else { + fmt = FS_FAT12; + n = (n_clst * 3 + 1) / 2 + 3; /* FAT size [byte] */ + } + sz_fat = (n + ss - 1) / ss; /* FAT size [sector] */ + sz_rsv = 1; /* Number of reserved sectors */ + sz_dir = (DWORD)n_rootdir * SZDIRE / ss; /* Rootdir size [sector] */ + } + b_fat = b_vol + sz_rsv; /* FAT base */ + b_data = b_fat + sz_fat * n_fats + sz_dir; /* Data base */ + + /* Align data base to erase block boundary (for flash memory media) */ + n = ((b_data + sz_blk - 1) & ~(sz_blk - 1)) - b_data; /* Next nearest erase block from current data base */ + if (fmt == FS_FAT32) { /* FAT32: Move FAT base */ + sz_rsv += n; b_fat += n; + } else { /* FAT: Expand FAT size */ + sz_fat += n / n_fats; + } + + /* Determine number of clusters and final check of validity of the FAT sub-type */ + if (sz_vol < b_data + pau * 16 - b_vol) LEAVE_MKFS(FR_MKFS_ABORTED); /* Too small volume */ + n_clst = (sz_vol - sz_rsv - sz_fat * n_fats - sz_dir) / pau; + if (fmt == FS_FAT32) { + if (n_clst <= MAX_FAT16) { /* Too few clusters for FAT32 */ + if (au == 0 && (au = pau / 2) != 0) continue; /* Adjust cluster size and retry */ + LEAVE_MKFS(FR_MKFS_ABORTED); + } + } + if (fmt == FS_FAT16) { + if (n_clst > MAX_FAT16) { /* Too many clusters for FAT16 */ + if (au == 0 && (pau * 2) <= 64) { + au = pau * 2; continue; /* Adjust cluster size and retry */ + } + if ((opt & FM_FAT32)) { + fmt = FS_FAT32; continue; /* Switch type to FAT32 and retry */ + } + if (au == 0 && (au = pau * 2) <= 128) continue; /* Adjust cluster size and retry */ + LEAVE_MKFS(FR_MKFS_ABORTED); + } + if (n_clst <= MAX_FAT12) { /* Too few clusters for FAT16 */ + if (au == 0 && (au = pau * 2) <= 128) continue; /* Adjust cluster size and retry */ + LEAVE_MKFS(FR_MKFS_ABORTED); + } + } + if (fmt == FS_FAT12 && n_clst > MAX_FAT12) LEAVE_MKFS(FR_MKFS_ABORTED); /* Too many clusters for FAT12 */ + + /* Ok, it is the valid cluster configuration */ + break; + } while (1); + +#if FF_USE_TRIM + tbl[0] = b_vol; tbl[1] = b_vol + sz_vol - 1; /* Inform the device the volume area can be erased */ + disk_ioctl(pdrv, CTRL_TRIM, tbl); +#endif + /* Create FAT VBR */ + mem_set(buf, 0, ss); + mem_cpy(buf + BS_JmpBoot, "\xEB\xFE\x90" "MSDOS5.0", 11);/* Boot jump code (x86), OEM name */ + st_word(buf + BPB_BytsPerSec, ss); /* Sector size [byte] */ + buf[BPB_SecPerClus] = (BYTE)pau; /* Cluster size [sector] */ + st_word(buf + BPB_RsvdSecCnt, (WORD)sz_rsv); /* Size of reserved area */ + buf[BPB_NumFATs] = (BYTE)n_fats; /* Number of FATs */ + st_word(buf + BPB_RootEntCnt, (WORD)((fmt == FS_FAT32) ? 0 : n_rootdir)); /* Number of root directory entries */ + if (sz_vol < 0x10000) { + st_word(buf + BPB_TotSec16, (WORD)sz_vol); /* Volume size in 16-bit LBA */ } else { - n |= 0xFFFFFF00; - ST_DWORD(tbl+0, n); /* Reserve cluster #0-1 (FAT32) */ - ST_DWORD(tbl+4, 0xFFFFFFFF); - ST_DWORD(tbl+8, 0x0FFFFFFF); /* Reserve cluster #2 for root dir */ + st_dword(buf + BPB_TotSec32, sz_vol); /* Volume size in 32-bit LBA */ } - if (disk_write(pdrv, tbl, wsect++, 1) != RES_OK) - return FR_DISK_ERR; - mem_set(tbl, 0, SS(fs)); /* Fill following FAT entries with zero */ - for (n = 1; n < n_fat; n++) { /* This loop may take a time on FAT32 volume due to many single sector writes */ - if (disk_write(pdrv, tbl, wsect++, 1) != RES_OK) - return FR_DISK_ERR; + buf[BPB_Media] = 0xF8; /* Media descriptor byte */ + st_word(buf + BPB_SecPerTrk, 63); /* Number of sectors per track (for int13) */ + st_word(buf + BPB_NumHeads, 255); /* Number of heads (for int13) */ + st_dword(buf + BPB_HiddSec, b_vol); /* Volume offset in the physical drive [sector] */ + if (fmt == FS_FAT32) { + st_dword(buf + BS_VolID32, GET_FATTIME()); /* VSN */ + st_dword(buf + BPB_FATSz32, sz_fat); /* FAT size [sector] */ + st_dword(buf + BPB_RootClus32, 2); /* Root directory cluster # (2) */ + st_word(buf + BPB_FSInfo32, 1); /* Offset of FSINFO sector (VBR + 1) */ + st_word(buf + BPB_BkBootSec32, 6); /* Offset of backup VBR (VBR + 6) */ + buf[BS_DrvNum32] = 0x80; /* Drive number (for int13) */ + buf[BS_BootSig32] = 0x29; /* Extended boot signature */ + mem_cpy(buf + BS_VolLab32, "NO NAME " "FAT32 ", 19); /* Volume label, FAT signature */ + } else { + st_dword(buf + BS_VolID, GET_FATTIME()); /* VSN */ + st_word(buf + BPB_FATSz16, (WORD)sz_fat); /* FAT size [sector] */ + buf[BS_DrvNum] = 0x80; /* Drive number (for int13) */ + buf[BS_BootSig] = 0x29; /* Extended boot signature */ + mem_cpy(buf + BS_VolLab, "NO NAME " "FAT ", 19); /* Volume label, FAT signature */ + } + st_word(buf + BS_55AA, 0xAA55); /* Signature (offset is fixed here regardless of sector size) */ + if (disk_write(pdrv, buf, b_vol, 1) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); /* Write it to the VBR sector */ + + /* Create FSINFO record if needed */ + if (fmt == FS_FAT32) { + disk_write(pdrv, buf, b_vol + 6, 1); /* Write backup VBR (VBR + 6) */ + mem_set(buf, 0, ss); + st_dword(buf + FSI_LeadSig, 0x41615252); + st_dword(buf + FSI_StrucSig, 0x61417272); + st_dword(buf + FSI_Free_Count, n_clst - 1); /* Number of free clusters */ + st_dword(buf + FSI_Nxt_Free, 2); /* Last allocated cluster# */ + st_word(buf + BS_55AA, 0xAA55); + disk_write(pdrv, buf, b_vol + 7, 1); /* Write backup FSINFO (VBR + 7) */ + disk_write(pdrv, buf, b_vol + 1, 1); /* Write original FSINFO (VBR + 1) */ } - } - /* Initialize root directory */ - i = (fmt == FS_FAT32) ? au : n_dir; - do { - if (disk_write(pdrv, tbl, wsect++, 1) != RES_OK) - return FR_DISK_ERR; - } while (--i); + /* Initialize FAT area */ + mem_set(buf, 0, (UINT)szb_buf); + sect = b_fat; /* FAT start sector */ + for (i = 0; i < n_fats; i++) { /* Initialize FATs each */ + if (fmt == FS_FAT32) { + st_dword(buf + 0, 0xFFFFFFF8); /* Entry 0 */ + st_dword(buf + 4, 0xFFFFFFFF); /* Entry 1 */ + st_dword(buf + 8, 0x0FFFFFFF); /* Entry 2 (root directory) */ + } else { + st_dword(buf + 0, (fmt == FS_FAT12) ? 0xFFFFF8 : 0xFFFFFFF8); /* Entry 0 and 1 */ + } + nsect = sz_fat; /* Number of FAT sectors */ + do { /* Fill FAT sectors */ + n = (nsect > sz_buf) ? sz_buf : nsect; + if (disk_write(pdrv, buf, sect, (UINT)n) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + mem_set(buf, 0, ss); + sect += n; nsect -= n; + } while (nsect); + } -#if _USE_ERASE /* Erase data area if needed */ - { - DWORD eb[2]; + /* Initialize root directory (fill with zero) */ + nsect = (fmt == FS_FAT32) ? pau : sz_dir; /* Number of root directory sectors */ + do { + n = (nsect > sz_buf) ? sz_buf : nsect; + if (disk_write(pdrv, buf, sect, (UINT)n) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + sect += n; nsect -= n; + } while (nsect); + } - eb[0] = wsect; eb[1] = wsect + (n_clst - ((fmt == FS_FAT32) ? 1 : 0)) * au - 1; - disk_ioctl(pdrv, CTRL_ERASE_SECTOR, eb); + /* Determine system ID in the partition table */ + if (FF_FS_EXFAT && fmt == FS_EXFAT) { + sys = 0x07; /* HPFS/NTFS/exFAT */ + } else { + if (fmt == FS_FAT32) { + sys = 0x0C; /* FAT32X */ + } else { + if (sz_vol >= 0x10000) { + sys = 0x06; /* FAT12/16 (large) */ + } else { + sys = (fmt == FS_FAT16) ? 0x04 : 0x01; /* FAT16 : FAT12 */ + } + } } -#endif - /* Create FSInfo if needed */ - if (fmt == FS_FAT32) { - ST_DWORD(tbl+FSI_LeadSig, 0x41615252); - ST_DWORD(tbl+FSI_StrucSig, 0x61417272); - ST_DWORD(tbl+FSI_Free_Count, n_clst - 1); /* Number of free clusters */ - ST_DWORD(tbl+FSI_Nxt_Free, 2); /* Last allocated cluster# */ - ST_WORD(tbl+BS_55AA, 0xAA55); - disk_write(pdrv, tbl, b_vol + 1, 1); /* Write original (VBR+1) */ - disk_write(pdrv, tbl, b_vol + 7, 1); /* Write backup (VBR+7) */ + /* Update partition information */ + if (FF_MULTI_PARTITION && part != 0) { /* Created in the existing partition */ + /* Update system ID in the partition table */ + if (disk_read(pdrv, buf, 0, 1) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); /* Read the MBR */ + buf[MBR_Table + (part - 1) * SZ_PTE + PTE_System] = sys; /* Set system ID */ + if (disk_write(pdrv, buf, 0, 1) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); /* Write it back to the MBR */ + } else { /* Created as a new single partition */ + if (!(opt & FM_SFD)) { /* Create partition table if in FDISK format */ + mem_set(buf, 0, ss); + st_word(buf + BS_55AA, 0xAA55); /* MBR signature */ + pte = buf + MBR_Table; /* Create partition table for single partition in the drive */ + pte[PTE_Boot] = 0; /* Boot indicator */ + pte[PTE_StHead] = 1; /* Start head */ + pte[PTE_StSec] = 1; /* Start sector */ + pte[PTE_StCyl] = 0; /* Start cylinder */ + pte[PTE_System] = sys; /* System type */ + n = (b_vol + sz_vol) / (63 * 255); /* (End CHS may be invalid) */ + pte[PTE_EdHead] = 254; /* End head */ + pte[PTE_EdSec] = (BYTE)(((n >> 2) & 0xC0) | 63); /* End sector */ + pte[PTE_EdCyl] = (BYTE)n; /* End cylinder */ + st_dword(pte + PTE_StLba, b_vol); /* Start offset in LBA */ + st_dword(pte + PTE_SizLba, sz_vol); /* Size in sectors */ + if (disk_write(pdrv, buf, 0, 1) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); /* Write it to the MBR */ + } } - return (disk_ioctl(pdrv, CTRL_SYNC, 0) == RES_OK) ? FR_OK : FR_DISK_ERR; + if (disk_ioctl(pdrv, CTRL_SYNC, 0) != RES_OK) LEAVE_MKFS(FR_DISK_ERR); + + LEAVE_MKFS(FR_OK); } -#if _MULTI_PARTITION == 2 + +#if FF_MULTI_PARTITION /*-----------------------------------------------------------------------*/ -/* Divide Physical Drive */ +/* Create Partition Table on the Physical Drive */ /*-----------------------------------------------------------------------*/ FRESULT f_fdisk ( BYTE pdrv, /* Physical drive number */ - const DWORD szt[], /* Pointer to the size table for each partitions */ - void* work /* Pointer to the working buffer */ + const DWORD* szt, /* Pointer to the size table for each partitions */ + void* work /* Pointer to the working buffer (null: use heap memory) */ ) { UINT i, n, sz_cyl, tot_cyl, b_cyl, e_cyl, p_cyl; BYTE s_hd, e_hd, *p, *buf = (BYTE*)work; DSTATUS stat; DWORD sz_disk, sz_part, s_part; + FRESULT res; stat = disk_initialize(pdrv); @@ -3831,19 +6037,25 @@ FRESULT f_fdisk ( if (stat & STA_PROTECT) return FR_WRITE_PROTECTED; if (disk_ioctl(pdrv, GET_SECTOR_COUNT, &sz_disk)) return FR_DISK_ERR; - /* Determine CHS in the table regardless of the drive geometry */ + buf = (BYTE*)work; +#if FF_USE_LFN == 3 + if (!buf) buf = ff_memalloc(FF_MAX_SS); /* Use heap memory for working buffer */ +#endif + if (!buf) return FR_NOT_ENOUGH_CORE; + + /* Determine the CHS without any consideration of the drive geometry */ for (n = 16; n < 256 && sz_disk / n / 63 > 1024; n *= 2) ; if (n == 256) n--; - e_hd = n - 1; + e_hd = (BYTE)(n - 1); sz_cyl = 63 * n; tot_cyl = sz_disk / sz_cyl; /* Create partition table */ - mem_set(buf, 0, _MAX_SS); + mem_set(buf, 0, FF_MAX_SS); p = buf + MBR_Table; b_cyl = 0; for (i = 0; i < 4; i++, p += SZ_PTE) { - p_cyl = (szt[i] <= 100) ? (DWORD)tot_cyl * szt[i] / 100 : szt[i] / sz_cyl; - if (!p_cyl) continue; + p_cyl = (szt[i] <= 100U) ? (DWORD)tot_cyl * szt[i] / 100 : szt[i] / sz_cyl; /* Number of cylinders */ + if (p_cyl == 0) continue; s_part = (DWORD)sz_cyl * b_cyl; sz_part = (DWORD)sz_cyl * p_cyl; if (i == 0) { /* Exclude first track of cylinder 0 */ @@ -3852,229 +6064,462 @@ FRESULT f_fdisk ( } else { s_hd = 0; } - e_cyl = b_cyl + p_cyl - 1; - if (e_cyl >= tot_cyl) return FR_INVALID_PARAMETER; + e_cyl = b_cyl + p_cyl - 1; /* End cylinder */ + if (e_cyl >= tot_cyl) LEAVE_MKFS(FR_INVALID_PARAMETER); /* Set partition table */ p[1] = s_hd; /* Start head */ - p[2] = (BYTE)((b_cyl >> 2) + 1); /* Start sector */ + p[2] = (BYTE)(((b_cyl >> 2) & 0xC0) | 1); /* Start sector */ p[3] = (BYTE)b_cyl; /* Start cylinder */ - p[4] = 0x06; /* System type (temporary setting) */ + p[4] = 0x07; /* System type (temporary setting) */ p[5] = e_hd; /* End head */ - p[6] = (BYTE)((e_cyl >> 2) + 63); /* End sector */ + p[6] = (BYTE)(((e_cyl >> 2) & 0xC0) | 63); /* End sector */ p[7] = (BYTE)e_cyl; /* End cylinder */ - ST_DWORD(p + 8, s_part); /* Start sector in LBA */ - ST_DWORD(p + 12, sz_part); /* Partition size */ + st_dword(p + 8, s_part); /* Start sector in LBA */ + st_dword(p + 12, sz_part); /* Number of sectors */ /* Next partition */ b_cyl += p_cyl; } - ST_WORD(p, 0xAA55); + st_word(p, 0xAA55); /* MBR signature (always at offset 510) */ /* Write it to the MBR */ - return (disk_write(pdrv, buf, 0, 1) || disk_ioctl(pdrv, CTRL_SYNC, 0)) ? FR_DISK_ERR : FR_OK; + res = (disk_write(pdrv, buf, 0, 1) == RES_OK && disk_ioctl(pdrv, CTRL_SYNC, 0) == RES_OK) ? FR_OK : FR_DISK_ERR; + LEAVE_MKFS(res); } +#endif /* FF_MULTI_PARTITION */ +#endif /* FF_USE_MKFS && !FF_FS_READONLY */ -#endif /* _MULTI_PARTITION == 2 */ -#endif /* _USE_MKFS && !_FS_READONLY */ - -#if _USE_STRFUNC +#if FF_USE_STRFUNC +#if FF_USE_LFN && FF_LFN_UNICODE && (FF_STRF_ENCODE < 0 || FF_STRF_ENCODE > 3) +#error Wrong FF_STRF_ENCODE setting +#endif /*-----------------------------------------------------------------------*/ -/* Get a string from the file */ +/* Get a String from the File */ /*-----------------------------------------------------------------------*/ + TCHAR* f_gets ( TCHAR* buff, /* Pointer to the string buffer to read */ - int len, /* Size of string buffer (characters) */ - FIL* fil /* Pointer to the file object */ + int len, /* Size of string buffer (items) */ + FIL* fp /* Pointer to the file object */ ) { - int n = 0; - TCHAR c, *p = buff; - BYTE s[2]; + int nc = 0; + TCHAR *p = buff; + BYTE s[4]; UINT rc; + DWORD dc; +#if FF_USE_LFN && FF_LFN_UNICODE && FF_STRF_ENCODE <= 2 + WCHAR wc; +#endif +#if FF_USE_LFN && FF_LFN_UNICODE && FF_STRF_ENCODE == 3 + UINT ct; +#endif - - while (n < len - 1) { /* Read bytes until buffer gets filled */ - f_read(fil, s, 1, &rc); - if (rc != 1) break; /* Break on EOF or error */ - c = s[0]; -#if _LFN_UNICODE /* Read a character in UTF-8 encoding */ - if (c >= 0x80) { - if (c < 0xC0) continue; /* Skip stray trailer */ - if (c < 0xE0) { /* Two-byte sequense */ - f_read(fil, s, 1, &rc); - if (rc != 1) break; - c = ((c & 0x1F) << 6) | (s[0] & 0x3F); - if (c < 0x80) c = '?'; +#if FF_USE_LFN && FF_LFN_UNICODE /* With code conversion (Unicode API) */ + /* Make a room for the character and terminator */ + if (FF_LFN_UNICODE == 1) len -= (FF_STRF_ENCODE == 0) ? 1 : 2; + if (FF_LFN_UNICODE == 2) len -= (FF_STRF_ENCODE == 0) ? 3 : 4; + if (FF_LFN_UNICODE == 3) len -= 1; + while (nc < len) { +#if FF_STRF_ENCODE == 0 /* Read a character in ANSI/OEM */ + f_read(fp, s, 1, &rc); + if (rc != 1) break; + wc = s[0]; + if (dbc_1st((BYTE)wc)) { + f_read(fp, s, 1, &rc); + if (rc != 1 || !dbc_2nd(s[0])) continue; + wc = wc << 8 | s[0]; + } + dc = ff_oem2uni(wc, CODEPAGE); + if (dc == 0) continue; +#elif FF_STRF_ENCODE == 1 || FF_STRF_ENCODE == 2 /* Read a character in UTF-16LE/BE */ + f_read(fp, s, 2, &rc); + if (rc != 2) break; + dc = (FF_STRF_ENCODE == 1) ? ld_word(s) : s[0] << 8 | s[1]; + if (IsSurrogateL(dc)) continue; + if (IsSurrogateH(dc)) { + f_read(fp, s, 2, &rc); + if (rc != 2) break; + wc = (FF_STRF_ENCODE == 1) ? ld_word(s) : s[0] << 8 | s[1]; + if (!IsSurrogateL(wc)) continue; + dc = ((dc & 0x3FF) + 0x40) << 10 | (wc & 0x3FF); + } +#else /* Read a character in UTF-8 */ + f_read(fp, s, 1, &rc); + if (rc != 1) break; + dc = s[0]; + if (dc >= 0x80) { /* Multi-byte character? */ + ct = 0; + if ((dc & 0xE0) == 0xC0) { dc &= 0x1F; ct = 1; } /* 2-byte? */ + if ((dc & 0xF0) == 0xE0) { dc &= 0x0F; ct = 2; } /* 3-byte? */ + if ((dc & 0xF8) == 0xF0) { dc &= 0x07; ct = 3; } /* 4-byte? */ + if (ct == 0) continue; + f_read(fp, s, ct, &rc); /* Get trailing bytes */ + if (rc != ct) break; + rc = 0; + do { /* Merge trailing bytes */ + if ((s[rc] & 0xC0) != 0x80) break; + dc = dc << 6 | (s[rc] & 0x3F); + } while (++rc < ct); + if (rc != ct || dc < 0x80 || IsSurrogate(dc) || dc >= 0x110000) continue; /* Wrong encoding? */ + } +#endif + if (FF_USE_STRFUNC == 2 && dc == '\r') continue; /* Strip \r off if needed */ +#if FF_LFN_UNICODE == 1 || FF_LFN_UNICODE == 3 /* Output it in UTF-16/32 encoding */ + if (FF_LFN_UNICODE == 1 && dc >= 0x10000) { /* Out of BMP at UTF-16? */ + *p++ = (TCHAR)(0xD800 | ((dc >> 10) - 0x40)); nc++; /* Make and output high surrogate */ + dc = 0xDC00 | (dc & 0x3FF); /* Make low surrogate */ + } + *p++ = (TCHAR)dc; nc++; + if (dc == '\n') break; /* End of line? */ +#elif FF_LFN_UNICODE == 2 /* Output it in UTF-8 encoding */ + if (dc < 0x80) { /* 1-byte */ + *p++ = (TCHAR)dc; + nc++; + if (dc == '\n') break; /* End of line? */ + } else { + if (dc < 0x800) { /* 2-byte */ + *p++ = (TCHAR)(0xC0 | (dc >> 6 & 0x1F)); + *p++ = (TCHAR)(0x80 | (dc >> 0 & 0x3F)); + nc += 2; } else { - if (c < 0xF0) { /* Three-byte sequense */ - f_read(fil, s, 2, &rc); - if (rc != 2) break; - c = (c << 12) | ((s[0] & 0x3F) << 6) | (s[1] & 0x3F); - if (c < 0x800) c = '?'; - } else { /* Reject four-byte sequense */ - c = '?'; + if (dc < 0x10000) { /* 3-byte */ + *p++ = (TCHAR)(0xE0 | (dc >> 12 & 0x0F)); + *p++ = (TCHAR)(0x80 | (dc >> 6 & 0x3F)); + *p++ = (TCHAR)(0x80 | (dc >> 0 & 0x3F)); + nc += 3; + } else { /* 4-byte */ + *p++ = (TCHAR)(0xF0 | (dc >> 18 & 0x07)); + *p++ = (TCHAR)(0x80 | (dc >> 12 & 0x3F)); + *p++ = (TCHAR)(0x80 | (dc >> 6 & 0x3F)); + *p++ = (TCHAR)(0x80 | (dc >> 0 & 0x3F)); + nc += 4; } } } #endif -#if _USE_STRFUNC >= 2 - if (c == '\r') continue; /* Strip '\r' */ -#endif - *p++ = c; - n++; - if (c == '\n') break; /* Break on EOL */ } - *p = 0; - return n ? buff : 0; /* When no data read (eof or error), return with error. */ + +#else /* Byte-by-byte without any conversion (ANSI/OEM API) */ + len -= 1; /* Make a room for the terminator */ + while (nc < len) { + f_read(fp, s, 1, &rc); + if (rc != 1) break; + dc = s[0]; + if (FF_USE_STRFUNC == 2 && dc == '\r') continue; + *p++ = (TCHAR)dc; nc++; + if (dc == '\n') break; + } +#endif + + *p = 0; /* Terminate the string */ + return nc ? buff : 0; /* When no data read due to EOF or error, return with error. */ } -#if !_FS_READONLY + +#if !FF_FS_READONLY #include <stdarg.h> /*-----------------------------------------------------------------------*/ -/* Put a character to the file */ +/* Put a Character to the File */ /*-----------------------------------------------------------------------*/ -int f_putc ( - TCHAR c, /* A character to be output */ - FIL* fil /* Pointer to the file object */ + +typedef struct { /* Putchar output buffer and work area */ + FIL *fp; /* Ptr to the writing file */ + int idx, nchr; /* Write index of buf[] (-1:error), number of encoding units written */ +#if FF_USE_LFN && FF_LFN_UNICODE == 1 + WCHAR hs; +#elif FF_USE_LFN && FF_LFN_UNICODE == 2 + BYTE bs[4]; + UINT wi, ct; +#endif + BYTE buf[64]; /* Write buffer */ +} putbuff; + + +static void putc_bfd ( /* Buffered write with code conversion */ + putbuff* pb, + TCHAR c ) { - UINT bw, btw; - BYTE s[3]; + UINT n; + int i, nc; +#if FF_USE_LFN && FF_LFN_UNICODE + WCHAR hs, wc; +#if FF_LFN_UNICODE == 2 + DWORD dc; + TCHAR *tp; +#endif +#endif + if (FF_USE_STRFUNC == 2 && c == '\n') { /* LF -> CRLF conversion */ + putc_bfd(pb, '\r'); + } -#if _USE_STRFUNC >= 2 - if (c == '\n') f_putc ('\r', fil); /* LF -> CRLF conversion */ + i = pb->idx; /* Write index of pb->buf[] */ + if (i < 0) return; + nc = pb->nchr; /* Write unit counter */ + +#if FF_USE_LFN && FF_LFN_UNICODE +#if FF_LFN_UNICODE == 1 /* UTF-16 input */ + if (IsSurrogateH(c)) { + pb->hs = c; return; + } + hs = pb->hs; pb->hs = 0; + if (hs != 0) { + if (!IsSurrogateL(c)) hs = 0; + } else { + if (IsSurrogateL(c)) return; + } + wc = c; +#elif FF_LFN_UNICODE == 2 /* UTF-8 input */ + for (;;) { + if (pb->ct == 0) { /* Out of multi-byte sequence? */ + pb->bs[pb->wi = 0] = (BYTE)c; /* Save 1st byte */ + if ((BYTE)c < 0x80) break; /* 1-byte? */ + if (((BYTE)c & 0xE0) == 0xC0) pb->ct = 1; /* 2-byte? */ + if (((BYTE)c & 0xF0) == 0xE0) pb->ct = 2; /* 3-byte? */ + if (((BYTE)c & 0xF1) == 0xF0) pb->ct = 3; /* 4-byte? */ + return; + } else { /* In the multi-byte sequence */ + if (((BYTE)c & 0xC0) != 0x80) { /* Broken sequence? */ + pb->ct = 0; continue; + } + pb->bs[++pb->wi] = (BYTE)c; /* Save the trailing byte */ + if (--pb->ct == 0) break; /* End of multi-byte sequence? */ + return; + } + } + tp = (TCHAR*)pb->bs; + dc = tchar2uni(&tp); /* UTF-8 ==> UTF-16 */ + if (dc == 0xFFFFFFFF) return; + wc = (WCHAR)dc; + hs = (WCHAR)(dc >> 16); +#elif FF_LFN_UNICODE == 3 /* UTF-32 input */ + if (IsSurrogate(c) || c >= 0x110000) return; + if (c >= 0x10000) { + hs = (WCHAR)(0xD800 | ((c >> 10) - 0x40)); /* Make high surrogate */ + wc = 0xDC00 | (c & 0x3FF); /* Make low surrogate */ + } else { + hs = 0; + wc = (WCHAR)c; + } #endif -#if _LFN_UNICODE /* Write the character in UTF-8 encoding */ - if (c < 0x80) { /* 7-bit */ - s[0] = (BYTE)c; - btw = 1; +#if FF_STRF_ENCODE == 1 /* Write a character in UTF-16LE */ + if (hs != 0) { + st_word(&pb->buf[i], hs); + i += 2; + nc++; + } + st_word(&pb->buf[i], wc); + i += 2; +#elif FF_STRF_ENCODE == 2 /* Write a character in UTF-16BE */ + if (hs != 0) { + pb->buf[i++] = (BYTE)(hs >> 8); + pb->buf[i++] = (BYTE)hs; + nc++; + } + pb->buf[i++] = (BYTE)(wc >> 8); + pb->buf[i++] = (BYTE)wc; +#elif FF_STRF_ENCODE == 3 /* Write it in UTF-8 */ + if (hs != 0) { /* 4-byte */ + nc += 3; + hs = (hs & 0x3FF) + 0x40; + pb->buf[i++] = (BYTE)(0xF0 | hs >> 8); + pb->buf[i++] = (BYTE)(0x80 | (hs >> 2 & 0x3F)); + pb->buf[i++] = (BYTE)(0x80 | (hs & 3) << 4 | (wc >> 6 & 0x0F)); + pb->buf[i++] = (BYTE)(0x80 | (wc & 0x3F)); } else { - if (c < 0x800) { /* 11-bit */ - s[0] = (BYTE)(0xC0 | (c >> 6)); - s[1] = (BYTE)(0x80 | (c & 0x3F)); - btw = 2; - } else { /* 16-bit */ - s[0] = (BYTE)(0xE0 | (c >> 12)); - s[1] = (BYTE)(0x80 | ((c >> 6) & 0x3F)); - s[2] = (BYTE)(0x80 | (c & 0x3F)); - btw = 3; - } - } -#else /* Write the character without conversion */ - s[0] = (BYTE)c; - btw = 1; -#endif - f_write(fil, s, btw, &bw); /* Write the char to the file */ - return (bw == btw) ? 1 : EOF; /* Return the result */ + if (wc < 0x80) { /* 1-byte */ + pb->buf[i++] = (BYTE)wc; + } else { + if (wc < 0x800) { /* 2-byte */ + nc += 1; + pb->buf[i++] = (BYTE)(0xC0 | wc >> 6); + } else { /* 3-byte */ + nc += 2; + pb->buf[i++] = (BYTE)(0xE0 | wc >> 12); + pb->buf[i++] = (BYTE)(0x80 | (wc >> 6 & 0x3F)); + } + pb->buf[i++] = (BYTE)(0x80 | (wc & 0x3F)); + } + } +#else /* Write it in ANSI/OEM */ + if (hs != 0) return; + wc = ff_uni2oem(wc, CODEPAGE); /* UTF-16 ==> ANSI/OEM */ + if (wc == 0) return; + if (wc >= 0x100) { + pb->buf[i++] = (BYTE)(wc >> 8); nc++; + } + pb->buf[i++] = (BYTE)wc; +#endif + +#else /* ANSI/OEM input (without re-encode) */ + pb->buf[i++] = (BYTE)c; +#endif + + if (i >= (int)(sizeof pb->buf) - 4) { /* Write buffered characters to the file */ + f_write(pb->fp, pb->buf, (UINT)i, &n); + i = (n == (UINT)i) ? 0 : -1; + } + pb->idx = i; + pb->nchr = nc + 1; +} + + +static int putc_flush ( /* Flush left characters in the buffer */ + putbuff* pb +) +{ + UINT nw; + + if ( pb->idx >= 0 /* Flush buffered characters to the file */ + && f_write(pb->fp, pb->buf, (UINT)pb->idx, &nw) == FR_OK + && (UINT)pb->idx == nw) return pb->nchr; + return EOF; +} + + +static void putc_init ( /* Initialize write buffer */ + putbuff* pb, + FIL* fp +) +{ + mem_set(pb, 0, sizeof (putbuff)); + pb->fp = fp; +} + + + +int f_putc ( + TCHAR c, /* A character to be output */ + FIL* fp /* Pointer to the file object */ +) +{ + putbuff pb; + + + putc_init(&pb, fp); + putc_bfd(&pb, c); /* Put the character */ + return putc_flush(&pb); } /*-----------------------------------------------------------------------*/ -/* Put a string to the file */ +/* Put a String to the File */ /*-----------------------------------------------------------------------*/ + int f_puts ( const TCHAR* str, /* Pointer to the string to be output */ - FIL* fil /* Pointer to the file object */ + FIL* fp /* Pointer to the file object */ ) { - int n; + putbuff pb; - for (n = 0; *str; str++, n++) { - if (f_putc(*str, fil) == EOF) return EOF; - } - return n; + putc_init(&pb, fp); + while (*str) putc_bfd(&pb, *str++); /* Put the string */ + return putc_flush(&pb); } /*-----------------------------------------------------------------------*/ -/* Put a formatted string to the file */ +/* Put a Formatted String to the File */ /*-----------------------------------------------------------------------*/ + int f_printf ( - FIL* fil, /* Pointer to the file object */ - const TCHAR* str, /* Pointer to the format string */ + FIL* fp, /* Pointer to the file object */ + const TCHAR* fmt, /* Pointer to the format string */ ... /* Optional arguments... */ ) { va_list arp; + putbuff pb; BYTE f, r; UINT i, j, w; - ULONG v; - TCHAR c, d, s[16], *p; - int res, chc, cc; + DWORD v; + TCHAR c, d, str[32], *p; - va_start(arp, str); + putc_init(&pb, fp); - for (cc = res = 0; cc != EOF; res += cc) { - c = *str++; + va_start(arp, fmt); + + for (;;) { + c = *fmt++; if (c == 0) break; /* End of string */ if (c != '%') { /* Non escape character */ - cc = f_putc(c, fil); - if (cc != EOF) cc = 1; + putc_bfd(&pb, c); continue; } w = f = 0; - c = *str++; + c = *fmt++; if (c == '0') { /* Flag: '0' padding */ - f = 1; c = *str++; + f = 1; c = *fmt++; } else { if (c == '-') { /* Flag: left justified */ - f = 2; c = *str++; + f = 2; c = *fmt++; } } - while (IsDigit(c)) { /* Precision */ - w = w * 10 + c - '0'; - c = *str++; + if (c == '*') { /* Minimum width by argument */ + w = va_arg(arp, int); + c = *fmt++; + } else { + while (IsDigit(c)) { /* Minimum width */ + w = w * 10 + c - '0'; + c = *fmt++; + } } - if (c == 'l' || c == 'L') { /* Prefix: Size is long int */ - f |= 4; c = *str++; + if (c == 'l' || c == 'L') { /* Type prefix: Size is long int */ + f |= 4; c = *fmt++; } - if (!c) break; + if (c == 0) break; d = c; if (IsLower(d)) d -= 0x20; - switch (d) { /* Type is... */ + switch (d) { /* Atgument type is... */ case 'S' : /* String */ p = va_arg(arp, TCHAR*); for (j = 0; p[j]; j++) ; - chc = 0; - if (!(f & 2)) { - while (j++ < w) chc += (cc = f_putc(' ', fil)); + if (!(f & 2)) { /* Right padded */ + while (j++ < w) putc_bfd(&pb, ' ') ; } - chc += (cc = f_puts(p, fil)); - while (j++ < w) chc += (cc = f_putc(' ', fil)); - if (cc != EOF) cc = chc; + while (*p) putc_bfd(&pb, *p++) ; /* String body */ + while (j++ < w) putc_bfd(&pb, ' ') ; /* Left padded */ continue; + case 'C' : /* Character */ - cc = f_putc((TCHAR)va_arg(arp, int), fil); continue; - case 'B' : /* Binary */ + putc_bfd(&pb, (TCHAR)va_arg(arp, int)); continue; + + case 'B' : /* Unsigned binary */ r = 2; break; - case 'O' : /* Octal */ + + case 'O' : /* Unsigned octal */ r = 8; break; + case 'D' : /* Signed decimal */ case 'U' : /* Unsigned decimal */ r = 10; break; - case 'X' : /* Hexdecimal */ + + case 'X' : /* Unsigned hexdecimal */ r = 16; break; - default: /* Unknown type (passthrough) */ - cc = f_putc(c, fil); continue; + + default: /* Unknown type (pass-through) */ + putc_bfd(&pb, c); continue; } /* Get an argument and put it in numeral */ - v = (f & 4) ? (ULONG)va_arg(arp, long) : ((d == 'D') ? (ULONG)(long)va_arg(arp, int) : (ULONG)va_arg(arp, unsigned int)); + v = (f & 4) ? (DWORD)va_arg(arp, long) : ((d == 'D') ? (DWORD)(long)va_arg(arp, int) : (DWORD)va_arg(arp, unsigned int)); if (d == 'D' && (v & 0x80000000)) { v = 0 - v; f |= 8; @@ -4083,22 +6528,55 @@ int f_printf ( do { d = (TCHAR)(v % r); v /= r; if (d > 9) d += (c == 'x') ? 0x27 : 0x07; - s[i++] = d + '0'; - } while (v && i < sizeof(s) / sizeof(s[0])); - if (f & 8) s[i++] = '-'; + str[i++] = d + '0'; + } while (v && i < sizeof str / sizeof *str); + if (f & 8) str[i++] = '-'; j = i; d = (f & 1) ? '0' : ' '; - res = 0; - while (!(f & 2) && j++ < w) res += (cc = f_putc(d, fil)); - do res += (cc = f_putc(s[--i], fil)); while(i); - while (j++ < w) res += (cc = f_putc(' ', fil)); - if (cc != EOF) cc = res; + if (!(f & 2)) { + while (j++ < w) putc_bfd(&pb, d); /* Right pad */ + } + do { + putc_bfd(&pb, str[--i]); /* Number body */ + } while (i); + while (j++ < w) putc_bfd(&pb, d); /* Left pad */ } va_end(arp); - return (cc == EOF) ? cc : res; + + return putc_flush(&pb); } -#endif /* !_FS_READONLY */ -#endif /* _USE_STRFUNC */ +#endif /* !FF_FS_READONLY */ +#endif /* FF_USE_STRFUNC */ + + + +#if FF_CODE_PAGE == 0 +/*-----------------------------------------------------------------------*/ +/* Set Active Codepage for the Path Name */ +/*-----------------------------------------------------------------------*/ + +FRESULT f_setcp ( + WORD cp /* Value to be set as active code page */ +) +{ + static const WORD validcp[] = { 437, 720, 737, 771, 775, 850, 852, 857, 860, 861, 862, 863, 864, 865, 866, 869, 932, 936, 949, 950, 0}; + static const BYTE* const tables[] = {Ct437, Ct720, Ct737, Ct771, Ct775, Ct850, Ct852, Ct857, Ct860, Ct861, Ct862, Ct863, Ct864, Ct865, Ct866, Ct869, Dc932, Dc936, Dc949, Dc950, 0}; + UINT i; + + + for (i = 0; validcp[i] != 0 && validcp[i] != cp; i++) ; /* Find the code page */ + if (validcp[i] != cp) return FR_INVALID_PARAMETER; /* Not found? */ + + CodePage = cp; + if (cp >= 900) { /* DBCS */ + ExCvt = 0; + DbcTbl = tables[i]; + } else { /* SBCS */ + ExCvt = tables[i]; + DbcTbl = 0; + } + return FR_OK; +} +#endif /* FF_CODE_PAGE == 0 */ -//@} diff --git a/src/Libraries/Fatfs/ff.h b/src/Libraries/Fatfs/ff.h index 9e89aa4f..46e949b0 100644 --- a/src/Libraries/Fatfs/ff.h +++ b/src/Libraries/Fatfs/ff.h @@ -1,70 +1,101 @@ -/*---------------------------------------------------------------------------/ -/ FatFs - FAT file system module include file R0.09 (C)ChaN, 2011 -/----------------------------------------------------------------------------/ -/ FatFs module is a generic FAT file system module for small embedded systems. -/ This is a free software that opened for education, research and commercial -/ developments under license policy of following trems. +/*----------------------------------------------------------------------------/ +/ FatFs - Generic FAT Filesystem module R0.13c / +/-----------------------------------------------------------------------------/ / -/ Copyright (C) 2011, ChaN, all right reserved. +/ Copyright (C) 2018, ChaN, all right reserved. / -/ * The FatFs module is a free software and there is NO WARRANTY. -/ * No restriction on use. You can use, modify and redistribute it for -/ personal, non-profit or commercial product UNDER YOUR RESPONSIBILITY. -/ * Redistributions of source code must retain the above copyright notice. +/ FatFs module is an open source software. Redistribution and use of FatFs in +/ source and binary forms, with or without modification, are permitted provided +/ that the following condition is met: + +/ 1. Redistributions of source code must retain the above copyright notice, +/ this condition and the following disclaimer. +/ +/ This software is provided by the copyright holder and contributors "AS IS" +/ and any warranties related to this software are DISCLAIMED. +/ The copyright owner or contributors be NOT LIABLE for any damages caused +/ by use of this software. / /----------------------------------------------------------------------------*/ -#ifndef _FATFS -#define _FATFS 6502 /* Revision ID */ + +#ifndef FF_DEFINED +#define FF_DEFINED 86604 /* Revision ID */ #ifdef __cplusplus extern "C" { #endif -#include "integer.h" /* Basic integer types */ -#include "conf_fatfs.h" #include "ffconf.h" /* FatFs configuration options */ - -#if _FATFS != _FFCONF +#if FF_DEFINED != FFCONF_DEF #error Wrong configuration file (ffconf.h). #endif +/* Integer types used for FatFs API */ + +#if defined(_WIN32) /* Main development platform */ +#define FF_INTDEF 2 +#include <windows.h> +typedef unsigned __int64 QWORD; +#elif (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__cplusplus) /* C99 or later */ +#define FF_INTDEF 2 +#include <stdint.h> +typedef unsigned int UINT; /* int must be 16-bit or 32-bit */ +typedef unsigned char BYTE; /* char must be 8-bit */ +typedef uint16_t WORD; /* 16-bit unsigned integer */ +typedef uint16_t WCHAR; /* 16-bit unsigned integer */ +typedef uint32_t DWORD; /* 32-bit unsigned integer */ +typedef uint64_t QWORD; /* 64-bit unsigned integer */ +#else /* Earlier than C99 */ +#define FF_INTDEF 1 +typedef unsigned int UINT; /* int must be 16-bit or 32-bit */ +typedef unsigned char BYTE; /* char must be 8-bit */ +typedef unsigned short WORD; /* 16-bit unsigned integer */ +typedef unsigned short WCHAR; /* 16-bit unsigned integer */ +typedef unsigned long DWORD; /* 32-bit unsigned integer */ +#endif + /* Definitions of volume management */ -#if _MULTI_PARTITION /* Multiple partition configuration */ +#if FF_MULTI_PARTITION /* Multiple partition configuration */ typedef struct { BYTE pd; /* Physical drive number */ BYTE pt; /* Partition: 0:Auto detect, 1-4:Forced partition) */ } PARTITION; extern PARTITION VolToPart[]; /* Volume - Partition resolution table */ -#define LD2PD(vol) (VolToPart[vol].pd) /* Get physical drive number */ -#define LD2PT(vol) (VolToPart[vol].pt) /* Get partition index */ - -#else /* Single partition configuration */ -#define LD2PD(vol) (vol) /* Each logical drive is bound to the same physical drive number */ -#define LD2PT(vol) 0 /* Always mounts the 1st partition or in SFD */ +#endif +#if FF_STR_VOLUME_ID +#ifndef FF_VOLUME_STRS +extern const char* VolumeStr[FF_VOLUMES]; /* User defied volume ID */ +#endif #endif /* Type of path name strings on FatFs API */ -#if _LFN_UNICODE /* Unicode string */ -#if !_USE_LFN -#error _LFN_UNICODE must be 0 in non-LFN cfg. -#endif #ifndef _INC_TCHAR +#define _INC_TCHAR + +#if FF_USE_LFN && FF_LFN_UNICODE == 1 /* Unicode in UTF-16 encoding */ typedef WCHAR TCHAR; #define _T(x) L ## x #define _TEXT(x) L ## x -#endif - -#else /* ANSI/OEM string */ -#ifndef _INC_TCHAR +#elif FF_USE_LFN && FF_LFN_UNICODE == 2 /* Unicode in UTF-8 encoding */ +typedef char TCHAR; +#define _T(x) u8 ## x +#define _TEXT(x) u8 ## x +#elif FF_USE_LFN && FF_LFN_UNICODE == 3 /* Unicode in UTF-32 encoding */ +typedef DWORD TCHAR; +#define _T(x) U ## x +#define _TEXT(x) U ## x +#elif FF_USE_LFN && (FF_LFN_UNICODE < 0 || FF_LFN_UNICODE > 3) +#error Wrong FF_LFN_UNICODE setting +#else /* ANSI/OEM code in SBCS/DBCS */ typedef char TCHAR; #define _T(x) x #define _TEXT(x) x @@ -74,66 +105,110 @@ typedef char TCHAR; -/* File system object structure (FATFS) */ +/* Type of file size variables */ + +#if FF_FS_EXFAT +#if FF_INTDEF != 2 +#error exFAT feature wants C99 or later +#endif +typedef QWORD FSIZE_t; +#else +typedef DWORD FSIZE_t; +#endif + + + +/* Filesystem object structure (FATFS) */ typedef struct { - BYTE fs_type; /* FAT sub-type (0:Not mounted) */ - BYTE drv; /* Physical drive number */ - BYTE csize; /* Sectors per cluster (1,2,4...128) */ - BYTE n_fats; /* Number of FAT copies (1,2) */ - BYTE wflag; /* win[] dirty flag (1:must be written back) */ - BYTE fsi_flag; /* fsinfo dirty flag (1:must be written back) */ - WORD id; /* File system mount ID */ + BYTE fs_type; /* Filesystem type (0:not mounted) */ + BYTE pdrv; /* Associated physical drive */ + BYTE n_fats; /* Number of FATs (1 or 2) */ + BYTE wflag; /* win[] flag (b0:dirty) */ + BYTE fsi_flag; /* FSINFO flags (b7:disabled, b0:dirty) */ + WORD id; /* Volume mount ID */ WORD n_rootdir; /* Number of root directory entries (FAT12/16) */ -#if _MAX_SS != 512 - WORD ssize; /* Bytes per sector (512, 1024, 2048 or 4096) */ + WORD csize; /* Cluster size [sectors] */ +#if FF_MAX_SS != FF_MIN_SS + WORD ssize; /* Sector size (512, 1024, 2048 or 4096) */ #endif -#if _FS_REENTRANT - _SYNC_t sobj; /* Identifier of sync object */ +#if FF_USE_LFN + WCHAR* lfnbuf; /* LFN working buffer */ #endif -#if !_FS_READONLY - DWORD last_clust; /* Last allocated cluster */ - DWORD free_clust; /* Number of free clusters */ - DWORD fsi_sector; /* fsinfo sector (FAT32) */ +#if FF_FS_EXFAT + BYTE* dirbuf; /* Directory entry block scratchpad buffer for exFAT */ #endif -#if _FS_RPATH +#if FF_FS_REENTRANT + FF_SYNC_t sobj; /* Identifier of sync object */ +#endif +#if !FF_FS_READONLY + DWORD last_clst; /* Last allocated cluster */ + DWORD free_clst; /* Number of free clusters */ +#endif +#if FF_FS_RPATH DWORD cdir; /* Current directory start cluster (0:root) */ +#if FF_FS_EXFAT + DWORD cdc_scl; /* Containing directory start cluster (invalid when cdir is 0) */ + DWORD cdc_size; /* b31-b8:Size of containing directory, b7-b0: Chain status */ + DWORD cdc_ofs; /* Offset in the containing directory (invalid when cdir is 0) */ +#endif +#endif + DWORD n_fatent; /* Number of FAT entries (number of clusters + 2) */ + DWORD fsize; /* Size of an FAT [sectors] */ + DWORD volbase; /* Volume base sector */ + DWORD fatbase; /* FAT base sector */ + DWORD dirbase; /* Root directory base sector/cluster */ + DWORD database; /* Data base sector */ +#if FF_FS_EXFAT + DWORD bitbase; /* Allocation bitmap base sector */ #endif - DWORD n_fatent; /* Number of FAT entries (= number of clusters + 2) */ - DWORD fsize; /* Sectors per FAT */ - DWORD fatbase; /* FAT start sector */ - DWORD dirbase; /* Root directory start sector (FAT32:Cluster#) */ - DWORD database; /* Data start sector */ DWORD winsect; /* Current sector appearing in the win[] */ - BYTE win[_MAX_SS]; /* Disk access window for Directory, FAT (and Data on tiny cfg) */ + BYTE win[FF_MAX_SS]; /* Disk access window for Directory, FAT (and file data at tiny cfg) */ } FATFS; +/* Object ID and allocation information (FFOBJID) */ + +typedef struct { + FATFS* fs; /* Pointer to the hosting volume of this object */ + WORD id; /* Hosting volume mount ID */ + BYTE attr; /* Object attribute */ + BYTE stat; /* Object chain status (b1-0: =0:not contiguous, =2:contiguous, =3:fragmented in this session, b2:sub-directory stretched) */ + DWORD sclust; /* Object data start cluster (0:no cluster or root directory) */ + FSIZE_t objsize; /* Object size (valid when sclust != 0) */ +#if FF_FS_EXFAT + DWORD n_cont; /* Size of first fragment - 1 (valid when stat == 3) */ + DWORD n_frag; /* Size of last fragment needs to be written to FAT (valid when not zero) */ + DWORD c_scl; /* Containing directory start cluster (valid when sclust != 0) */ + DWORD c_size; /* b31-b8:Size of containing directory, b7-b0: Chain status (valid when c_scl != 0) */ + DWORD c_ofs; /* Offset in the containing directory (valid when file object and sclust != 0) */ +#endif +#if FF_FS_LOCK + UINT lockid; /* File lock ID origin from 1 (index of file semaphore table Files[]) */ +#endif +} FFOBJID; + + + /* File object structure (FIL) */ typedef struct { - FATFS* fs; /* Pointer to the owner file system object */ - WORD id; /* Owner file system mount ID */ + FFOBJID obj; /* Object identifier (must be the 1st member to detect invalid object pointer) */ BYTE flag; /* File status flags */ - BYTE pad1; - DWORD fptr; /* File read/write pointer (0 on file open) */ - DWORD fsize; /* File size */ - DWORD sclust; /* File start cluster (0 when fsize==0) */ - DWORD clust; /* Current cluster */ - DWORD dsect; /* Current data sector */ -#if !_FS_READONLY - DWORD dir_sect; /* Sector containing the directory entry */ - BYTE* dir_ptr; /* Pointer to the directory entry in the window */ -#endif -#if _USE_FASTSEEK - DWORD* cltbl; /* Pointer to the cluster link map table (null on file open) */ + BYTE err; /* Abort flag (error code) */ + FSIZE_t fptr; /* File read/write pointer (Zeroed on file open) */ + DWORD clust; /* Current cluster of fpter (invalid when fptr is 0) */ + DWORD sect; /* Sector number appearing in buf[] (0:invalid) */ +#if !FF_FS_READONLY + DWORD dir_sect; /* Sector number containing the directory entry (not used at exFAT) */ + BYTE* dir_ptr; /* Pointer to the directory entry in the win[] (not used at exFAT) */ #endif -#if _FS_SHARE - UINT lockid; /* File lock ID (index of file semaphore table) */ +#if FF_USE_FASTSEEK + DWORD* cltbl; /* Pointer to the cluster link map table (nulled on open, set by application) */ #endif -#if !_FS_TINY - BYTE buf[_MAX_SS]; /* File data read/write buffer */ +#if !FF_FS_TINY + BYTE buf[FF_MAX_SS]; /* File private data read/write window */ #endif } FIL; @@ -142,33 +217,34 @@ typedef struct { /* Directory object structure (DIR) */ typedef struct { - FATFS* fs; /* Pointer to the owner file system object */ - WORD id; /* Owner file system mount ID */ - WORD index; /* Current read/write index number */ - DWORD sclust; /* Table start cluster (0:Root dir) */ + FFOBJID obj; /* Object identifier */ + DWORD dptr; /* Current read/write offset */ DWORD clust; /* Current cluster */ - DWORD sect; /* Current sector */ - BYTE* dir; /* Pointer to the current SFN entry in the win[] */ - BYTE* fn; /* Pointer to the SFN (in/out) {file[8],ext[3],status[1]} */ -#if _USE_LFN - WCHAR* lfn; /* Pointer to the LFN working buffer */ - WORD lfn_idx; /* Last matched LFN index number (0xFFFF:No LFN) */ + DWORD sect; /* Current sector (0:Read operation has terminated) */ + BYTE* dir; /* Pointer to the directory item in the win[] */ + BYTE fn[12]; /* SFN (in/out) {body[8],ext[3],status[1]} */ +#if FF_USE_LFN + DWORD blk_ofs; /* Offset of current entry block being processed (0xFFFFFFFF:Invalid) */ +#endif +#if FF_USE_FIND + const TCHAR* pat; /* Pointer to the name matching pattern */ #endif } DIR; -/* File status structure (FILINFO) */ +/* File information structure (FILINFO) */ typedef struct { - DWORD fsize; /* File size */ - WORD fdate; /* Last modified date */ - WORD ftime; /* Last modified time */ - BYTE fattrib; /* Attribute */ - TCHAR fname[13]; /* Short file name (8.3 format) */ -#if _USE_LFN - TCHAR* lfname; /* Pointer to the LFN buffer */ - UINT lfsize; /* Size of LFN buffer in TCHAR */ + FSIZE_t fsize; /* File size */ + WORD fdate; /* Modified date */ + WORD ftime; /* Modified time */ + BYTE fattrib; /* File attribute */ +#if FF_USE_LFN + TCHAR altname[FF_SFN_BUF + 1];/* Altenative file name */ + TCHAR fname[FF_LFN_BUF + 1]; /* Primary file name */ +#else + TCHAR fname[12 + 1]; /* File name */ #endif } FILINFO; @@ -191,11 +267,11 @@ typedef enum { FR_INVALID_DRIVE, /* (11) The logical drive number is invalid */ FR_NOT_ENABLED, /* (12) The volume has no work area */ FR_NO_FILESYSTEM, /* (13) There is no valid FAT volume */ - FR_MKFS_ABORTED, /* (14) The f_mkfs() aborted due to any parameter error */ + FR_MKFS_ABORTED, /* (14) The f_mkfs() aborted due to any problem */ FR_TIMEOUT, /* (15) Could not get a grant to access the volume within defined period */ FR_LOCKED, /* (16) The operation is rejected according to the file sharing policy */ FR_NOT_ENOUGH_CORE, /* (17) LFN working buffer could not be allocated */ - FR_TOO_MANY_OPEN_FILES, /* (18) Number of open files > _FS_SHARE */ + FR_TOO_MANY_OPEN_FILES, /* (18) Number of open files > FF_FS_LOCK */ FR_INVALID_PARAMETER /* (19) Given parameter is invalid */ } FRESULT; @@ -204,38 +280,61 @@ typedef enum { /*--------------------------------------------------------------*/ /* FatFs module application interface */ -FRESULT f_mount (BYTE, FATFS*); /* Mount/Unmount a logical drive */ -FRESULT f_open (FIL*, const TCHAR*, BYTE); /* Open or create a file */ -FRESULT f_read (FIL*, void*, UINT, UINT*); /* Read data from a file */ -FRESULT f_lseek (FIL*, DWORD); /* Move file pointer of a file object */ -FRESULT f_close (FIL*); /* Close an open file object */ -FRESULT f_opendir (DIR*, const TCHAR*); /* Open an existing directory */ -FRESULT f_readdir (DIR*, FILINFO*); /* Read a directory item */ -FRESULT f_stat (const TCHAR*, FILINFO*); /* Get file status */ -FRESULT f_write (FIL*, const void*, UINT, UINT*); /* Write data to a file */ -FRESULT f_getfree (const TCHAR*, DWORD*, FATFS**); /* Get number of free clusters on the drive */ -FRESULT f_truncate (FIL*); /* Truncate file */ -FRESULT f_sync (FIL*); /* Flush cached data of a writing file */ -FRESULT f_unlink (const TCHAR*); /* Delete an existing file or directory */ -FRESULT f_mkdir (const TCHAR*); /* Create a new directory */ -FRESULT f_chmod (const TCHAR*, BYTE, BYTE); /* Change attribute of the file/dir */ -FRESULT f_utime (const TCHAR*, const FILINFO*); /* Change timestamp of the file/dir */ -FRESULT f_rename (const TCHAR*, const TCHAR*); /* Rename/Move a file or directory */ -FRESULT f_chdrive (BYTE); /* Change current drive */ -FRESULT f_chdir (const TCHAR*); /* Change current directory */ -FRESULT f_getcwd (TCHAR*, UINT); /* Get current directory */ -FRESULT f_forward (FIL*, UINT(*)(const BYTE*,UINT), UINT, UINT*); /* Forward data to the stream */ -FRESULT f_mkfs (BYTE, BYTE, UINT); /* Create a file system on the drive */ -FRESULT f_fdisk (BYTE, const DWORD[], void*); /* Divide a physical drive into some partitions */ -int f_putc (TCHAR, FIL*); /* Put a character to the file */ -int f_puts (const TCHAR*, FIL*); /* Put a string to the file */ -int f_printf (FIL*, const TCHAR*, ...); /* Put a formatted string to the file */ -TCHAR* f_gets (TCHAR*, int, FIL*); /* Get a string from the file */ - -#define f_eof(fp) (((fp)->fptr == (fp)->fsize) ? 1 : 0) -#define f_error(fp) (((fp)->flag & FA__ERROR) ? 1 : 0) +FRESULT f_open (FIL* fp, const TCHAR* path, BYTE mode); /* Open or create a file */ +FRESULT f_close (FIL* fp); /* Close an open file object */ +FRESULT f_read (FIL* fp, void* buff, UINT btr, UINT* br); /* Read data from the file */ +FRESULT f_write (FIL* fp, const void* buff, UINT btw, UINT* bw); /* Write data to the file */ +FRESULT f_lseek (FIL* fp, FSIZE_t ofs); /* Move file pointer of the file object */ +FRESULT f_truncate (FIL* fp); /* Truncate the file */ +FRESULT f_sync (FIL* fp); /* Flush cached data of the writing file */ +FRESULT f_opendir (DIR* dp, const TCHAR* path); /* Open a directory */ +FRESULT f_closedir (DIR* dp); /* Close an open directory */ +FRESULT f_readdir (DIR* dp, FILINFO* fno); /* Read a directory item */ +FRESULT f_findfirst (DIR* dp, FILINFO* fno, const TCHAR* path, const TCHAR* pattern); /* Find first file */ +FRESULT f_findnext (DIR* dp, FILINFO* fno); /* Find next file */ +FRESULT f_mkdir (const TCHAR* path); /* Create a sub directory */ +FRESULT f_unlink (const TCHAR* path); /* Delete an existing file or directory */ +FRESULT f_rename (const TCHAR* path_old, const TCHAR* path_new); /* Rename/Move a file or directory */ +FRESULT f_stat (const TCHAR* path, FILINFO* fno); /* Get file status */ +FRESULT f_chmod (const TCHAR* path, BYTE attr, BYTE mask); /* Change attribute of a file/dir */ +FRESULT f_utime (const TCHAR* path, const FILINFO* fno); /* Change timestamp of a file/dir */ +FRESULT f_chdir (const TCHAR* path); /* Change current directory */ +FRESULT f_chdrive (const TCHAR* path); /* Change current drive */ +FRESULT f_getcwd (TCHAR* buff, UINT len); /* Get current directory */ +FRESULT f_getfree (const TCHAR* path, DWORD* nclst, FATFS** fatfs); /* Get number of free clusters on the drive */ +FRESULT f_getlabel (const TCHAR* path, TCHAR* label, DWORD* vsn); /* Get volume label */ +FRESULT f_setlabel (const TCHAR* label); /* Set volume label */ +FRESULT f_forward (FIL* fp, UINT(*func)(const BYTE*,UINT), UINT btf, UINT* bf); /* Forward data to the stream */ +FRESULT f_expand (FIL* fp, FSIZE_t szf, BYTE opt); /* Allocate a contiguous block to the file */ +FRESULT f_mount (FATFS* fs, const TCHAR* path, BYTE opt); /* Mount/Unmount a logical drive */ +FRESULT f_mkfs (const TCHAR* path, BYTE opt, DWORD au, void* work, UINT len); /* Create a FAT volume */ +FRESULT f_fdisk (BYTE pdrv, const DWORD* szt, void* work); /* Divide a physical drive into some partitions */ +FRESULT f_setcp (WORD cp); /* Set current code page */ +int f_putc (TCHAR c, FIL* fp); /* Put a character to the file */ +int f_puts (const TCHAR* str, FIL* cp); /* Put a string to the file */ +int f_printf (FIL* fp, const TCHAR* str, ...); /* Put a formatted string to the file */ +TCHAR* f_gets (TCHAR* buff, int len, FIL* fp); /* Get a string from the file */ + +#define f_eof(fp) ((int)((fp)->fptr == (fp)->obj.objsize)) +#define f_error(fp) ((fp)->err) #define f_tell(fp) ((fp)->fptr) -#define f_size(fp) ((fp)->fsize) + +#if 1 //dc42 + +// The objsize field is only valid when the sclust field is nonzero +static inline FSIZE_t f_size(const FIL *fp) +{ + return (fp->obj.sclust == 0) ? 0 : fp->obj.objsize; +} + +#else +#define f_size(fp) ((fp)->obj.objsize) +#endif + +#define f_rewind(fp) f_lseek((fp), 0) +#define f_rewinddir(dp) f_readdir((dp), 0) +#define f_rmdir(path) f_unlink(path) +#define f_unmount(path) f_mount(0, path, 0) #ifndef EOF #define EOF (-1) @@ -248,26 +347,27 @@ TCHAR* f_gets (TCHAR*, int, FIL*); /* Get a string from the file */ /* Additional user defined functions */ /* RTC function */ -#if !_FS_READONLY +#if !FF_FS_READONLY && !FF_FS_NORTC DWORD get_fattime (void); #endif -/* Unicode support functions */ -#if _USE_LFN /* Unicode - OEM code conversion */ -WCHAR ff_convert (WCHAR, UINT); /* OEM-Unicode bidirectional conversion */ -WCHAR ff_wtoupper (WCHAR); /* Unicode upper-case conversion */ -#if _USE_LFN == 3 /* Memory functions */ -void* ff_memalloc (UINT); /* Allocate memory block */ -void ff_memfree (void*); /* Free memory block */ +/* LFN support functions */ +#if FF_USE_LFN >= 1 /* Code conversion (defined in unicode.c) */ +WCHAR ff_oem2uni (WCHAR oem, WORD cp); /* OEM code to Unicode conversion */ +WCHAR ff_uni2oem (DWORD uni, WORD cp); /* Unicode to OEM code conversion */ +DWORD ff_wtoupper (DWORD uni); /* Unicode upper-case conversion */ #endif +#if FF_USE_LFN == 3 /* Dynamic memory allocation */ +void* ff_memalloc (UINT msize); /* Allocate memory block */ +void ff_memfree (void* mblock); /* Free memory block */ #endif /* Sync functions */ -#if _FS_REENTRANT -int ff_cre_syncobj (BYTE, _SYNC_t*);/* Create a sync object */ -int ff_req_grant (_SYNC_t); /* Lock sync object */ -void ff_rel_grant (_SYNC_t); /* Unlock sync object */ -int ff_del_syncobj (_SYNC_t); /* Delete a sync object */ +#if FF_FS_REENTRANT +int ff_cre_syncobj (BYTE vol, FF_SYNC_t* sobj); /* Create a sync object */ +int ff_req_grant (FF_SYNC_t sobj); /* Lock sync object */ +void ff_rel_grant (FF_SYNC_t sobj); /* Unlock sync object */ +int ff_del_syncobj (FF_SYNC_t sobj); /* Delete a sync object */ #endif @@ -277,63 +377,41 @@ int ff_del_syncobj (_SYNC_t); /* Delete a sync object */ /* Flags and offset address */ -/* File access control and file status flags (FIL.flag) */ - +/* File access mode and open method flags (3rd argument of f_open) */ #define FA_READ 0x01 -#define FA_OPEN_EXISTING 0x00 -#define FA__ERROR 0x80 - -#if !_FS_READONLY #define FA_WRITE 0x02 +#define FA_OPEN_EXISTING 0x00 #define FA_CREATE_NEW 0x04 #define FA_CREATE_ALWAYS 0x08 #define FA_OPEN_ALWAYS 0x10 -#define FA__WRITTEN 0x20 -#define FA__DIRTY 0x40 -#endif +#define FA_OPEN_APPEND 0x30 +/* Fast seek controls (2nd argument of f_lseek) */ +#define CREATE_LINKMAP ((FSIZE_t)0 - 1) -/* FAT sub type (FATFS.fs_type) */ +/* Format options (2nd argument of f_mkfs) */ +#define FM_FAT 0x01 +#define FM_FAT32 0x02 +#define FM_EXFAT 0x04 +#define FM_ANY 0x07 +#define FM_SFD 0x08 +/* Filesystem type (FATFS.fs_type) */ #define FS_FAT12 1 #define FS_FAT16 2 #define FS_FAT32 3 +#define FS_EXFAT 4 - -/* File attribute bits for directory entry */ - +/* File attribute bits for directory entry (FILINFO.fattrib) */ #define AM_RDO 0x01 /* Read only */ #define AM_HID 0x02 /* Hidden */ #define AM_SYS 0x04 /* System */ -#define AM_VOL 0x08 /* Volume label */ -#define AM_LFN 0x0F /* LFN entry */ #define AM_DIR 0x10 /* Directory */ #define AM_ARC 0x20 /* Archive */ -#define AM_MASK 0x3F /* Mask of defined bits */ -/* Fast seek feature */ -#define CREATE_LINKMAP 0xFFFFFFFF - - - -/*--------------------------------*/ -/* Multi-byte word access macros */ - -#if _WORD_ACCESS == 1 /* Enable word access to the FAT structure */ -#define LD_WORD(ptr) (WORD)(*(WORD*)(BYTE*)(ptr)) -#define LD_DWORD(ptr) (DWORD)(*(DWORD*)(BYTE*)(ptr)) -#define ST_WORD(ptr,val) *(WORD*)(BYTE*)(ptr)=(WORD)(val) -#define ST_DWORD(ptr,val) *(DWORD*)(BYTE*)(ptr)=(DWORD)(val) -#else /* Use byte-by-byte access to the FAT structure */ -#define LD_WORD(ptr) (WORD)(((WORD)*((BYTE*)(ptr)+1)<<8)|(WORD)*(BYTE*)(ptr)) -#define LD_DWORD(ptr) (DWORD)(((DWORD)*((BYTE*)(ptr)+3)<<24)|((DWORD)*((BYTE*)(ptr)+2)<<16)|((WORD)*((BYTE*)(ptr)+1)<<8)|*(BYTE*)(ptr)) -#define ST_WORD(ptr,val) *(BYTE*)(ptr)=(BYTE)(val); *((BYTE*)(ptr)+1)=(BYTE)((WORD)(val)>>8) -#define ST_DWORD(ptr,val) *(BYTE*)(ptr)=(BYTE)(val); *((BYTE*)(ptr)+1)=(BYTE)((WORD)(val)>>8); *((BYTE*)(ptr)+2)=(BYTE)((DWORD)(val)>>16); *((BYTE*)(ptr)+3)=(BYTE)((DWORD)(val)>>24) -#endif - #ifdef __cplusplus } #endif -#endif /* _FATFS */ +#endif /* FF_DEFINED */ diff --git a/src/Libraries/Fatfs/ffconf.h b/src/Libraries/Fatfs/ffconf.h index 5dcd900a..6698d92f 100644 --- a/src/Libraries/Fatfs/ffconf.h +++ b/src/Libraries/Fatfs/ffconf.h @@ -1,192 +1,303 @@ /*---------------------------------------------------------------------------/ -/ FatFs - FAT file system module configuration file R0.09 (C)ChaN, 2011 -/----------------------------------------------------------------------------/ -/ -/ CAUTION! Do not forget to make clean the project after any changes to -/ the configuration options. -/ -/----------------------------------------------------------------------------*/ -#include "conf_fatfs.h" - -#ifndef _FFCONF -#define _FFCONF 6502 /* Revision ID */ +/ FatFs Functional Configurations +/---------------------------------------------------------------------------*/ +#define FFCONF_DEF 86604 /* Revision ID */ /*---------------------------------------------------------------------------/ -/ Functions and Buffer Configurations -/----------------------------------------------------------------------------*/ +/ Function Configurations +/---------------------------------------------------------------------------*/ -#define _FS_TINY 0 /* 0:Normal or 1:Tiny */ -/* When _FS_TINY is set to 1, FatFs uses the sector buffer in the file system -/ object instead of the sector buffer in the individual file object for file -/ data transfer. This reduces memory consumption 512 bytes each file object. */ +#define FF_FS_READONLY 0 +/* This option switches read-only configuration. (0:Read/Write or 1:Read-only) +/ Read-only configuration removes writing API functions, f_write(), f_sync(), +/ f_unlink(), f_mkdir(), f_chmod(), f_rename(), f_truncate(), f_getfree() +/ and optional writing functions as well. */ -#define _FS_READONLY 0 /* 0:Read/Write or 1:Read only */ -/* Setting _FS_READONLY to 1 defines read only configuration. This removes -/ writing functions, f_write, f_sync, f_unlink, f_mkdir, f_chmod, f_rename, -/ f_truncate and useless f_getfree. */ +#define FF_FS_MINIMIZE 0 +/* This option defines minimization level to remove some basic API functions. +/ +/ 0: Basic functions are fully enabled. +/ 1: f_stat(), f_getfree(), f_unlink(), f_mkdir(), f_truncate() and f_rename() +/ are removed. +/ 2: f_opendir(), f_readdir() and f_closedir() are removed in addition to 1. +/ 3: f_lseek() function is removed in addition to 2. */ -#define _FS_MINIMIZE 0 /* 0 to 3 */ -/* The _FS_MINIMIZE option defines minimization level to remove some functions. +#define FF_USE_STRFUNC 0 +/* This option switches string functions, f_gets(), f_putc(), f_puts() and f_printf(). / -/ 0: Full function. -/ 1: f_stat, f_getfree, f_unlink, f_mkdir, f_chmod, f_truncate and f_rename -/ are removed. -/ 2: f_opendir and f_readdir are removed in addition to 1. -/ 3: f_lseek is removed in addition to 2. */ +/ 0: Disable string functions. +/ 1: Enable without LF-CRLF conversion. +/ 2: Enable with LF-CRLF conversion. */ + + +#define FF_USE_FIND 0 +/* This option switches filtered directory read functions, f_findfirst() and +/ f_findnext(). (0:Disable, 1:Enable 2:Enable with matching altname[] too) */ -#define _USE_STRFUNC 0 /* 0:Disable or 1-2:Enable */ -/* To enable string functions, set _USE_STRFUNC to 1 or 2. */ +#define FF_USE_MKFS 0 +/* This option switches f_mkfs() function. (0:Disable or 1:Enable) */ -#define _USE_MKFS 0 /* 0:Disable or 1:Enable */ -/* To enable f_mkfs function, set _USE_MKFS to 1 and set _FS_READONLY to 0 */ +#define FF_USE_FASTSEEK 0 +/* This option switches fast seek function. (0:Disable or 1:Enable) */ -#define _USE_FORWARD 0 /* 0:Disable or 1:Enable */ -/* To enable f_forward function, set _USE_FORWARD to 1 and set _FS_TINY to 1. */ +#define FF_USE_EXPAND 1 +/* This option switches f_expand function. (0:Disable or 1:Enable) */ -#define _USE_FASTSEEK 0 /* 0:Disable or 1:Enable */ -/* To enable fast seek feature, set _USE_FASTSEEK to 1. */ +#define FF_USE_CHMOD 1 +/* This option switches attribute manipulation functions, f_chmod() and f_utime(). +/ (0:Disable or 1:Enable) Also FF_FS_READONLY needs to be 0 to enable this option. */ +#define FF_USE_LABEL 0 +/* This option switches volume label functions, f_getlabel() and f_setlabel(). +/ (0:Disable or 1:Enable) */ + + +#define FF_USE_FORWARD 0 +/* This option switches f_forward() function. (0:Disable or 1:Enable) */ + /*---------------------------------------------------------------------------/ / Locale and Namespace Configurations -/----------------------------------------------------------------------------*/ +/---------------------------------------------------------------------------*/ -#define _CODE_PAGE 437 -/* The _CODE_PAGE specifies the OEM code page to be used on the target system. -/ Incorrect setting of the code page can cause a file open failure. +#define FF_CODE_PAGE 850 +/* This option specifies the OEM code page to be used on the target system. +/ Incorrect code page setting can cause a file open failure. / -/ 932 - Japanese Shift-JIS (DBCS, OEM, Windows) -/ 936 - Simplified Chinese GBK (DBCS, OEM, Windows) -/ 949 - Korean (DBCS, OEM, Windows) -/ 950 - Traditional Chinese Big5 (DBCS, OEM, Windows) -/ 1250 - Central Europe (Windows) -/ 1251 - Cyrillic (Windows) -/ 1252 - Latin 1 (Windows) -/ 1253 - Greek (Windows) -/ 1254 - Turkish (Windows) -/ 1255 - Hebrew (Windows) -/ 1256 - Arabic (Windows) -/ 1257 - Baltic (Windows) -/ 1258 - Vietnam (OEM, Windows) -/ 437 - U.S. (OEM) -/ 720 - Arabic (OEM) -/ 737 - Greek (OEM) -/ 775 - Baltic (OEM) -/ 850 - Multilingual Latin 1 (OEM) -/ 858 - Multilingual Latin 1 + Euro (OEM) -/ 852 - Latin 2 (OEM) -/ 855 - Cyrillic (OEM) -/ 866 - Russian (OEM) -/ 857 - Turkish (OEM) -/ 862 - Hebrew (OEM) -/ 874 - Thai (OEM, Windows) -/ 1 - ASCII only (Valid for non LFN cfg.) +/ 437 - U.S. +/ 720 - Arabic +/ 737 - Greek +/ 771 - KBL +/ 775 - Baltic +/ 850 - Latin 1 +/ 852 - Latin 2 +/ 855 - Cyrillic +/ 857 - Turkish +/ 860 - Portuguese +/ 861 - Icelandic +/ 862 - Hebrew +/ 863 - Canadian French +/ 864 - Arabic +/ 865 - Nordic +/ 866 - Russian +/ 869 - Greek 2 +/ 932 - Japanese (DBCS) +/ 936 - Simplified Chinese (DBCS) +/ 949 - Korean (DBCS) +/ 950 - Traditional Chinese (DBCS) +/ 0 - Include all code pages above and configured by f_setcp() */ -#define _USE_LFN 0 /* 0 to 3 */ -#define _MAX_LFN 255 /* Maximum LFN length to handle (12 to 255) */ -/* The _USE_LFN option switches the LFN support. +#define FF_USE_LFN 2 +#define FF_MAX_LFN 120 // this should be >= MaxFilenameLength in Configuration.h. Higher values use more stack space, so don't make it too large. +/* The FF_USE_LFN switches the support for LFN (long file name). / -/ 0: Disable LFN feature. _MAX_LFN and _LFN_UNICODE have no effect. -/ 1: Enable LFN with static working buffer on the BSS. Always NOT reentrant. +/ 0: Disable LFN. FF_MAX_LFN has no effect. +/ 1: Enable LFN with static working buffer on the BSS. Always NOT thread-safe. / 2: Enable LFN with dynamic working buffer on the STACK. / 3: Enable LFN with dynamic working buffer on the HEAP. / -/ The LFN working buffer occupies (_MAX_LFN + 1) * 2 bytes. To enable LFN, -/ Unicode handling functions ff_convert() and ff_wtoupper() must be added -/ to the project. When enable to use heap, memory control functions -/ ff_memalloc() and ff_memfree() must be added to the project. */ +/ To enable the LFN, ffunicode.c needs to be added to the project. The LFN function +/ requiers certain internal working buffer occupies (FF_MAX_LFN + 1) * 2 bytes and +/ additional (FF_MAX_LFN + 44) / 15 * 32 bytes when exFAT is enabled. +/ The FF_MAX_LFN defines size of the working buffer in UTF-16 code unit and it can +/ be in range of 12 to 255. It is recommended to be set 255 to fully support LFN +/ specification. +/ When use stack for the working buffer, take care on stack overflow. When use heap +/ memory for the working buffer, memory management functions, ff_memalloc() and +/ ff_memfree() in ffsystem.c, need to be added to the project. */ + + +#define FF_LFN_UNICODE 2 +/* This option switches the character encoding on the API when LFN is enabled. +/ +/ 0: ANSI/OEM in current CP (TCHAR = char) +/ 1: Unicode in UTF-16 (TCHAR = WCHAR) +/ 2: Unicode in UTF-8 (TCHAR = char) +/ 3: Unicode in UTF-32 (TCHAR = DWORD) +/ +/ Also behavior of string I/O functions will be affected by this option. +/ When LFN is not enabled, this option has no effect. */ -#define _LFN_UNICODE 0 /* 0:ANSI/OEM or 1:Unicode */ -/* To switch the character code set on FatFs API to Unicode, -/ enable LFN feature and set _LFN_UNICODE to 1. */ +#define FF_LFN_BUF FF_MAX_LFN +#define FF_SFN_BUF 12 +/* This set of options defines size of file name members in the FILINFO structure +/ which is used to read out directory items. These values should be suffcient for +/ the file names to read. The maximum possible length of the read file name depends +/ on character encoding. When LFN is not enabled, these options have no effect. */ -#define _FS_RPATH 0 /* 0 to 2 */ -/* The _FS_RPATH option configures relative path feature. -/ -/ 0: Disable relative path feature and remove related functions. -/ 1: Enable relative path. f_chdrive() and f_chdir() are available. -/ 2: f_getcwd() is available in addition to 1. +#define FF_STRF_ENCODE 3 +/* When FF_LFN_UNICODE >= 1 with LFN enabled, string I/O functions, f_gets(), +/ f_putc(), f_puts and f_printf() convert the character encoding in it. +/ This option selects assumption of character encoding ON THE FILE to be +/ read/written via those functions. / -/ Note that output of the f_readdir fnction is affected by this option. */ +/ 0: ANSI/OEM in current CP +/ 1: Unicode in UTF-16LE +/ 2: Unicode in UTF-16BE +/ 3: Unicode in UTF-8 +*/ +#define FF_FS_RPATH 0 +/* This option configures support for relative path. +/ +/ 0: Disable relative path and remove related functions. +/ 1: Enable relative path. f_chdir() and f_chdrive() are available. +/ 2: f_getcwd() function is available in addition to 1. +*/ + /*---------------------------------------------------------------------------/ -/ Physical Drive Configurations -/----------------------------------------------------------------------------*/ +/ Drive/Volume Configurations +/---------------------------------------------------------------------------*/ + +#define FF_VOLUMES 2 +/* Number of volumes (logical drives) to be used. (1-10) */ + + +#define FF_STR_VOLUME_ID 0 +#define FF_VOLUME_STRS "RAM","NAND","CF","SD","SD2","USB","USB2","USB3" +/* FF_STR_VOLUME_ID switches support for volume ID in arbitrary strings. +/ When FF_STR_VOLUME_ID is set to 1 or 2, arbitrary strings can be used as drive +/ number in the path name. FF_VOLUME_STRS defines the volume ID strings for each +/ logical drives. Number of items must not be less than FF_VOLUMES. Valid +/ characters for the volume ID strings are A-Z, a-z and 0-9, however, they are +/ compared in case-insensitive. If FF_STR_VOLUME_ID >= 1 and FF_VOLUME_STRS is +/ not defined, a user defined volume string table needs to be defined as: +/ +/ const char* VolumeStr[FF_VOLUMES] = {"ram","flash","sd","usb",... +*/ + -#define _VOLUMES 1 -/* Number of volumes (logical drives) to be used. */ +#define FF_MULTI_PARTITION 0 +/* This option switches support for multiple volumes on the physical drive. +/ By default (0), each logical drive number is bound to the same physical drive +/ number and only an FAT volume found on the physical drive will be mounted. +/ When this function is enabled (1), each logical drive number can be bound to +/ arbitrary physical drive and partition listed in the VolToPart[]. Also f_fdisk() +/ funciton will be available. */ -#define _MAX_SS 512 /* 512, 1024, 2048 or 4096 */ -/* Maximum sector size to be handled. -/ Always set 512 for memory card and hard disk but a larger value may be -/ required for on-board flash memory, floppy disk and optical disk. -/ When _MAX_SS is larger than 512, it configures FatFs to variable sector size -/ and GET_SECTOR_SIZE command must be implemented to the disk_ioctl function. */ +#define FF_MIN_SS 512 +#define FF_MAX_SS 512 +/* This set of options configures the range of sector size to be supported. (512, +/ 1024, 2048 or 4096) Always set both 512 for most systems, generic memory card and +/ harddisk. But a larger value may be required for on-board flash memory and some +/ type of optical media. When FF_MAX_SS is larger than FF_MIN_SS, FatFs is configured +/ for variable sector size mode and disk_ioctl() function needs to implement +/ GET_SECTOR_SIZE command. */ -#define _MULTI_PARTITION 0 /* 0:Single partition, 1/2:Enable multiple partition */ -/* When set to 0, each volume is bound to the same physical drive number and -/ it can mount only first primaly partition. When it is set to 1, each volume -/ is tied to the partitions listed in VolToPart[]. */ +#define FF_USE_TRIM 0 +/* This option switches support for ATA-TRIM. (0:Disable or 1:Enable) +/ To enable Trim function, also CTRL_TRIM command should be implemented to the +/ disk_ioctl() function. */ -#define _USE_ERASE 0 /* 0:Disable or 1:Enable */ -/* To enable sector erase feature, set _USE_ERASE to 1. CTRL_ERASE_SECTOR command -/ should be added to the disk_ioctl function. */ +#define FF_FS_NOFSINFO 0 +/* If you need to know correct free space on the FAT32 volume, set bit 0 of this +/ option, and f_getfree() function at first time after volume mount will force +/ a full FAT scan. Bit 1 controls the use of last allocated cluster number. +/ +/ bit0=0: Use free cluster count in the FSINFO if available. +/ bit0=1: Do not trust free cluster count in the FSINFO. +/ bit1=0: Use last allocated cluster number in the FSINFO if available. +/ bit1=1: Do not trust last allocated cluster number in the FSINFO. +*/ /*---------------------------------------------------------------------------/ / System Configurations -/----------------------------------------------------------------------------*/ - -#define _WORD_ACCESS 0 /* 0 or 1 */ -/* Set 0 first and it is always compatible with all platforms. The _WORD_ACCESS -/ option defines which access method is used to the word data on the FAT volume. -/ -/ 0: Byte-by-byte access. -/ 1: Word access. Do not choose this unless following condition is met. +/---------------------------------------------------------------------------*/ + +#define FF_FS_TINY 1 +/* This option switches tiny buffer configuration. (0:Normal or 1:Tiny) +/ At the tiny configuration, size of file object (FIL) is shrinked FF_MAX_SS bytes. +/ Instead of private sector buffer eliminated from the file object, common sector +/ buffer in the filesystem object (FATFS) is used for the file data transfer. */ + + +#define FF_FS_EXFAT 0 +/* This option switches support for exFAT filesystem. (0:Disable or 1:Enable) +/ To enable exFAT, also LFN needs to be enabled. (FF_USE_LFN >= 1) +/ Note that enabling exFAT discards ANSI C (C89) compatibility. */ + + +#define FF_FS_NORTC 0 +#define FF_NORTC_MON 1 +#define FF_NORTC_MDAY 1 +#define FF_NORTC_YEAR 2018 +/* The option FF_FS_NORTC switches timestamp functiton. If the system does not have +/ any RTC function or valid timestamp is not needed, set FF_FS_NORTC = 1 to disable +/ the timestamp function. Every object modified by FatFs will have a fixed timestamp +/ defined by FF_NORTC_MON, FF_NORTC_MDAY and FF_NORTC_YEAR in local time. +/ To enable timestamp function (FF_FS_NORTC = 0), get_fattime() function need to be +/ added to the project to read current time form real-time clock. FF_NORTC_MON, +/ FF_NORTC_MDAY and FF_NORTC_YEAR have no effect. +/ These options have no effect at read-only configuration (FF_FS_READONLY = 1). */ + + +#define FF_FS_LOCK 0 +/* The option FF_FS_LOCK switches file lock function to control duplicated file open +/ and illegal operation to open objects. This option must be 0 when FF_FS_READONLY +/ is 1. / -/ When the byte order on the memory is big-endian or address miss-aligned word -/ access results incorrect behavior, the _WORD_ACCESS must be set to 0. -/ If it is not the case, the value can also be set to 1 to improve the -/ performance and code size. -*/ +/ 0: Disable file lock function. To avoid volume corruption, application program +/ should avoid illegal open, remove and rename to the open objects. +/ >0: Enable file lock function. The value defines how many files/sub-directories +/ can be opened simultaneously under file lock control. Note that the file +/ lock control is independent of re-entrancy. */ + +#ifdef RTOS -/* A header file that defines sync object types on the O/S, such as -/ windows.h, ucos_ii.h and semphr.h, must be included prior to ff.h. */ +struct Mutex; // FreeRTOS mutex +#define FF_FS_REENTRANT 1 /* 0:Disable or 1:Enable */ +#define FF_FS_TIMEOUT 1000 /* Timeout period in unit of time ticks */ +#define FF_SYNC_t const struct Mutex* /* O/S dependent type of sync object. e.g. HANDLE, OS_EVENT*, ID and etc.. */ -#define _FS_REENTRANT 0 /* 0:Disable or 1:Enable */ -#define _FS_TIMEOUT 1000 /* Timeout period in unit of time ticks */ -#define _SYNC_t HANDLE /* O/S dependent type of sync object. e.g. HANDLE, OS_EVENT*, ID and etc.. */ +#else -/* The _FS_REENTRANT option switches the reentrancy (thread safe) of the FatFs module. +#define FF_FS_REENTRANT 0 /* 0:Disable or 1:Enable */ + +#endif + +/* The option FF_FS_REENTRANT switches the re-entrancy (thread safe) of the FatFs +/ module itself. Note that regardless of this option, file access to different +/ volume is always re-entrant and volume control functions, f_mount(), f_mkfs() +/ and f_fdisk() function, are always not re-entrant. Only file/directory access +/ to the same volume is under control of this function. +/ +/ 0: Disable re-entrancy. FF_FS_TIMEOUT and FF_SYNC_t have no effect. +/ 1: Enable re-entrancy. Also user provided synchronization handlers, +/ ff_req_grant(), ff_rel_grant(), ff_del_syncobj() and ff_cre_syncobj() +/ function, must be added to the project. Samples are available in +/ option/syscall.c. / -/ 0: Disable reentrancy. _SYNC_t and _FS_TIMEOUT have no effect. -/ 1: Enable reentrancy. Also user provided synchronization handlers, -/ ff_req_grant, ff_rel_grant, ff_del_syncobj and ff_cre_syncobj -/ function must be added to the project. */ +/ The FF_FS_TIMEOUT defines timeout period in unit of time tick. +/ The FF_SYNC_t defines O/S dependent sync object type. e.g. HANDLE, ID, OS_EVENT*, +/ SemaphoreHandle_t and etc. A header file for O/S definitions needs to be +/ included somewhere in the scope of ff.h. */ +#if 1 // dc42 -#define _FS_SHARE 0 /* 0:Disable or >=1:Enable */ -/* To enable file shareing feature, set _FS_SHARE to 1 or greater. The value - defines how many files can be opened simultaneously. */ +// FF_DISKIO_ALIGN defines the alignment required by the disk interface hardware. Set to 1 (no alignment), 2 (16-bit alignment) or 4 (32-bit alignment). +// For example, the SAM3XA build of the HSMCI driver in Atmel Software Framework requires 32-bit alignment because of the way it uses DMA. +#define FF_DISKIO_ALIGN (4) +#endif -#endif /* _FFCONFIG */ +/*--- End of configuration options ---*/ diff --git a/src/Libraries/Fatfs/ffunicode.c b/src/Libraries/Fatfs/ffunicode.c new file mode 100644 index 00000000..349901b1 --- /dev/null +++ b/src/Libraries/Fatfs/ffunicode.c @@ -0,0 +1,15597 @@ +/*------------------------------------------------------------------------*/ +/* Unicode handling functions for FatFs R0.13c */ +/*------------------------------------------------------------------------*/ +/* This module will occupy a huge memory in the .const section when the / +/ FatFs is configured for LFN with DBCS. If the system has any Unicode / +/ utilitiy for the code conversion, this module should be modified to use / +/ that function to avoid silly memory consumption. / +/-------------------------------------------------------------------------*/ +/* +/ Copyright (C) 2018, ChaN, all right reserved. +/ +/ FatFs module is an open source software. Redistribution and use of FatFs in +/ source and binary forms, with or without modification, are permitted provided +/ that the following condition is met: +/ +/ 1. Redistributions of source code must retain the above copyright notice, +/ this condition and the following disclaimer. +/ +/ This software is provided by the copyright holder and contributors "AS IS" +/ and any warranties related to this software are DISCLAIMED. +/ The copyright owner or contributors be NOT LIABLE for any damages caused +/ by use of this software. +*/ + + +#include "ff.h" + +#if FF_USE_LFN /* This module will be blanked at non-LFN configuration */ + +#if FF_DEFINED != 86604 /* Revision ID */ +#error Wrong include file (ff.h). +#endif + +#define MERGE2(a, b) a ## b +#define CVTBL(tbl, cp) MERGE2(tbl, cp) + + +/*------------------------------------------------------------------------*/ +/* Code Conversion Tables */ +/*------------------------------------------------------------------------*/ + +#if FF_CODE_PAGE == 932 || FF_CODE_PAGE == 0 /* Japanese */ +static const WCHAR uni2oem932[] = { /* Unicode --> Shift_JIS pairs */ + 0x00A7, 0x8198, 0x00A8, 0x814E, 0x00B0, 0x818B, 0x00B1, 0x817D, 0x00B4, 0x814C, 0x00B6, 0x81F7, 0x00D7, 0x817E, 0x00F7, 0x8180, + 0x0391, 0x839F, 0x0392, 0x83A0, 0x0393, 0x83A1, 0x0394, 0x83A2, 0x0395, 0x83A3, 0x0396, 0x83A4, 0x0397, 0x83A5, 0x0398, 0x83A6, + 0x0399, 0x83A7, 0x039A, 0x83A8, 0x039B, 0x83A9, 0x039C, 0x83AA, 0x039D, 0x83AB, 0x039E, 0x83AC, 0x039F, 0x83AD, 0x03A0, 0x83AE, + 0x03A1, 0x83AF, 0x03A3, 0x83B0, 0x03A4, 0x83B1, 0x03A5, 0x83B2, 0x03A6, 0x83B3, 0x03A7, 0x83B4, 0x03A8, 0x83B5, 0x03A9, 0x83B6, + 0x03B1, 0x83BF, 0x03B2, 0x83C0, 0x03B3, 0x83C1, 0x03B4, 0x83C2, 0x03B5, 0x83C3, 0x03B6, 0x83C4, 0x03B7, 0x83C5, 0x03B8, 0x83C6, + 0x03B9, 0x83C7, 0x03BA, 0x83C8, 0x03BB, 0x83C9, 0x03BC, 0x83CA, 0x03BD, 0x83CB, 0x03BE, 0x83CC, 0x03BF, 0x83CD, 0x03C0, 0x83CE, + 0x03C1, 0x83CF, 0x03C3, 0x83D0, 0x03C4, 0x83D1, 0x03C5, 0x83D2, 0x03C6, 0x83D3, 0x03C7, 0x83D4, 0x03C8, 0x83D5, 0x03C9, 0x83D6, + 0x0401, 0x8446, 0x0410, 0x8440, 0x0411, 0x8441, 0x0412, 0x8442, 0x0413, 0x8443, 0x0414, 0x8444, 0x0415, 0x8445, 0x0416, 0x8447, + 0x0417, 0x8448, 0x0418, 0x8449, 0x0419, 0x844A, 0x041A, 0x844B, 0x041B, 0x844C, 0x041C, 0x844D, 0x041D, 0x844E, 0x041E, 0x844F, + 0x041F, 0x8450, 0x0420, 0x8451, 0x0421, 0x8452, 0x0422, 0x8453, 0x0423, 0x8454, 0x0424, 0x8455, 0x0425, 0x8456, 0x0426, 0x8457, + 0x0427, 0x8458, 0x0428, 0x8459, 0x0429, 0x845A, 0x042A, 0x845B, 0x042B, 0x845C, 0x042C, 0x845D, 0x042D, 0x845E, 0x042E, 0x845F, + 0x042F, 0x8460, 0x0430, 0x8470, 0x0431, 0x8471, 0x0432, 0x8472, 0x0433, 0x8473, 0x0434, 0x8474, 0x0435, 0x8475, 0x0436, 0x8477, + 0x0437, 0x8478, 0x0438, 0x8479, 0x0439, 0x847A, 0x043A, 0x847B, 0x043B, 0x847C, 0x043C, 0x847D, 0x043D, 0x847E, 0x043E, 0x8480, + 0x043F, 0x8481, 0x0440, 0x8482, 0x0441, 0x8483, 0x0442, 0x8484, 0x0443, 0x8485, 0x0444, 0x8486, 0x0445, 0x8487, 0x0446, 0x8488, + 0x0447, 0x8489, 0x0448, 0x848A, 0x0449, 0x848B, 0x044A, 0x848C, 0x044B, 0x848D, 0x044C, 0x848E, 0x044D, 0x848F, 0x044E, 0x8490, + 0x044F, 0x8491, 0x0451, 0x8476, 0x2010, 0x815D, 0x2015, 0x815C, 0x2018, 0x8165, 0x2019, 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0xE9CB, 0x9C3B, 0x8956, 0x9C3E, 0xE9E2, + 0x9C46, 0xE9E1, 0x9C47, 0xE9DF, 0x9C48, 0x924C, 0x9C52, 0x9690, 0x9C57, 0x97D8, 0x9C5A, 0xE9E3, 0x9C60, 0xE9E4, 0x9C67, 0xE9E5, + 0x9C76, 0xE9E6, 0x9C78, 0xE9E7, 0x9CE5, 0x92B9, 0x9CE7, 0xE9E8, 0x9CE9, 0x94B5, 0x9CEB, 0xE9ED, 0x9CEC, 0xE9E9, 0x9CF0, 0xE9EA, + 0x9CF3, 0x9650, 0x9CF4, 0x96C2, 0x9CF6, 0x93CE, 0x9D03, 0xE9EE, 0x9D06, 0xE9EF, 0x9D07, 0x93BC, 0x9D08, 0xE9EC, 0x9D09, 0xE9EB, + 0x9D0E, 0x89A8, 0x9D12, 0xE9F7, 0x9D15, 0xE9F6, 0x9D1B, 0x8995, 0x9D1F, 0xE9F4, 0x9D23, 0xE9F3, 0x9D26, 0xE9F1, 0x9D28, 0x8A9B, + 0x9D2A, 0xE9F0, 0x9D2B, 0x8EB0, 0x9D2C, 0x89A7, 0x9D3B, 0x8D83, 0x9D3E, 0xE9FA, 0x9D3F, 0xE9F9, 0x9D41, 0xE9F8, 0x9D44, 0xE9F5, + 0x9D46, 0xE9FB, 0x9D48, 0xE9FC, 0x9D50, 0xEA44, 0x9D51, 0xEA43, 0x9D59, 0xEA45, 0x9D5C, 0x894C, 0x9D5D, 0xEA40, 0x9D5E, 0xEA41, + 0x9D60, 0x8D94, 0x9D61, 0x96B7, 0x9D64, 0xEA42, 0x9D6B, 0xFC48, 0x9D6C, 0x9651, 0x9D6F, 0xEA4A, 0x9D70, 0xFC47, 0x9D72, 0xEA46, + 0x9D7A, 0xEA4B, 0x9D87, 0xEA48, 0x9D89, 0xEA47, 0x9D8F, 0x8C7B, 0x9D9A, 0xEA4C, 0x9DA4, 0xEA4D, 0x9DA9, 0xEA4E, 0x9DAB, 0xEA49, + 0x9DAF, 0xE9F2, 0x9DB2, 0xEA4F, 0x9DB4, 0x92DF, 0x9DB8, 0xEA53, 0x9DBA, 0xEA54, 0x9DBB, 0xEA52, 0x9DC1, 0xEA51, 0x9DC2, 0xEA57, + 0x9DC4, 0xEA50, 0x9DC6, 0xEA55, 0x9DCF, 0xEA56, 0x9DD3, 0xEA59, 0x9DD9, 0xEA58, 0x9DE6, 0xEA5B, 0x9DED, 0xEA5C, 0x9DEF, 0xEA5D, + 0x9DF2, 0x9868, 0x9DF8, 0xEA5A, 0x9DF9, 0x91E9, 0x9DFA, 0x8DEB, 0x9DFD, 0xEA5E, 0x9E19, 0xFC4A, 0x9E1A, 0xEA5F, 0x9E1B, 0xEA60, + 0x9E1E, 0xEA61, 0x9E75, 0xEA62, 0x9E78, 0x8CB2, 0x9E79, 0xEA63, 0x9E7D, 0xEA64, 0x9E7F, 0x8EAD, 0x9E81, 0xEA65, 0x9E88, 0xEA66, + 0x9E8B, 0xEA67, 0x9E8C, 0xEA68, 0x9E91, 0xEA6B, 0x9E92, 0xEA69, 0x9E93, 0x985B, 0x9E95, 0xEA6A, 0x9E97, 0x97ED, 0x9E9D, 0xEA6C, + 0x9E9F, 0x97D9, 0x9EA5, 0xEA6D, 0x9EA6, 0x949E, 0x9EA9, 0xEA6E, 0x9EAA, 0xEA70, 0x9EAD, 0xEA71, 0x9EB8, 0xEA6F, 0x9EB9, 0x8D8D, + 0x9EBA, 0x96CB, 0x9EBB, 0x9683, 0x9EBC, 0x9BF5, 0x9EBE, 0x9F80, 0x9EBF, 0x969B, 0x9EC4, 0x89A9, 0x9ECC, 0xEA73, 0x9ECD, 0x8B6F, + 0x9ECE, 0xEA74, 0x9ECF, 0xEA75, 0x9ED0, 0xEA76, 0x9ED1, 0xFC4B, 0x9ED2, 0x8D95, 0x9ED4, 0xEA77, 0x9ED8, 0xE0D2, 0x9ED9, 0x96D9, + 0x9EDB, 0x91E1, 0x9EDC, 0xEA78, 0x9EDD, 0xEA7A, 0x9EDE, 0xEA79, 0x9EE0, 0xEA7B, 0x9EE5, 0xEA7C, 0x9EE8, 0xEA7D, 0x9EEF, 0xEA7E, + 0x9EF4, 0xEA80, 0x9EF6, 0xEA81, 0x9EF7, 0xEA82, 0x9EF9, 0xEA83, 0x9EFB, 0xEA84, 0x9EFC, 0xEA85, 0x9EFD, 0xEA86, 0x9F07, 0xEA87, + 0x9F08, 0xEA88, 0x9F0E, 0x9343, 0x9F13, 0x8CDB, 0x9F15, 0xEA8A, 0x9F20, 0x916C, 0x9F21, 0xEA8B, 0x9F2C, 0xEA8C, 0x9F3B, 0x9540, + 0x9F3E, 0xEA8D, 0x9F4A, 0xEA8E, 0x9F4B, 0xE256, 0x9F4E, 0xE6D8, 0x9F4F, 0xE8EB, 0x9F52, 0xEA8F, 0x9F54, 0xEA90, 0x9F5F, 0xEA92, + 0x9F60, 0xEA93, 0x9F61, 0xEA94, 0x9F62, 0x97EE, 0x9F63, 0xEA91, 0x9F66, 0xEA95, 0x9F67, 0xEA96, 0x9F6A, 0xEA98, 0x9F6C, 0xEA97, + 0x9F72, 0xEA9A, 0x9F76, 0xEA9B, 0x9F77, 0xEA99, 0x9F8D, 0x97B4, 0x9F95, 0xEA9C, 0x9F9C, 0xEA9D, 0x9F9D, 0xE273, 0x9FA0, 0xEA9E, + 0xF929, 0xFAE0, 0xF9DC, 0xFBE9, 0xFA0E, 0xFA90, 0xFA0F, 0xFA9B, 0xFA10, 0xFA9C, 0xFA11, 0xFAB1, 0xFA12, 0xFAD8, 0xFA13, 0xFAE8, + 0xFA14, 0xFAEA, 0xFA15, 0xFB58, 0xFA16, 0xFB5E, 0xFA17, 0xFB75, 0xFA18, 0xFB7D, 0xFA19, 0xFB7E, 0xFA1A, 0xFB80, 0xFA1B, 0xFB82, + 0xFA1C, 0xFB86, 0xFA1D, 0xFB89, 0xFA1E, 0xFB92, 0xFA1F, 0xFB9D, 0xFA20, 0xFB9F, 0xFA21, 0xFBA0, 0xFA22, 0xFBA9, 0xFA23, 0xFBB1, + 0xFA24, 0xFBB3, 0xFA25, 0xFBB4, 0xFA26, 0xFBB7, 0xFA27, 0xFBD3, 0xFA28, 0xFBDA, 0xFA29, 0xFBEA, 0xFA2A, 0xFBF6, 0xFA2B, 0xFBF7, + 0xFA2C, 0xFBF9, 0xFA2D, 0xFC49, 0xFF01, 0x8149, 0xFF02, 0xFA57, 0xFF03, 0x8194, 0xFF04, 0x8190, 0xFF05, 0x8193, 0xFF06, 0x8195, + 0xFF07, 0xFA56, 0xFF08, 0x8169, 0xFF09, 0x816A, 0xFF0A, 0x8196, 0xFF0B, 0x817B, 0xFF0C, 0x8143, 0xFF0D, 0x817C, 0xFF0E, 0x8144, + 0xFF0F, 0x815E, 0xFF10, 0x824F, 0xFF11, 0x8250, 0xFF12, 0x8251, 0xFF13, 0x8252, 0xFF14, 0x8253, 0xFF15, 0x8254, 0xFF16, 0x8255, + 0xFF17, 0x8256, 0xFF18, 0x8257, 0xFF19, 0x8258, 0xFF1A, 0x8146, 0xFF1B, 0x8147, 0xFF1C, 0x8183, 0xFF1D, 0x8181, 0xFF1E, 0x8184, + 0xFF1F, 0x8148, 0xFF20, 0x8197, 0xFF21, 0x8260, 0xFF22, 0x8261, 0xFF23, 0x8262, 0xFF24, 0x8263, 0xFF25, 0x8264, 0xFF26, 0x8265, + 0xFF27, 0x8266, 0xFF28, 0x8267, 0xFF29, 0x8268, 0xFF2A, 0x8269, 0xFF2B, 0x826A, 0xFF2C, 0x826B, 0xFF2D, 0x826C, 0xFF2E, 0x826D, + 0xFF2F, 0x826E, 0xFF30, 0x826F, 0xFF31, 0x8270, 0xFF32, 0x8271, 0xFF33, 0x8272, 0xFF34, 0x8273, 0xFF35, 0x8274, 0xFF36, 0x8275, + 0xFF37, 0x8276, 0xFF38, 0x8277, 0xFF39, 0x8278, 0xFF3A, 0x8279, 0xFF3B, 0x816D, 0xFF3C, 0x815F, 0xFF3D, 0x816E, 0xFF3E, 0x814F, + 0xFF3F, 0x8151, 0xFF40, 0x814D, 0xFF41, 0x8281, 0xFF42, 0x8282, 0xFF43, 0x8283, 0xFF44, 0x8284, 0xFF45, 0x8285, 0xFF46, 0x8286, + 0xFF47, 0x8287, 0xFF48, 0x8288, 0xFF49, 0x8289, 0xFF4A, 0x828A, 0xFF4B, 0x828B, 0xFF4C, 0x828C, 0xFF4D, 0x828D, 0xFF4E, 0x828E, + 0xFF4F, 0x828F, 0xFF50, 0x8290, 0xFF51, 0x8291, 0xFF52, 0x8292, 0xFF53, 0x8293, 0xFF54, 0x8294, 0xFF55, 0x8295, 0xFF56, 0x8296, + 0xFF57, 0x8297, 0xFF58, 0x8298, 0xFF59, 0x8299, 0xFF5A, 0x829A, 0xFF5B, 0x816F, 0xFF5C, 0x8162, 0xFF5D, 0x8170, 0xFF5E, 0x8160, + 0xFF61, 0x00A1, 0xFF62, 0x00A2, 0xFF63, 0x00A3, 0xFF64, 0x00A4, 0xFF65, 0x00A5, 0xFF66, 0x00A6, 0xFF67, 0x00A7, 0xFF68, 0x00A8, + 0xFF69, 0x00A9, 0xFF6A, 0x00AA, 0xFF6B, 0x00AB, 0xFF6C, 0x00AC, 0xFF6D, 0x00AD, 0xFF6E, 0x00AE, 0xFF6F, 0x00AF, 0xFF70, 0x00B0, + 0xFF71, 0x00B1, 0xFF72, 0x00B2, 0xFF73, 0x00B3, 0xFF74, 0x00B4, 0xFF75, 0x00B5, 0xFF76, 0x00B6, 0xFF77, 0x00B7, 0xFF78, 0x00B8, + 0xFF79, 0x00B9, 0xFF7A, 0x00BA, 0xFF7B, 0x00BB, 0xFF7C, 0x00BC, 0xFF7D, 0x00BD, 0xFF7E, 0x00BE, 0xFF7F, 0x00BF, 0xFF80, 0x00C0, + 0xFF81, 0x00C1, 0xFF82, 0x00C2, 0xFF83, 0x00C3, 0xFF84, 0x00C4, 0xFF85, 0x00C5, 0xFF86, 0x00C6, 0xFF87, 0x00C7, 0xFF88, 0x00C8, + 0xFF89, 0x00C9, 0xFF8A, 0x00CA, 0xFF8B, 0x00CB, 0xFF8C, 0x00CC, 0xFF8D, 0x00CD, 0xFF8E, 0x00CE, 0xFF8F, 0x00CF, 0xFF90, 0x00D0, + 0xFF91, 0x00D1, 0xFF92, 0x00D2, 0xFF93, 0x00D3, 0xFF94, 0x00D4, 0xFF95, 0x00D5, 0xFF96, 0x00D6, 0xFF97, 0x00D7, 0xFF98, 0x00D8, + 0xFF99, 0x00D9, 0xFF9A, 0x00DA, 0xFF9B, 0x00DB, 0xFF9C, 0x00DC, 0xFF9D, 0x00DD, 0xFF9E, 0x00DE, 0xFF9F, 0x00DF, 0xFFE0, 0x8191, + 0xFFE1, 0x8192, 0xFFE2, 0x81CA, 0xFFE3, 0x8150, 0xFFE4, 0xFA55, 0xFFE5, 0x818F, 0, 0 +}; + +static const WCHAR oem2uni932[] = { /* Shift_JIS --> Unicode pairs */ + 0x00A1, 0xFF61, 0x00A2, 0xFF62, 0x00A3, 0xFF63, 0x00A4, 0xFF64, 0x00A5, 0xFF65, 0x00A6, 0xFF66, 0x00A7, 0xFF67, 0x00A8, 0xFF68, + 0x00A9, 0xFF69, 0x00AA, 0xFF6A, 0x00AB, 0xFF6B, 0x00AC, 0xFF6C, 0x00AD, 0xFF6D, 0x00AE, 0xFF6E, 0x00AF, 0xFF6F, 0x00B0, 0xFF70, + 0x00B1, 0xFF71, 0x00B2, 0xFF72, 0x00B3, 0xFF73, 0x00B4, 0xFF74, 0x00B5, 0xFF75, 0x00B6, 0xFF76, 0x00B7, 0xFF77, 0x00B8, 0xFF78, + 0x00B9, 0xFF79, 0x00BA, 0xFF7A, 0x00BB, 0xFF7B, 0x00BC, 0xFF7C, 0x00BD, 0xFF7D, 0x00BE, 0xFF7E, 0x00BF, 0xFF7F, 0x00C0, 0xFF80, + 0x00C1, 0xFF81, 0x00C2, 0xFF82, 0x00C3, 0xFF83, 0x00C4, 0xFF84, 0x00C5, 0xFF85, 0x00C6, 0xFF86, 0x00C7, 0xFF87, 0x00C8, 0xFF88, + 0x00C9, 0xFF89, 0x00CA, 0xFF8A, 0x00CB, 0xFF8B, 0x00CC, 0xFF8C, 0x00CD, 0xFF8D, 0x00CE, 0xFF8E, 0x00CF, 0xFF8F, 0x00D0, 0xFF90, + 0x00D1, 0xFF91, 0x00D2, 0xFF92, 0x00D3, 0xFF93, 0x00D4, 0xFF94, 0x00D5, 0xFF95, 0x00D6, 0xFF96, 0x00D7, 0xFF97, 0x00D8, 0xFF98, + 0x00D9, 0xFF99, 0x00DA, 0xFF9A, 0x00DB, 0xFF9B, 0x00DC, 0xFF9C, 0x00DD, 0xFF9D, 0x00DE, 0xFF9E, 0x00DF, 0xFF9F, 0x8140, 0x3000, + 0x8141, 0x3001, 0x8142, 0x3002, 0x8143, 0xFF0C, 0x8144, 0xFF0E, 0x8145, 0x30FB, 0x8146, 0xFF1A, 0x8147, 0xFF1B, 0x8148, 0xFF1F, + 0x8149, 0xFF01, 0x814A, 0x309B, 0x814B, 0x309C, 0x814C, 0x00B4, 0x814D, 0xFF40, 0x814E, 0x00A8, 0x814F, 0xFF3E, 0x8150, 0xFFE3, + 0x8151, 0xFF3F, 0x8152, 0x30FD, 0x8153, 0x30FE, 0x8154, 0x309D, 0x8155, 0x309E, 0x8156, 0x3003, 0x8157, 0x4EDD, 0x8158, 0x3005, + 0x8159, 0x3006, 0x815A, 0x3007, 0x815B, 0x30FC, 0x815C, 0x2015, 0x815D, 0x2010, 0x815E, 0xFF0F, 0x815F, 0xFF3C, 0x8160, 0xFF5E, + 0x8161, 0x2225, 0x8162, 0xFF5C, 0x8163, 0x2026, 0x8164, 0x2025, 0x8165, 0x2018, 0x8166, 0x2019, 0x8167, 0x201C, 0x8168, 0x201D, + 0x8169, 0xFF08, 0x816A, 0xFF09, 0x816B, 0x3014, 0x816C, 0x3015, 0x816D, 0xFF3B, 0x816E, 0xFF3D, 0x816F, 0xFF5B, 0x8170, 0xFF5D, + 0x8171, 0x3008, 0x8172, 0x3009, 0x8173, 0x300A, 0x8174, 0x300B, 0x8175, 0x300C, 0x8176, 0x300D, 0x8177, 0x300E, 0x8178, 0x300F, + 0x8179, 0x3010, 0x817A, 0x3011, 0x817B, 0xFF0B, 0x817C, 0xFF0D, 0x817D, 0x00B1, 0x817E, 0x00D7, 0x8180, 0x00F7, 0x8181, 0xFF1D, + 0x8182, 0x2260, 0x8183, 0xFF1C, 0x8184, 0xFF1E, 0x8185, 0x2266, 0x8186, 0x2267, 0x8187, 0x221E, 0x8188, 0x2234, 0x8189, 0x2642, + 0x818A, 0x2640, 0x818B, 0x00B0, 0x818C, 0x2032, 0x818D, 0x2033, 0x818E, 0x2103, 0x818F, 0xFFE5, 0x8190, 0xFF04, 0x8191, 0xFFE0, + 0x8192, 0xFFE1, 0x8193, 0xFF05, 0x8194, 0xFF03, 0x8195, 0xFF06, 0x8196, 0xFF0A, 0x8197, 0xFF20, 0x8198, 0x00A7, 0x8199, 0x2606, + 0x819A, 0x2605, 0x819B, 0x25CB, 0x819C, 0x25CF, 0x819D, 0x25CE, 0x819E, 0x25C7, 0x819F, 0x25C6, 0x81A0, 0x25A1, 0x81A1, 0x25A0, + 0x81A2, 0x25B3, 0x81A3, 0x25B2, 0x81A4, 0x25BD, 0x81A5, 0x25BC, 0x81A6, 0x203B, 0x81A7, 0x3012, 0x81A8, 0x2192, 0x81A9, 0x2190, + 0x81AA, 0x2191, 0x81AB, 0x2193, 0x81AC, 0x3013, 0x81B8, 0x2208, 0x81B9, 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0xFABA, 0x5FB7, 0xFABB, 0x5FDE, 0xFABC, 0x605D, 0xFABD, 0x6085, 0xFABE, 0x608A, 0xFABF, 0x60DE, + 0xFAC0, 0x60D5, 0xFAC1, 0x6120, 0xFAC2, 0x60F2, 0xFAC3, 0x6111, 0xFAC4, 0x6137, 0xFAC5, 0x6130, 0xFAC6, 0x6198, 0xFAC7, 0x6213, + 0xFAC8, 0x62A6, 0xFAC9, 0x63F5, 0xFACA, 0x6460, 0xFACB, 0x649D, 0xFACC, 0x64CE, 0xFACD, 0x654E, 0xFACE, 0x6600, 0xFACF, 0x6615, + 0xFAD0, 0x663B, 0xFAD1, 0x6609, 0xFAD2, 0x662E, 0xFAD3, 0x661E, 0xFAD4, 0x6624, 0xFAD5, 0x6665, 0xFAD6, 0x6657, 0xFAD7, 0x6659, + 0xFAD8, 0xFA12, 0xFAD9, 0x6673, 0xFADA, 0x6699, 0xFADB, 0x66A0, 0xFADC, 0x66B2, 0xFADD, 0x66BF, 0xFADE, 0x66FA, 0xFADF, 0x670E, + 0xFAE0, 0xF929, 0xFAE1, 0x6766, 0xFAE2, 0x67BB, 0xFAE3, 0x6852, 0xFAE4, 0x67C0, 0xFAE5, 0x6801, 0xFAE6, 0x6844, 0xFAE7, 0x68CF, + 0xFAE8, 0xFA13, 0xFAE9, 0x6968, 0xFAEA, 0xFA14, 0xFAEB, 0x6998, 0xFAEC, 0x69E2, 0xFAED, 0x6A30, 0xFAEE, 0x6A6B, 0xFAEF, 0x6A46, + 0xFAF0, 0x6A73, 0xFAF1, 0x6A7E, 0xFAF2, 0x6AE2, 0xFAF3, 0x6AE4, 0xFAF4, 0x6BD6, 0xFAF5, 0x6C3F, 0xFAF6, 0x6C5C, 0xFAF7, 0x6C86, + 0xFAF8, 0x6C6F, 0xFAF9, 0x6CDA, 0xFAFA, 0x6D04, 0xFAFB, 0x6D87, 0xFAFC, 0x6D6F, 0xFB40, 0x6D96, 0xFB41, 0x6DAC, 0xFB42, 0x6DCF, + 0xFB43, 0x6DF8, 0xFB44, 0x6DF2, 0xFB45, 0x6DFC, 0xFB46, 0x6E39, 0xFB47, 0x6E5C, 0xFB48, 0x6E27, 0xFB49, 0x6E3C, 0xFB4A, 0x6EBF, + 0xFB4B, 0x6F88, 0xFB4C, 0x6FB5, 0xFB4D, 0x6FF5, 0xFB4E, 0x7005, 0xFB4F, 0x7007, 0xFB50, 0x7028, 0xFB51, 0x7085, 0xFB52, 0x70AB, + 0xFB53, 0x710F, 0xFB54, 0x7104, 0xFB55, 0x715C, 0xFB56, 0x7146, 0xFB57, 0x7147, 0xFB58, 0xFA15, 0xFB59, 0x71C1, 0xFB5A, 0x71FE, + 0xFB5B, 0x72B1, 0xFB5C, 0x72BE, 0xFB5D, 0x7324, 0xFB5E, 0xFA16, 0xFB5F, 0x7377, 0xFB60, 0x73BD, 0xFB61, 0x73C9, 0xFB62, 0x73D6, + 0xFB63, 0x73E3, 0xFB64, 0x73D2, 0xFB65, 0x7407, 0xFB66, 0x73F5, 0xFB67, 0x7426, 0xFB68, 0x742A, 0xFB69, 0x7429, 0xFB6A, 0x742E, + 0xFB6B, 0x7462, 0xFB6C, 0x7489, 0xFB6D, 0x749F, 0xFB6E, 0x7501, 0xFB6F, 0x756F, 0xFB70, 0x7682, 0xFB71, 0x769C, 0xFB72, 0x769E, + 0xFB73, 0x769B, 0xFB74, 0x76A6, 0xFB75, 0xFA17, 0xFB76, 0x7746, 0xFB77, 0x52AF, 0xFB78, 0x7821, 0xFB79, 0x784E, 0xFB7A, 0x7864, + 0xFB7B, 0x787A, 0xFB7C, 0x7930, 0xFB7D, 0xFA18, 0xFB7E, 0xFA19, 0xFB80, 0xFA1A, 0xFB81, 0x7994, 0xFB82, 0xFA1B, 0xFB83, 0x799B, + 0xFB84, 0x7AD1, 0xFB85, 0x7AE7, 0xFB86, 0xFA1C, 0xFB87, 0x7AEB, 0xFB88, 0x7B9E, 0xFB89, 0xFA1D, 0xFB8A, 0x7D48, 0xFB8B, 0x7D5C, + 0xFB8C, 0x7DB7, 0xFB8D, 0x7DA0, 0xFB8E, 0x7DD6, 0xFB8F, 0x7E52, 0xFB90, 0x7F47, 0xFB91, 0x7FA1, 0xFB92, 0xFA1E, 0xFB93, 0x8301, + 0xFB94, 0x8362, 0xFB95, 0x837F, 0xFB96, 0x83C7, 0xFB97, 0x83F6, 0xFB98, 0x8448, 0xFB99, 0x84B4, 0xFB9A, 0x8553, 0xFB9B, 0x8559, + 0xFB9C, 0x856B, 0xFB9D, 0xFA1F, 0xFB9E, 0x85B0, 0xFB9F, 0xFA20, 0xFBA0, 0xFA21, 0xFBA1, 0x8807, 0xFBA2, 0x88F5, 0xFBA3, 0x8A12, + 0xFBA4, 0x8A37, 0xFBA5, 0x8A79, 0xFBA6, 0x8AA7, 0xFBA7, 0x8ABE, 0xFBA8, 0x8ADF, 0xFBA9, 0xFA22, 0xFBAA, 0x8AF6, 0xFBAB, 0x8B53, + 0xFBAC, 0x8B7F, 0xFBAD, 0x8CF0, 0xFBAE, 0x8CF4, 0xFBAF, 0x8D12, 0xFBB0, 0x8D76, 0xFBB1, 0xFA23, 0xFBB2, 0x8ECF, 0xFBB3, 0xFA24, + 0xFBB4, 0xFA25, 0xFBB5, 0x9067, 0xFBB6, 0x90DE, 0xFBB7, 0xFA26, 0xFBB8, 0x9115, 0xFBB9, 0x9127, 0xFBBA, 0x91DA, 0xFBBB, 0x91D7, + 0xFBBC, 0x91DE, 0xFBBD, 0x91ED, 0xFBBE, 0x91EE, 0xFBBF, 0x91E4, 0xFBC0, 0x91E5, 0xFBC1, 0x9206, 0xFBC2, 0x9210, 0xFBC3, 0x920A, + 0xFBC4, 0x923A, 0xFBC5, 0x9240, 0xFBC6, 0x923C, 0xFBC7, 0x924E, 0xFBC8, 0x9259, 0xFBC9, 0x9251, 0xFBCA, 0x9239, 0xFBCB, 0x9267, + 0xFBCC, 0x92A7, 0xFBCD, 0x9277, 0xFBCE, 0x9278, 0xFBCF, 0x92E7, 0xFBD0, 0x92D7, 0xFBD1, 0x92D9, 0xFBD2, 0x92D0, 0xFBD3, 0xFA27, + 0xFBD4, 0x92D5, 0xFBD5, 0x92E0, 0xFBD6, 0x92D3, 0xFBD7, 0x9325, 0xFBD8, 0x9321, 0xFBD9, 0x92FB, 0xFBDA, 0xFA28, 0xFBDB, 0x931E, + 0xFBDC, 0x92FF, 0xFBDD, 0x931D, 0xFBDE, 0x9302, 0xFBDF, 0x9370, 0xFBE0, 0x9357, 0xFBE1, 0x93A4, 0xFBE2, 0x93C6, 0xFBE3, 0x93DE, + 0xFBE4, 0x93F8, 0xFBE5, 0x9431, 0xFBE6, 0x9445, 0xFBE7, 0x9448, 0xFBE8, 0x9592, 0xFBE9, 0xF9DC, 0xFBEA, 0xFA29, 0xFBEB, 0x969D, + 0xFBEC, 0x96AF, 0xFBED, 0x9733, 0xFBEE, 0x973B, 0xFBEF, 0x9743, 0xFBF0, 0x974D, 0xFBF1, 0x974F, 0xFBF2, 0x9751, 0xFBF3, 0x9755, + 0xFBF4, 0x9857, 0xFBF5, 0x9865, 0xFBF6, 0xFA2A, 0xFBF7, 0xFA2B, 0xFBF8, 0x9927, 0xFBF9, 0xFA2C, 0xFBFA, 0x999E, 0xFBFB, 0x9A4E, + 0xFBFC, 0x9AD9, 0xFC40, 0x9ADC, 0xFC41, 0x9B75, 0xFC42, 0x9B72, 0xFC43, 0x9B8F, 0xFC44, 0x9BB1, 0xFC45, 0x9BBB, 0xFC46, 0x9C00, + 0xFC47, 0x9D70, 0xFC48, 0x9D6B, 0xFC49, 0xFA2D, 0xFC4A, 0x9E19, 0xFC4B, 0x9ED1, 0, 0 +}; +#endif + +#if FF_CODE_PAGE == 936 || FF_CODE_PAGE == 0 /* Simplified Chinese */ +static const WCHAR uni2oem936[] = { /* Unicode --> GBK pairs */ + 0x00A4, 0xA1E8, 0x00A7, 0xA1EC, 0x00A8, 0xA1A7, 0x00B0, 0xA1E3, 0x00B1, 0xA1C0, 0x00B7, 0xA1A4, 0x00D7, 0xA1C1, 0x00E0, 0xA8A4, + 0x00E1, 0xA8A2, 0x00E8, 0xA8A8, 0x00E9, 0xA8A6, 0x00EA, 0xA8BA, 0x00EC, 0xA8AC, 0x00ED, 0xA8AA, 0x00F2, 0xA8B0, 0x00F3, 0xA8AE, + 0x00F7, 0xA1C2, 0x00F9, 0xA8B4, 0x00FA, 0xA8B2, 0x00FC, 0xA8B9, 0x0101, 0xA8A1, 0x0113, 0xA8A5, 0x011B, 0xA8A7, 0x012B, 0xA8A9, + 0x0144, 0xA8BD, 0x0148, 0xA8BE, 0x014D, 0xA8AD, 0x016B, 0xA8B1, 0x01CE, 0xA8A3, 0x01D0, 0xA8AB, 0x01D2, 0xA8AF, 0x01D4, 0xA8B3, + 0x01D6, 0xA8B5, 0x01D8, 0xA8B6, 0x01DA, 0xA8B7, 0x01DC, 0xA8B8, 0x0251, 0xA8BB, 0x0261, 0xA8C0, 0x02C7, 0xA1A6, 0x02C9, 0xA1A5, + 0x02CA, 0xA840, 0x02CB, 0xA841, 0x02D9, 0xA842, 0x0391, 0xA6A1, 0x0392, 0xA6A2, 0x0393, 0xA6A3, 0x0394, 0xA6A4, 0x0395, 0xA6A5, + 0x0396, 0xA6A6, 0x0397, 0xA6A7, 0x0398, 0xA6A8, 0x0399, 0xA6A9, 0x039A, 0xA6AA, 0x039B, 0xA6AB, 0x039C, 0xA6AC, 0x039D, 0xA6AD, + 0x039E, 0xA6AE, 0x039F, 0xA6AF, 0x03A0, 0xA6B0, 0x03A1, 0xA6B1, 0x03A3, 0xA6B2, 0x03A4, 0xA6B3, 0x03A5, 0xA6B4, 0x03A6, 0xA6B5, + 0x03A7, 0xA6B6, 0x03A8, 0xA6B7, 0x03A9, 0xA6B8, 0x03B1, 0xA6C1, 0x03B2, 0xA6C2, 0x03B3, 0xA6C3, 0x03B4, 0xA6C4, 0x03B5, 0xA6C5, + 0x03B6, 0xA6C6, 0x03B7, 0xA6C7, 0x03B8, 0xA6C8, 0x03B9, 0xA6C9, 0x03BA, 0xA6CA, 0x03BB, 0xA6CB, 0x03BC, 0xA6CC, 0x03BD, 0xA6CD, + 0x03BE, 0xA6CE, 0x03BF, 0xA6CF, 0x03C0, 0xA6D0, 0x03C1, 0xA6D1, 0x03C3, 0xA6D2, 0x03C4, 0xA6D3, 0x03C5, 0xA6D4, 0x03C6, 0xA6D5, + 0x03C7, 0xA6D6, 0x03C8, 0xA6D7, 0x03C9, 0xA6D8, 0x0401, 0xA7A7, 0x0410, 0xA7A1, 0x0411, 0xA7A2, 0x0412, 0xA7A3, 0x0413, 0xA7A4, + 0x0414, 0xA7A5, 0x0415, 0xA7A6, 0x0416, 0xA7A8, 0x0417, 0xA7A9, 0x0418, 0xA7AA, 0x0419, 0xA7AB, 0x041A, 0xA7AC, 0x041B, 0xA7AD, + 0x041C, 0xA7AE, 0x041D, 0xA7AF, 0x041E, 0xA7B0, 0x041F, 0xA7B1, 0x0420, 0xA7B2, 0x0421, 0xA7B3, 0x0422, 0xA7B4, 0x0423, 0xA7B5, + 0x0424, 0xA7B6, 0x0425, 0xA7B7, 0x0426, 0xA7B8, 0x0427, 0xA7B9, 0x0428, 0xA7BA, 0x0429, 0xA7BB, 0x042A, 0xA7BC, 0x042B, 0xA7BD, + 0x042C, 0xA7BE, 0x042D, 0xA7BF, 0x042E, 0xA7C0, 0x042F, 0xA7C1, 0x0430, 0xA7D1, 0x0431, 0xA7D2, 0x0432, 0xA7D3, 0x0433, 0xA7D4, + 0x0434, 0xA7D5, 0x0435, 0xA7D6, 0x0436, 0xA7D8, 0x0437, 0xA7D9, 0x0438, 0xA7DA, 0x0439, 0xA7DB, 0x043A, 0xA7DC, 0x043B, 0xA7DD, + 0x043C, 0xA7DE, 0x043D, 0xA7DF, 0x043E, 0xA7E0, 0x043F, 0xA7E1, 0x0440, 0xA7E2, 0x0441, 0xA7E3, 0x0442, 0xA7E4, 0x0443, 0xA7E5, + 0x0444, 0xA7E6, 0x0445, 0xA7E7, 0x0446, 0xA7E8, 0x0447, 0xA7E9, 0x0448, 0xA7EA, 0x0449, 0xA7EB, 0x044A, 0xA7EC, 0x044B, 0xA7ED, + 0x044C, 0xA7EE, 0x044D, 0xA7EF, 0x044E, 0xA7F0, 0x044F, 0xA7F1, 0x0451, 0xA7D7, 0x2010, 0xA95C, 0x2013, 0xA843, 0x2014, 0xA1AA, + 0x2015, 0xA844, 0x2016, 0xA1AC, 0x2018, 0xA1AE, 0x2019, 0xA1AF, 0x201C, 0xA1B0, 0x201D, 0xA1B1, 0x2025, 0xA845, 0x2026, 0xA1AD, + 0x2030, 0xA1EB, 0x2032, 0xA1E4, 0x2033, 0xA1E5, 0x2035, 0xA846, 0x203B, 0xA1F9, 0x20AC, 0x0080, 0x2103, 0xA1E6, 0x2105, 0xA847, + 0x2109, 0xA848, 0x2116, 0xA1ED, 0x2121, 0xA959, 0x2160, 0xA2F1, 0x2161, 0xA2F2, 0x2162, 0xA2F3, 0x2163, 0xA2F4, 0x2164, 0xA2F5, + 0x2165, 0xA2F6, 0x2166, 0xA2F7, 0x2167, 0xA2F8, 0x2168, 0xA2F9, 0x2169, 0xA2FA, 0x216A, 0xA2FB, 0x216B, 0xA2FC, 0x2170, 0xA2A1, + 0x2171, 0xA2A2, 0x2172, 0xA2A3, 0x2173, 0xA2A4, 0x2174, 0xA2A5, 0x2175, 0xA2A6, 0x2176, 0xA2A7, 0x2177, 0xA2A8, 0x2178, 0xA2A9, + 0x2179, 0xA2AA, 0x2190, 0xA1FB, 0x2191, 0xA1FC, 0x2192, 0xA1FA, 0x2193, 0xA1FD, 0x2196, 0xA849, 0x2197, 0xA84A, 0x2198, 0xA84B, + 0x2199, 0xA84C, 0x2208, 0xA1CA, 0x220F, 0xA1C7, 0x2211, 0xA1C6, 0x2215, 0xA84D, 0x221A, 0xA1CC, 0x221D, 0xA1D8, 0x221E, 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0xFC9A, 0x9F2A, 0xFC9B, + 0x9F2B, 0xFC9C, 0x9F2C, 0xF7F8, 0x9F2D, 0xFC9D, 0x9F2E, 0xFC9E, 0x9F2F, 0xF7F9, 0x9F30, 0xFC9F, 0x9F31, 0xFCA0, 0x9F32, 0xFD40, + 0x9F33, 0xFD41, 0x9F34, 0xFD42, 0x9F35, 0xFD43, 0x9F36, 0xFD44, 0x9F37, 0xF7FB, 0x9F38, 0xFD45, 0x9F39, 0xF7FA, 0x9F3A, 0xFD46, + 0x9F3B, 0xB1C7, 0x9F3C, 0xFD47, 0x9F3D, 0xF7FC, 0x9F3E, 0xF7FD, 0x9F3F, 0xFD48, 0x9F40, 0xFD49, 0x9F41, 0xFD4A, 0x9F42, 0xFD4B, + 0x9F43, 0xFD4C, 0x9F44, 0xF7FE, 0x9F45, 0xFD4D, 0x9F46, 0xFD4E, 0x9F47, 0xFD4F, 0x9F48, 0xFD50, 0x9F49, 0xFD51, 0x9F4A, 0xFD52, + 0x9F4B, 0xFD53, 0x9F4C, 0xFD54, 0x9F4D, 0xFD55, 0x9F4E, 0xFD56, 0x9F4F, 0xFD57, 0x9F50, 0xC6EB, 0x9F51, 0xECB4, 0x9F52, 0xFD58, + 0x9F53, 0xFD59, 0x9F54, 0xFD5A, 0x9F55, 0xFD5B, 0x9F56, 0xFD5C, 0x9F57, 0xFD5D, 0x9F58, 0xFD5E, 0x9F59, 0xFD5F, 0x9F5A, 0xFD60, + 0x9F5B, 0xFD61, 0x9F5C, 0xFD62, 0x9F5D, 0xFD63, 0x9F5E, 0xFD64, 0x9F5F, 0xFD65, 0x9F60, 0xFD66, 0x9F61, 0xFD67, 0x9F62, 0xFD68, + 0x9F63, 0xFD69, 0x9F64, 0xFD6A, 0x9F65, 0xFD6B, 0x9F66, 0xFD6C, 0x9F67, 0xFD6D, 0x9F68, 0xFD6E, 0x9F69, 0xFD6F, 0x9F6A, 0xFD70, + 0x9F6B, 0xFD71, 0x9F6C, 0xFD72, 0x9F6D, 0xFD73, 0x9F6E, 0xFD74, 0x9F6F, 0xFD75, 0x9F70, 0xFD76, 0x9F71, 0xFD77, 0x9F72, 0xFD78, + 0x9F73, 0xFD79, 0x9F74, 0xFD7A, 0x9F75, 0xFD7B, 0x9F76, 0xFD7C, 0x9F77, 0xFD7D, 0x9F78, 0xFD7E, 0x9F79, 0xFD80, 0x9F7A, 0xFD81, + 0x9F7B, 0xFD82, 0x9F7C, 0xFD83, 0x9F7D, 0xFD84, 0x9F7E, 0xFD85, 0x9F7F, 0xB3DD, 0x9F80, 0xF6B3, 0x9F81, 0xFD86, 0x9F82, 0xFD87, + 0x9F83, 0xF6B4, 0x9F84, 0xC1E4, 0x9F85, 0xF6B5, 0x9F86, 0xF6B6, 0x9F87, 0xF6B7, 0x9F88, 0xF6B8, 0x9F89, 0xF6B9, 0x9F8A, 0xF6BA, + 0x9F8B, 0xC8A3, 0x9F8C, 0xF6BB, 0x9F8D, 0xFD88, 0x9F8E, 0xFD89, 0x9F8F, 0xFD8A, 0x9F90, 0xFD8B, 0x9F91, 0xFD8C, 0x9F92, 0xFD8D, + 0x9F93, 0xFD8E, 0x9F94, 0xFD8F, 0x9F95, 0xFD90, 0x9F96, 0xFD91, 0x9F97, 0xFD92, 0x9F98, 0xFD93, 0x9F99, 0xC1FA, 0x9F9A, 0xB9A8, + 0x9F9B, 0xEDE8, 0x9F9C, 0xFD94, 0x9F9D, 0xFD95, 0x9F9E, 0xFD96, 0x9F9F, 0xB9EA, 0x9FA0, 0xD9DF, 0x9FA1, 0xFD97, 0x9FA2, 0xFD98, + 0x9FA3, 0xFD99, 0x9FA4, 0xFD9A, 0x9FA5, 0xFD9B, 0xF92C, 0xFD9C, 0xF979, 0xFD9D, 0xF995, 0xFD9E, 0xF9E7, 0xFD9F, 0xF9F1, 0xFDA0, + 0xFA0C, 0xFE40, 0xFA0D, 0xFE41, 0xFA0E, 0xFE42, 0xFA0F, 0xFE43, 0xFA11, 0xFE44, 0xFA13, 0xFE45, 0xFA14, 0xFE46, 0xFA18, 0xFE47, + 0xFA1F, 0xFE48, 0xFA20, 0xFE49, 0xFA21, 0xFE4A, 0xFA23, 0xFE4B, 0xFA24, 0xFE4C, 0xFA27, 0xFE4D, 0xFA28, 0xFE4E, 0xFA29, 0xFE4F, + 0xFE30, 0xA955, 0xFE31, 0xA6F2, 0xFE33, 0xA6F4, 0xFE34, 0xA6F5, 0xFE35, 0xA6E0, 0xFE36, 0xA6E1, 0xFE37, 0xA6F0, 0xFE38, 0xA6F1, + 0xFE39, 0xA6E2, 0xFE3A, 0xA6E3, 0xFE3B, 0xA6EE, 0xFE3C, 0xA6EF, 0xFE3D, 0xA6E6, 0xFE3E, 0xA6E7, 0xFE3F, 0xA6E4, 0xFE40, 0xA6E5, + 0xFE41, 0xA6E8, 0xFE42, 0xA6E9, 0xFE43, 0xA6EA, 0xFE44, 0xA6EB, 0xFE49, 0xA968, 0xFE4A, 0xA969, 0xFE4B, 0xA96A, 0xFE4C, 0xA96B, + 0xFE4D, 0xA96C, 0xFE4E, 0xA96D, 0xFE4F, 0xA96E, 0xFE50, 0xA96F, 0xFE51, 0xA970, 0xFE52, 0xA971, 0xFE54, 0xA972, 0xFE55, 0xA973, + 0xFE56, 0xA974, 0xFE57, 0xA975, 0xFE59, 0xA976, 0xFE5A, 0xA977, 0xFE5B, 0xA978, 0xFE5C, 0xA979, 0xFE5D, 0xA97A, 0xFE5E, 0xA97B, + 0xFE5F, 0xA97C, 0xFE60, 0xA97D, 0xFE61, 0xA97E, 0xFE62, 0xA980, 0xFE63, 0xA981, 0xFE64, 0xA982, 0xFE65, 0xA983, 0xFE66, 0xA984, + 0xFE68, 0xA985, 0xFE69, 0xA986, 0xFE6A, 0xA987, 0xFE6B, 0xA988, 0xFF01, 0xA3A1, 0xFF02, 0xA3A2, 0xFF03, 0xA3A3, 0xFF04, 0xA1E7, + 0xFF05, 0xA3A5, 0xFF06, 0xA3A6, 0xFF07, 0xA3A7, 0xFF08, 0xA3A8, 0xFF09, 0xA3A9, 0xFF0A, 0xA3AA, 0xFF0B, 0xA3AB, 0xFF0C, 0xA3AC, + 0xFF0D, 0xA3AD, 0xFF0E, 0xA3AE, 0xFF0F, 0xA3AF, 0xFF10, 0xA3B0, 0xFF11, 0xA3B1, 0xFF12, 0xA3B2, 0xFF13, 0xA3B3, 0xFF14, 0xA3B4, + 0xFF15, 0xA3B5, 0xFF16, 0xA3B6, 0xFF17, 0xA3B7, 0xFF18, 0xA3B8, 0xFF19, 0xA3B9, 0xFF1A, 0xA3BA, 0xFF1B, 0xA3BB, 0xFF1C, 0xA3BC, + 0xFF1D, 0xA3BD, 0xFF1E, 0xA3BE, 0xFF1F, 0xA3BF, 0xFF20, 0xA3C0, 0xFF21, 0xA3C1, 0xFF22, 0xA3C2, 0xFF23, 0xA3C3, 0xFF24, 0xA3C4, + 0xFF25, 0xA3C5, 0xFF26, 0xA3C6, 0xFF27, 0xA3C7, 0xFF28, 0xA3C8, 0xFF29, 0xA3C9, 0xFF2A, 0xA3CA, 0xFF2B, 0xA3CB, 0xFF2C, 0xA3CC, + 0xFF2D, 0xA3CD, 0xFF2E, 0xA3CE, 0xFF2F, 0xA3CF, 0xFF30, 0xA3D0, 0xFF31, 0xA3D1, 0xFF32, 0xA3D2, 0xFF33, 0xA3D3, 0xFF34, 0xA3D4, + 0xFF35, 0xA3D5, 0xFF36, 0xA3D6, 0xFF37, 0xA3D7, 0xFF38, 0xA3D8, 0xFF39, 0xA3D9, 0xFF3A, 0xA3DA, 0xFF3B, 0xA3DB, 0xFF3C, 0xA3DC, + 0xFF3D, 0xA3DD, 0xFF3E, 0xA3DE, 0xFF3F, 0xA3DF, 0xFF40, 0xA3E0, 0xFF41, 0xA3E1, 0xFF42, 0xA3E2, 0xFF43, 0xA3E3, 0xFF44, 0xA3E4, + 0xFF45, 0xA3E5, 0xFF46, 0xA3E6, 0xFF47, 0xA3E7, 0xFF48, 0xA3E8, 0xFF49, 0xA3E9, 0xFF4A, 0xA3EA, 0xFF4B, 0xA3EB, 0xFF4C, 0xA3EC, + 0xFF4D, 0xA3ED, 0xFF4E, 0xA3EE, 0xFF4F, 0xA3EF, 0xFF50, 0xA3F0, 0xFF51, 0xA3F1, 0xFF52, 0xA3F2, 0xFF53, 0xA3F3, 0xFF54, 0xA3F4, + 0xFF55, 0xA3F5, 0xFF56, 0xA3F6, 0xFF57, 0xA3F7, 0xFF58, 0xA3F8, 0xFF59, 0xA3F9, 0xFF5A, 0xA3FA, 0xFF5B, 0xA3FB, 0xFF5C, 0xA3FC, + 0xFF5D, 0xA3FD, 0xFF5E, 0xA1AB, 0xFFE0, 0xA1E9, 0xFFE1, 0xA1EA, 0xFFE2, 0xA956, 0xFFE3, 0xA3FE, 0xFFE4, 0xA957, 0xFFE5, 0xA3A4, + 0, 0 +}; + +static const WCHAR oem2uni936[] = { /* GBK --> Unicode pairs */ + 0x0080, 0x20AC, 0x8140, 0x4E02, 0x8141, 0x4E04, 0x8142, 0x4E05, 0x8143, 0x4E06, 0x8144, 0x4E0F, 0x8145, 0x4E12, 0x8146, 0x4E17, + 0x8147, 0x4E1F, 0x8148, 0x4E20, 0x8149, 0x4E21, 0x814A, 0x4E23, 0x814B, 0x4E26, 0x814C, 0x4E29, 0x814D, 0x4E2E, 0x814E, 0x4E2F, + 0x814F, 0x4E31, 0x8150, 0x4E33, 0x8151, 0x4E35, 0x8152, 0x4E37, 0x8153, 0x4E3C, 0x8154, 0x4E40, 0x8155, 0x4E41, 0x8156, 0x4E42, + 0x8157, 0x4E44, 0x8158, 0x4E46, 0x8159, 0x4E4A, 0x815A, 0x4E51, 0x815B, 0x4E55, 0x815C, 0x4E57, 0x815D, 0x4E5A, 0x815E, 0x4E5B, + 0x815F, 0x4E62, 0x8160, 0x4E63, 0x8161, 0x4E64, 0x8162, 0x4E65, 0x8163, 0x4E67, 0x8164, 0x4E68, 0x8165, 0x4E6A, 0x8166, 0x4E6B, + 0x8167, 0x4E6C, 0x8168, 0x4E6D, 0x8169, 0x4E6E, 0x816A, 0x4E6F, 0x816B, 0x4E72, 0x816C, 0x4E74, 0x816D, 0x4E75, 0x816E, 0x4E76, + 0x816F, 0x4E77, 0x8170, 0x4E78, 0x8171, 0x4E79, 0x8172, 0x4E7A, 0x8173, 0x4E7B, 0x8174, 0x4E7C, 0x8175, 0x4E7D, 0x8176, 0x4E7F, + 0x8177, 0x4E80, 0x8178, 0x4E81, 0x8179, 0x4E82, 0x817A, 0x4E83, 0x817B, 0x4E84, 0x817C, 0x4E85, 0x817D, 0x4E87, 0x817E, 0x4E8A, + 0x8180, 0x4E90, 0x8181, 0x4E96, 0x8182, 0x4E97, 0x8183, 0x4E99, 0x8184, 0x4E9C, 0x8185, 0x4E9D, 0x8186, 0x4E9E, 0x8187, 0x4EA3, + 0x8188, 0x4EAA, 0x8189, 0x4EAF, 0x818A, 0x4EB0, 0x818B, 0x4EB1, 0x818C, 0x4EB4, 0x818D, 0x4EB6, 0x818E, 0x4EB7, 0x818F, 0x4EB8, + 0x8190, 0x4EB9, 0x8191, 0x4EBC, 0x8192, 0x4EBD, 0x8193, 0x4EBE, 0x8194, 0x4EC8, 0x8195, 0x4ECC, 0x8196, 0x4ECF, 0x8197, 0x4ED0, + 0x8198, 0x4ED2, 0x8199, 0x4EDA, 0x819A, 0x4EDB, 0x819B, 0x4EDC, 0x819C, 0x4EE0, 0x819D, 0x4EE2, 0x819E, 0x4EE6, 0x819F, 0x4EE7, + 0x81A0, 0x4EE9, 0x81A1, 0x4EED, 0x81A2, 0x4EEE, 0x81A3, 0x4EEF, 0x81A4, 0x4EF1, 0x81A5, 0x4EF4, 0x81A6, 0x4EF8, 0x81A7, 0x4EF9, + 0x81A8, 0x4EFA, 0x81A9, 0x4EFC, 0x81AA, 0x4EFE, 0x81AB, 0x4F00, 0x81AC, 0x4F02, 0x81AD, 0x4F03, 0x81AE, 0x4F04, 0x81AF, 0x4F05, + 0x81B0, 0x4F06, 0x81B1, 0x4F07, 0x81B2, 0x4F08, 0x81B3, 0x4F0B, 0x81B4, 0x4F0C, 0x81B5, 0x4F12, 0x81B6, 0x4F13, 0x81B7, 0x4F14, + 0x81B8, 0x4F15, 0x81B9, 0x4F16, 0x81BA, 0x4F1C, 0x81BB, 0x4F1D, 0x81BC, 0x4F21, 0x81BD, 0x4F23, 0x81BE, 0x4F28, 0x81BF, 0x4F29, + 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0xFA4F, 0x9DB2, + 0xFA50, 0x9DB3, 0xFA51, 0x9DB4, 0xFA52, 0x9DB5, 0xFA53, 0x9DB6, 0xFA54, 0x9DB7, 0xFA55, 0x9DB8, 0xFA56, 0x9DB9, 0xFA57, 0x9DBA, + 0xFA58, 0x9DBB, 0xFA59, 0x9DBC, 0xFA5A, 0x9DBD, 0xFA5B, 0x9DBE, 0xFA5C, 0x9DBF, 0xFA5D, 0x9DC0, 0xFA5E, 0x9DC1, 0xFA5F, 0x9DC2, + 0xFA60, 0x9DC3, 0xFA61, 0x9DC4, 0xFA62, 0x9DC5, 0xFA63, 0x9DC6, 0xFA64, 0x9DC7, 0xFA65, 0x9DC8, 0xFA66, 0x9DC9, 0xFA67, 0x9DCA, + 0xFA68, 0x9DCB, 0xFA69, 0x9DCC, 0xFA6A, 0x9DCD, 0xFA6B, 0x9DCE, 0xFA6C, 0x9DCF, 0xFA6D, 0x9DD0, 0xFA6E, 0x9DD1, 0xFA6F, 0x9DD2, + 0xFA70, 0x9DD3, 0xFA71, 0x9DD4, 0xFA72, 0x9DD5, 0xFA73, 0x9DD6, 0xFA74, 0x9DD7, 0xFA75, 0x9DD8, 0xFA76, 0x9DD9, 0xFA77, 0x9DDA, + 0xFA78, 0x9DDB, 0xFA79, 0x9DDC, 0xFA7A, 0x9DDD, 0xFA7B, 0x9DDE, 0xFA7C, 0x9DDF, 0xFA7D, 0x9DE0, 0xFA7E, 0x9DE1, 0xFA80, 0x9DE2, + 0xFA81, 0x9DE3, 0xFA82, 0x9DE4, 0xFA83, 0x9DE5, 0xFA84, 0x9DE6, 0xFA85, 0x9DE7, 0xFA86, 0x9DE8, 0xFA87, 0x9DE9, 0xFA88, 0x9DEA, + 0xFA89, 0x9DEB, 0xFA8A, 0x9DEC, 0xFA8B, 0x9DED, 0xFA8C, 0x9DEE, 0xFA8D, 0x9DEF, 0xFA8E, 0x9DF0, 0xFA8F, 0x9DF1, 0xFA90, 0x9DF2, + 0xFA91, 0x9DF3, 0xFA92, 0x9DF4, 0xFA93, 0x9DF5, 0xFA94, 0x9DF6, 0xFA95, 0x9DF7, 0xFA96, 0x9DF8, 0xFA97, 0x9DF9, 0xFA98, 0x9DFA, + 0xFA99, 0x9DFB, 0xFA9A, 0x9DFC, 0xFA9B, 0x9DFD, 0xFA9C, 0x9DFE, 0xFA9D, 0x9DFF, 0xFA9E, 0x9E00, 0xFA9F, 0x9E01, 0xFAA0, 0x9E02, + 0xFB40, 0x9E03, 0xFB41, 0x9E04, 0xFB42, 0x9E05, 0xFB43, 0x9E06, 0xFB44, 0x9E07, 0xFB45, 0x9E08, 0xFB46, 0x9E09, 0xFB47, 0x9E0A, + 0xFB48, 0x9E0B, 0xFB49, 0x9E0C, 0xFB4A, 0x9E0D, 0xFB4B, 0x9E0E, 0xFB4C, 0x9E0F, 0xFB4D, 0x9E10, 0xFB4E, 0x9E11, 0xFB4F, 0x9E12, + 0xFB50, 0x9E13, 0xFB51, 0x9E14, 0xFB52, 0x9E15, 0xFB53, 0x9E16, 0xFB54, 0x9E17, 0xFB55, 0x9E18, 0xFB56, 0x9E19, 0xFB57, 0x9E1A, + 0xFB58, 0x9E1B, 0xFB59, 0x9E1C, 0xFB5A, 0x9E1D, 0xFB5B, 0x9E1E, 0xFB5C, 0x9E24, 0xFB5D, 0x9E27, 0xFB5E, 0x9E2E, 0xFB5F, 0x9E30, + 0xFB60, 0x9E34, 0xFB61, 0x9E3B, 0xFB62, 0x9E3C, 0xFB63, 0x9E40, 0xFB64, 0x9E4D, 0xFB65, 0x9E50, 0xFB66, 0x9E52, 0xFB67, 0x9E53, + 0xFB68, 0x9E54, 0xFB69, 0x9E56, 0xFB6A, 0x9E59, 0xFB6B, 0x9E5D, 0xFB6C, 0x9E5F, 0xFB6D, 0x9E60, 0xFB6E, 0x9E61, 0xFB6F, 0x9E62, + 0xFB70, 0x9E65, 0xFB71, 0x9E6E, 0xFB72, 0x9E6F, 0xFB73, 0x9E72, 0xFB74, 0x9E74, 0xFB75, 0x9E75, 0xFB76, 0x9E76, 0xFB77, 0x9E77, + 0xFB78, 0x9E78, 0xFB79, 0x9E79, 0xFB7A, 0x9E7A, 0xFB7B, 0x9E7B, 0xFB7C, 0x9E7C, 0xFB7D, 0x9E7D, 0xFB7E, 0x9E80, 0xFB80, 0x9E81, + 0xFB81, 0x9E83, 0xFB82, 0x9E84, 0xFB83, 0x9E85, 0xFB84, 0x9E86, 0xFB85, 0x9E89, 0xFB86, 0x9E8A, 0xFB87, 0x9E8C, 0xFB88, 0x9E8D, + 0xFB89, 0x9E8E, 0xFB8A, 0x9E8F, 0xFB8B, 0x9E90, 0xFB8C, 0x9E91, 0xFB8D, 0x9E94, 0xFB8E, 0x9E95, 0xFB8F, 0x9E96, 0xFB90, 0x9E97, + 0xFB91, 0x9E98, 0xFB92, 0x9E99, 0xFB93, 0x9E9A, 0xFB94, 0x9E9B, 0xFB95, 0x9E9C, 0xFB96, 0x9E9E, 0xFB97, 0x9EA0, 0xFB98, 0x9EA1, + 0xFB99, 0x9EA2, 0xFB9A, 0x9EA3, 0xFB9B, 0x9EA4, 0xFB9C, 0x9EA5, 0xFB9D, 0x9EA7, 0xFB9E, 0x9EA8, 0xFB9F, 0x9EA9, 0xFBA0, 0x9EAA, + 0xFC40, 0x9EAB, 0xFC41, 0x9EAC, 0xFC42, 0x9EAD, 0xFC43, 0x9EAE, 0xFC44, 0x9EAF, 0xFC45, 0x9EB0, 0xFC46, 0x9EB1, 0xFC47, 0x9EB2, + 0xFC48, 0x9EB3, 0xFC49, 0x9EB5, 0xFC4A, 0x9EB6, 0xFC4B, 0x9EB7, 0xFC4C, 0x9EB9, 0xFC4D, 0x9EBA, 0xFC4E, 0x9EBC, 0xFC4F, 0x9EBF, + 0xFC50, 0x9EC0, 0xFC51, 0x9EC1, 0xFC52, 0x9EC2, 0xFC53, 0x9EC3, 0xFC54, 0x9EC5, 0xFC55, 0x9EC6, 0xFC56, 0x9EC7, 0xFC57, 0x9EC8, + 0xFC58, 0x9ECA, 0xFC59, 0x9ECB, 0xFC5A, 0x9ECC, 0xFC5B, 0x9ED0, 0xFC5C, 0x9ED2, 0xFC5D, 0x9ED3, 0xFC5E, 0x9ED5, 0xFC5F, 0x9ED6, + 0xFC60, 0x9ED7, 0xFC61, 0x9ED9, 0xFC62, 0x9EDA, 0xFC63, 0x9EDE, 0xFC64, 0x9EE1, 0xFC65, 0x9EE3, 0xFC66, 0x9EE4, 0xFC67, 0x9EE6, + 0xFC68, 0x9EE8, 0xFC69, 0x9EEB, 0xFC6A, 0x9EEC, 0xFC6B, 0x9EED, 0xFC6C, 0x9EEE, 0xFC6D, 0x9EF0, 0xFC6E, 0x9EF1, 0xFC6F, 0x9EF2, + 0xFC70, 0x9EF3, 0xFC71, 0x9EF4, 0xFC72, 0x9EF5, 0xFC73, 0x9EF6, 0xFC74, 0x9EF7, 0xFC75, 0x9EF8, 0xFC76, 0x9EFA, 0xFC77, 0x9EFD, + 0xFC78, 0x9EFF, 0xFC79, 0x9F00, 0xFC7A, 0x9F01, 0xFC7B, 0x9F02, 0xFC7C, 0x9F03, 0xFC7D, 0x9F04, 0xFC7E, 0x9F05, 0xFC80, 0x9F06, + 0xFC81, 0x9F07, 0xFC82, 0x9F08, 0xFC83, 0x9F09, 0xFC84, 0x9F0A, 0xFC85, 0x9F0C, 0xFC86, 0x9F0F, 0xFC87, 0x9F11, 0xFC88, 0x9F12, + 0xFC89, 0x9F14, 0xFC8A, 0x9F15, 0xFC8B, 0x9F16, 0xFC8C, 0x9F18, 0xFC8D, 0x9F1A, 0xFC8E, 0x9F1B, 0xFC8F, 0x9F1C, 0xFC90, 0x9F1D, + 0xFC91, 0x9F1E, 0xFC92, 0x9F1F, 0xFC93, 0x9F21, 0xFC94, 0x9F23, 0xFC95, 0x9F24, 0xFC96, 0x9F25, 0xFC97, 0x9F26, 0xFC98, 0x9F27, + 0xFC99, 0x9F28, 0xFC9A, 0x9F29, 0xFC9B, 0x9F2A, 0xFC9C, 0x9F2B, 0xFC9D, 0x9F2D, 0xFC9E, 0x9F2E, 0xFC9F, 0x9F30, 0xFCA0, 0x9F31, + 0xFD40, 0x9F32, 0xFD41, 0x9F33, 0xFD42, 0x9F34, 0xFD43, 0x9F35, 0xFD44, 0x9F36, 0xFD45, 0x9F38, 0xFD46, 0x9F3A, 0xFD47, 0x9F3C, + 0xFD48, 0x9F3F, 0xFD49, 0x9F40, 0xFD4A, 0x9F41, 0xFD4B, 0x9F42, 0xFD4C, 0x9F43, 0xFD4D, 0x9F45, 0xFD4E, 0x9F46, 0xFD4F, 0x9F47, + 0xFD50, 0x9F48, 0xFD51, 0x9F49, 0xFD52, 0x9F4A, 0xFD53, 0x9F4B, 0xFD54, 0x9F4C, 0xFD55, 0x9F4D, 0xFD56, 0x9F4E, 0xFD57, 0x9F4F, + 0xFD58, 0x9F52, 0xFD59, 0x9F53, 0xFD5A, 0x9F54, 0xFD5B, 0x9F55, 0xFD5C, 0x9F56, 0xFD5D, 0x9F57, 0xFD5E, 0x9F58, 0xFD5F, 0x9F59, + 0xFD60, 0x9F5A, 0xFD61, 0x9F5B, 0xFD62, 0x9F5C, 0xFD63, 0x9F5D, 0xFD64, 0x9F5E, 0xFD65, 0x9F5F, 0xFD66, 0x9F60, 0xFD67, 0x9F61, + 0xFD68, 0x9F62, 0xFD69, 0x9F63, 0xFD6A, 0x9F64, 0xFD6B, 0x9F65, 0xFD6C, 0x9F66, 0xFD6D, 0x9F67, 0xFD6E, 0x9F68, 0xFD6F, 0x9F69, + 0xFD70, 0x9F6A, 0xFD71, 0x9F6B, 0xFD72, 0x9F6C, 0xFD73, 0x9F6D, 0xFD74, 0x9F6E, 0xFD75, 0x9F6F, 0xFD76, 0x9F70, 0xFD77, 0x9F71, + 0xFD78, 0x9F72, 0xFD79, 0x9F73, 0xFD7A, 0x9F74, 0xFD7B, 0x9F75, 0xFD7C, 0x9F76, 0xFD7D, 0x9F77, 0xFD7E, 0x9F78, 0xFD80, 0x9F79, + 0xFD81, 0x9F7A, 0xFD82, 0x9F7B, 0xFD83, 0x9F7C, 0xFD84, 0x9F7D, 0xFD85, 0x9F7E, 0xFD86, 0x9F81, 0xFD87, 0x9F82, 0xFD88, 0x9F8D, + 0xFD89, 0x9F8E, 0xFD8A, 0x9F8F, 0xFD8B, 0x9F90, 0xFD8C, 0x9F91, 0xFD8D, 0x9F92, 0xFD8E, 0x9F93, 0xFD8F, 0x9F94, 0xFD90, 0x9F95, + 0xFD91, 0x9F96, 0xFD92, 0x9F97, 0xFD93, 0x9F98, 0xFD94, 0x9F9C, 0xFD95, 0x9F9D, 0xFD96, 0x9F9E, 0xFD97, 0x9FA1, 0xFD98, 0x9FA2, + 0xFD99, 0x9FA3, 0xFD9A, 0x9FA4, 0xFD9B, 0x9FA5, 0xFD9C, 0xF92C, 0xFD9D, 0xF979, 0xFD9E, 0xF995, 0xFD9F, 0xF9E7, 0xFDA0, 0xF9F1, + 0xFE40, 0xFA0C, 0xFE41, 0xFA0D, 0xFE42, 0xFA0E, 0xFE43, 0xFA0F, 0xFE44, 0xFA11, 0xFE45, 0xFA13, 0xFE46, 0xFA14, 0xFE47, 0xFA18, + 0xFE48, 0xFA1F, 0xFE49, 0xFA20, 0xFE4A, 0xFA21, 0xFE4B, 0xFA23, 0xFE4C, 0xFA24, 0xFE4D, 0xFA27, 0xFE4E, 0xFA28, 0xFE4F, 0xFA29, + 0, 0 +}; +#endif + +#if FF_CODE_PAGE == 949 || FF_CODE_PAGE == 0 /* Korean */ +static const WCHAR uni2oem949[] = { /* Unicode --> Korean pairs */ + 0x00A1, 0xA2AE, 0x00A4, 0xA2B4, 0x00A7, 0xA1D7, 0x00A8, 0xA1A7, 0x00AA, 0xA8A3, 0x00AD, 0xA1A9, 0x00AE, 0xA2E7, 0x00B0, 0xA1C6, + 0x00B1, 0xA1BE, 0x00B2, 0xA9F7, 0x00B3, 0xA9F8, 0x00B4, 0xA2A5, 0x00B6, 0xA2D2, 0x00B7, 0xA1A4, 0x00B8, 0xA2AC, 0x00B9, 0xA9F6, + 0x00BA, 0xA8AC, 0x00BC, 0xA8F9, 0x00BD, 0xA8F6, 0x00BE, 0xA8FA, 0x00BF, 0xA2AF, 0x00C6, 0xA8A1, 0x00D0, 0xA8A2, 0x00D7, 0xA1BF, + 0x00D8, 0xA8AA, 0x00DE, 0xA8AD, 0x00DF, 0xA9AC, 0x00E6, 0xA9A1, 0x00F0, 0xA9A3, 0x00F7, 0xA1C0, 0x00F8, 0xA9AA, 0x00FE, 0xA9AD, + 0x0111, 0xA9A2, 0x0126, 0xA8A4, 0x0127, 0xA9A4, 0x0131, 0xA9A5, 0x0132, 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0xD6C5, 0xC8C5, 0xD6C6, 0xC456, 0xD6C7, 0xC457, 0xD6C8, 0xC8C6, 0xD6C9, 0xC458, 0xD6CA, 0xC459, 0xD6CB, 0xC45A, + 0xD6CC, 0xC8C7, 0xD6CD, 0xC461, 0xD6CE, 0xC462, 0xD6CF, 0xC463, 0xD6D0, 0xC464, 0xD6D1, 0xC8C8, 0xD6D2, 0xC465, 0xD6D3, 0xC466, + 0xD6D4, 0xC8C9, 0xD6D5, 0xC467, 0xD6D6, 0xC468, 0xD6D7, 0xC8CA, 0xD6D8, 0xC469, 0xD6D9, 0xC8CB, 0xD6DA, 0xC46A, 0xD6DB, 0xC46B, + 0xD6DC, 0xC46C, 0xD6DD, 0xC46D, 0xD6DE, 0xC46E, 0xD6DF, 0xC46F, 0xD6E0, 0xC8CC, 0xD6E1, 0xC470, 0xD6E2, 0xC471, 0xD6E3, 0xC472, + 0xD6E4, 0xC8CD, 0xD6E5, 0xC473, 0xD6E6, 0xC474, 0xD6E7, 0xC475, 0xD6E8, 0xC8CE, 0xD6E9, 0xC476, 0xD6EA, 0xC477, 0xD6EB, 0xC478, + 0xD6EC, 0xC479, 0xD6ED, 0xC47A, 0xD6EE, 0xC481, 0xD6EF, 0xC482, 0xD6F0, 0xC8CF, 0xD6F1, 0xC483, 0xD6F2, 0xC484, 0xD6F3, 0xC485, + 0xD6F4, 0xC486, 0xD6F5, 0xC8D0, 0xD6F6, 0xC487, 0xD6F7, 0xC488, 0xD6F8, 0xC489, 0xD6F9, 0xC48A, 0xD6FA, 0xC48B, 0xD6FB, 0xC48C, + 0xD6FC, 0xC8D1, 0xD6FD, 0xC8D2, 0xD6FE, 0xC48D, 0xD6FF, 0xC48E, 0xD700, 0xC8D3, 0xD701, 0xC48F, 0xD702, 0xC490, 0xD703, 0xC491, + 0xD704, 0xC8D4, 0xD705, 0xC492, 0xD706, 0xC493, 0xD707, 0xC494, 0xD708, 0xC495, 0xD709, 0xC496, 0xD70A, 0xC497, 0xD70B, 0xC498, + 0xD70C, 0xC499, 0xD70D, 0xC49A, 0xD70E, 0xC49B, 0xD70F, 0xC49C, 0xD710, 0xC49D, 0xD711, 0xC8D5, 0xD712, 0xC49E, 0xD713, 0xC49F, + 0xD714, 0xC4A0, 0xD715, 0xC541, 0xD716, 0xC542, 0xD717, 0xC543, 0xD718, 0xC8D6, 0xD719, 0xC8D7, 0xD71A, 0xC544, 0xD71B, 0xC545, + 0xD71C, 0xC8D8, 0xD71D, 0xC546, 0xD71E, 0xC547, 0xD71F, 0xC548, 0xD720, 0xC8D9, 0xD721, 0xC549, 0xD722, 0xC54A, 0xD723, 0xC54B, + 0xD724, 0xC54C, 0xD725, 0xC54D, 0xD726, 0xC54E, 0xD727, 0xC54F, 0xD728, 0xC8DA, 0xD729, 0xC8DB, 0xD72A, 0xC550, 0xD72B, 0xC8DC, + 0xD72C, 0xC551, 0xD72D, 0xC8DD, 0xD72E, 0xC552, 0xD72F, 0xC553, 0xD730, 0xC554, 0xD731, 0xC555, 0xD732, 0xC556, 0xD733, 0xC557, + 0xD734, 0xC8DE, 0xD735, 0xC8DF, 0xD736, 0xC558, 0xD737, 0xC559, 0xD738, 0xC8E0, 0xD739, 0xC55A, 0xD73A, 0xC561, 0xD73B, 0xC562, + 0xD73C, 0xC8E1, 0xD73D, 0xC563, 0xD73E, 0xC564, 0xD73F, 0xC565, 0xD740, 0xC566, 0xD741, 0xC567, 0xD742, 0xC568, 0xD743, 0xC569, + 0xD744, 0xC8E2, 0xD745, 0xC56A, 0xD746, 0xC56B, 0xD747, 0xC8E3, 0xD748, 0xC56C, 0xD749, 0xC8E4, 0xD74A, 0xC56D, 0xD74B, 0xC56E, + 0xD74C, 0xC56F, 0xD74D, 0xC570, 0xD74E, 0xC571, 0xD74F, 0xC572, 0xD750, 0xC8E5, 0xD751, 0xC8E6, 0xD752, 0xC573, 0xD753, 0xC574, + 0xD754, 0xC8E7, 0xD755, 0xC575, 0xD756, 0xC8E8, 0xD757, 0xC8E9, 0xD758, 0xC8EA, 0xD759, 0xC8EB, 0xD75A, 0xC576, 0xD75B, 0xC577, + 0xD75C, 0xC578, 0xD75D, 0xC579, 0xD75E, 0xC57A, 0xD75F, 0xC581, 0xD760, 0xC8EC, 0xD761, 0xC8ED, 0xD762, 0xC582, 0xD763, 0xC8EE, + 0xD764, 0xC583, 0xD765, 0xC8EF, 0xD766, 0xC584, 0xD767, 0xC585, 0xD768, 0xC586, 0xD769, 0xC8F0, 0xD76A, 0xC587, 0xD76B, 0xC588, + 0xD76C, 0xC8F1, 0xD76D, 0xC589, 0xD76E, 0xC58A, 0xD76F, 0xC58B, 0xD770, 0xC8F2, 0xD771, 0xC58C, 0xD772, 0xC58D, 0xD773, 0xC58E, + 0xD774, 0xC8F3, 0xD775, 0xC58F, 0xD776, 0xC590, 0xD777, 0xC591, 0xD778, 0xC592, 0xD779, 0xC593, 0xD77A, 0xC594, 0xD77B, 0xC595, + 0xD77C, 0xC8F4, 0xD77D, 0xC8F5, 0xD77E, 0xC596, 0xD77F, 0xC597, 0xD780, 0xC598, 0xD781, 0xC8F6, 0xD782, 0xC599, 0xD783, 0xC59A, + 0xD784, 0xC59B, 0xD785, 0xC59C, 0xD786, 0xC59D, 0xD787, 0xC59E, 0xD788, 0xC8F7, 0xD789, 0xC8F8, 0xD78A, 0xC59F, 0xD78B, 0xC5A0, + 0xD78C, 0xC8F9, 0xD78D, 0xC641, 0xD78E, 0xC642, 0xD78F, 0xC643, 0xD790, 0xC8FA, 0xD791, 0xC644, 0xD792, 0xC645, 0xD793, 0xC646, + 0xD794, 0xC647, 0xD795, 0xC648, 0xD796, 0xC649, 0xD797, 0xC64A, 0xD798, 0xC8FB, 0xD799, 0xC8FC, 0xD79A, 0xC64B, 0xD79B, 0xC8FD, + 0xD79C, 0xC64C, 0xD79D, 0xC8FE, 0xD79E, 0xC64D, 0xD79F, 0xC64E, 0xD7A0, 0xC64F, 0xD7A1, 0xC650, 0xD7A2, 0xC651, 0xD7A3, 0xC652, + 0xF900, 0xCBD0, 0xF901, 0xCBD6, 0xF902, 0xCBE7, 0xF903, 0xCDCF, 0xF904, 0xCDE8, 0xF905, 0xCEAD, 0xF906, 0xCFFB, 0xF907, 0xD0A2, + 0xF908, 0xD0B8, 0xF909, 0xD0D0, 0xF90A, 0xD0DD, 0xF90B, 0xD1D4, 0xF90C, 0xD1D5, 0xF90D, 0xD1D8, 0xF90E, 0xD1DB, 0xF90F, 0xD1DC, + 0xF910, 0xD1DD, 0xF911, 0xD1DE, 0xF912, 0xD1DF, 0xF913, 0xD1E0, 0xF914, 0xD1E2, 0xF915, 0xD1E3, 0xF916, 0xD1E4, 0xF917, 0xD1E5, + 0xF918, 0xD1E6, 0xF919, 0xD1E8, 0xF91A, 0xD1E9, 0xF91B, 0xD1EA, 0xF91C, 0xD1EB, 0xF91D, 0xD1ED, 0xF91E, 0xD1EF, 0xF91F, 0xD1F0, + 0xF920, 0xD1F2, 0xF921, 0xD1F6, 0xF922, 0xD1FA, 0xF923, 0xD1FC, 0xF924, 0xD1FD, 0xF925, 0xD1FE, 0xF926, 0xD2A2, 0xF927, 0xD2A3, + 0xF928, 0xD2A7, 0xF929, 0xD2A8, 0xF92A, 0xD2A9, 0xF92B, 0xD2AA, 0xF92C, 0xD2AB, 0xF92D, 0xD2AD, 0xF92E, 0xD2B2, 0xF92F, 0xD2BE, + 0xF930, 0xD2C2, 0xF931, 0xD2C3, 0xF932, 0xD2C4, 0xF933, 0xD2C6, 0xF934, 0xD2C7, 0xF935, 0xD2C8, 0xF936, 0xD2C9, 0xF937, 0xD2CA, + 0xF938, 0xD2CB, 0xF939, 0xD2CD, 0xF93A, 0xD2CE, 0xF93B, 0xD2CF, 0xF93C, 0xD2D0, 0xF93D, 0xD2D1, 0xF93E, 0xD2D2, 0xF93F, 0xD2D3, + 0xF940, 0xD2D4, 0xF941, 0xD2D5, 0xF942, 0xD2D6, 0xF943, 0xD2D7, 0xF944, 0xD2D9, 0xF945, 0xD2DA, 0xF946, 0xD2DE, 0xF947, 0xD2DF, + 0xF948, 0xD2E1, 0xF949, 0xD2E2, 0xF94A, 0xD2E4, 0xF94B, 0xD2E5, 0xF94C, 0xD2E6, 0xF94D, 0xD2E7, 0xF94E, 0xD2E8, 0xF94F, 0xD2E9, + 0xF950, 0xD2EA, 0xF951, 0xD2EB, 0xF952, 0xD2F0, 0xF953, 0xD2F1, 0xF954, 0xD2F2, 0xF955, 0xD2F3, 0xF956, 0xD2F4, 0xF957, 0xD2F5, + 0xF958, 0xD2F7, 0xF959, 0xD2F8, 0xF95A, 0xD4E6, 0xF95B, 0xD4FC, 0xF95C, 0xD5A5, 0xF95D, 0xD5AB, 0xF95E, 0xD5AE, 0xF95F, 0xD6B8, + 0xF960, 0xD6CD, 0xF961, 0xD7CB, 0xF962, 0xD7E4, 0xF963, 0xDBC5, 0xF964, 0xDBE4, 0xF965, 0xDCA5, 0xF966, 0xDDA5, 0xF967, 0xDDD5, + 0xF968, 0xDDF4, 0xF969, 0xDEFC, 0xF96A, 0xDEFE, 0xF96B, 0xDFB3, 0xF96C, 0xDFE1, 0xF96D, 0xDFE8, 0xF96E, 0xE0F1, 0xF96F, 0xE1AD, + 0xF970, 0xE1ED, 0xF971, 0xE3F5, 0xF972, 0xE4A1, 0xF973, 0xE4A9, 0xF974, 0xE5AE, 0xF975, 0xE5B1, 0xF976, 0xE5B2, 0xF977, 0xE5B9, + 0xF978, 0xE5BB, 0xF979, 0xE5BC, 0xF97A, 0xE5C4, 0xF97B, 0xE5CE, 0xF97C, 0xE5D0, 0xF97D, 0xE5D2, 0xF97E, 0xE5D6, 0xF97F, 0xE5FA, + 0xF980, 0xE5FB, 0xF981, 0xE5FC, 0xF982, 0xE5FE, 0xF983, 0xE6A1, 0xF984, 0xE6A4, 0xF985, 0xE6A7, 0xF986, 0xE6AD, 0xF987, 0xE6AF, + 0xF988, 0xE6B0, 0xF989, 0xE6B1, 0xF98A, 0xE6B3, 0xF98B, 0xE6B7, 0xF98C, 0xE6B8, 0xF98D, 0xE6BC, 0xF98E, 0xE6C4, 0xF98F, 0xE6C6, + 0xF990, 0xE6C7, 0xF991, 0xE6CA, 0xF992, 0xE6D2, 0xF993, 0xE6D6, 0xF994, 0xE6D9, 0xF995, 0xE6DC, 0xF996, 0xE6DF, 0xF997, 0xE6E1, + 0xF998, 0xE6E4, 0xF999, 0xE6E5, 0xF99A, 0xE6E6, 0xF99B, 0xE6E8, 0xF99C, 0xE6EA, 0xF99D, 0xE6EB, 0xF99E, 0xE6EC, 0xF99F, 0xE6EF, + 0xF9A0, 0xE6F1, 0xF9A1, 0xE6F2, 0xF9A2, 0xE6F5, 0xF9A3, 0xE6F6, 0xF9A4, 0xE6F7, 0xF9A5, 0xE6F9, 0xF9A6, 0xE7A1, 0xF9A7, 0xE7A6, + 0xF9A8, 0xE7A9, 0xF9A9, 0xE7AA, 0xF9AA, 0xE7AC, 0xF9AB, 0xE7AD, 0xF9AC, 0xE7B0, 0xF9AD, 0xE7BF, 0xF9AE, 0xE7C1, 0xF9AF, 0xE7C6, + 0xF9B0, 0xE7C7, 0xF9B1, 0xE7CB, 0xF9B2, 0xE7CD, 0xF9B3, 0xE7CF, 0xF9B4, 0xE7D0, 0xF9B5, 0xE7D3, 0xF9B6, 0xE7DF, 0xF9B7, 0xE7E4, + 0xF9B8, 0xE7E6, 0xF9B9, 0xE7F7, 0xF9BA, 0xE8E7, 0xF9BB, 0xE8E8, 0xF9BC, 0xE8F0, 0xF9BD, 0xE8F1, 0xF9BE, 0xE8F7, 0xF9BF, 0xE8F9, + 0xF9C0, 0xE8FB, 0xF9C1, 0xE8FE, 0xF9C2, 0xE9A7, 0xF9C3, 0xE9AC, 0xF9C4, 0xE9CC, 0xF9C5, 0xE9F7, 0xF9C6, 0xEAC1, 0xF9C7, 0xEAE5, + 0xF9C8, 0xEAF4, 0xF9C9, 0xEAF7, 0xF9CA, 0xEAFC, 0xF9CB, 0xEAFE, 0xF9CC, 0xEBA4, 0xF9CD, 0xEBA7, 0xF9CE, 0xEBA9, 0xF9CF, 0xEBAA, + 0xF9D0, 0xEBBA, 0xF9D1, 0xEBBB, 0xF9D2, 0xEBBD, 0xF9D3, 0xEBC1, 0xF9D4, 0xEBC2, 0xF9D5, 0xEBC6, 0xF9D6, 0xEBC7, 0xF9D7, 0xEBCC, + 0xF9D8, 0xEBCF, 0xF9D9, 0xEBD0, 0xF9DA, 0xEBD1, 0xF9DB, 0xEBD2, 0xF9DC, 0xEBD8, 0xF9DD, 0xECA6, 0xF9DE, 0xECA7, 0xF9DF, 0xECAA, + 0xF9E0, 0xECAF, 0xF9E1, 0xECB0, 0xF9E2, 0xECB1, 0xF9E3, 0xECB2, 0xF9E4, 0xECB5, 0xF9E5, 0xECB8, 0xF9E6, 0xECBA, 0xF9E7, 0xECC0, + 0xF9E8, 0xECC1, 0xF9E9, 0xECC5, 0xF9EA, 0xECC6, 0xF9EB, 0xECC9, 0xF9EC, 0xECCA, 0xF9ED, 0xECD5, 0xF9EE, 0xECDD, 0xF9EF, 0xECDE, + 0xF9F0, 0xECE1, 0xF9F1, 0xECE4, 0xF9F2, 0xECE7, 0xF9F3, 0xECE8, 0xF9F4, 0xECF7, 0xF9F5, 0xECF8, 0xF9F6, 0xECFA, 0xF9F7, 0xEDA1, + 0xF9F8, 0xEDA2, 0xF9F9, 0xEDA3, 0xF9FA, 0xEDEE, 0xF9FB, 0xEEDB, 0xF9FC, 0xF2BD, 0xF9FD, 0xF2FA, 0xF9FE, 0xF3B1, 0xF9FF, 0xF4A7, + 0xFA00, 0xF4EE, 0xFA01, 0xF6F4, 0xFA02, 0xF6F6, 0xFA03, 0xF7B8, 0xFA04, 0xF7C8, 0xFA05, 0xF7D3, 0xFA06, 0xF8DB, 0xFA07, 0xF8F0, + 0xFA08, 0xFAA1, 0xFA09, 0xFAA2, 0xFA0A, 0xFAE6, 0xFA0B, 0xFCA9, 0xFF01, 0xA3A1, 0xFF02, 0xA3A2, 0xFF03, 0xA3A3, 0xFF04, 0xA3A4, + 0xFF05, 0xA3A5, 0xFF06, 0xA3A6, 0xFF07, 0xA3A7, 0xFF08, 0xA3A8, 0xFF09, 0xA3A9, 0xFF0A, 0xA3AA, 0xFF0B, 0xA3AB, 0xFF0C, 0xA3AC, + 0xFF0D, 0xA3AD, 0xFF0E, 0xA3AE, 0xFF0F, 0xA3AF, 0xFF10, 0xA3B0, 0xFF11, 0xA3B1, 0xFF12, 0xA3B2, 0xFF13, 0xA3B3, 0xFF14, 0xA3B4, + 0xFF15, 0xA3B5, 0xFF16, 0xA3B6, 0xFF17, 0xA3B7, 0xFF18, 0xA3B8, 0xFF19, 0xA3B9, 0xFF1A, 0xA3BA, 0xFF1B, 0xA3BB, 0xFF1C, 0xA3BC, + 0xFF1D, 0xA3BD, 0xFF1E, 0xA3BE, 0xFF1F, 0xA3BF, 0xFF20, 0xA3C0, 0xFF21, 0xA3C1, 0xFF22, 0xA3C2, 0xFF23, 0xA3C3, 0xFF24, 0xA3C4, + 0xFF25, 0xA3C5, 0xFF26, 0xA3C6, 0xFF27, 0xA3C7, 0xFF28, 0xA3C8, 0xFF29, 0xA3C9, 0xFF2A, 0xA3CA, 0xFF2B, 0xA3CB, 0xFF2C, 0xA3CC, + 0xFF2D, 0xA3CD, 0xFF2E, 0xA3CE, 0xFF2F, 0xA3CF, 0xFF30, 0xA3D0, 0xFF31, 0xA3D1, 0xFF32, 0xA3D2, 0xFF33, 0xA3D3, 0xFF34, 0xA3D4, + 0xFF35, 0xA3D5, 0xFF36, 0xA3D6, 0xFF37, 0xA3D7, 0xFF38, 0xA3D8, 0xFF39, 0xA3D9, 0xFF3A, 0xA3DA, 0xFF3B, 0xA3DB, 0xFF3C, 0xA1AC, + 0xFF3D, 0xA3DD, 0xFF3E, 0xA3DE, 0xFF3F, 0xA3DF, 0xFF40, 0xA3E0, 0xFF41, 0xA3E1, 0xFF42, 0xA3E2, 0xFF43, 0xA3E3, 0xFF44, 0xA3E4, + 0xFF45, 0xA3E5, 0xFF46, 0xA3E6, 0xFF47, 0xA3E7, 0xFF48, 0xA3E8, 0xFF49, 0xA3E9, 0xFF4A, 0xA3EA, 0xFF4B, 0xA3EB, 0xFF4C, 0xA3EC, + 0xFF4D, 0xA3ED, 0xFF4E, 0xA3EE, 0xFF4F, 0xA3EF, 0xFF50, 0xA3F0, 0xFF51, 0xA3F1, 0xFF52, 0xA3F2, 0xFF53, 0xA3F3, 0xFF54, 0xA3F4, + 0xFF55, 0xA3F5, 0xFF56, 0xA3F6, 0xFF57, 0xA3F7, 0xFF58, 0xA3F8, 0xFF59, 0xA3F9, 0xFF5A, 0xA3FA, 0xFF5B, 0xA3FB, 0xFF5C, 0xA3FC, + 0xFF5D, 0xA3FD, 0xFF5E, 0xA2A6, 0xFFE0, 0xA1CB, 0xFFE1, 0xA1CC, 0xFFE2, 0xA1FE, 0xFFE3, 0xA3FE, 0xFFE5, 0xA1CD, 0xFFE6, 0xA3DC, + 0, 0 +}; + +static const WCHAR oem2uni949[] = { /* Korean --> Unicode pairs */ + 0x8141, 0xAC02, 0x8142, 0xAC03, 0x8143, 0xAC05, 0x8144, 0xAC06, 0x8145, 0xAC0B, 0x8146, 0xAC0C, 0x8147, 0xAC0D, 0x8148, 0xAC0E, + 0x8149, 0xAC0F, 0x814A, 0xAC18, 0x814B, 0xAC1E, 0x814C, 0xAC1F, 0x814D, 0xAC21, 0x814E, 0xAC22, 0x814F, 0xAC23, 0x8150, 0xAC25, + 0x8151, 0xAC26, 0x8152, 0xAC27, 0x8153, 0xAC28, 0x8154, 0xAC29, 0x8155, 0xAC2A, 0x8156, 0xAC2B, 0x8157, 0xAC2E, 0x8158, 0xAC32, + 0x8159, 0xAC33, 0x815A, 0xAC34, 0x8161, 0xAC35, 0x8162, 0xAC36, 0x8163, 0xAC37, 0x8164, 0xAC3A, 0x8165, 0xAC3B, 0x8166, 0xAC3D, + 0x8167, 0xAC3E, 0x8168, 0xAC3F, 0x8169, 0xAC41, 0x816A, 0xAC42, 0x816B, 0xAC43, 0x816C, 0xAC44, 0x816D, 0xAC45, 0x816E, 0xAC46, + 0x816F, 0xAC47, 0x8170, 0xAC48, 0x8171, 0xAC49, 0x8172, 0xAC4A, 0x8173, 0xAC4C, 0x8174, 0xAC4E, 0x8175, 0xAC4F, 0x8176, 0xAC50, + 0x8177, 0xAC51, 0x8178, 0xAC52, 0x8179, 0xAC53, 0x817A, 0xAC55, 0x8181, 0xAC56, 0x8182, 0xAC57, 0x8183, 0xAC59, 0x8184, 0xAC5A, + 0x8185, 0xAC5B, 0x8186, 0xAC5D, 0x8187, 0xAC5E, 0x8188, 0xAC5F, 0x8189, 0xAC60, 0x818A, 0xAC61, 0x818B, 0xAC62, 0x818C, 0xAC63, + 0x818D, 0xAC64, 0x818E, 0xAC65, 0x818F, 0xAC66, 0x8190, 0xAC67, 0x8191, 0xAC68, 0x8192, 0xAC69, 0x8193, 0xAC6A, 0x8194, 0xAC6B, + 0x8195, 0xAC6C, 0x8196, 0xAC6D, 0x8197, 0xAC6E, 0x8198, 0xAC6F, 0x8199, 0xAC72, 0x819A, 0xAC73, 0x819B, 0xAC75, 0x819C, 0xAC76, + 0x819D, 0xAC79, 0x819E, 0xAC7B, 0x819F, 0xAC7C, 0x81A0, 0xAC7D, 0x81A1, 0xAC7E, 0x81A2, 0xAC7F, 0x81A3, 0xAC82, 0x81A4, 0xAC87, + 0x81A5, 0xAC88, 0x81A6, 0xAC8D, 0x81A7, 0xAC8E, 0x81A8, 0xAC8F, 0x81A9, 0xAC91, 0x81AA, 0xAC92, 0x81AB, 0xAC93, 0x81AC, 0xAC95, + 0x81AD, 0xAC96, 0x81AE, 0xAC97, 0x81AF, 0xAC98, 0x81B0, 0xAC99, 0x81B1, 0xAC9A, 0x81B2, 0xAC9B, 0x81B3, 0xAC9E, 0x81B4, 0xACA2, + 0x81B5, 0xACA3, 0x81B6, 0xACA4, 0x81B7, 0xACA5, 0x81B8, 0xACA6, 0x81B9, 0xACA7, 0x81BA, 0xACAB, 0x81BB, 0xACAD, 0x81BC, 0xACAE, + 0x81BD, 0xACB1, 0x81BE, 0xACB2, 0x81BF, 0xACB3, 0x81C0, 0xACB4, 0x81C1, 0xACB5, 0x81C2, 0xACB6, 0x81C3, 0xACB7, 0x81C4, 0xACBA, + 0x81C5, 0xACBE, 0x81C6, 0xACBF, 0x81C7, 0xACC0, 0x81C8, 0xACC2, 0x81C9, 0xACC3, 0x81CA, 0xACC5, 0x81CB, 0xACC6, 0x81CC, 0xACC7, + 0x81CD, 0xACC9, 0x81CE, 0xACCA, 0x81CF, 0xACCB, 0x81D0, 0xACCD, 0x81D1, 0xACCE, 0x81D2, 0xACCF, 0x81D3, 0xACD0, 0x81D4, 0xACD1, + 0x81D5, 0xACD2, 0x81D6, 0xACD3, 0x81D7, 0xACD4, 0x81D8, 0xACD6, 0x81D9, 0xACD8, 0x81DA, 0xACD9, 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0xAD33, 0x8261, 0xAD36, 0x8262, 0xAD37, 0x8263, 0xAD39, 0x8264, 0xAD3A, + 0x8265, 0xAD3B, 0x8266, 0xAD3D, 0x8267, 0xAD3E, 0x8268, 0xAD3F, 0x8269, 0xAD40, 0x826A, 0xAD41, 0x826B, 0xAD42, 0x826C, 0xAD43, + 0x826D, 0xAD46, 0x826E, 0xAD48, 0x826F, 0xAD4A, 0x8270, 0xAD4B, 0x8271, 0xAD4C, 0x8272, 0xAD4D, 0x8273, 0xAD4E, 0x8274, 0xAD4F, + 0x8275, 0xAD51, 0x8276, 0xAD52, 0x8277, 0xAD53, 0x8278, 0xAD55, 0x8279, 0xAD56, 0x827A, 0xAD57, 0x8281, 0xAD59, 0x8282, 0xAD5A, + 0x8283, 0xAD5B, 0x8284, 0xAD5C, 0x8285, 0xAD5D, 0x8286, 0xAD5E, 0x8287, 0xAD5F, 0x8288, 0xAD60, 0x8289, 0xAD62, 0x828A, 0xAD64, + 0x828B, 0xAD65, 0x828C, 0xAD66, 0x828D, 0xAD67, 0x828E, 0xAD68, 0x828F, 0xAD69, 0x8290, 0xAD6A, 0x8291, 0xAD6B, 0x8292, 0xAD6E, + 0x8293, 0xAD6F, 0x8294, 0xAD71, 0x8295, 0xAD72, 0x8296, 0xAD77, 0x8297, 0xAD78, 0x8298, 0xAD79, 0x8299, 0xAD7A, 0x829A, 0xAD7E, + 0x829B, 0xAD80, 0x829C, 0xAD83, 0x829D, 0xAD84, 0x829E, 0xAD85, 0x829F, 0xAD86, 0x82A0, 0xAD87, 0x82A1, 0xAD8A, 0x82A2, 0xAD8B, + 0x82A3, 0xAD8D, 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0xAE81, 0x83AB, 0xAE82, 0x83AC, 0xAE83, 0x83AD, 0xAE86, 0x83AE, 0xAE87, 0x83AF, 0xAE88, 0x83B0, 0xAE89, + 0x83B1, 0xAE8A, 0x83B2, 0xAE8B, 0x83B3, 0xAE8D, 0x83B4, 0xAE8E, 0x83B5, 0xAE8F, 0x83B6, 0xAE90, 0x83B7, 0xAE91, 0x83B8, 0xAE92, + 0x83B9, 0xAE93, 0x83BA, 0xAE94, 0x83BB, 0xAE95, 0x83BC, 0xAE96, 0x83BD, 0xAE97, 0x83BE, 0xAE98, 0x83BF, 0xAE99, 0x83C0, 0xAE9A, + 0x83C1, 0xAE9B, 0x83C2, 0xAE9C, 0x83C3, 0xAE9D, 0x83C4, 0xAE9E, 0x83C5, 0xAE9F, 0x83C6, 0xAEA0, 0x83C7, 0xAEA1, 0x83C8, 0xAEA2, + 0x83C9, 0xAEA3, 0x83CA, 0xAEA4, 0x83CB, 0xAEA5, 0x83CC, 0xAEA6, 0x83CD, 0xAEA7, 0x83CE, 0xAEA8, 0x83CF, 0xAEA9, 0x83D0, 0xAEAA, + 0x83D1, 0xAEAB, 0x83D2, 0xAEAC, 0x83D3, 0xAEAD, 0x83D4, 0xAEAE, 0x83D5, 0xAEAF, 0x83D6, 0xAEB0, 0x83D7, 0xAEB1, 0x83D8, 0xAEB2, + 0x83D9, 0xAEB3, 0x83DA, 0xAEB4, 0x83DB, 0xAEB5, 0x83DC, 0xAEB6, 0x83DD, 0xAEB7, 0x83DE, 0xAEB8, 0x83DF, 0xAEB9, 0x83E0, 0xAEBA, + 0x83E1, 0xAEBB, 0x83E2, 0xAEBF, 0x83E3, 0xAEC1, 0x83E4, 0xAEC2, 0x83E5, 0xAEC3, 0x83E6, 0xAEC5, 0x83E7, 0xAEC6, 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0xFCAB, 0x652B, 0xFCAC, 0x78BA, + 0xFCAD, 0x78BB, 0xFCAE, 0x7A6B, 0xFCAF, 0x4E38, 0xFCB0, 0x559A, 0xFCB1, 0x5950, 0xFCB2, 0x5BA6, 0xFCB3, 0x5E7B, 0xFCB4, 0x60A3, + 0xFCB5, 0x63DB, 0xFCB6, 0x6B61, 0xFCB7, 0x6665, 0xFCB8, 0x6853, 0xFCB9, 0x6E19, 0xFCBA, 0x7165, 0xFCBB, 0x74B0, 0xFCBC, 0x7D08, + 0xFCBD, 0x9084, 0xFCBE, 0x9A69, 0xFCBF, 0x9C25, 0xFCC0, 0x6D3B, 0xFCC1, 0x6ED1, 0xFCC2, 0x733E, 0xFCC3, 0x8C41, 0xFCC4, 0x95CA, + 0xFCC5, 0x51F0, 0xFCC6, 0x5E4C, 0xFCC7, 0x5FA8, 0xFCC8, 0x604D, 0xFCC9, 0x60F6, 0xFCCA, 0x6130, 0xFCCB, 0x614C, 0xFCCC, 0x6643, + 0xFCCD, 0x6644, 0xFCCE, 0x69A5, 0xFCCF, 0x6CC1, 0xFCD0, 0x6E5F, 0xFCD1, 0x6EC9, 0xFCD2, 0x6F62, 0xFCD3, 0x714C, 0xFCD4, 0x749C, + 0xFCD5, 0x7687, 0xFCD6, 0x7BC1, 0xFCD7, 0x7C27, 0xFCD8, 0x8352, 0xFCD9, 0x8757, 0xFCDA, 0x9051, 0xFCDB, 0x968D, 0xFCDC, 0x9EC3, + 0xFCDD, 0x532F, 0xFCDE, 0x56DE, 0xFCDF, 0x5EFB, 0xFCE0, 0x5F8A, 0xFCE1, 0x6062, 0xFCE2, 0x6094, 0xFCE3, 0x61F7, 0xFCE4, 0x6666, + 0xFCE5, 0x6703, 0xFCE6, 0x6A9C, 0xFCE7, 0x6DEE, 0xFCE8, 0x6FAE, 0xFCE9, 0x7070, 0xFCEA, 0x736A, 0xFCEB, 0x7E6A, 0xFCEC, 0x81BE, + 0xFCED, 0x8334, 0xFCEE, 0x86D4, 0xFCEF, 0x8AA8, 0xFCF0, 0x8CC4, 0xFCF1, 0x5283, 0xFCF2, 0x7372, 0xFCF3, 0x5B96, 0xFCF4, 0x6A6B, + 0xFCF5, 0x9404, 0xFCF6, 0x54EE, 0xFCF7, 0x5686, 0xFCF8, 0x5B5D, 0xFCF9, 0x6548, 0xFCFA, 0x6585, 0xFCFB, 0x66C9, 0xFCFC, 0x689F, + 0xFCFD, 0x6D8D, 0xFCFE, 0x6DC6, 0xFDA1, 0x723B, 0xFDA2, 0x80B4, 0xFDA3, 0x9175, 0xFDA4, 0x9A4D, 0xFDA5, 0x4FAF, 0xFDA6, 0x5019, + 0xFDA7, 0x539A, 0xFDA8, 0x540E, 0xFDA9, 0x543C, 0xFDAA, 0x5589, 0xFDAB, 0x55C5, 0xFDAC, 0x5E3F, 0xFDAD, 0x5F8C, 0xFDAE, 0x673D, + 0xFDAF, 0x7166, 0xFDB0, 0x73DD, 0xFDB1, 0x9005, 0xFDB2, 0x52DB, 0xFDB3, 0x52F3, 0xFDB4, 0x5864, 0xFDB5, 0x58CE, 0xFDB6, 0x7104, + 0xFDB7, 0x718F, 0xFDB8, 0x71FB, 0xFDB9, 0x85B0, 0xFDBA, 0x8A13, 0xFDBB, 0x6688, 0xFDBC, 0x85A8, 0xFDBD, 0x55A7, 0xFDBE, 0x6684, + 0xFDBF, 0x714A, 0xFDC0, 0x8431, 0xFDC1, 0x5349, 0xFDC2, 0x5599, 0xFDC3, 0x6BC1, 0xFDC4, 0x5F59, 0xFDC5, 0x5FBD, 0xFDC6, 0x63EE, + 0xFDC7, 0x6689, 0xFDC8, 0x7147, 0xFDC9, 0x8AF1, 0xFDCA, 0x8F1D, 0xFDCB, 0x9EBE, 0xFDCC, 0x4F11, 0xFDCD, 0x643A, 0xFDCE, 0x70CB, + 0xFDCF, 0x7566, 0xFDD0, 0x8667, 0xFDD1, 0x6064, 0xFDD2, 0x8B4E, 0xFDD3, 0x9DF8, 0xFDD4, 0x5147, 0xFDD5, 0x51F6, 0xFDD6, 0x5308, + 0xFDD7, 0x6D36, 0xFDD8, 0x80F8, 0xFDD9, 0x9ED1, 0xFDDA, 0x6615, 0xFDDB, 0x6B23, 0xFDDC, 0x7098, 0xFDDD, 0x75D5, 0xFDDE, 0x5403, + 0xFDDF, 0x5C79, 0xFDE0, 0x7D07, 0xFDE1, 0x8A16, 0xFDE2, 0x6B20, 0xFDE3, 0x6B3D, 0xFDE4, 0x6B46, 0xFDE5, 0x5438, 0xFDE6, 0x6070, + 0xFDE7, 0x6D3D, 0xFDE8, 0x7FD5, 0xFDE9, 0x8208, 0xFDEA, 0x50D6, 0xFDEB, 0x51DE, 0xFDEC, 0x559C, 0xFDED, 0x566B, 0xFDEE, 0x56CD, + 0xFDEF, 0x59EC, 0xFDF0, 0x5B09, 0xFDF1, 0x5E0C, 0xFDF2, 0x6199, 0xFDF3, 0x6198, 0xFDF4, 0x6231, 0xFDF5, 0x665E, 0xFDF6, 0x66E6, + 0xFDF7, 0x7199, 0xFDF8, 0x71B9, 0xFDF9, 0x71BA, 0xFDFA, 0x72A7, 0xFDFB, 0x79A7, 0xFDFC, 0x7A00, 0xFDFD, 0x7FB2, 0xFDFE, 0x8A70, + 0, 0 +}; +#endif + +#if FF_CODE_PAGE == 950 || FF_CODE_PAGE == 0 /* Traditional Chinese */ +static const WCHAR uni2oem950[] = { /* Unicode --> Big5 pairs */ + 0x00A7, 0xA1B1, 0x00AF, 0xA1C2, 0x00B0, 0xA258, 0x00B1, 0xA1D3, 0x00B7, 0xA150, 0x00D7, 0xA1D1, 0x00F7, 0xA1D2, 0x02C7, 0xA3BE, + 0x02C9, 0xA3BC, 0x02CA, 0xA3BD, 0x02CB, 0xA3BF, 0x02CD, 0xA1C5, 0x02D9, 0xA3BB, 0x0391, 0xA344, 0x0392, 0xA345, 0x0393, 0xA346, + 0x0394, 0xA347, 0x0395, 0xA348, 0x0396, 0xA349, 0x0397, 0xA34A, 0x0398, 0xA34B, 0x0399, 0xA34C, 0x039A, 0xA34D, 0x039B, 0xA34E, + 0x039C, 0xA34F, 0x039D, 0xA350, 0x039E, 0xA351, 0x039F, 0xA352, 0x03A0, 0xA353, 0x03A1, 0xA354, 0x03A3, 0xA355, 0x03A4, 0xA356, + 0x03A5, 0xA357, 0x03A6, 0xA358, 0x03A7, 0xA359, 0x03A8, 0xA35A, 0x03A9, 0xA35B, 0x03B1, 0xA35C, 0x03B2, 0xA35D, 0x03B3, 0xA35E, + 0x03B4, 0xA35F, 0x03B5, 0xA360, 0x03B6, 0xA361, 0x03B7, 0xA362, 0x03B8, 0xA363, 0x03B9, 0xA364, 0x03BA, 0xA365, 0x03BB, 0xA366, + 0x03BC, 0xA367, 0x03BD, 0xA368, 0x03BE, 0xA369, 0x03BF, 0xA36A, 0x03C0, 0xA36B, 0x03C1, 0xA36C, 0x03C3, 0xA36D, 0x03C4, 0xA36E, + 0x03C5, 0xA36F, 0x03C6, 0xA370, 0x03C7, 0xA371, 0x03C8, 0xA372, 0x03C9, 0xA373, 0x2013, 0xA156, 0x2014, 0xA158, 0x2018, 0xA1A5, + 0x2019, 0xA1A6, 0x201C, 0xA1A7, 0x201D, 0xA1A8, 0x2025, 0xA14C, 0x2026, 0xA14B, 0x2027, 0xA145, 0x2032, 0xA1AC, 0x2035, 0xA1AB, + 0x203B, 0xA1B0, 0x20AC, 0xA3E1, 0x2103, 0xA24A, 0x2105, 0xA1C1, 0x2109, 0xA24B, 0x2160, 0xA2B9, 0x2161, 0xA2BA, 0x2162, 0xA2BB, + 0x2163, 0xA2BC, 0x2164, 0xA2BD, 0x2165, 0xA2BE, 0x2166, 0xA2BF, 0x2167, 0xA2C0, 0x2168, 0xA2C1, 0x2169, 0xA2C2, 0x2190, 0xA1F6, + 0x2191, 0xA1F4, 0x2192, 0xA1F7, 0x2193, 0xA1F5, 0x2196, 0xA1F8, 0x2197, 0xA1F9, 0x2198, 0xA1FB, 0x2199, 0xA1FA, 0x2215, 0xA241, + 0x221A, 0xA1D4, 0x221E, 0xA1DB, 0x221F, 0xA1E8, 0x2220, 0xA1E7, 0x2223, 0xA1FD, 0x2225, 0xA1FC, 0x2229, 0xA1E4, 0x222A, 0xA1E5, + 0x222B, 0xA1EC, 0x222E, 0xA1ED, 0x2234, 0xA1EF, 0x2235, 0xA1EE, 0x2252, 0xA1DC, 0x2260, 0xA1DA, 0x2261, 0xA1DD, 0x2266, 0xA1D8, + 0x2267, 0xA1D9, 0x2295, 0xA1F2, 0x2299, 0xA1F3, 0x22A5, 0xA1E6, 0x22BF, 0xA1E9, 0x2500, 0xA277, 0x2502, 0xA278, 0x250C, 0xA27A, + 0x2510, 0xA27B, 0x2514, 0xA27C, 0x2518, 0xA27D, 0x251C, 0xA275, 0x2524, 0xA274, 0x252C, 0xA273, 0x2534, 0xA272, 0x253C, 0xA271, + 0x2550, 0xA2A4, 0x2550, 0xF9F9, 0x2551, 0xF9F8, 0x2552, 0xF9E6, 0x2553, 0xF9EF, 0x2554, 0xF9DD, 0x2555, 0xF9E8, 0x2556, 0xF9F1, + 0x2557, 0xF9DF, 0x2558, 0xF9EC, 0x2559, 0xF9F5, 0x255A, 0xF9E3, 0x255B, 0xF9EE, 0x255C, 0xF9F7, 0x255D, 0xF9E5, 0x255E, 0xA2A5, + 0x255E, 0xF9E9, 0x255F, 0xF9F2, 0x2560, 0xF9E0, 0x2561, 0xA2A7, 0x2561, 0xF9EB, 0x2562, 0xF9F4, 0x2563, 0xF9E2, 0x2564, 0xF9E7, + 0x2565, 0xF9F0, 0x2566, 0xF9DE, 0x2567, 0xF9ED, 0x2568, 0xF9F6, 0x2569, 0xF9E4, 0x256A, 0xA2A6, 0x256A, 0xF9EA, 0x256B, 0xF9F3, + 0x256C, 0xF9E1, 0x256D, 0xA27E, 0x256D, 0xF9FA, 0x256E, 0xA2A1, 0x256E, 0xF9FB, 0x256F, 0xA2A3, 0x256F, 0xF9FD, 0x2570, 0xA2A2, + 0x2570, 0xF9FC, 0x2571, 0xA2AC, 0x2572, 0xA2AD, 0x2573, 0xA2AE, 0x2574, 0xA15A, 0x2581, 0xA262, 0x2582, 0xA263, 0x2583, 0xA264, + 0x2584, 0xA265, 0x2585, 0xA266, 0x2586, 0xA267, 0x2587, 0xA268, 0x2588, 0xA269, 0x2589, 0xA270, 0x258A, 0xA26F, 0x258B, 0xA26E, + 0x258C, 0xA26D, 0x258D, 0xA26C, 0x258E, 0xA26B, 0x258F, 0xA26A, 0x2593, 0xF9FE, 0x2594, 0xA276, 0x2595, 0xA279, 0x25A0, 0xA1BD, + 0x25A1, 0xA1BC, 0x25B2, 0xA1B6, 0x25B3, 0xA1B5, 0x25BC, 0xA1BF, 0x25BD, 0xA1BE, 0x25C6, 0xA1BB, 0x25C7, 0xA1BA, 0x25CB, 0xA1B3, + 0x25CE, 0xA1B7, 0x25CF, 0xA1B4, 0x25E2, 0xA2A8, 0x25E3, 0xA2A9, 0x25E4, 0xA2AB, 0x25E5, 0xA2AA, 0x2605, 0xA1B9, 0x2606, 0xA1B8, + 0x2640, 0xA1F0, 0x2642, 0xA1F1, 0x3000, 0xA140, 0x3001, 0xA142, 0x3002, 0xA143, 0x3003, 0xA1B2, 0x3008, 0xA171, 0x3009, 0xA172, + 0x300A, 0xA16D, 0x300B, 0xA16E, 0x300C, 0xA175, 0x300D, 0xA176, 0x300E, 0xA179, 0x300F, 0xA17A, 0x3010, 0xA169, 0x3011, 0xA16A, + 0x3012, 0xA245, 0x3014, 0xA165, 0x3015, 0xA166, 0x301D, 0xA1A9, 0x301E, 0xA1AA, 0x3021, 0xA2C3, 0x3022, 0xA2C4, 0x3023, 0xA2C5, + 0x3024, 0xA2C6, 0x3025, 0xA2C7, 0x3026, 0xA2C8, 0x3027, 0xA2C9, 0x3028, 0xA2CA, 0x3029, 0xA2CB, 0x3105, 0xA374, 0x3106, 0xA375, + 0x3107, 0xA376, 0x3108, 0xA377, 0x3109, 0xA378, 0x310A, 0xA379, 0x310B, 0xA37A, 0x310C, 0xA37B, 0x310D, 0xA37C, 0x310E, 0xA37D, + 0x310F, 0xA37E, 0x3110, 0xA3A1, 0x3111, 0xA3A2, 0x3112, 0xA3A3, 0x3113, 0xA3A4, 0x3114, 0xA3A5, 0x3115, 0xA3A6, 0x3116, 0xA3A7, + 0x3117, 0xA3A8, 0x3118, 0xA3A9, 0x3119, 0xA3AA, 0x311A, 0xA3AB, 0x311B, 0xA3AC, 0x311C, 0xA3AD, 0x311D, 0xA3AE, 0x311E, 0xA3AF, + 0x311F, 0xA3B0, 0x3120, 0xA3B1, 0x3121, 0xA3B2, 0x3122, 0xA3B3, 0x3123, 0xA3B4, 0x3124, 0xA3B5, 0x3125, 0xA3B6, 0x3126, 0xA3B7, + 0x3127, 0xA3B8, 0x3128, 0xA3B9, 0x3129, 0xA3BA, 0x32A3, 0xA1C0, 0x338E, 0xA255, 0x338F, 0xA256, 0x339C, 0xA250, 0x339D, 0xA251, + 0x339E, 0xA252, 0x33A1, 0xA254, 0x33C4, 0xA257, 0x33CE, 0xA253, 0x33D1, 0xA1EB, 0x33D2, 0xA1EA, 0x33D5, 0xA24F, 0x4E00, 0xA440, + 0x4E01, 0xA442, 0x4E03, 0xA443, 0x4E07, 0xC945, 0x4E08, 0xA456, 0x4E09, 0xA454, 0x4E0A, 0xA457, 0x4E0B, 0xA455, 0x4E0C, 0xC946, + 0x4E0D, 0xA4A3, 0x4E0E, 0xC94F, 0x4E0F, 0xC94D, 0x4E10, 0xA4A2, 0x4E11, 0xA4A1, 0x4E14, 0xA542, 0x4E15, 0xA541, 0x4E16, 0xA540, + 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0xC35E, 0x9F2D, 0xF3F6, 0x9F2E, 0xF5B9, 0x9F2F, 0xC4D3, 0x9F30, 0xF5B8, 0x9F31, 0xF6D1, 0x9F32, 0xF7CB, 0x9F33, 0xF7CA, + 0x9F34, 0xC5C4, 0x9F35, 0xF7C9, 0x9F36, 0xF87C, 0x9F37, 0xF87B, 0x9F38, 0xF87A, 0x9F3B, 0xBBF3, 0x9F3D, 0xECB8, 0x9F3E, 0xC24D, + 0x9F40, 0xF3F7, 0x9F41, 0xF3F8, 0x9F42, 0xF7CC, 0x9F43, 0xF87D, 0x9F46, 0xF8EA, 0x9F47, 0xF966, 0x9F48, 0xF9B9, 0x9F49, 0xF9D4, + 0x9F4A, 0xBBF4, 0x9F4B, 0xC24E, 0x9F4C, 0xF1E9, 0x9F4D, 0xF3F9, 0x9F4E, 0xF6D2, 0x9F4F, 0xF87E, 0x9F52, 0xBEA6, 0x9F54, 0xEFB5, + 0x9F55, 0xF1EA, 0x9F56, 0xF3FA, 0x9F57, 0xF3FB, 0x9F58, 0xF3FC, 0x9F59, 0xF5BE, 0x9F5B, 0xF5BA, 0x9F5C, 0xC568, 0x9F5D, 0xF5BD, + 0x9F5E, 0xF5BC, 0x9F5F, 0xC4D4, 0x9F60, 0xF5BB, 0x9F61, 0xC4D6, 0x9F63, 0xC4D5, 0x9F64, 0xF6D4, 0x9F65, 0xF6D3, 0x9F66, 0xC569, + 0x9F67, 0xC56A, 0x9F6A, 0xC5C6, 0x9F6B, 0xF7CD, 0x9F6C, 0xC5C5, 0x9F6E, 0xF8A3, 0x9F6F, 0xF8A4, 0x9F70, 0xF8A2, 0x9F71, 0xF8A1, + 0x9F72, 0xC654, 0x9F74, 0xF8EB, 0x9F75, 0xF8EC, 0x9F76, 0xF8ED, 0x9F77, 0xC653, 0x9F78, 0xF967, 0x9F79, 0xF96A, 0x9F7A, 0xF969, + 0x9F7B, 0xF968, 0x9F7E, 0xF9D3, 0x9F8D, 0xC073, 0x9F90, 0xC365, 0x9F91, 0xF5BF, 0x9F92, 0xF6D5, 0x9F94, 0xC5C7, 0x9F95, 0xF7CE, + 0x9F98, 0xF9D5, 0x9F9C, 0xC074, 0x9FA0, 0xEFB6, 0x9FA2, 0xF7CF, 0x9FA4, 0xF9A1, 0xFA0C, 0xC94A, 0xFA0D, 0xDDFC, 0xFE30, 0xA14A, + 0xFE31, 0xA157, 0xFE33, 0xA159, 0xFE34, 0xA15B, 0xFE35, 0xA15F, 0xFE36, 0xA160, 0xFE37, 0xA163, 0xFE38, 0xA164, 0xFE39, 0xA167, + 0xFE3A, 0xA168, 0xFE3B, 0xA16B, 0xFE3C, 0xA16C, 0xFE3D, 0xA16F, 0xFE3E, 0xA170, 0xFE3F, 0xA173, 0xFE40, 0xA174, 0xFE41, 0xA177, + 0xFE42, 0xA178, 0xFE43, 0xA17B, 0xFE44, 0xA17C, 0xFE49, 0xA1C6, 0xFE4A, 0xA1C7, 0xFE4B, 0xA1CA, 0xFE4C, 0xA1CB, 0xFE4D, 0xA1C8, + 0xFE4E, 0xA1C9, 0xFE4F, 0xA15C, 0xFE50, 0xA14D, 0xFE51, 0xA14E, 0xFE52, 0xA14F, 0xFE54, 0xA151, 0xFE55, 0xA152, 0xFE56, 0xA153, + 0xFE57, 0xA154, 0xFE59, 0xA17D, 0xFE5A, 0xA17E, 0xFE5B, 0xA1A1, 0xFE5C, 0xA1A2, 0xFE5D, 0xA1A3, 0xFE5E, 0xA1A4, 0xFE5F, 0xA1CC, + 0xFE60, 0xA1CD, 0xFE61, 0xA1CE, 0xFE62, 0xA1DE, 0xFE63, 0xA1DF, 0xFE64, 0xA1E0, 0xFE65, 0xA1E1, 0xFE66, 0xA1E2, 0xFE68, 0xA242, + 0xFE69, 0xA24C, 0xFE6A, 0xA24D, 0xFE6B, 0xA24E, 0xFF01, 0xA149, 0xFF03, 0xA1AD, 0xFF04, 0xA243, 0xFF05, 0xA248, 0xFF06, 0xA1AE, + 0xFF08, 0xA15D, 0xFF09, 0xA15E, 0xFF0A, 0xA1AF, 0xFF0B, 0xA1CF, 0xFF0C, 0xA141, 0xFF0D, 0xA1D0, 0xFF0E, 0xA144, 0xFF0F, 0xA1FE, + 0xFF10, 0xA2AF, 0xFF11, 0xA2B0, 0xFF12, 0xA2B1, 0xFF13, 0xA2B2, 0xFF14, 0xA2B3, 0xFF15, 0xA2B4, 0xFF16, 0xA2B5, 0xFF17, 0xA2B6, + 0xFF18, 0xA2B7, 0xFF19, 0xA2B8, 0xFF1A, 0xA147, 0xFF1B, 0xA146, 0xFF1C, 0xA1D5, 0xFF1D, 0xA1D7, 0xFF1E, 0xA1D6, 0xFF1F, 0xA148, + 0xFF20, 0xA249, 0xFF21, 0xA2CF, 0xFF22, 0xA2D0, 0xFF23, 0xA2D1, 0xFF24, 0xA2D2, 0xFF25, 0xA2D3, 0xFF26, 0xA2D4, 0xFF27, 0xA2D5, + 0xFF28, 0xA2D6, 0xFF29, 0xA2D7, 0xFF2A, 0xA2D8, 0xFF2B, 0xA2D9, 0xFF2C, 0xA2DA, 0xFF2D, 0xA2DB, 0xFF2E, 0xA2DC, 0xFF2F, 0xA2DD, + 0xFF30, 0xA2DE, 0xFF31, 0xA2DF, 0xFF32, 0xA2E0, 0xFF33, 0xA2E1, 0xFF34, 0xA2E2, 0xFF35, 0xA2E3, 0xFF36, 0xA2E4, 0xFF37, 0xA2E5, + 0xFF38, 0xA2E6, 0xFF39, 0xA2E7, 0xFF3A, 0xA2E8, 0xFF3C, 0xA240, 0xFF3F, 0xA1C4, 0xFF41, 0xA2E9, 0xFF42, 0xA2EA, 0xFF43, 0xA2EB, + 0xFF44, 0xA2EC, 0xFF45, 0xA2ED, 0xFF46, 0xA2EE, 0xFF47, 0xA2EF, 0xFF48, 0xA2F0, 0xFF49, 0xA2F1, 0xFF4A, 0xA2F2, 0xFF4B, 0xA2F3, + 0xFF4C, 0xA2F4, 0xFF4D, 0xA2F5, 0xFF4E, 0xA2F6, 0xFF4F, 0xA2F7, 0xFF50, 0xA2F8, 0xFF51, 0xA2F9, 0xFF52, 0xA2FA, 0xFF53, 0xA2FB, + 0xFF54, 0xA2FC, 0xFF55, 0xA2FD, 0xFF56, 0xA2FE, 0xFF57, 0xA340, 0xFF58, 0xA341, 0xFF59, 0xA342, 0xFF5A, 0xA343, 0xFF5B, 0xA161, + 0xFF5C, 0xA155, 0xFF5D, 0xA162, 0xFF5E, 0xA1E3, 0xFFE0, 0xA246, 0xFFE1, 0xA247, 0xFFE3, 0xA1C3, 0xFFE5, 0xA244, 0, 0 +}; + +static const WCHAR oem2uni950[] = { /* Big5 --> Unicode pairs */ + 0xA140, 0x3000, 0xA141, 0xFF0C, 0xA142, 0x3001, 0xA143, 0x3002, 0xA144, 0xFF0E, 0xA145, 0x2027, 0xA146, 0xFF1B, 0xA147, 0xFF1A, + 0xA148, 0xFF1F, 0xA149, 0xFF01, 0xA14A, 0xFE30, 0xA14B, 0x2026, 0xA14C, 0x2025, 0xA14D, 0xFE50, 0xA14E, 0xFE51, 0xA14F, 0xFE52, + 0xA150, 0x00B7, 0xA151, 0xFE54, 0xA152, 0xFE55, 0xA153, 0xFE56, 0xA154, 0xFE57, 0xA155, 0xFF5C, 0xA156, 0x2013, 0xA157, 0xFE31, + 0xA158, 0x2014, 0xA159, 0xFE33, 0xA15A, 0x2574, 0xA15B, 0xFE34, 0xA15C, 0xFE4F, 0xA15D, 0xFF08, 0xA15E, 0xFF09, 0xA15F, 0xFE35, + 0xA160, 0xFE36, 0xA161, 0xFF5B, 0xA162, 0xFF5D, 0xA163, 0xFE37, 0xA164, 0xFE38, 0xA165, 0x3014, 0xA166, 0x3015, 0xA167, 0xFE39, + 0xA168, 0xFE3A, 0xA169, 0x3010, 0xA16A, 0x3011, 0xA16B, 0xFE3B, 0xA16C, 0xFE3C, 0xA16D, 0x300A, 0xA16E, 0x300B, 0xA16F, 0xFE3D, + 0xA170, 0xFE3E, 0xA171, 0x3008, 0xA172, 0x3009, 0xA173, 0xFE3F, 0xA174, 0xFE40, 0xA175, 0x300C, 0xA176, 0x300D, 0xA177, 0xFE41, + 0xA178, 0xFE42, 0xA179, 0x300E, 0xA17A, 0x300F, 0xA17B, 0xFE43, 0xA17C, 0xFE44, 0xA17D, 0xFE59, 0xA17E, 0xFE5A, 0xA1A1, 0xFE5B, + 0xA1A2, 0xFE5C, 0xA1A3, 0xFE5D, 0xA1A4, 0xFE5E, 0xA1A5, 0x2018, 0xA1A6, 0x2019, 0xA1A7, 0x201C, 0xA1A8, 0x201D, 0xA1A9, 0x301D, + 0xA1AA, 0x301E, 0xA1AB, 0x2035, 0xA1AC, 0x2032, 0xA1AD, 0xFF03, 0xA1AE, 0xFF06, 0xA1AF, 0xFF0A, 0xA1B0, 0x203B, 0xA1B1, 0x00A7, + 0xA1B2, 0x3003, 0xA1B3, 0x25CB, 0xA1B4, 0x25CF, 0xA1B5, 0x25B3, 0xA1B6, 0x25B2, 0xA1B7, 0x25CE, 0xA1B8, 0x2606, 0xA1B9, 0x2605, + 0xA1BA, 0x25C7, 0xA1BB, 0x25C6, 0xA1BC, 0x25A1, 0xA1BD, 0x25A0, 0xA1BE, 0x25BD, 0xA1BF, 0x25BC, 0xA1C0, 0x32A3, 0xA1C1, 0x2105, + 0xA1C2, 0x00AF, 0xA1C3, 0xFFE3, 0xA1C4, 0xFF3F, 0xA1C5, 0x02CD, 0xA1C6, 0xFE49, 0xA1C7, 0xFE4A, 0xA1C8, 0xFE4D, 0xA1C9, 0xFE4E, + 0xA1CA, 0xFE4B, 0xA1CB, 0xFE4C, 0xA1CC, 0xFE5F, 0xA1CD, 0xFE60, 0xA1CE, 0xFE61, 0xA1CF, 0xFF0B, 0xA1D0, 0xFF0D, 0xA1D1, 0x00D7, + 0xA1D2, 0x00F7, 0xA1D3, 0x00B1, 0xA1D4, 0x221A, 0xA1D5, 0xFF1C, 0xA1D6, 0xFF1E, 0xA1D7, 0xFF1D, 0xA1D8, 0x2266, 0xA1D9, 0x2267, + 0xA1DA, 0x2260, 0xA1DB, 0x221E, 0xA1DC, 0x2252, 0xA1DD, 0x2261, 0xA1DE, 0xFE62, 0xA1DF, 0xFE63, 0xA1E0, 0xFE64, 0xA1E1, 0xFE65, + 0xA1E2, 0xFE66, 0xA1E3, 0xFF5E, 0xA1E4, 0x2229, 0xA1E5, 0x222A, 0xA1E6, 0x22A5, 0xA1E7, 0x2220, 0xA1E8, 0x221F, 0xA1E9, 0x22BF, + 0xA1EA, 0x33D2, 0xA1EB, 0x33D1, 0xA1EC, 0x222B, 0xA1ED, 0x222E, 0xA1EE, 0x2235, 0xA1EF, 0x2234, 0xA1F0, 0x2640, 0xA1F1, 0x2642, + 0xA1F2, 0x2295, 0xA1F3, 0x2299, 0xA1F4, 0x2191, 0xA1F5, 0x2193, 0xA1F6, 0x2190, 0xA1F7, 0x2192, 0xA1F8, 0x2196, 0xA1F9, 0x2197, + 0xA1FA, 0x2199, 0xA1FB, 0x2198, 0xA1FC, 0x2225, 0xA1FD, 0x2223, 0xA1FE, 0xFF0F, 0xA240, 0xFF3C, 0xA241, 0x2215, 0xA242, 0xFE68, + 0xA243, 0xFF04, 0xA244, 0xFFE5, 0xA245, 0x3012, 0xA246, 0xFFE0, 0xA247, 0xFFE1, 0xA248, 0xFF05, 0xA249, 0xFF20, 0xA24A, 0x2103, + 0xA24B, 0x2109, 0xA24C, 0xFE69, 0xA24D, 0xFE6A, 0xA24E, 0xFE6B, 0xA24F, 0x33D5, 0xA250, 0x339C, 0xA251, 0x339D, 0xA252, 0x339E, + 0xA253, 0x33CE, 0xA254, 0x33A1, 0xA255, 0x338E, 0xA256, 0x338F, 0xA257, 0x33C4, 0xA258, 0x00B0, 0xA259, 0x5159, 0xA25A, 0x515B, + 0xA25B, 0x515E, 0xA25C, 0x515D, 0xA25D, 0x5161, 0xA25E, 0x5163, 0xA25F, 0x55E7, 0xA260, 0x74E9, 0xA261, 0x7CCE, 0xA262, 0x2581, + 0xA263, 0x2582, 0xA264, 0x2583, 0xA265, 0x2584, 0xA266, 0x2585, 0xA267, 0x2586, 0xA268, 0x2587, 0xA269, 0x2588, 0xA26A, 0x258F, + 0xA26B, 0x258E, 0xA26C, 0x258D, 0xA26D, 0x258C, 0xA26E, 0x258B, 0xA26F, 0x258A, 0xA270, 0x2589, 0xA271, 0x253C, 0xA272, 0x2534, + 0xA273, 0x252C, 0xA274, 0x2524, 0xA275, 0x251C, 0xA276, 0x2594, 0xA277, 0x2500, 0xA278, 0x2502, 0xA279, 0x2595, 0xA27A, 0x250C, + 0xA27B, 0x2510, 0xA27C, 0x2514, 0xA27D, 0x2518, 0xA27E, 0x256D, 0xA2A1, 0x256E, 0xA2A2, 0x2570, 0xA2A3, 0x256F, 0xA2A4, 0x2550, + 0xA2A5, 0x255E, 0xA2A6, 0x256A, 0xA2A7, 0x2561, 0xA2A8, 0x25E2, 0xA2A9, 0x25E3, 0xA2AA, 0x25E5, 0xA2AB, 0x25E4, 0xA2AC, 0x2571, + 0xA2AD, 0x2572, 0xA2AE, 0x2573, 0xA2AF, 0xFF10, 0xA2B0, 0xFF11, 0xA2B1, 0xFF12, 0xA2B2, 0xFF13, 0xA2B3, 0xFF14, 0xA2B4, 0xFF15, + 0xA2B5, 0xFF16, 0xA2B6, 0xFF17, 0xA2B7, 0xFF18, 0xA2B8, 0xFF19, 0xA2B9, 0x2160, 0xA2BA, 0x2161, 0xA2BB, 0x2162, 0xA2BC, 0x2163, + 0xA2BD, 0x2164, 0xA2BE, 0x2165, 0xA2BF, 0x2166, 0xA2C0, 0x2167, 0xA2C1, 0x2168, 0xA2C2, 0x2169, 0xA2C3, 0x3021, 0xA2C4, 0x3022, + 0xA2C5, 0x3023, 0xA2C6, 0x3024, 0xA2C7, 0x3025, 0xA2C8, 0x3026, 0xA2C9, 0x3027, 0xA2CA, 0x3028, 0xA2CB, 0x3029, 0xA2CC, 0x5341, + 0xA2CD, 0x5344, 0xA2CE, 0x5345, 0xA2CF, 0xFF21, 0xA2D0, 0xFF22, 0xA2D1, 0xFF23, 0xA2D2, 0xFF24, 0xA2D3, 0xFF25, 0xA2D4, 0xFF26, + 0xA2D5, 0xFF27, 0xA2D6, 0xFF28, 0xA2D7, 0xFF29, 0xA2D8, 0xFF2A, 0xA2D9, 0xFF2B, 0xA2DA, 0xFF2C, 0xA2DB, 0xFF2D, 0xA2DC, 0xFF2E, + 0xA2DD, 0xFF2F, 0xA2DE, 0xFF30, 0xA2DF, 0xFF31, 0xA2E0, 0xFF32, 0xA2E1, 0xFF33, 0xA2E2, 0xFF34, 0xA2E3, 0xFF35, 0xA2E4, 0xFF36, + 0xA2E5, 0xFF37, 0xA2E6, 0xFF38, 0xA2E7, 0xFF39, 0xA2E8, 0xFF3A, 0xA2E9, 0xFF41, 0xA2EA, 0xFF42, 0xA2EB, 0xFF43, 0xA2EC, 0xFF44, + 0xA2ED, 0xFF45, 0xA2EE, 0xFF46, 0xA2EF, 0xFF47, 0xA2F0, 0xFF48, 0xA2F1, 0xFF49, 0xA2F2, 0xFF4A, 0xA2F3, 0xFF4B, 0xA2F4, 0xFF4C, + 0xA2F5, 0xFF4D, 0xA2F6, 0xFF4E, 0xA2F7, 0xFF4F, 0xA2F8, 0xFF50, 0xA2F9, 0xFF51, 0xA2FA, 0xFF52, 0xA2FB, 0xFF53, 0xA2FC, 0xFF54, + 0xA2FD, 0xFF55, 0xA2FE, 0xFF56, 0xA340, 0xFF57, 0xA341, 0xFF58, 0xA342, 0xFF59, 0xA343, 0xFF5A, 0xA344, 0x0391, 0xA345, 0x0392, + 0xA346, 0x0393, 0xA347, 0x0394, 0xA348, 0x0395, 0xA349, 0x0396, 0xA34A, 0x0397, 0xA34B, 0x0398, 0xA34C, 0x0399, 0xA34D, 0x039A, + 0xA34E, 0x039B, 0xA34F, 0x039C, 0xA350, 0x039D, 0xA351, 0x039E, 0xA352, 0x039F, 0xA353, 0x03A0, 0xA354, 0x03A1, 0xA355, 0x03A3, + 0xA356, 0x03A4, 0xA357, 0x03A5, 0xA358, 0x03A6, 0xA359, 0x03A7, 0xA35A, 0x03A8, 0xA35B, 0x03A9, 0xA35C, 0x03B1, 0xA35D, 0x03B2, + 0xA35E, 0x03B3, 0xA35F, 0x03B4, 0xA360, 0x03B5, 0xA361, 0x03B6, 0xA362, 0x03B7, 0xA363, 0x03B8, 0xA364, 0x03B9, 0xA365, 0x03BA, + 0xA366, 0x03BB, 0xA367, 0x03BC, 0xA368, 0x03BD, 0xA369, 0x03BE, 0xA36A, 0x03BF, 0xA36B, 0x03C0, 0xA36C, 0x03C1, 0xA36D, 0x03C3, + 0xA36E, 0x03C4, 0xA36F, 0x03C5, 0xA370, 0x03C6, 0xA371, 0x03C7, 0xA372, 0x03C8, 0xA373, 0x03C9, 0xA374, 0x3105, 0xA375, 0x3106, + 0xA376, 0x3107, 0xA377, 0x3108, 0xA378, 0x3109, 0xA379, 0x310A, 0xA37A, 0x310B, 0xA37B, 0x310C, 0xA37C, 0x310D, 0xA37D, 0x310E, + 0xA37E, 0x310F, 0xA3A1, 0x3110, 0xA3A2, 0x3111, 0xA3A3, 0x3112, 0xA3A4, 0x3113, 0xA3A5, 0x3114, 0xA3A6, 0x3115, 0xA3A7, 0x3116, + 0xA3A8, 0x3117, 0xA3A9, 0x3118, 0xA3AA, 0x3119, 0xA3AB, 0x311A, 0xA3AC, 0x311B, 0xA3AD, 0x311C, 0xA3AE, 0x311D, 0xA3AF, 0x311E, + 0xA3B0, 0x311F, 0xA3B1, 0x3120, 0xA3B2, 0x3121, 0xA3B3, 0x3122, 0xA3B4, 0x3123, 0xA3B5, 0x3124, 0xA3B6, 0x3125, 0xA3B7, 0x3126, + 0xA3B8, 0x3127, 0xA3B9, 0x3128, 0xA3BA, 0x3129, 0xA3BB, 0x02D9, 0xA3BC, 0x02C9, 0xA3BD, 0x02CA, 0xA3BE, 0x02C7, 0xA3BF, 0x02CB, + 0xA3E1, 0x20AC, 0xA440, 0x4E00, 0xA441, 0x4E59, 0xA442, 0x4E01, 0xA443, 0x4E03, 0xA444, 0x4E43, 0xA445, 0x4E5D, 0xA446, 0x4E86, + 0xA447, 0x4E8C, 0xA448, 0x4EBA, 0xA449, 0x513F, 0xA44A, 0x5165, 0xA44B, 0x516B, 0xA44C, 0x51E0, 0xA44D, 0x5200, 0xA44E, 0x5201, + 0xA44F, 0x529B, 0xA450, 0x5315, 0xA451, 0x5341, 0xA452, 0x535C, 0xA453, 0x53C8, 0xA454, 0x4E09, 0xA455, 0x4E0B, 0xA456, 0x4E08, + 0xA457, 0x4E0A, 0xA458, 0x4E2B, 0xA459, 0x4E38, 0xA45A, 0x51E1, 0xA45B, 0x4E45, 0xA45C, 0x4E48, 0xA45D, 0x4E5F, 0xA45E, 0x4E5E, + 0xA45F, 0x4E8E, 0xA460, 0x4EA1, 0xA461, 0x5140, 0xA462, 0x5203, 0xA463, 0x52FA, 0xA464, 0x5343, 0xA465, 0x53C9, 0xA466, 0x53E3, + 0xA467, 0x571F, 0xA468, 0x58EB, 0xA469, 0x5915, 0xA46A, 0x5927, 0xA46B, 0x5973, 0xA46C, 0x5B50, 0xA46D, 0x5B51, 0xA46E, 0x5B53, + 0xA46F, 0x5BF8, 0xA470, 0x5C0F, 0xA471, 0x5C22, 0xA472, 0x5C38, 0xA473, 0x5C71, 0xA474, 0x5DDD, 0xA475, 0x5DE5, 0xA476, 0x5DF1, + 0xA477, 0x5DF2, 0xA478, 0x5DF3, 0xA479, 0x5DFE, 0xA47A, 0x5E72, 0xA47B, 0x5EFE, 0xA47C, 0x5F0B, 0xA47D, 0x5F13, 0xA47E, 0x624D, + 0xA4A1, 0x4E11, 0xA4A2, 0x4E10, 0xA4A3, 0x4E0D, 0xA4A4, 0x4E2D, 0xA4A5, 0x4E30, 0xA4A6, 0x4E39, 0xA4A7, 0x4E4B, 0xA4A8, 0x5C39, + 0xA4A9, 0x4E88, 0xA4AA, 0x4E91, 0xA4AB, 0x4E95, 0xA4AC, 0x4E92, 0xA4AD, 0x4E94, 0xA4AE, 0x4EA2, 0xA4AF, 0x4EC1, 0xA4B0, 0x4EC0, + 0xA4B1, 0x4EC3, 0xA4B2, 0x4EC6, 0xA4B3, 0x4EC7, 0xA4B4, 0x4ECD, 0xA4B5, 0x4ECA, 0xA4B6, 0x4ECB, 0xA4B7, 0x4EC4, 0xA4B8, 0x5143, + 0xA4B9, 0x5141, 0xA4BA, 0x5167, 0xA4BB, 0x516D, 0xA4BC, 0x516E, 0xA4BD, 0x516C, 0xA4BE, 0x5197, 0xA4BF, 0x51F6, 0xA4C0, 0x5206, + 0xA4C1, 0x5207, 0xA4C2, 0x5208, 0xA4C3, 0x52FB, 0xA4C4, 0x52FE, 0xA4C5, 0x52FF, 0xA4C6, 0x5316, 0xA4C7, 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0xF7B8, 0x9DD2, 0xF7B9, 0x9DDE, + 0xF7BA, 0x9DDA, 0xF7BB, 0x9DCB, 0xF7BC, 0x9DD0, 0xF7BD, 0x9DDC, 0xF7BE, 0x9DD1, 0xF7BF, 0x9DDF, 0xF7C0, 0x9DE9, 0xF7C1, 0x9DD9, + 0xF7C2, 0x9DD8, 0xF7C3, 0x9DD6, 0xF7C4, 0x9DF5, 0xF7C5, 0x9DD5, 0xF7C6, 0x9DDD, 0xF7C7, 0x9EB6, 0xF7C8, 0x9EF0, 0xF7C9, 0x9F35, + 0xF7CA, 0x9F33, 0xF7CB, 0x9F32, 0xF7CC, 0x9F42, 0xF7CD, 0x9F6B, 0xF7CE, 0x9F95, 0xF7CF, 0x9FA2, 0xF7D0, 0x513D, 0xF7D1, 0x5299, + 0xF7D2, 0x58E8, 0xF7D3, 0x58E7, 0xF7D4, 0x5972, 0xF7D5, 0x5B4D, 0xF7D6, 0x5DD8, 0xF7D7, 0x882F, 0xF7D8, 0x5F4F, 0xF7D9, 0x6201, + 0xF7DA, 0x6203, 0xF7DB, 0x6204, 0xF7DC, 0x6529, 0xF7DD, 0x6525, 0xF7DE, 0x6596, 0xF7DF, 0x66EB, 0xF7E0, 0x6B11, 0xF7E1, 0x6B12, + 0xF7E2, 0x6B0F, 0xF7E3, 0x6BCA, 0xF7E4, 0x705B, 0xF7E5, 0x705A, 0xF7E6, 0x7222, 0xF7E7, 0x7382, 0xF7E8, 0x7381, 0xF7E9, 0x7383, + 0xF7EA, 0x7670, 0xF7EB, 0x77D4, 0xF7EC, 0x7C67, 0xF7ED, 0x7C66, 0xF7EE, 0x7E95, 0xF7EF, 0x826C, 0xF7F0, 0x863A, 0xF7F1, 0x8640, + 0xF7F2, 0x8639, 0xF7F3, 0x863C, 0xF7F4, 0x8631, 0xF7F5, 0x863B, 0xF7F6, 0x863E, 0xF7F7, 0x8830, 0xF7F8, 0x8832, 0xF7F9, 0x882E, + 0xF7FA, 0x8833, 0xF7FB, 0x8976, 0xF7FC, 0x8974, 0xF7FD, 0x8973, 0xF7FE, 0x89FE, 0xF840, 0x8B8C, 0xF841, 0x8B8E, 0xF842, 0x8B8B, + 0xF843, 0x8B88, 0xF844, 0x8C45, 0xF845, 0x8D19, 0xF846, 0x8E98, 0xF847, 0x8F64, 0xF848, 0x8F63, 0xF849, 0x91BC, 0xF84A, 0x9462, + 0xF84B, 0x9455, 0xF84C, 0x945D, 0xF84D, 0x9457, 0xF84E, 0x945E, 0xF84F, 0x97C4, 0xF850, 0x97C5, 0xF851, 0x9800, 0xF852, 0x9A56, + 0xF853, 0x9A59, 0xF854, 0x9B1E, 0xF855, 0x9B1F, 0xF856, 0x9B20, 0xF857, 0x9C52, 0xF858, 0x9C58, 0xF859, 0x9C50, 0xF85A, 0x9C4A, + 0xF85B, 0x9C4D, 0xF85C, 0x9C4B, 0xF85D, 0x9C55, 0xF85E, 0x9C59, 0xF85F, 0x9C4C, 0xF860, 0x9C4E, 0xF861, 0x9DFB, 0xF862, 0x9DF7, + 0xF863, 0x9DEF, 0xF864, 0x9DE3, 0xF865, 0x9DEB, 0xF866, 0x9DF8, 0xF867, 0x9DE4, 0xF868, 0x9DF6, 0xF869, 0x9DE1, 0xF86A, 0x9DEE, + 0xF86B, 0x9DE6, 0xF86C, 0x9DF2, 0xF86D, 0x9DF0, 0xF86E, 0x9DE2, 0xF86F, 0x9DEC, 0xF870, 0x9DF4, 0xF871, 0x9DF3, 0xF872, 0x9DE8, + 0xF873, 0x9DED, 0xF874, 0x9EC2, 0xF875, 0x9ED0, 0xF876, 0x9EF2, 0xF877, 0x9EF3, 0xF878, 0x9F06, 0xF879, 0x9F1C, 0xF87A, 0x9F38, + 0xF87B, 0x9F37, 0xF87C, 0x9F36, 0xF87D, 0x9F43, 0xF87E, 0x9F4F, 0xF8A1, 0x9F71, 0xF8A2, 0x9F70, 0xF8A3, 0x9F6E, 0xF8A4, 0x9F6F, + 0xF8A5, 0x56D3, 0xF8A6, 0x56CD, 0xF8A7, 0x5B4E, 0xF8A8, 0x5C6D, 0xF8A9, 0x652D, 0xF8AA, 0x66ED, 0xF8AB, 0x66EE, 0xF8AC, 0x6B13, + 0xF8AD, 0x705F, 0xF8AE, 0x7061, 0xF8AF, 0x705D, 0xF8B0, 0x7060, 0xF8B1, 0x7223, 0xF8B2, 0x74DB, 0xF8B3, 0x74E5, 0xF8B4, 0x77D5, + 0xF8B5, 0x7938, 0xF8B6, 0x79B7, 0xF8B7, 0x79B6, 0xF8B8, 0x7C6A, 0xF8B9, 0x7E97, 0xF8BA, 0x7F89, 0xF8BB, 0x826D, 0xF8BC, 0x8643, + 0xF8BD, 0x8838, 0xF8BE, 0x8837, 0xF8BF, 0x8835, 0xF8C0, 0x884B, 0xF8C1, 0x8B94, 0xF8C2, 0x8B95, 0xF8C3, 0x8E9E, 0xF8C4, 0x8E9F, + 0xF8C5, 0x8EA0, 0xF8C6, 0x8E9D, 0xF8C7, 0x91BE, 0xF8C8, 0x91BD, 0xF8C9, 0x91C2, 0xF8CA, 0x946B, 0xF8CB, 0x9468, 0xF8CC, 0x9469, + 0xF8CD, 0x96E5, 0xF8CE, 0x9746, 0xF8CF, 0x9743, 0xF8D0, 0x9747, 0xF8D1, 0x97C7, 0xF8D2, 0x97E5, 0xF8D3, 0x9A5E, 0xF8D4, 0x9AD5, + 0xF8D5, 0x9B59, 0xF8D6, 0x9C63, 0xF8D7, 0x9C67, 0xF8D8, 0x9C66, 0xF8D9, 0x9C62, 0xF8DA, 0x9C5E, 0xF8DB, 0x9C60, 0xF8DC, 0x9E02, + 0xF8DD, 0x9DFE, 0xF8DE, 0x9E07, 0xF8DF, 0x9E03, 0xF8E0, 0x9E06, 0xF8E1, 0x9E05, 0xF8E2, 0x9E00, 0xF8E3, 0x9E01, 0xF8E4, 0x9E09, + 0xF8E5, 0x9DFF, 0xF8E6, 0x9DFD, 0xF8E7, 0x9E04, 0xF8E8, 0x9EA0, 0xF8E9, 0x9F1E, 0xF8EA, 0x9F46, 0xF8EB, 0x9F74, 0xF8EC, 0x9F75, + 0xF8ED, 0x9F76, 0xF8EE, 0x56D4, 0xF8EF, 0x652E, 0xF8F0, 0x65B8, 0xF8F1, 0x6B18, 0xF8F2, 0x6B19, 0xF8F3, 0x6B17, 0xF8F4, 0x6B1A, + 0xF8F5, 0x7062, 0xF8F6, 0x7226, 0xF8F7, 0x72AA, 0xF8F8, 0x77D8, 0xF8F9, 0x77D9, 0xF8FA, 0x7939, 0xF8FB, 0x7C69, 0xF8FC, 0x7C6B, + 0xF8FD, 0x7CF6, 0xF8FE, 0x7E9A, 0xF940, 0x7E98, 0xF941, 0x7E9B, 0xF942, 0x7E99, 0xF943, 0x81E0, 0xF944, 0x81E1, 0xF945, 0x8646, + 0xF946, 0x8647, 0xF947, 0x8648, 0xF948, 0x8979, 0xF949, 0x897A, 0xF94A, 0x897C, 0xF94B, 0x897B, 0xF94C, 0x89FF, 0xF94D, 0x8B98, + 0xF94E, 0x8B99, 0xF94F, 0x8EA5, 0xF950, 0x8EA4, 0xF951, 0x8EA3, 0xF952, 0x946E, 0xF953, 0x946D, 0xF954, 0x946F, 0xF955, 0x9471, + 0xF956, 0x9473, 0xF957, 0x9749, 0xF958, 0x9872, 0xF959, 0x995F, 0xF95A, 0x9C68, 0xF95B, 0x9C6E, 0xF95C, 0x9C6D, 0xF95D, 0x9E0B, + 0xF95E, 0x9E0D, 0xF95F, 0x9E10, 0xF960, 0x9E0F, 0xF961, 0x9E12, 0xF962, 0x9E11, 0xF963, 0x9EA1, 0xF964, 0x9EF5, 0xF965, 0x9F09, + 0xF966, 0x9F47, 0xF967, 0x9F78, 0xF968, 0x9F7B, 0xF969, 0x9F7A, 0xF96A, 0x9F79, 0xF96B, 0x571E, 0xF96C, 0x7066, 0xF96D, 0x7C6F, + 0xF96E, 0x883C, 0xF96F, 0x8DB2, 0xF970, 0x8EA6, 0xF971, 0x91C3, 0xF972, 0x9474, 0xF973, 0x9478, 0xF974, 0x9476, 0xF975, 0x9475, + 0xF976, 0x9A60, 0xF977, 0x9C74, 0xF978, 0x9C73, 0xF979, 0x9C71, 0xF97A, 0x9C75, 0xF97B, 0x9E14, 0xF97C, 0x9E13, 0xF97D, 0x9EF6, + 0xF97E, 0x9F0A, 0xF9A1, 0x9FA4, 0xF9A2, 0x7068, 0xF9A3, 0x7065, 0xF9A4, 0x7CF7, 0xF9A5, 0x866A, 0xF9A6, 0x883E, 0xF9A7, 0x883D, + 0xF9A8, 0x883F, 0xF9A9, 0x8B9E, 0xF9AA, 0x8C9C, 0xF9AB, 0x8EA9, 0xF9AC, 0x8EC9, 0xF9AD, 0x974B, 0xF9AE, 0x9873, 0xF9AF, 0x9874, + 0xF9B0, 0x98CC, 0xF9B1, 0x9961, 0xF9B2, 0x99AB, 0xF9B3, 0x9A64, 0xF9B4, 0x9A66, 0xF9B5, 0x9A67, 0xF9B6, 0x9B24, 0xF9B7, 0x9E15, + 0xF9B8, 0x9E17, 0xF9B9, 0x9F48, 0xF9BA, 0x6207, 0xF9BB, 0x6B1E, 0xF9BC, 0x7227, 0xF9BD, 0x864C, 0xF9BE, 0x8EA8, 0xF9BF, 0x9482, + 0xF9C0, 0x9480, 0xF9C1, 0x9481, 0xF9C2, 0x9A69, 0xF9C3, 0x9A68, 0xF9C4, 0x9B2E, 0xF9C5, 0x9E19, 0xF9C6, 0x7229, 0xF9C7, 0x864B, + 0xF9C8, 0x8B9F, 0xF9C9, 0x9483, 0xF9CA, 0x9C79, 0xF9CB, 0x9EB7, 0xF9CC, 0x7675, 0xF9CD, 0x9A6B, 0xF9CE, 0x9C7A, 0xF9CF, 0x9E1D, + 0xF9D0, 0x7069, 0xF9D1, 0x706A, 0xF9D2, 0x9EA4, 0xF9D3, 0x9F7E, 0xF9D4, 0x9F49, 0xF9D5, 0x9F98, 0xF9D6, 0x7881, 0xF9D7, 0x92B9, + 0xF9D8, 0x88CF, 0xF9D9, 0x58BB, 0xF9DA, 0x6052, 0xF9DB, 0x7CA7, 0xF9DC, 0x5AFA, 0xF9DD, 0x2554, 0xF9DE, 0x2566, 0xF9DF, 0x2557, + 0xF9E0, 0x2560, 0xF9E1, 0x256C, 0xF9E2, 0x2563, 0xF9E3, 0x255A, 0xF9E4, 0x2569, 0xF9E5, 0x255D, 0xF9E6, 0x2552, 0xF9E7, 0x2564, + 0xF9E8, 0x2555, 0xF9E9, 0x255E, 0xF9EA, 0x256A, 0xF9EB, 0x2561, 0xF9EC, 0x2558, 0xF9ED, 0x2567, 0xF9EE, 0x255B, 0xF9EF, 0x2553, + 0xF9F0, 0x2565, 0xF9F1, 0x2556, 0xF9F2, 0x255F, 0xF9F3, 0x256B, 0xF9F4, 0x2562, 0xF9F5, 0x2559, 0xF9F6, 0x2568, 0xF9F7, 0x255C, + 0xF9F8, 0x2551, 0xF9F9, 0x2550, 0xF9FA, 0x256D, 0xF9FB, 0x256E, 0xF9FC, 0x2570, 0xF9FD, 0x256F, 0xF9FE, 0x2593, 0, 0 +}; +#endif + +#if FF_CODE_PAGE == 437 || FF_CODE_PAGE == 0 +static const WCHAR uc437[] = { /* CP437(U.S.) to Unicode conversion table */ + 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7, 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5, + 0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9, 0x00FF, 0x00D6, 0x00DC, 0x00A2, 0x00A3, 0x00A5, 0x20A7, 0x0192, + 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA, 0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4, 0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229, + 0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248, 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 720 || FF_CODE_PAGE == 0 +static const WCHAR uc720[] = { /* CP720(Arabic) to Unicode conversion table */ + 0x0000, 0x0000, 0x00E9, 0x00E2, 0x0000, 0x00E0, 0x0000, 0x00E7, 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x0000, 0x0000, 0x0000, + 0x0000, 0x0651, 0x0652, 0x00F4, 0x00A4, 0x0640, 0x00FB, 0x00F9, 0x0621, 0x0622, 0x0623, 0x0624, 0x00A3, 0x0625, 0x0626, 0x0627, + 0x0628, 0x0629, 0x062A, 0x062B, 0x062C, 0x062D, 0x062E, 0x062F, 0x0630, 0x0631, 0x0632, 0x0633, 0x0634, 0x0635, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x0636, 0x0637, 0x0638, 0x0639, 0x063A, 0x0641, 0x00B5, 0x0642, 0x0643, 0x0644, 0x0645, 0x0646, 0x0647, 0x0648, 0x0649, 0x064A, + 0x2261, 0x064B, 0x064C, 0x064D, 0x064E, 0x064F, 0x0650, 0x2248, 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 737 || FF_CODE_PAGE == 0 +static const WCHAR uc737[] = { /* CP737(Greek) to Unicode conversion table */ + 0x0391, 0x0392, 0x0393, 0x0394, 0x0395, 0x0396, 0x0397, 0x0398, 0x0399, 0x039A, 0x039B, 0x039C, 0x039D, 0x039E, 0x039F, 0x03A0, + 0x03A1, 0x03A3, 0x03A4, 0x03A5, 0x03A6, 0x03A7, 0x03A8, 0x03A9, 0x03B1, 0x03B2, 0x03B3, 0x03B4, 0x03B5, 0x03B6, 0x03B7, 0x03B8, + 0x03B9, 0x03BA, 0x03BB, 0x03BC, 0x03BD, 0x03BE, 0x03BF, 0x03C0, 0x03C1, 0x03C3, 0x03C2, 0x03C4, 0x03C5, 0x03C6, 0x03C7, 0x03C8, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x03C9, 0x03AC, 0x03AD, 0x03AE, 0x03CA, 0x03AF, 0x03CC, 0x03CD, 0x03CB, 0x03CE, 0x0386, 0x0388, 0x0389, 0x038A, 0x038C, 0x038E, + 0x038F, 0x00B1, 0x2265, 0x2264, 0x03AA, 0x03AB, 0x00F7, 0x2248, 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 771 || FF_CODE_PAGE == 0 +static const WCHAR uc771[] = { /* CP771(KBL) to Unicode conversion table */ + 0x0410, 0x0411, 0x0412, 0x0413, 0x0414, 0x0415, 0x0416, 0x0417, 0x0418, 0x0419, 0x041A, 0x041B, 0x041C, 0x041D, 0x041E, 0x041F, + 0x0420, 0x0421, 0x0422, 0x0423, 0x0424, 0x0425, 0x0426, 0x0427, 0x0428, 0x0429, 0x042A, 0x042B, 0x042C, 0x042D, 0x042E, 0x042F, + 0x0430, 0x0431, 0x0432, 0x0433, 0x0434, 0x0435, 0x0436, 0x0437, 0x0438, 0x0439, 0x043A, 0x043B, 0x043C, 0x043D, 0x043E, 0x043F, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x2558, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x0104, 0x0105, 0x010C, 0x010D, + 0x0440, 0x0441, 0x0442, 0x0443, 0x0444, 0x0445, 0x0446, 0x0447, 0x0448, 0x0449, 0x044A, 0x044B, 0x044C, 0x044D, 0x044E, 0x044F, + 0x0118, 0x0119, 0x0116, 0x0117, 0x012E, 0x012F, 0x0160, 0x0161, 0x0172, 0x0173, 0x016A, 0x016B, 0x017D, 0x017E, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 775 || FF_CODE_PAGE == 0 +static const WCHAR uc775[] = { /* CP775(Baltic) to Unicode conversion table */ + 0x0106, 0x00FC, 0x00E9, 0x0101, 0x00E4, 0x0123, 0x00E5, 0x0107, 0x0142, 0x0113, 0x0156, 0x0157, 0x012B, 0x0179, 0x00C4, 0x00C5, + 0x00C9, 0x00E6, 0x00C6, 0x014D, 0x00F6, 0x0122, 0x00A2, 0x015A, 0x015B, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x00A4, + 0x0100, 0x012A, 0x00F3, 0x017B, 0x017C, 0x017A, 0x201D, 0x00A6, 0x00A9, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x0141, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x0104, 0x010C, 0x0118, 0x0116, 0x2563, 0x2551, 0x2557, 0x255D, 0x012E, 0x0160, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x0172, 0x016A, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x017D, + 0x0105, 0x010D, 0x0119, 0x0117, 0x012F, 0x0161, 0x0173, 0x016B, 0x017E, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x00D3, 0x00DF, 0x014C, 0x0143, 0x00F5, 0x00D5, 0x00B5, 0x0144, 0x0136, 0x0137, 0x013B, 0x013C, 0x0146, 0x0112, 0x0145, 0x2019, + 0x00AD, 0x00B1, 0x201C, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x201E, 0x00B0, 0x2219, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 850 || FF_CODE_PAGE == 0 +static const WCHAR uc850[] = { /* CP850(Latin 1) to Unicode conversion table */ + 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7, 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5, + 0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9, 0x00FF, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x00D7, 0x0192, + 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA, 0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0, 0x00A9, 0x2563, 0x2551, 0x2557, 0x255D, 0x00A2, 0x00A5, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4, + 0x00F0, 0x00D0, 0x00CA, 0x00CB, 0x00C8, 0x0131, 0x00CD, 0x00CE, 0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00A6, 0x00CC, 0x2580, + 0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x00FE, 0x00DE, 0x00DA, 0x00DB, 0x00D9, 0x00FD, 0x00DD, 0x00AF, 0x00B4, + 0x00AD, 0x00B1, 0x2017, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8, 0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 852 || FF_CODE_PAGE == 0 +static const WCHAR uc852[] = { /* CP852(Latin 2) to Unicode conversion table */ + 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x016F, 0x0107, 0x00E7, 0x0142, 0x00EB, 0x0150, 0x0151, 0x00EE, 0x0179, 0x00C4, 0x0106, + 0x00C9, 0x0139, 0x013A, 0x00F4, 0x00F6, 0x013D, 0x013E, 0x015A, 0x015B, 0x00D6, 0x00DC, 0x0164, 0x0165, 0x0141, 0x00D7, 0x010D, + 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x0104, 0x0105, 0x017D, 0x017E, 0x0118, 0x0119, 0x00AC, 0x017A, 0x010C, 0x015F, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x011A, 0x015E, 0x2563, 0x2551, 0x2557, 0x255D, 0x017B, 0x017C, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x0102, 0x0103, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4, + 0x0111, 0x0110, 0x010E, 0x00CB, 0x010F, 0x0147, 0x00CD, 0x00CE, 0x011B, 0x2518, 0x250C, 0x2588, 0x2584, 0x0162, 0x016E, 0x2580, + 0x00D3, 0x00DF, 0x00D4, 0x0143, 0x0144, 0x0148, 0x0160, 0x0161, 0x0154, 0x00DA, 0x0155, 0x0170, 0x00FD, 0x00DD, 0x0163, 0x00B4, + 0x00AD, 0x02DD, 0x02DB, 0x02C7, 0x02D8, 0x00A7, 0x00F7, 0x00B8, 0x00B0, 0x00A8, 0x02D9, 0x0171, 0x0158, 0x0159, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 855 || FF_CODE_PAGE == 0 +static const WCHAR uc855[] = { /* CP855(Cyrillic) to Unicode conversion table */ + 0x0452, 0x0402, 0x0453, 0x0403, 0x0451, 0x0401, 0x0454, 0x0404, 0x0455, 0x0405, 0x0456, 0x0406, 0x0457, 0x0407, 0x0458, 0x0408, + 0x0459, 0x0409, 0x045A, 0x040A, 0x045B, 0x040B, 0x045C, 0x040C, 0x045E, 0x040E, 0x045F, 0x040F, 0x044E, 0x042E, 0x044A, 0x042A, + 0x0430, 0x0410, 0x0431, 0x0411, 0x0446, 0x0426, 0x0434, 0x0414, 0x0435, 0x0415, 0x0444, 0x0424, 0x0433, 0x0413, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x0445, 0x0425, 0x0438, 0x0418, 0x2563, 0x2551, 0x2557, 0x255D, 0x0439, 0x0419, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x043A, 0x041A, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4, + 0x043B, 0x041B, 0x043C, 0x041C, 0x043D, 0x041D, 0x043E, 0x041E, 0x043F, 0x2518, 0x250C, 0x2588, 0x2584, 0x041F, 0x044F, 0x2580, + 0x042F, 0x0440, 0x0420, 0x0441, 0x0421, 0x0442, 0x0422, 0x0443, 0x0423, 0x0436, 0x0416, 0x0432, 0x0412, 0x044C, 0x042C, 0x2116, + 0x00AD, 0x044B, 0x042B, 0x0437, 0x0417, 0x0448, 0x0428, 0x044D, 0x042D, 0x0449, 0x0429, 0x0447, 0x0427, 0x00A7, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 857 || FF_CODE_PAGE == 0 +static const WCHAR uc857[] = { /* CP857(Turkish) to Unicode conversion table */ + 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7, 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x0131, 0x00C4, 0x00C5, + 0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9, 0x0130, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x015E, 0x015F, + 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x011E, 0x011F, 0x00BF, 0x00AE, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x00C1, 0x00C2, 0x00C0, 0x00A9, 0x2563, 0x2551, 0x2557, 0x255D, 0x00A2, 0x00A5, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x00E3, 0x00C3, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x00A4, + 0x00BA, 0x00AA, 0x00CA, 0x00CB, 0x00C8, 0x0000, 0x00CD, 0x00CE, 0x00CF, 0x2518, 0x250C, 0x2588, 0x2584, 0x00A6, 0x00CC, 0x2580, + 0x00D3, 0x00DF, 0x00D4, 0x00D2, 0x00F5, 0x00D5, 0x00B5, 0x0000, 0x00D7, 0x00DA, 0x00DB, 0x00D9, 0x00EC, 0x00FF, 0x00AF, 0x00B4, + 0x00AD, 0x00B1, 0x0000, 0x00BE, 0x00B6, 0x00A7, 0x00F7, 0x00B8, 0x00B0, 0x00A8, 0x00B7, 0x00B9, 0x00B3, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 860 || FF_CODE_PAGE == 0 +static const WCHAR uc860[] = { /* CP860(Portuguese) to Unicode conversion table */ + 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E3, 0x00E0, 0x00C1, 0x00E7, 0x00EA, 0x00CA, 0x00E8, 0x00CD, 0x00D4, 0x00EC, 0x00C3, 0x00C2, + 0x00C9, 0x00C0, 0x00C8, 0x00F4, 0x00F5, 0x00F2, 0x00DA, 0x00F9, 0x00CC, 0x00D5, 0x00DC, 0x00A2, 0x00A3, 0x00D9, 0x20A7, 0x00D3, + 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA, 0x00BF, 0x00D2, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x2558, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4, 0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229, + 0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248, 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 861 || FF_CODE_PAGE == 0 +static const WCHAR uc861[] = { /* CP861(Icelandic) to Unicode conversion table */ + 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E6, 0x00E7, 0x00EA, 0x00EB, 0x00E8, 0x00D0, 0x00F0, 0x00DE, 0x00C4, 0x00C5, + 0x00C9, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00FE, 0x00FB, 0x00DD, 0x00FD, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x20A7, 0x0192, + 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00C1, 0x00CD, 0x00D3, 0x00DA, 0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4, 0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229, + 0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248, 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 862 || FF_CODE_PAGE == 0 +static const WCHAR uc862[] = { /* CP862(Hebrew) to Unicode conversion table */ + 0x05D0, 0x05D1, 0x05D2, 0x05D3, 0x05D4, 0x05D5, 0x05D6, 0x05D7, 0x05D8, 0x05D9, 0x05DA, 0x05DB, 0x05DC, 0x05DD, 0x05DE, 0x05DF, + 0x05E0, 0x05E1, 0x05E2, 0x05E3, 0x05E4, 0x05E5, 0x05E6, 0x05E7, 0x05E8, 0x05E9, 0x05EA, 0x00A2, 0x00A3, 0x00A5, 0x20A7, 0x0192, + 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA, 0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4, 0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229, + 0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248, 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 863 || FF_CODE_PAGE == 0 +static const WCHAR uc863[] = { /* CP863(Canadian French) to Unicode conversion table */ + 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00C2, 0x00E0, 0x00B6, 0x00E7, 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x2017, 0x00C0, + 0x00C9, 0x00C8, 0x00CA, 0x00F4, 0x00CB, 0x00CF, 0x00FB, 0x00F9, 0x00A4, 0x00D4, 0x00DC, 0x00A2, 0x00A3, 0x00D9, 0x00DB, 0x0192, + 0x00A6, 0x00B4, 0x00F3, 0x00FA, 0x00A8, 0x00BB, 0x00B3, 0x00AF, 0x00CE, 0x3210, 0x00AC, 0x00BD, 0x00BC, 0x00BE, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4, 0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2219, + 0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248, 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 864 || FF_CODE_PAGE == 0 +static const WCHAR uc864[] = { /* CP864(Arabic) to Unicode conversion table */ + 0x00B0, 0x00B7, 0x2219, 0x221A, 0x2592, 0x2500, 0x2502, 0x253C, 0x2524, 0x252C, 0x251C, 0x2534, 0x2510, 0x250C, 0x2514, 0x2518, + 0x03B2, 0x221E, 0x03C6, 0x00B1, 0x00BD, 0x00BC, 0x2248, 0x00AB, 0x00BB, 0xFEF7, 0xFEF8, 0x0000, 0x0000, 0xFEFB, 0xFEFC, 0x0000, + 0x00A0, 0x00AD, 0xFE82, 0x00A3, 0x00A4, 0xFE84, 0x0000, 0x20AC, 0xFE8E, 0xFE8F, 0xFE95, 0xFE99, 0x060C, 0xFE9D, 0xFEA1, 0xFEA5, + 0x0660, 0x0661, 0x0662, 0x0663, 0x0664, 0x0665, 0x0666, 0x0667, 0x0668, 0x0669, 0xFED1, 0x061B, 0xFEB1, 0xFEB5, 0xFEB9, 0x061F, + 0x00A2, 0xFE80, 0xFE81, 0xFE83, 0xFE85, 0xFECA, 0xFE8B, 0xFE8D, 0xFE91, 0xFE93, 0xFE97, 0xFE9B, 0xFE9F, 0xFEA3, 0xFEA7, 0xFEA9, + 0xFEAB, 0xFEAD, 0xFEAF, 0xFEB3, 0xFEB7, 0xFEBB, 0xFEBF, 0xFEC1, 0xFEC5, 0xFECB, 0xFECF, 0x00A6, 0x00AC, 0x00F7, 0x00D7, 0xFEC9, + 0x0640, 0xFED3, 0xFED7, 0xFEDB, 0xFEDF, 0xFEE3, 0xFEE7, 0xFEEB, 0xFEED, 0xFEEF, 0xFEF3, 0xFEBD, 0xFECC, 0xFECE, 0xFECD, 0xFEE1, + 0xFE7D, 0x0651, 0xFEE5, 0xFEE9, 0xFEEC, 0xFEF0, 0xFEF2, 0xFED0, 0xFED5, 0xFEF5, 0xFEF6, 0xFEDD, 0xFED9, 0xFEF1, 0x25A0, 0x0000 +}; +#endif +#if FF_CODE_PAGE == 865 || FF_CODE_PAGE == 0 +static const WCHAR uc865[] = { /* CP865(Nordic) to Unicode conversion table */ + 0x00C7, 0x00FC, 0x00E9, 0x00E2, 0x00E4, 0x00E0, 0x00E5, 0x00E7, 0x00EA, 0x00EB, 0x00E8, 0x00EF, 0x00EE, 0x00EC, 0x00C4, 0x00C5, + 0x00C5, 0x00E6, 0x00C6, 0x00F4, 0x00F6, 0x00F2, 0x00FB, 0x00F9, 0x00FF, 0x00D6, 0x00DC, 0x00F8, 0x00A3, 0x00D8, 0x20A7, 0x0192, + 0x00E1, 0x00ED, 0x00F3, 0x00FA, 0x00F1, 0x00D1, 0x00AA, 0x00BA, 0x00BF, 0x2310, 0x00AC, 0x00BD, 0x00BC, 0x00A1, 0x00AB, 0x00A4, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x2558, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x03B1, 0x00DF, 0x0393, 0x03C0, 0x03A3, 0x03C3, 0x00B5, 0x03C4, 0x03A6, 0x0398, 0x03A9, 0x03B4, 0x221E, 0x03C6, 0x03B5, 0x2229, + 0x2261, 0x00B1, 0x2265, 0x2264, 0x2320, 0x2321, 0x00F7, 0x2248, 0x00B0, 0x2219, 0x00B7, 0x221A, 0x207F, 0x00B2, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 866 || FF_CODE_PAGE == 0 +static const WCHAR uc866[] = { /* CP866(Russian) to Unicode conversion table */ + 0x0410, 0x0411, 0x0412, 0x0413, 0x0414, 0x0415, 0x0416, 0x0417, 0x0418, 0x0419, 0x041A, 0x041B, 0x041C, 0x041D, 0x041E, 0x041F, + 0x0420, 0x0421, 0x0422, 0x0423, 0x0424, 0x0425, 0x0426, 0x0427, 0x0428, 0x0429, 0x042A, 0x042B, 0x042C, 0x042D, 0x042E, 0x042F, + 0x0430, 0x0431, 0x0432, 0x0433, 0x0434, 0x0435, 0x0436, 0x0437, 0x0438, 0x0439, 0x043A, 0x043B, 0x043C, 0x043D, 0x043E, 0x043F, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x2561, 0x2562, 0x2556, 0x2555, 0x2563, 0x2551, 0x2557, 0x255D, 0x255C, 0x255B, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x255E, 0x255F, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x2567, + 0x2568, 0x2564, 0x2565, 0x2559, 0x2558, 0x2552, 0x2553, 0x256B, 0x256A, 0x2518, 0x250C, 0x2588, 0x2584, 0x258C, 0x2590, 0x2580, + 0x0440, 0x0441, 0x0442, 0x0443, 0x0444, 0x0445, 0x0446, 0x0447, 0x0448, 0x0449, 0x044A, 0x044B, 0x044C, 0x044D, 0x044E, 0x044F, + 0x0401, 0x0451, 0x0404, 0x0454, 0x0407, 0x0457, 0x040E, 0x045E, 0x00B0, 0x2219, 0x00B7, 0x221A, 0x2116, 0x00A4, 0x25A0, 0x00A0 +}; +#endif +#if FF_CODE_PAGE == 869 || FF_CODE_PAGE == 0 +static const WCHAR uc869[] = { /* CP869(Greek 2) to Unicode conversion table */ + 0x00B7, 0x00B7, 0x00B7, 0x00B7, 0x00B7, 0x00B7, 0x0386, 0x00B7, 0x00B7, 0x00AC, 0x00A6, 0x2018, 0x2019, 0x0388, 0x2015, 0x0389, + 0x038A, 0x03AA, 0x038C, 0x00B7, 0x00B7, 0x038E, 0x03AB, 0x00A9, 0x038F, 0x00B2, 0x00B3, 0x03AC, 0x00A3, 0x03AD, 0x03AE, 0x03AF, + 0x03CA, 0x0390, 0x03CC, 0x03CD, 0x0391, 0x0392, 0x0393, 0x0394, 0x0395, 0x0396, 0x0397, 0x00BD, 0x0398, 0x0399, 0x00AB, 0x00BB, + 0x2591, 0x2592, 0x2593, 0x2502, 0x2524, 0x039A, 0x039B, 0x039C, 0x039D, 0x2563, 0x2551, 0x2557, 0x255D, 0x039E, 0x039F, 0x2510, + 0x2514, 0x2534, 0x252C, 0x251C, 0x2500, 0x253C, 0x0A30, 0x03A1, 0x255A, 0x2554, 0x2569, 0x2566, 0x2560, 0x2550, 0x256C, 0x03A3, + 0x03A4, 0x03A5, 0x03A6, 0x03A7, 0x03A8, 0x03A9, 0x03B1, 0x03B2, 0x03B3, 0x2518, 0x250C, 0x2588, 0x2584, 0x03B4, 0x03B5, 0x2580, + 0x03B6, 0x03B7, 0x03B8, 0x03B9, 0x03BA, 0x03BB, 0x03BC, 0x03BD, 0x03BE, 0x03BF, 0x03C0, 0x03C1, 0x03C3, 0x03C2, 0x03C4, 0x0384, + 0x00AD, 0x00B1, 0x03C5, 0x03C6, 0x03C7, 0x00A7, 0x03C8, 0x0385, 0x00B0, 0x00A8, 0x03C9, 0x03CB, 0x03B0, 0x03CE, 0x25A0, 0x00A0 +}; +#endif + + + + +/*------------------------------------------------------------------------*/ +/* OEM <==> Unicode conversions for static code page configuration */ +/* SBCS fixed code page */ +/*------------------------------------------------------------------------*/ + +#if FF_CODE_PAGE != 0 && FF_CODE_PAGE < 900 +WCHAR ff_uni2oem ( /* Returns OEM code character, zero on error */ + DWORD uni, /* UTF-16 encoded character to be converted */ + WORD cp /* Code page for the conversion */ +) +{ + WCHAR c = 0; + const WCHAR *p = CVTBL(uc, FF_CODE_PAGE); + + + if (uni < 0x80) { /* ASCII? */ + c = (WCHAR)uni; + + } else { /* Non-ASCII */ + if (uni < 0x10000 && cp == FF_CODE_PAGE) { /* Is it in BMP and valid code page? */ + for (c = 0; c < 0x80 && uni != p[c]; c++) ; + c = (c + 0x80) & 0xFF; + } + } + + return c; +} + +WCHAR ff_oem2uni ( /* Returns Unicode character, zero on error */ + WCHAR oem, /* OEM code to be converted */ + WORD cp /* Code page for the conversion */ +) +{ + WCHAR c = 0; + const WCHAR *p = CVTBL(uc, FF_CODE_PAGE); + + + if (oem < 0x80) { /* ASCII? */ + c = oem; + + } else { /* Extended char */ + if (cp == FF_CODE_PAGE) { /* Is it a valid code page? */ + if (oem < 0x100) c = p[oem - 0x80]; + } + } + + return c; +} + +#endif + + + +/*------------------------------------------------------------------------*/ +/* OEM <==> Unicode conversions for static code page configuration */ +/* DBCS fixed code page */ +/*------------------------------------------------------------------------*/ + +#if FF_CODE_PAGE >= 900 +WCHAR ff_uni2oem ( /* Returns OEM code character, zero on error */ + DWORD uni, /* UTF-16 encoded character to be converted */ + WORD cp /* Code page for the conversion */ +) +{ + const WCHAR *p; + WCHAR c = 0, uc; + UINT i = 0, n, li, hi; + + + if (uni < 0x80) { /* ASCII? */ + c = (WCHAR)uni; + + } else { /* Non-ASCII */ + if (uni < 0x10000 && cp == FF_CODE_PAGE) { /* Is it in BMP and valid code page? */ + uc = (WCHAR)uni; + p = CVTBL(uni2oem, FF_CODE_PAGE); + hi = sizeof CVTBL(uni2oem, FF_CODE_PAGE) / 4 - 1; + li = 0; + for (n = 16; n; n--) { + i = li + (hi - li) / 2; + if (uc == p[i * 2]) break; + if (uc > p[i * 2]) { + li = i; + } else { + hi = i; + } + } + if (n != 0) c = p[i * 2 + 1]; + } + } + + return c; +} + + +WCHAR ff_oem2uni ( /* Returns Unicode character, zero on error */ + WCHAR oem, /* OEM code to be converted */ + WORD cp /* Code page for the conversion */ +) +{ + const WCHAR *p; + WCHAR c = 0; + UINT i = 0, n, li, hi; + + + if (oem < 0x80) { /* ASCII? */ + c = oem; + + } else { /* Extended char */ + if (cp == FF_CODE_PAGE) { /* Is it valid code page? */ + p = CVTBL(oem2uni, FF_CODE_PAGE); + hi = sizeof CVTBL(oem2uni, FF_CODE_PAGE) / 4 - 1; + li = 0; + for (n = 16; n; n--) { + i = li + (hi - li) / 2; + if (oem == p[i * 2]) break; + if (oem > p[i * 2]) { + li = i; + } else { + hi = i; + } + } + if (n != 0) c = p[i * 2 + 1]; + } + } + + return c; +} +#endif + + + +/*------------------------------------------------------------------------*/ +/* OEM <==> Unicode conversions for dynamic code page configuration */ +/*------------------------------------------------------------------------*/ + +#if FF_CODE_PAGE == 0 + +static const WORD cp_code[] = { 437, 720, 737, 771, 775, 850, 852, 855, 857, 860, 861, 862, 863, 864, 865, 866, 869, 0}; +static const WCHAR* const cp_table[] = {uc437, uc720, uc737, uc771, uc775, uc850, uc852, uc855, uc857, uc860, uc861, uc862, uc863, uc864, uc865, uc866, uc869, 0}; + + +WCHAR ff_uni2oem ( /* Returns OEM code character, zero on error */ + DWORD uni, /* UTF-16 encoded character to be converted */ + WORD cp /* Code page for the conversion */ +) +{ + const WCHAR *p; + WCHAR c = 0, uc; + UINT i, n, li, hi; + + + if (uni < 0x80) { /* ASCII? */ + c = (WCHAR)uni; + + } else { /* Non-ASCII */ + if (uni < 0x10000) { /* Is it in BMP? */ + uc = (WCHAR)uni; + p = 0; + if (cp < 900) { /* SBCS */ + for (i = 0; cp_code[i] != 0 && cp_code[i] != cp; i++) ; /* Get conversion table */ + p = cp_table[i]; + if (p) { /* Is it valid code page ? */ + for (c = 0; c < 0x80 && uc != p[c]; c++) ; /* Find OEM code in the table */ + c = (c + 0x80) & 0xFF; + } + } else { /* DBCS */ + switch (cp) { /* Get conversion table */ + case 932 : p = uni2oem932; hi = sizeof uni2oem932 / 4 - 1; break; + case 936 : p = uni2oem936; hi = sizeof uni2oem936 / 4 - 1; break; + case 949 : p = uni2oem949; hi = sizeof uni2oem949 / 4 - 1; break; + case 950 : p = uni2oem950; hi = sizeof uni2oem950 / 4 - 1; break; + } + if (p) { /* Is it valid code page? */ + li = 0; + for (n = 16; n; n--) { /* Find OEM code */ + i = li + (hi - li) / 2; + if (uc == p[i * 2]) break; + if (uc > p[i * 2]) { + li = i; + } else { + hi = i; + } + } + if (n != 0) c = p[i * 2 + 1]; + } + } + } + } + + return c; +} + + +WCHAR ff_oem2uni ( /* Returns Unicode character, zero on error */ + WCHAR oem, /* OEM code to be converted (DBC if >=0x100) */ + WORD cp /* Code page for the conversion */ +) +{ + const WCHAR *p; + WCHAR c = 0; + UINT i, n, li, hi; + + + if (oem < 0x80) { /* ASCII? */ + c = oem; + + } else { /* Extended char */ + p = 0; + if (cp < 900) { /* SBCS */ + for (i = 0; cp_code[i] != 0 && cp_code[i] != cp; i++) ; /* Get table */ + p = cp_table[i]; + if (p) { /* Is it a valid CP ? */ + if (oem < 0x100) c = p[oem - 0x80]; + } + } else { /* DBCS */ + switch (cp) { + case 932 : p = oem2uni932; hi = sizeof oem2uni932 / 4 - 1; break; + case 936 : p = oem2uni936; hi = sizeof oem2uni936 / 4 - 1; break; + case 949 : p = oem2uni949; hi = sizeof oem2uni949 / 4 - 1; break; + case 950 : p = oem2uni950; hi = sizeof oem2uni950 / 4 - 1; break; + } + if (p) { + li = 0; + for (n = 16; n; n--) { + i = li + (hi - li) / 2; + if (oem == p[i * 2]) break; + if (oem > p[i * 2]) { + li = i; + } else { + hi = i; + } + } + if (n != 0) c = p[i * 2 + 1]; + } + } + } + + return c; +} +#endif + + + +/*------------------------------------------------------------------------*/ +/* Unicode up-case conversion */ +/*------------------------------------------------------------------------*/ + +DWORD ff_wtoupper ( /* Returns up-converted code point */ + DWORD uni /* Unicode code point to be up-converted */ +) +{ + const WORD *p; + WORD uc, bc, nc, cmd; + static const WORD cvt1[] = { /* Compressed up conversion table for U+0000 - U+0FFF */ + /* Basic Latin */ + 0x0061,0x031A, + /* Latin-1 Supplement */ + 0x00E0,0x0317, + 0x00F8,0x0307, + 0x00FF,0x0001,0x0178, + /* Latin Extended-A */ + 0x0100,0x0130, + 0x0132,0x0106, + 0x0139,0x0110, + 0x014A,0x012E, + 0x0179,0x0106, + /* Latin Extended-B */ + 0x0180,0x004D,0x0243,0x0181,0x0182,0x0182,0x0184,0x0184,0x0186,0x0187,0x0187,0x0189,0x018A,0x018B,0x018B,0x018D,0x018E,0x018F,0x0190,0x0191,0x0191,0x0193,0x0194,0x01F6,0x0196,0x0197,0x0198,0x0198,0x023D,0x019B,0x019C,0x019D,0x0220,0x019F,0x01A0,0x01A0,0x01A2,0x01A2,0x01A4,0x01A4,0x01A6,0x01A7,0x01A7,0x01A9,0x01AA,0x01AB,0x01AC,0x01AC,0x01AE,0x01AF,0x01AF,0x01B1,0x01B2,0x01B3,0x01B3,0x01B5,0x01B5,0x01B7,0x01B8,0x01B8,0x01BA,0x01BB,0x01BC,0x01BC,0x01BE,0x01F7,0x01C0,0x01C1,0x01C2,0x01C3,0x01C4,0x01C5,0x01C4,0x01C7,0x01C8,0x01C7,0x01CA,0x01CB,0x01CA, + 0x01CD,0x0110, + 0x01DD,0x0001,0x018E, + 0x01DE,0x0112, + 0x01F3,0x0003,0x01F1,0x01F4,0x01F4, + 0x01F8,0x0128, + 0x0222,0x0112, + 0x023A,0x0009,0x2C65,0x023B,0x023B,0x023D,0x2C66,0x023F,0x0240,0x0241,0x0241, + 0x0246,0x010A, + /* IPA Extensions */ + 0x0253,0x0040,0x0181,0x0186,0x0255,0x0189,0x018A,0x0258,0x018F,0x025A,0x0190,0x025C,0x025D,0x025E,0x025F,0x0193,0x0261,0x0262,0x0194,0x0264,0x0265,0x0266,0x0267,0x0197,0x0196,0x026A,0x2C62,0x026C,0x026D,0x026E,0x019C,0x0270,0x0271,0x019D,0x0273,0x0274,0x019F,0x0276,0x0277,0x0278,0x0279,0x027A,0x027B,0x027C,0x2C64,0x027E,0x027F,0x01A6,0x0281,0x0282,0x01A9,0x0284,0x0285,0x0286,0x0287,0x01AE,0x0244,0x01B1,0x01B2,0x0245,0x028D,0x028E,0x028F,0x0290,0x0291,0x01B7, + /* Greek, Coptic */ + 0x037B,0x0003,0x03FD,0x03FE,0x03FF, + 0x03AC,0x0004,0x0386,0x0388,0x0389,0x038A, + 0x03B1,0x0311, + 0x03C2,0x0002,0x03A3,0x03A3, + 0x03C4,0x0308, + 0x03CC,0x0003,0x038C,0x038E,0x038F, + 0x03D8,0x0118, + 0x03F2,0x000A,0x03F9,0x03F3,0x03F4,0x03F5,0x03F6,0x03F7,0x03F7,0x03F9,0x03FA,0x03FA, + /* Cyrillic */ + 0x0430,0x0320, + 0x0450,0x0710, + 0x0460,0x0122, + 0x048A,0x0136, + 0x04C1,0x010E, + 0x04CF,0x0001,0x04C0, + 0x04D0,0x0144, + /* Armenian */ + 0x0561,0x0426, + + 0x0000 /* EOT */ + }; + static const WORD cvt2[] = { /* Compressed up conversion table for U+1000 - U+FFFF */ + /* Phonetic Extensions */ + 0x1D7D,0x0001,0x2C63, + /* Latin Extended Additional */ + 0x1E00,0x0196, + 0x1EA0,0x015A, + /* Greek Extended */ + 0x1F00,0x0608, + 0x1F10,0x0606, + 0x1F20,0x0608, + 0x1F30,0x0608, + 0x1F40,0x0606, + 0x1F51,0x0007,0x1F59,0x1F52,0x1F5B,0x1F54,0x1F5D,0x1F56,0x1F5F, + 0x1F60,0x0608, + 0x1F70,0x000E,0x1FBA,0x1FBB,0x1FC8,0x1FC9,0x1FCA,0x1FCB,0x1FDA,0x1FDB,0x1FF8,0x1FF9,0x1FEA,0x1FEB,0x1FFA,0x1FFB, + 0x1F80,0x0608, + 0x1F90,0x0608, + 0x1FA0,0x0608, + 0x1FB0,0x0004,0x1FB8,0x1FB9,0x1FB2,0x1FBC, + 0x1FCC,0x0001,0x1FC3, + 0x1FD0,0x0602, + 0x1FE0,0x0602, + 0x1FE5,0x0001,0x1FEC, + 0x1FF3,0x0001,0x1FFC, + /* Letterlike Symbols */ + 0x214E,0x0001,0x2132, + /* Number forms */ + 0x2170,0x0210, + 0x2184,0x0001,0x2183, + /* Enclosed Alphanumerics */ + 0x24D0,0x051A, + 0x2C30,0x042F, + /* Latin Extended-C */ + 0x2C60,0x0102, + 0x2C67,0x0106, 0x2C75,0x0102, + /* Coptic */ + 0x2C80,0x0164, + /* Georgian Supplement */ + 0x2D00,0x0826, + /* Full-width */ + 0xFF41,0x031A, + + 0x0000 /* EOT */ + }; + + + if (uni < 0x10000) { /* Is it in BMP? */ + uc = (WORD)uni; + p = uc < 0x1000 ? cvt1 : cvt2; + for (;;) { + bc = *p++; /* Get the block base */ + if (bc == 0 || uc < bc) break; /* Not matched? */ + nc = *p++; cmd = nc >> 8; nc &= 0xFF; /* Get processing command and block size */ + if (uc < bc + nc) { /* In the block? */ + switch (cmd) { + case 0: uc = p[uc - bc]; break; /* Table conversion */ + case 1: uc -= (uc - bc) & 1; break; /* Case pairs */ + case 2: uc -= 16; break; /* Shift -16 */ + case 3: uc -= 32; break; /* Shift -32 */ + case 4: uc -= 48; break; /* Shift -48 */ + case 5: uc -= 26; break; /* Shift -26 */ + case 6: uc += 8; break; /* Shift +8 */ + case 7: uc -= 80; break; /* Shift -80 */ + case 8: uc -= 0x1C60; break; /* Shift -0x1C60 */ + } + break; + } + if (cmd == 0) p += nc; /* Skip table if needed */ + } + uni = uc; + } + + return uni; +} + + +#endif /* #if FF_USE_LFN */ diff --git a/src/Movement/BedProbing/Grid.cpp b/src/Movement/BedProbing/Grid.cpp index 79c1031a..effe7181 100644 --- a/src/Movement/BedProbing/Grid.cpp +++ b/src/Movement/BedProbing/Grid.cpp @@ -28,6 +28,7 @@ const char * const GridDefinition::HeightMapLabelLines[] = const ObjectModelTableEntry GridDefinition::objectModelTable[] = { + // These entries must be in alphabetical order { "radius", OBJECT_MODEL_FUNC(&(self->radius)), TYPE_OF(float), ObjectModelTableEntry::none } }; @@ -287,7 +288,7 @@ bool HeightMap::SaveToFile(FileStore *f, float zOffset) const time_t timeNow = reprap.GetPlatform().GetDateTime(); const struct tm * const timeInfo = gmtime(&timeNow); buf.catf(" generated at %04u-%02u-%02u %02u:%02u", - timeInfo->tm_year + 1900, timeInfo->tm_mon, timeInfo->tm_mday, timeInfo->tm_hour, timeInfo->tm_min); + timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday, timeInfo->tm_hour, timeInfo->tm_min); } float mean, deviation; (void)GetStatistics(mean, deviation); diff --git a/src/Movement/BedProbing/RandomProbePointSet.cpp b/src/Movement/BedProbing/RandomProbePointSet.cpp index 4b49e5c4..f1d99d6e 100644 --- a/src/Movement/BedProbing/RandomProbePointSet.cpp +++ b/src/Movement/BedProbing/RandomProbePointSet.cpp @@ -20,7 +20,8 @@ const ObjectModelTableEntry RandomProbePointSet::objectModelTable[] = { - { "numBedCompensationPoints", OBJECT_MODEL_FUNC(&(self->numBedCompensationPoints)), TYPE_OF(uint32_t), ObjectModelTableEntry::none } + // These entries must be in alphabetical order + { "numPointsProbed", OBJECT_MODEL_FUNC(&(self->numBedCompensationPoints)), TYPE_OF(uint32_t), ObjectModelTableEntry::none } }; DEFINE_GET_OBJECT_MODEL_TABLE(RandomProbePointSet) @@ -94,10 +95,10 @@ bool RandomProbePointSet::SetProbedBedEquation(size_t numPoints, const StringRef { if (!GoodProbePointOrdering(numPoints)) { - reply.printf("Probe points P0 to P%u must be in clockwise order starting near X=0 Y=0", min<unsigned int>(numPoints, 4) - 1); + reply.printf("Probe points P0 to P%u must be in clockwise order starting near minimum X and Y", min<unsigned int>(numPoints, 4) - 1); if (numPoints >= 5) { - reply.cat(" and P4 must be near the centre"); + reply.cat(", and P4 must be near the centre"); } return true; } @@ -166,6 +167,9 @@ bool RandomProbePointSet::SetProbedBedEquation(size_t numPoints, const StringRef numBedCompensationPoints = numPoints; + reprap.GetPlatform().Message(WarningMessage, + "3/4/5-point bed compensation is deprecated and will be removed in a future firmware release. Please use G29 mesh bed compensation instead.\n"); + // Report what points the bed equation fits reply.copy("Bed equation fits points"); for (size_t point = 0; point < numPoints; point++) diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp index e62dda65..8fa67a34 100644 --- a/src/Movement/DDA.cpp +++ b/src/Movement/DDA.cpp @@ -115,22 +115,25 @@ void DDA::LogProbePosition() DDA::DDA(DDA* n) : next(n), prev(nullptr), state(empty) { - for (DriveMovement*& p : pddm) - { - p = nullptr; - } + activeDMs = completedDMs = nullptr; } void DDA::ReleaseDMs() { - for (DriveMovement*& p : pddm) + // Normally there should be no active DMs, but release any that there may be + for (DriveMovement* dm = activeDMs; dm != nullptr; ) { - if (p != nullptr) - { - DriveMovement::Release(p); - p = nullptr; - } + DriveMovement* const next = dm->nextDM; + DriveMovement::Release(dm); + dm = next; } + for (DriveMovement* dm = completedDMs; dm != nullptr; ) + { + DriveMovement* const next = dm->nextDM; + DriveMovement::Release(dm); + dm = next; + } + activeDMs = completedDMs = nullptr; } // Return the number of clocks this DDA still needs to execute. @@ -148,7 +151,7 @@ pre(state == executing || state == frozen || state == completed) // for multiple motors simultaneously, there is no need to preserve round-robin order. inline void DDA::InsertDM(DriveMovement *dm) { - DriveMovement **dmp = &firstDM; + DriveMovement **dmp = &activeDMs; while (*dmp != nullptr && (*dmp)->nextStepTime < dm->nextStepTime) { dmp = &((*dmp)->nextDM); @@ -157,17 +160,20 @@ inline void DDA::InsertDM(DriveMovement *dm) *dmp = dm; } -// Remove this drive from the list of drives with steps due +// Remove this drive from the list of drives with steps due and put it in the completed list // Called from the step ISR only. -void DDA::RemoveDM(size_t drive) +void DDA::DeactivateDM(size_t drive) { - DriveMovement **dmp = &firstDM; + DriveMovement **dmp = &activeDMs; while (*dmp != nullptr) { DriveMovement * const dm = *dmp; if (dm->drive == drive) { (*dmp) = dm->nextDM; + dm->state = DMState::idle; + dm->nextDM = completedDMs; + completedDMs = dm; break; } dmp = &(dm->nextDM); @@ -213,20 +219,13 @@ void DDA::DebugPrint() const void DDA::DebugPrintAll() const { DebugPrint(); - const size_t numAxes = reprap.GetGCodes().GetTotalAxes(); - for (size_t axis = 0; axis < numAxes; ++axis) + for (DriveMovement* dm = activeDMs; dm != nullptr; dm = dm->nextDM) { - if (pddm[axis] != nullptr) - { - pddm[axis]->DebugPrint(reprap.GetGCodes().GetAxisLetters()[axis], isDeltaMovement); - } + dm->DebugPrint(); } - for (size_t i = numAxes; i < MaxTotalDrivers; ++i) + for (DriveMovement* dm = completedDMs; dm != nullptr; dm = dm->nextDM) { - if (pddm[i] != nullptr && pddm[i]->state != DMState::idle) - { - pddm[i]->DebugPrint((char)('0' + (i - numAxes)), false); - } + dm->DebugPrint(); } } @@ -254,7 +253,7 @@ void DDA::Init() bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) { // 0. If there are more total axes than visible axes, then we must ignore any movement data in nextMove for the invisible axes. - // The call to CartesianToMotorSteps may adjust the invisible axis endpoints for architectures such as CoreXYU, so set them up here. + // The call to CartesianToMotorSteps may adjust the invisible axis endpoints for architectures such as CoreXYU and delta with >3 towers, so set them up here. const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes(); const size_t numVisibleAxes = reprap.GetGCodes().GetVisibleAxes(); const int32_t * const positionNow = prev->DriveCoordinates(); @@ -282,6 +281,7 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) xyMoving = false; bool axesMoving = false; bool extruding = false; // we set this true if extrusion was commanded, even if it is too small to do + bool forwardExtruding = false; bool realMove = false; float accelerations[MaxTotalDrivers]; const float * const normalAccelerations = reprap.GetPlatform().Accelerations(); @@ -290,65 +290,57 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) for (size_t drive = 0; drive < MaxTotalDrivers; drive++) { accelerations[drive] = normalAccelerations[drive]; - if (drive >= numTotalAxes || (!doMotorMapping && drive < numVisibleAxes)) - { - endPoint[drive] = Move::MotorEndPointToMachine(drive, nextMove.coords[drive]); - } - endCoordinates[drive] = nextMove.coords[drive]; - int32_t delta; + if (drive < numTotalAxes) { - delta = endPoint[drive] - positionNow[drive]; - if (k.IsContinuousRotationAxis(drive) && nextMove.moveType != 1 && nextMove.moveType != 2) + if (!doMotorMapping && drive < numVisibleAxes) + { + endPoint[drive] = Move::MotorMovementToSteps(drive, nextMove.coords[drive]); + } + + int32_t delta = endPoint[drive] - positionNow[drive]; + if (doMotorMapping) { - const int32_t stepsPerRotation = lrintf(360.0 * reprap.GetPlatform().DriveStepsPerUnit(drive)); - if (delta > stepsPerRotation/2) + if (drive >= numVisibleAxes) { - delta -= stepsPerRotation; + directionVector[drive] = 0.0; } - else if (delta < -stepsPerRotation/2) + else { - delta += stepsPerRotation; + const float positionDelta = endCoordinates[drive] - prev->GetEndCoordinate(drive, false); + directionVector[drive] = positionDelta; + if (positionDelta != 0.0 && (IsBitSet(nextMove.yAxes, drive) || IsBitSet(nextMove.xAxes, drive))) + { + xyMoving = true; + } } } - } - else - { - delta = endPoint[drive]; - } - - if (drive < numTotalAxes && doMotorMapping) - { - const float positionDelta = nextMove.coords[drive] - prev->GetEndCoordinate(drive, false); - directionVector[drive] = positionDelta; - if (positionDelta != 0.0 && (IsBitSet(nextMove.yAxes, drive) || IsBitSet(nextMove.xAxes, drive))) + else { - xyMoving = true; + directionVector[drive] = (float)delta/reprap.GetPlatform().DriveStepsPerUnit(drive); } - } - else - { - directionVector[drive] = (float)delta/reprap.GetPlatform().DriveStepsPerUnit(drive); - if (drive >= numTotalAxes && nextMove.coords[drive] > 0.0) + + if (delta != 0) { - extruding = true; // flag this move as extruding even if the number of extruder microsteps is zero + realMove = true; + axesMoving = true; } } - - if (delta != 0) + else { - realMove = true; - DriveMovement*& pdm = pddm[drive]; - pdm = DriveMovement::Allocate(drive, DMState::moving); - pdm->totalSteps = labs(delta); // for now this is the number of net steps, but gets adjusted later if there is a reverse in direction - pdm->direction = (delta >= 0); // for now this is the direction of net movement, but gets adjusted later if it is a delta movement - - if (drive >= numTotalAxes) + // It's an extruder drive. We defer calculating the steps because they may be affected by nonlinear extrusion, which we can't calculate until we + // know the speed of the move, and because extruder movement is relative so we need to accumulate fractions of a whole step between moves. + const float movement = nextMove.coords[drive]; + directionVector[drive] = movement; + if (movement != 0.0) { - // It's an extruder movement - nextMove.coords[drive] -= directionVector[drive]; - // subtract the amount of extrusion we actually did to leave the residue outstanding + realMove = true; + extruding = true; + if (movement > 0.0) + { + forwardExtruding = true; + } if (xyMoving && nextMove.usePressureAdvance) { const float compensationTime = reprap.GetPlatform().GetPressureAdvance(drive - numTotalAxes); @@ -359,10 +351,6 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) } } } - else - { - axesMoving = true; - } } } @@ -380,21 +368,6 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) return false; } - // 2a. If it's a delta move, we need a DM for each tower even if its carriage has no net movement - if (isDeltaMovement) - { - for (size_t drive = 0; drive < DELTA_AXES; ++drive) - { - DriveMovement*& pdm = pddm[drive]; - if (pdm == nullptr) - { - pdm = DriveMovement::Allocate(drive, DMState::moving); - pdm->totalSteps = 0; - pdm->direction = true; - } - } - } - // 3. Store some values xAxes = nextMove.xAxes; yAxes = nextMove.yAxes; @@ -405,7 +378,8 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) canPauseAfter = nextMove.canPauseAfter; usingStandardFeedrate = nextMove.usingStandardFeedrate; - isPrintingMove = xyMoving && extruding; + isPrintingMove = xyMoving && forwardExtruding; // require forward extrusion so that wipe-while-retracting doesn't count + isNonPrintingExtruderMove = extruding && !isPrintingMove; // flag used by filament monitors - we can ignore Z movement usePressureAdvance = nextMove.usePressureAdvance; hadLookaheadUnderrun = false; hadHiccup = false; @@ -414,6 +388,7 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) // The end coordinates will be valid at the end of this move if it does not involve endstop checks and is not a raw motor move endCoordinatesValid = (endStopsToCheck == 0) && doMotorMapping; + continuousRotationShortcut = (nextMove.moveType == 0); #if SUPPORT_IOBITS laserPwmOrIoBits = nextMove.laserPwmOrIoBits; @@ -473,9 +448,9 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) // We use the Cartesian motion system to implement these moves, so the feed rate will be interpreted in Cartesian coordinates. // This is wrong, we want the feed rate to apply to the drive that is moving the farthest. float maxDistance = 0.0; - for (size_t axis = 0; axis < DELTA_AXES; ++axis) + for (size_t axis = 0; axis < numTotalAxes; ++axis) { - if (normalisedDirectionVector[axis] > maxDistance) + if (k.GetMotionType(axis) == MotionType::segmentFreeDelta && normalisedDirectionVector[axis] > maxDistance) { maxDistance = normalisedDirectionVector[axis]; } @@ -491,10 +466,10 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) requestedSpeed = min<float>(max<float>(reqSpeed, MinimumMovementSpeed), VectorBoxIntersection(normalisedDirectionVector, reprap.GetPlatform().MaxFeedrates(), MaxTotalDrivers)); // On a Cartesian printer, it is OK to limit the X and Y speeds and accelerations independently, and in consequence to allow greater values - // for diagonal moves. On other architectures, this is not OK and any movement in the XY plane should be limited to the X/Y axis values, which we assume to be equal. + // for diagonal moves. On other architectures, this is not OK and any movement in the XY plane should be limited on other ways. if (doMotorMapping) { - k.LimitSpeedAndAcceleration(*this, normalisedDirectionVector); // give the kinematics the chance to further restrict the speed and acceleration + k.LimitSpeedAndAcceleration(*this, normalisedDirectionVector, numVisibleAxes, continuousRotationShortcut); // give the kinematics the chance to further restrict the speed and acceleration } // 7. Calculate the provisional accelerate and decelerate distances and the top speed @@ -542,10 +517,6 @@ bool DDA::Init(const float_t adjustments[MaxTotalDrivers]) if (delta != 0) { - DriveMovement*& pdm = pddm[drive]; - pdm = DriveMovement::Allocate(drive + MaxTotalDrivers, DMState::moving); - pdm->totalSteps = labs(delta); - pdm->direction = (delta >= 0); realMove = true; } } @@ -553,7 +524,6 @@ bool DDA::Init(const float_t adjustments[MaxTotalDrivers]) // 2. Throw it away if there's no real movement. if (!realMove) { - ReleaseDMs(); return false; } @@ -568,6 +538,7 @@ bool DDA::Init(const float_t adjustments[MaxTotalDrivers]) hadLookaheadUnderrun = false; hadHiccup = false; goingSlow = false; + continuousRotationShortcut = false; endStopsToCheck = 0; virtualExtruderPosition = prev->virtualExtruderPosition; xAxes = prev->xAxes; @@ -678,7 +649,12 @@ pre(state == provisional) ) { // This is a deceleration-only move, so we may have to adjust the previous move as well to get optimum behaviour - if (laDDA->prev->state == provisional && laDDA->prev->isPrintingMove == laDDA->isPrintingMove && laDDA->prev->xyMoving == laDDA->xyMoving) + if ( laDDA->prev->state == provisional + && laDDA->prev->xyMoving == laDDA->xyMoving + && ( laDDA->prev->isPrintingMove == laDDA->isPrintingMove + || (laDDA->prev->isPrintingMove && laDDA->prev->requestedSpeed == laDDA->requestedSpeed) // special case to support coast-to-end + ) + ) { laDDA->MatchSpeeds(); const float maxStartSpeed = sqrtf(fsquare(laDDA->targetNextSpeed) + (2 * laDDA->deceleration * laDDA->totalDistance)); @@ -737,7 +713,25 @@ pre(state == provisional) else { // Either just stopped going up, or going down - laDDA->endSpeed = laDDA->targetNextSpeed; + if (laDDA->targetNextSpeed < laDDA->endSpeed) + { + // This situation should not normally happen except by a small amount because of rounding error. + // Don't reduce the end speed of the current move, because that may make the move infeasible. + // Report a lookahead error if the change is too large to be accounted for by rounding error. + if (laDDA->targetNextSpeed < laDDA->endSpeed * 0.99) + { + reprap.GetMove().RecordLookaheadError(); + if (reprap.Debug(moduleMove)) + { + debugPrintf("DDA.cpp(%d) tn=%f ", __LINE__, (double)laDDA->targetNextSpeed); + laDDA->DebugPrint(); + } + } + } + else + { + laDDA->endSpeed = laDDA->targetNextSpeed; + } LA_DEBUG; laDDA->RecalculateMove(); @@ -754,6 +748,7 @@ LA_DEBUG; } // Try to push babystepping earlier in the move queue, returning the amount we pushed +//TODO this won't work for CoreXZ, rotary delta, Kappa, or SCARA with Z crosstalk float DDA::AdvanceBabyStepping(float amount) { DDA *cdda = this; @@ -770,96 +765,31 @@ float DDA::AdvanceBabyStepping(float amount) float babySteppingToDo = 0.0; if (amount != 0.0 && cdda->xyMoving) { - // If not on a delta printer, check that we have a DM for the Z axis - bool ok = (cdda->isDeltaMovement || cdda->pddm[Z_AXIS] != nullptr); - if (!ok) - { - cdda->pddm[Z_AXIS] = DriveMovement::Allocate(Z_AXIS, DMState::idle); - ok = (cdda->pddm[Z_AXIS] != nullptr); - } - - if (ok) - { - // Limit the babystepping Z speed to the lower of 0.1 times the original XYZ speed and 0.5 times the Z jerk - const float maxBabySteppingAmount = cdda->totalDistance * min<float>(0.1, 0.5 * reprap.GetPlatform().GetInstantDv(Z_AXIS)/cdda->topSpeed); - babySteppingToDo = constrain<float>(amount, -maxBabySteppingAmount, maxBabySteppingAmount); - cdda->directionVector[Z_AXIS] += babySteppingToDo/cdda->totalDistance; - cdda->totalDistance *= cdda->NormaliseXYZ(); - cdda->RecalculateMove(); - babySteppingDone += babySteppingToDo; - amount -= babySteppingToDo; - } + // Limit the babystepping Z speed to the lower of 0.1 times the original XYZ speed and 0.5 times the Z jerk + const float maxBabySteppingAmount = cdda->totalDistance * min<float>(0.1, 0.5 * reprap.GetPlatform().GetInstantDv(Z_AXIS)/cdda->topSpeed); + babySteppingToDo = constrain<float>(amount, -maxBabySteppingAmount, maxBabySteppingAmount); + cdda->directionVector[Z_AXIS] += babySteppingToDo/cdda->totalDistance; + cdda->totalDistance *= cdda->NormaliseXYZ(); + cdda->RecalculateMove(); + babySteppingDone += babySteppingToDo; + amount -= babySteppingToDo; } // Even if there is no babystepping to do this move, we may need to adjust the end coordinates cdda->endCoordinates[Z_AXIS] += babySteppingDone; if (cdda->isDeltaMovement) { - for (size_t tower = 0; tower < DELTA_AXES; ++tower) + for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis) { - cdda->endPoint[tower] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(tower)); - if (babySteppingToDo != 0.0) + if (reprap.GetMove().GetKinematics().GetMotionType(axis) == MotionType::segmentFreeDelta) { - int32_t steps = (int32_t)(babySteppingToDo * reprap.GetPlatform().DriveStepsPerUnit(tower)); - DriveMovement* const pdm = cdda->pddm[tower]; - if (pdm != nullptr) - { - if (pdm->direction) // if moving up - { - steps += (int32_t)pdm->totalSteps; - } - else - { - steps -= (int32_t)pdm->totalSteps; - } - if (steps >= 0) - { - pdm->direction = true; - pdm->totalSteps = (uint32_t)steps; - } - else - { - pdm->direction = false; - pdm->totalSteps = (uint32_t)(-steps); - } - } + cdda->endPoint[axis] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(axis)); } } } else { cdda->endPoint[Z_AXIS] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS)); - if (babySteppingToDo != 0.0) - { - int32_t steps = (int32_t)(babySteppingToDo * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS)); - DriveMovement* const pdm = cdda->pddm[Z_AXIS]; // must be non-null because we allocated one earlier if necessary - if (pdm->state == DMState::moving) - { - if (pdm->direction) // if moving up - { - steps += (int32_t)pdm->totalSteps; - } - else - { - steps -= (int32_t)pdm->totalSteps; - } - } - else - { - pdm->state = DMState::moving; - } - - if (steps >= 0) - { - pdm->direction = true; - pdm->totalSteps = (uint32_t)steps; - } - else - { - pdm->direction = false; - pdm->totalSteps = (uint32_t)(-steps); - } - } } // Now do the next move @@ -912,7 +842,7 @@ void DDA::RecalculateMove() reprap.GetMove().RecordLookaheadError(); if (reprap.Debug(moduleMove)) { - debugPrintf("DDA.cpp(%d) na=%.3f", __LINE__, (double)newAcceleration); + debugPrintf("DDA.cpp(%d) na=%f", __LINE__, (double)newAcceleration); DebugPrint(); } } @@ -930,7 +860,7 @@ void DDA::RecalculateMove() reprap.GetMove().RecordLookaheadError(); if (reprap.Debug(moduleMove)) { - debugPrintf("DDA.cpp(%d) nd=%.3f", __LINE__, (double)newDeceleration); + debugPrintf("DDA.cpp(%d) nd=%f", __LINE__, (double)newDeceleration); DebugPrint(); } } @@ -944,7 +874,7 @@ void DDA::RecalculateMove() const Platform& p = reprap.GetPlatform(); for (size_t drive = 0; drive < MaxTotalDrivers; ++drive) { - if (pddm[drive] != nullptr && pddm[drive]->state == DMState::moving && endSpeed * fabsf(directionVector[drive]) > p.GetInstantDv(drive)) + if (endSpeed * fabsf(directionVector[drive]) > p.GetInstantDv(drive)) { canPauseAfter = false; break; @@ -960,25 +890,11 @@ void DDA::RecalculateMove() // Decide what speed we would really like this move to end at. // On entry, targetNextSpeed is the speed we would like the next move after this one to start at and this one to end at // On return, targetNextSpeed is the actual speed we can achieve without exceeding the jerk limits. -// Do not reduce targetNextSpeed below the existing value of endSpeed because that may make the move infeasible. void DDA::MatchSpeeds() { - if (targetNextSpeed < endSpeed) - { - reprap.GetMove().RecordLookaheadError(); - if (reprap.Debug(moduleMove)) - { - debugPrintf("DDA.cpp(%d) tn=%.3f ", __LINE__, (double)targetNextSpeed); - DebugPrint(); - } - return; - } - for (size_t drive = 0; drive < MaxTotalDrivers; ++drive) { - if ( (pddm[drive] != nullptr && pddm[drive]->state == DMState::moving) - || (next->pddm[drive] != nullptr && next->pddm[drive]->state == DMState::moving) - ) + if (directionVector[drive] != 0.0 || next->directionVector[drive] != 0.0) { const float totalFraction = fabsf(directionVector[drive] - next->directionVector[drive]); const float jerk = totalFraction * targetNextSpeed; @@ -986,16 +902,6 @@ void DDA::MatchSpeeds() if (jerk > allowedJerk) { targetNextSpeed = allowedJerk/totalFraction; - if (targetNextSpeed < endSpeed) - { - reprap.GetMove().RecordLookaheadError(); - if (reprap.Debug(moduleMove)) - { - debugPrintf("DDA.cpp(%d) tn=%.3f ", __LINE__, (double)targetNextSpeed); - DebugPrint(); - } - return; - } } } } @@ -1026,6 +932,7 @@ bool DDA::FetchEndPosition(volatile int32_t ep[MaxTotalDrivers], volatile float return endCoordinatesValid; } +// This may be called from an ISR, e.g. via Kinematics::OnHomingSwitchTriggered void DDA::SetPositions(const float move[MaxTotalDrivers], size_t numDrives) { reprap.GetMove().EndPointToMachine(move, endPoint, numDrives); @@ -1043,7 +950,7 @@ pre(disableDeltaMapping || drive < MaxAxes) { if (disableMotorMapping) { - return Move::MotorEndpointToPosition(endPoint[drive], drive); + return Move::MotorStepsToMovement(drive, endPoint[drive]); } else { @@ -1064,34 +971,47 @@ inline void DDA::AdjustAcceleration() { // Try to reduce the acceleration/deceleration of the move to cancel ringing const float idealPeriod = reprap.GetMove().GetDRCperiod(); - const float accTime = (topSpeed - startSpeed)/acceleration; - const bool adjustAcceleration = - (accTime < idealPeriod && ((prev->state != DDAState::frozen && prev->state != DDAState::executing) || !prev->IsAccelerationMove())); - float proposedAcceleration, proposedAccelDistance; - if (adjustAcceleration) - { - proposedAcceleration = (topSpeed - startSpeed)/idealPeriod; - proposedAccelDistance = (fsquare(topSpeed) - fsquare(startSpeed))/(2 * proposedAcceleration); - } - else - { - proposedAcceleration = acceleration; - proposedAccelDistance = accelDistance; - } - const float decelTime = (topSpeed - endSpeed)/deceleration; - const float adjustDeceleration = - (decelTime < idealPeriod && (next->state != DDAState::provisional || !next->IsDecelerationMove())); - float proposedDeceleration, proposedDecelDistance; - if (adjustDeceleration) + float proposedAcceleration = acceleration, proposedAccelDistance = accelDistance; + bool adjustAcceleration = false; + if ((prev->state != DDAState::frozen && prev->state != DDAState::executing) || !prev->IsAccelerationMove()) { - proposedDeceleration = (topSpeed - endSpeed)/idealPeriod; - proposedDecelDistance = (fsquare(topSpeed) - fsquare(endSpeed))/(2 * proposedDeceleration); + const float accelTime = (topSpeed - startSpeed)/acceleration; + if (accelTime < idealPeriod) + { + proposedAcceleration = (topSpeed - startSpeed)/idealPeriod; + adjustAcceleration = true; + } + else if (accelTime < idealPeriod * 2) + { + proposedAcceleration = (topSpeed - startSpeed)/(idealPeriod * 2); + adjustAcceleration = true; + } + if (adjustAcceleration) + { + proposedAccelDistance = (fsquare(topSpeed) - fsquare(startSpeed))/(2 * proposedAcceleration); + } } - else + + float proposedDeceleration = deceleration, proposedDecelDistance = decelDistance; + bool adjustDeceleration = false; + if (next->state != DDAState::provisional || !next->IsDecelerationMove()) { - proposedDeceleration = deceleration; - proposedDecelDistance = decelDistance; + const float decelTime = (topSpeed - endSpeed)/deceleration; + if (decelTime < idealPeriod) + { + proposedDeceleration = (topSpeed - endSpeed)/idealPeriod; + adjustDeceleration = true; + } + else if (decelTime < idealPeriod * 2) + { + proposedDeceleration = (topSpeed - endSpeed)/(idealPeriod * 2); + adjustDeceleration = true; + } + if (adjustDeceleration) + { + proposedDecelDistance = (fsquare(topSpeed) - fsquare(endSpeed))/(2 * proposedDeceleration); + } } if (adjustAcceleration || adjustDeceleration) @@ -1176,7 +1096,7 @@ inline void DDA::AdjustAcceleration() // Prepare this DDA for execution. // This must not be called with interrupts disabled, because it calls Platform::EnableDrive. -void DDA::Prepare(uint8_t simMode) +void DDA::Prepare(uint8_t simMode, float extrusionPending[]) { if ( xyMoving && reprap.GetMove().IsDRCenabled() @@ -1215,8 +1135,6 @@ void DDA::Prepare(uint8_t simMode) params.zMovement = GetEndCoordinate(Z_AXIS, false) - prev->GetEndCoordinate(Z_AXIS, false); #endif params.dparams = static_cast<const LinearDeltaKinematics*>(&(reprap.GetMove().GetKinematics())); - params.diagonalSquared = params.dparams->GetDiagonalSquared(); - params.a2b2D2 = params.a2plusb2 * params.diagonalSquared; } // Convert the accelerate/decelerate distances to times @@ -1238,138 +1156,267 @@ void DDA::Prepare(uint8_t simMode) topSpeedTimesCdivDPlusDecelStartClocks = params.topSpeedTimesCdivD + (uint32_t)roundU32(decelStartTime * StepTimer::StepClockRate); extraAccelerationClocks = roundS32((accelStopTime - (accelDistance/topSpeed)) * StepTimer::StepClockRate); - firstDM = nullptr; + activeDMs = completedDMs = nullptr; #if SUPPORT_CAN_EXPANSION CanInterface::StartMovement(*this); #endif // Handle all drivers - const size_t numAxes = reprap.GetGCodes().GetTotalAxes(); + const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes(); Platform& platform = reprap.GetPlatform(); + AxesBitmap additionalMotorsToEnable = 0, motorsEnabled = 0; for (size_t drive = 0; drive < NumDirectDrivers; ++drive) { - DriveMovement* const pdm = FindDM(drive); - if (pdm != nullptr && pdm->state == DMState::moving) + if (isLeadscrewAdjustmentMove) { - if (platform.GetDriversBitmap(drive) != 0) // if any of the drives is local + const int32_t delta = lrintf(directionVector[drive] * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS)); + if (delta != 0) { - if (isLeadscrewAdjustmentMove) + DriveMovement* const pdm = DriveMovement::Allocate(drive + MaxTotalDrivers, DMState::moving); + pdm->totalSteps = labs(delta); + pdm->direction = (delta >= 0); + if (drive < NumDirectDrivers) // if the drive is local { reprap.GetPlatform().EnableDrive(Z_AXIS); // ensure all Z motors are enabled - pdm->PrepareCartesianAxis(*this, params); - + if (pdm->PrepareCartesianAxis(*this, params)) + { + // Check for sensible values, print them if they look dubious + if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000) + { + DebugPrintAll(); + } + InsertDM(pdm); + } + else + { + pdm->state = DMState::idle; + pdm->nextDM = completedDMs; + completedDMs = pdm; + } + } + else + { + pdm->state = DMState::idle; // no local drivers involved +#if SUPPORT_CAN_EXPANSION + //TODO support leadscrew adjustment moves on remote drivers +#endif + pdm->state = DMState::idle; + pdm->nextDM = completedDMs; + completedDMs = pdm; + } + } + } + else if (isDeltaMovement && reprap.GetMove().GetKinematics().GetMotionType(drive) == MotionType::segmentFreeDelta) + { + // On a delta we need to allocate a DM for all towers even if there is no net movement + DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::moving); + const int32_t delta = endPoint[drive] - prev->endPoint[drive]; + pdm->totalSteps = labs(delta); + pdm->direction = (delta >= 0); + if (platform.GetDriversBitmap(drive) != 0) // if any of the drives is local + { +#if !SUPPORT_CAN_EXPANSION + reprap.GetPlatform().EnableDrive(drive); +#endif + if (pdm->PrepareDeltaAxis(*this, params)) + { // Check for sensible values, print them if they look dubious if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000) { DebugPrintAll(); } + InsertDM(pdm); + } + else + { + pdm->state = DMState::idle; + pdm->nextDM = completedDMs; + completedDMs = pdm; + } + } + else + { + pdm->state = DMState::idle; // no local drivers involved + pdm->nextDM = completedDMs; + completedDMs = pdm; + } + +#if SUPPORT_CAN_EXPANSION + const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive); + for (size_t i = 0; i < config.numDrivers; ++i) + { + const size_t driver = config.driverNumbers[i]; + if (driver >= NumDirectDrivers) + { + CanInterface::AddMovement(*this, params, driver - NumDirectDrivers, pdm->GetSteps()); } else { + platform.EnableDriver(driver); + } + } +#endif + } + else if (drive < numTotalAxes) + { + // It's a linear drive + int32_t delta = endPoint[drive] - prev->endPoint[drive]; + if (delta != 0) + { + if (continuousRotationShortcut && reprap.GetMove().GetKinematics().IsContinuousRotationAxis(drive)) + { + // This is a continuous rotation axis, so we may have adjusted the move to cross the 180 degrees position + const int32_t stepsPerRotation = lrintf(360.0 * reprap.GetPlatform().DriveStepsPerUnit(drive)); + if (delta > stepsPerRotation/2) + { + delta -= stepsPerRotation; + } + else if (delta < -stepsPerRotation/2) + { + delta += stepsPerRotation; + } + } + if (platform.GetDriversBitmap(drive) != 0) // if any of the drives is local + { +#if !SUPPORT_CAN_EXPANSION reprap.GetPlatform().EnableDrive(drive); - if (drive >= numAxes) +#endif + DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::moving); + pdm->totalSteps = labs(delta); + pdm->direction = (delta >= 0); + if (pdm->PrepareCartesianAxis(*this, params)) { - // If there is any extruder jerk in this move, in theory that means we need to instantly extrude or retract some amount of filament. - // Pass the speed change to PrepareExtruder - float speedChange; - if (usePressureAdvance) - { - const float prevEndSpeed = (prev->usePressureAdvance) ? prev->endSpeed * prev->directionVector[drive] : 0.0; - speedChange = (startSpeed * directionVector[drive]) - prevEndSpeed; - } - else - { - speedChange = 0.0; - } - pdm->PrepareExtruder(*this, params, speedChange, usePressureAdvance); - // Check for sensible values, print them if they look dubious - if (reprap.Debug(moduleDda) - && ( pdm->totalSteps > 1000000 - || pdm->reverseStartStep < pdm->mp.cart.decelStartStep - || (pdm->reverseStartStep <= pdm->totalSteps - && pdm->mp.cart.fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivD > (int64_t)(pdm->mp.cart.twoCsquaredTimesMmPerStepDivD * pdm->reverseStartStep) - ) - ) - ) + if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000) { DebugPrintAll(); } + InsertDM(pdm); } - else if (isDeltaMovement && drive < DELTA_AXES) // for now, additional axes are assumed to be not part of the delta mechanism + else { - pdm->PrepareDeltaAxis(*this, params); + pdm->state = DMState::idle; + pdm->nextDM = completedDMs; + completedDMs = pdm; + } + } - // Check for sensible values, print them if they look dubious - if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000) - { - DebugPrintAll(); - } +#if SUPPORT_CAN_EXPANSION + const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive); + for (size_t i = 0; i < config.numDrivers; ++i) + { + const size_t driver = config.driverNumbers[i]; + if (driver >= NumDirectDrivers) + { + CanInterface::AddMovement(*this, params, driver - NumDirectDrivers, labs(delta)); + } + else + { + platform.EnableDriver(driver); + } + } +#endif + SetBit(motorsEnabled, drive); + additionalMotorsToEnable |= reprap.GetMove().GetKinematics().GetConnectedAxes(drive); + } + } + else + { + // It's an extruder drive + if (directionVector[drive] != 0.0) + { + DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::moving); + if (platform.GetDriversBitmap(drive) != 0) // if any of the drives is local + { +#if !SUPPORT_CAN_EXPANSION + reprap.GetPlatform().EnableDrive(drive); +#endif + // If there is any extruder jerk in this move, in theory that means we need to instantly extrude or retract some amount of filament. + // Pass the speed change to PrepareExtruder + float speedChange; + if (usePressureAdvance) + { + const float prevEndSpeed = (prev->usePressureAdvance) ? prev->endSpeed * prev->directionVector[drive] : 0.0; + speedChange = (startSpeed * directionVector[drive]) - prevEndSpeed; } else { - pdm->PrepareCartesianAxis(*this, params); + speedChange = 0.0; + } + if (pdm->PrepareExtruder(*this, params, extrusionPending[drive - numTotalAxes], speedChange, usePressureAdvance)) + { // Check for sensible values, print them if they look dubious - if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000) + if ( reprap.Debug(moduleDda) + && ( pdm->totalSteps > 1000000 + || pdm->reverseStartStep < pdm->mp.cart.decelStartStep + || ( pdm->reverseStartStep <= pdm->totalSteps + && pdm->mp.cart.fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivD + > (int64_t)(pdm->mp.cart.twoCsquaredTimesMmPerStepDivD * pdm->reverseStartStep) + ) + ) + ) { DebugPrintAll(); } + InsertDM(pdm); + } + else + { + pdm->state = DMState::idle; + pdm->nextDM = completedDMs; + completedDMs = pdm; } } + else + { + pdm->state = DMState::idle; // no local drivers involved + pdm->nextDM = completedDMs; + completedDMs = pdm; + } - // Prepare for the first step - pdm->nextStep = 0; - pdm->nextStepTime = 0; - pdm->stepInterval = 999999; // initialise to a large value so that we will calculate the time for just one step - pdm->stepsTillRecalc = 0; // so that we don't skip the calculation - const bool stepsToDo = (isDeltaMovement && drive < DELTA_AXES) - ? pdm->CalcNextStepTimeDelta(*this, false) - : pdm->CalcNextStepTimeCartesian(*this, false); - if (stepsToDo) +#if SUPPORT_CAN_EXPANSION + const uint8_t driver = platform.GetExtruderDriver(drive - numTotalAxes); + if (driver >= NumDirectDrivers) { - InsertDM(pdm); + CanInterface::AddMovement(*this, params, driver - NumDirectDrivers, pdm->GetSteps()); } else { - pdm->state = DMState::idle; + platform.EnableDriver(driver); } +#endif } - else - { - pdm->state = DMState::idle; // no local drivers involved - } + } + } + // On CoreXY and similar architectures, we also need to enable the motors controlling any connected axes + additionalMotorsToEnable &= ~motorsEnabled; + for (size_t drive = 0; additionalMotorsToEnable != 0; ++drive) + { + if (IsBitSet(additionalMotorsToEnable, drive)) + { + ClearBit(additionalMotorsToEnable, drive); #if SUPPORT_CAN_EXPANSION - // Deal with remote drivers - if (isLeadscrewAdjustmentMove) - { - //TODO support leadscrew adjustment moves on remote drivers - } - else + const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive); + for (size_t i = 0; i < config.numDrivers; ++i) { - if (drive < numAxes) + const size_t driver = config.driverNumbers[i]; + if (driver >= NumDirectDrivers) { - const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive); - for (size_t i = 0; i < config.numDrivers; ++i) - { - const size_t driver = config.driverNumbers[i]; - if (driver >= NumDirectDrivers) - { - CanInterface::AddMovement(*this, params, driver - NumDirectDrivers, *pdm); - } - } + CanInterface::AddMovement(*this, params, driver - NumDirectDrivers, 0); } else { - const uint8_t driver = platform.GetExtruderDriver(drive - numAxes); - if (driver >= NumDirectDrivers) - { - CanInterface::AddMovement(*this, params, driver - NumDirectDrivers, *pdm); - } + platform.EnableDriver(driver); } } +#else + if (platform.GetDriversBitmap(drive) != 0) // if any of the connected axis drives is local + { + reprap.GetPlatform().EnableDrive(drive); + } #endif } } @@ -1583,14 +1630,9 @@ void DDA::CheckEndstops(Platform& platform) { ClearBit(endStopsToCheck, drive); // clear this check so that we can check for more const Kinematics& kin = reprap.GetMove().GetKinematics(); - if ( endStopsToCheck == 0 // if no endstops left to check -#if HAS_STALL_DETECT - || drive >= numAxes // or we are stopping on an extruder motor stall -#endif - || kin.QueryTerminateHomingMove(drive) // or this kinematics requires us to stop the move now - ) + if (drive < numAxes && kin.QueryTerminateHomingMove(drive)) // if not an extruder drive and this kinematics requires us to stop the move now { - MoveAborted(); // no more endstops to check, or this axis uses shared motors, so stop the entire move + MoveAborted(); // this axis uses shared motors so stop the entire move } else { @@ -1650,14 +1692,14 @@ pre(state == frozen) } #endif - if (firstDM != nullptr) + if (activeDMs != nullptr) { unsigned int extrusions = 0, retractions = 0; // bitmaps of extruding and retracting drives const size_t numAxes = reprap.GetGCodes().GetTotalAxes(); for (size_t i = 0; i < NumDirectDrivers; ++i) { - DriveMovement* const pdm = FindDM(i); - if (pdm != nullptr && pdm->state == DMState::moving) + DriveMovement* const pdm = FindActiveDM(i); + if (pdm != nullptr) { const size_t drive = pdm->drive; reprap.GetPlatform().SetDirection(drive, pdm->direction); @@ -1678,19 +1720,29 @@ pre(state == frozen) bool extruding = false; if (extrusions != 0 || retractions != 0) { + // Check for trying to extrude or retract when the hot end temperature is too low const unsigned int prohibitedMovements = reprap.GetProhibitedExtruderMovements(extrusions, retractions); - for (DriveMovement **dmpp = &firstDM; *dmpp != nullptr; ) + for (DriveMovement **dmpp = &activeDMs; *dmpp != nullptr; ) { - const size_t drive = (*dmpp)->drive; - const bool thisDriveExtruding = drive >= numAxes && drive < NumDirectDrivers; - if (thisDriveExtruding && (prohibitedMovements & (1 << (drive - numAxes))) != 0) + DriveMovement* const dm = *dmpp; + const size_t drive = dm->drive; + if (drive >= numAxes && drive < NumDirectDrivers) { - *dmpp = (*dmpp)->nextDM; + if ((prohibitedMovements & (1 << (drive - numAxes))) != 0) + { + *dmpp = dm->nextDM; + dm->nextDM = completedDMs; + completedDMs = dm; + } + else + { + extruding = true; + dmpp = &(dm->nextDM); + } } else { - extruding = extruding || thisDriveExtruding; - dmpp = &((*dmpp)->nextDM); + dmpp = &(dm->nextDM); } } } @@ -1705,9 +1757,9 @@ pre(state == frozen) platform.ExtrudeOff(); } - if (firstDM != nullptr) + if (activeDMs != nullptr) { - return StepTimer::ScheduleStepInterrupt(firstDM->nextStepTime + moveStartTime); + return StepTimer::ScheduleStepInterrupt(activeDMs->nextStepTime + moveStartTime); } } @@ -1735,9 +1787,9 @@ bool DDA::Step() // Keep this loop as fast as possible, in the case that there are no endstops to check! // 1. Check endstop switches and Z probe if asked. This is not speed critical because fast moves do not use endstops or the Z probe. - if (endStopsToCheck != 0) // if any homing switches or the Z probe is enabled in this move + if (endStopsToCheck != 0) // if any homing switches or the Z probe is enabled in this move { - CheckEndstops(platform); // Call out to a separate function because this may help cache usage in the more common case where we don't call it + CheckEndstops(platform); // call out to a separate function because this may help cache usage in the more common case where we don't call it if (state == completed) // we may have completed the move due to triggering an endstop switch or Z probe { break; @@ -1751,7 +1803,7 @@ bool DDA::Step() isrStartTime = iClocks; // first time through, so make a note of the ISR start time } const uint32_t elapsedTime = (iClocks - moveStartTime) + MinInterruptInterval; - DriveMovement* dm = firstDM; + DriveMovement* dm = activeDMs; uint32_t driversStepping = 0; while (dm != nullptr && elapsedTime >= dm->nextStepTime) // if the next step is due { @@ -1789,11 +1841,11 @@ bool DDA::Step() // 4. Remove those drives from the list, calculate the next step times, update the direction pins where necessary, // and re-insert them so as to keep the list in step-time order. // Note that the call to CalcNextStepTime may change the state of Direction pin. - DriveMovement *dmToInsert = firstDM; // head of the chain we need to re-insert - firstDM = dm; // remove the chain from the list + DriveMovement *dmToInsert = activeDMs; // head of the chain we need to re-insert + activeDMs = dm; // remove the chain from the list while (dmToInsert != dm) // note that both of these may be nullptr { - const bool hasMoreSteps = (isDeltaMovement && dmToInsert->drive < DELTA_AXES) + const bool hasMoreSteps = (isDeltaMovement && dmToInsert->isDelta) ? dmToInsert->CalcNextStepTimeDelta(*this, true) : dmToInsert->CalcNextStepTimeCartesian(*this, true); DriveMovement * const nextToInsert = dmToInsert->nextDM; @@ -1801,6 +1853,11 @@ bool DDA::Step() { InsertDM(dmToInsert); } + else + { + dmToInsert->nextDM = completedDMs; + completedDMs = dmToInsert; + } dmToInsert = nextToInsert; } @@ -1808,13 +1865,13 @@ bool DDA::Step() Platform::StepDriversLow(); // set all step pins low // 6. Check for move completed - if (firstDM == nullptr) + if (activeDMs == nullptr) { break; } // 7. Check whether we have been in this ISR for too long already and need to take a break - uint32_t nextStepDue = firstDM->nextStepTime + moveStartTime; + uint32_t nextStepDue = activeDMs->nextStepTime + moveStartTime; const uint32_t clocksTaken = (StepTimer::GetInterruptClocks16() - isrStartTime) & 0x0000FFFF; if (clocksTaken >= DDA::MaxStepInterruptTime && (nextStepDue - isrStartTime) < (clocksTaken + DDA::MinInterruptInterval)) { @@ -1836,7 +1893,7 @@ bool DDA::Step() repeat = StepTimer::ScheduleStepInterrupt(nextStepDue); } while (repeat); - if (state == executing && firstDM == nullptr) + if (state == executing && activeDMs == nullptr) { // There are no steps left for this move, but don't say that the move has completed unless the allocated time for it has nearly elapsed, // otherwise we tend to skip moves that use no drivers on this board @@ -1863,17 +1920,16 @@ bool DDA::Step() // For extruder drivers, we need to be able to calculate how much of the extrusion was completed after calling this. void DDA::StopDrive(size_t drive) { - DriveMovement* const pdm = FindDM(drive); - if (pdm != nullptr && pdm->state == DMState::moving) + DriveMovement* const pdm = FindActiveDM(drive); + if (pdm != nullptr) { - pdm->state = DMState::idle; if (drive < reprap.GetGCodes().GetTotalAxes()) { endPoint[drive] -= pdm->GetNetStepsLeft(); endCoordinatesValid = false; // the XYZ position is no longer valid } - RemoveDM(drive); - if (firstDM == nullptr) + DeactivateDM(drive); + if (activeDMs == nullptr) { state = completed; } @@ -1956,7 +2012,7 @@ void DDA::ReduceHomingSpeed() DriveMovement* const pdm = FindDM(drive); if (pdm != nullptr && pdm->state == DMState::moving) { - pdm->ReduceSpeed(*this, ProbingSpeedReductionFactor); + pdm->ReduceSpeed(ProbingSpeedReductionFactor); } } } @@ -1997,11 +2053,6 @@ int32_t DDA::GetStepsTaken(size_t drive) const return (dmp != nullptr) ? dmp->GetNetStepsTaken() : 0; } -bool DDA::IsNonPrintingExtruderMove(size_t drive) const -{ - return !isPrintingMove && FindDM(drive) != nullptr; -} - void DDA::LimitSpeedAndAcceleration(float maxSpeed, float maxAcceleration) { if (requestedSpeed > maxSpeed) diff --git a/src/Movement/DDA.h b/src/Movement/DDA.h index f506373e..86da1ba3 100644 --- a/src/Movement/DDA.h +++ b/src/Movement/DDA.h @@ -14,9 +14,9 @@ #include "GCodes/GCodes.h" // for class RawMove #ifdef DUET_NG -#define DDA_LOG_PROBE_CHANGES 0 +# define DDA_LOG_PROBE_CHANGES 0 #else -#define DDA_LOG_PROBE_CHANGES 0 // save memory on the wired Duet +# define DDA_LOG_PROBE_CHANGES 0 // save memory on the wired Duet #endif /** @@ -39,7 +39,8 @@ public: DDA(DDA* n); - bool Init(GCodes::RawMove &nextMove, bool doMotorMapping) __attribute__ ((hot)); // Set up a new move, returning true if it represents real movement + bool Init(GCodes::RawMove &nextMove, bool doMotorMapping) __attribute__ ((hot)); + // Set up a new move, returning true if it represents real movement bool Init(const float_t steps[MaxTotalDrivers]); // Set up a raw (unmapped) motor move void Init(); // Set up initial positions for machine startup bool Start(uint32_t tim) __attribute__ ((hot)); // Start executing the DDA, i.e. move the move. @@ -48,7 +49,7 @@ public: void SetPrevious(DDA *p) { prev = p; } void Complete() { state = completed; } bool Free(); - void Prepare(uint8_t simMode) __attribute__ ((hot)); // Calculate all the values and freeze this DDA + void Prepare(uint8_t simMode, float extrusionPending[]) __attribute__ ((hot)); // Calculate all the values and freeze this DDA bool HasStepError() const; bool CanPauseAfter() const { return canPauseAfter; } bool IsPrintingMove() const { return isPrintingMove; } // Return true if this involves both XY movement and extrusion @@ -75,8 +76,8 @@ public: float GetTotalDistance() const { return totalDistance; } void LimitSpeedAndAcceleration(float maxSpeed, float maxAcceleration); // Limit the speed an acceleration of this move + // Filament monitor support int32_t GetStepsTaken(size_t drive) const; - bool IsNonPrintingExtruderMove(size_t drive) const; float GetProportionDone(bool moveWasAborted) const; // Return the proportion of extrusion for the complete multi-segment move already done @@ -84,6 +85,7 @@ public: uint32_t GetClocksNeeded() const { return clocksNeeded; } bool IsGoodToPrepare() const; + bool IsNonPrintingExtruderMove() const { return isNonPrintingExtruderMove; } #if SUPPORT_LASER || SUPPORT_IOBITS LaserPwmOrIoBits GetLaserPwmOrIoBits() const { return laserPwmOrIoBits; } @@ -116,6 +118,10 @@ public: static constexpr uint32_t MinCalcIntervalDelta = (40 * StepTimer::StepClockRate)/1000000; // the smallest sensible interval between calculations (40us) in step timer clocks static constexpr uint32_t MinCalcIntervalCartesian = (40 * StepTimer::StepClockRate)/1000000; // same as delta for now, but could be lower static constexpr uint32_t MinInterruptInterval = 6; // about 6us minimum interval between interrupts, in step clocks +#elif __LPC17xx__ + static constexpr uint32_t MinCalcIntervalDelta = (40 * StepTimer::StepClockRate)/1000000; // the smallest sensible interval between calculations (40us) in step timer clocks + static constexpr uint32_t MinCalcIntervalCartesian = (40 * StepTimer::StepClockRate)/1000000; // same as delta for now, but could be lower + static constexpr uint32_t MinInterruptInterval = 6; // about 6us minimum interval between interrupts, in step clocks #else static constexpr uint32_t MinCalcIntervalDelta = (60 * StepTimer::StepClockRate)/1000000; // the smallest sensible interval between calculations (60us) in step timer clocks static constexpr uint32_t MinCalcIntervalCartesian = (60 * StepTimer::StepClockRate)/1000000; // same as delta for now, but could be lower @@ -137,13 +143,14 @@ public: static uint32_t lastDirChangeTime; // when we last change the DIR signal to a slow driver private: - DriveMovement *FindDM(size_t drive) const; + DriveMovement *FindDM(size_t drive) const; // find the DM for a drive if there is one even if it is completed + DriveMovement *FindActiveDM(size_t drive) const; // find the DM for a drive if there is one but only if it is active void RecalculateMove() __attribute__ ((hot)); void MatchSpeeds() __attribute__ ((hot)); void ReduceHomingSpeed(); // called to reduce homing speed when a near-endstop is triggered void StopDrive(size_t drive); // stop movement of a drive and recalculate the endpoint void InsertDM(DriveMovement *dm) __attribute__ ((hot)); - void RemoveDM(size_t drive); + void DeactivateDM(size_t drive); void ReleaseDMs(); bool IsDecelerationMove() const; // return true if this move is or have been might have been intended to be a deceleration-only move bool IsAccelerationMove() const; // return true if this move is or have been might have been intended to be an acceleration-only move @@ -169,17 +176,19 @@ private: { struct { - uint8_t endCoordinatesValid : 1; // True if endCoordinates can be relied on - uint8_t isDeltaMovement : 1; // True if this is a delta printer movement - uint8_t canPauseAfter : 1; // True if we can pause at the end of this move - uint8_t isPrintingMove : 1; // True if this move includes XY movement and extrusion - uint8_t usePressureAdvance : 1; // True if pressure advance should be applied to any forward extrusion - uint8_t hadLookaheadUnderrun : 1; // True if the lookahead queue was not long enough to optimise this move - uint8_t xyMoving : 1; // True if movement along an X axis or the Y axis was requested, even it if's too small to do - uint8_t goingSlow : 1; // True if we have slowed the movement because the Z probe is approaching its threshold - uint8_t isLeadscrewAdjustmentMove : 1; // True if this is a leadscrews adjustment move - uint8_t usingStandardFeedrate : 1; // True if this move uses the standard feed rate - uint8_t hadHiccup : 1; // True if we had a hiccup while executing this move + uint16_t endCoordinatesValid : 1; // True if endCoordinates can be relied on + uint16_t isDeltaMovement : 1; // True if this is a delta printer movement + uint16_t canPauseAfter : 1; // True if we can pause at the end of this move + uint16_t isPrintingMove : 1; // True if this move includes XY movement and extrusion + uint16_t usePressureAdvance : 1; // True if pressure advance should be applied to any forward extrusion + uint16_t hadLookaheadUnderrun : 1; // True if the lookahead queue was not long enough to optimise this move + uint16_t xyMoving : 1; // True if movement along an X axis or the Y axis was requested, even it if's too small to do + uint16_t goingSlow : 1; // True if we have slowed the movement because the Z probe is approaching its threshold + uint16_t isLeadscrewAdjustmentMove : 1; // True if this is a leadscrews adjustment move + uint16_t usingStandardFeedrate : 1; // True if this move uses the standard feed rate + uint16_t hadHiccup : 1; // True if we had a hiccup while executing this move + uint16_t isNonPrintingExtruderMove : 1; // True if this move is a fast extruder-only move, probably a retract/re-prime + uint16_t continuousRotationShortcut : 1; // True if continuous rotation axes take shortcuts }; uint16_t flags; // so that we can print all the flags at once for debugging }; @@ -242,14 +251,41 @@ private: void LogProbePosition(); #endif - DriveMovement* firstDM; // list of contained DMs that need steps, in step time order - DriveMovement *pddm[MaxTotalDrivers]; // These describe the state of each drive movement + DriveMovement* activeDMs; // list of associated DMs that need steps, in step time order + DriveMovement* completedDMs; // list of associated DMs that don't need any more steps }; -// Find the DriveMovement record for a given drive, or return nullptr if there isn't one +// Find the DriveMovement record for a given drive even if it is completed, or return nullptr if there isn't one inline DriveMovement *DDA::FindDM(size_t drive) const { - return pddm[drive]; + for (DriveMovement* dm = activeDMs; dm != nullptr; dm = dm->nextDM) + { + if (dm->drive == drive) + { + return dm; + } + } + for (DriveMovement* dm = completedDMs; dm != nullptr; dm = dm->nextDM) + { + if (dm->drive == drive) + { + return dm; + } + } + return nullptr; +} + +// Find the active DriveMovement record for a given drive, or return nullptr if there isn't one +inline DriveMovement *DDA::FindActiveDM(size_t drive) const +{ + for (DriveMovement* dm = activeDMs; dm != nullptr; dm = dm->nextDM) + { + if (dm->drive == drive) + { + return dm; + } + } + return nullptr; } // Force an end point @@ -264,7 +300,7 @@ inline void DDA::SetDriveCoordinate(int32_t a, size_t drive) // Get the current full step interval for this axis or extruder inline uint32_t DDA::GetStepInterval(size_t axis, uint32_t microstepShift) const { - const DriveMovement * const dm = FindDM(axis); + const DriveMovement * const dm = FindActiveDM(axis); return (dm != nullptr) ? dm->GetStepInterval(microstepShift) : 0; } diff --git a/src/Movement/DriveMovement.cpp b/src/Movement/DriveMovement.cpp index 54805798..222930ff 100644 --- a/src/Movement/DriveMovement.cpp +++ b/src/Movement/DriveMovement.cpp @@ -55,8 +55,8 @@ DriveMovement::DriveMovement(DriveMovement *next) : nextDM(next) // Non static members -// Prepare this DM for a Cartesian axis move -void DriveMovement::PrepareCartesianAxis(const DDA& dda, const PrepParams& params) +// Prepare this DM for a Cartesian axis move, returning true if there are steps to do +bool DriveMovement::PrepareCartesianAxis(const DDA& dda, const PrepParams& params) { const float stepsPerMm = (float)totalSteps/dda.totalDistance; mp.cart.twoCsquaredTimesMmPerStepDivA = roundU64((double)(StepTimer::StepClockRateSquared * 2)/((double)stepsPerMm * (double)dda.acceleration)); @@ -85,16 +85,24 @@ void DriveMovement::PrepareCartesianAxis(const DDA& dda, const PrepParams& param // No reverse phase reverseStartStep = totalSteps + 1; mp.cart.fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivD = 0; + + // Prepare for the first step + nextStep = 0; + nextStepTime = 0; + stepInterval = 999999; // initialise to a large value so that we will calculate the time for just one step + stepsTillRecalc = 0; // so that we don't skip the calculation + isDelta = false; + return CalcNextStepTimeCartesian(dda, false); } -// Prepare this DM for a Delta axis move -void DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params) +// Prepare this DM for a Delta axis move, returning true if there are steps to do +bool DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params) { const float stepsPerMm = reprap.GetPlatform().DriveStepsPerUnit(drive); const float A = params.initialX - params.dparams->GetTowerX(drive); const float B = params.initialY - params.dparams->GetTowerY(drive); const float aAplusbB = A * dda.directionVector[X_AXIS] + B * dda.directionVector[Y_AXIS]; - const float dSquaredMinusAsquaredMinusBsquared = params.diagonalSquared - fsquare(A) - fsquare(B); + const float dSquaredMinusAsquaredMinusBsquared = params.dparams->GetDiagonalSquared(drive) - fsquare(A) - fsquare(B); const float h0MinusZ0 = sqrtf(dSquaredMinusAsquaredMinusBsquared); mp.delta.hmz0sK = roundS32(h0MinusZ0 * stepsPerMm * DriveMovement::K2); mp.delta.minusAaPlusBbTimesKs = -roundS32(aAplusbB * stepsPerMm * DriveMovement::K2); @@ -113,7 +121,7 @@ void DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params) { // The distance to reversal is the solution to a quadratic equation. One root corresponds to the carriages being below the bed, // the other root corresponds to the carriages being above the bed. - const float drev = ((dda.directionVector[Z_AXIS] * sqrtf(params.a2b2D2 - fsquare(A * dda.directionVector[Y_AXIS] - B * dda.directionVector[X_AXIS]))) + const float drev = ((dda.directionVector[Z_AXIS] * sqrtf(params.a2plusb2 * params.dparams->GetDiagonalSquared(drive) - fsquare(A * dda.directionVector[Y_AXIS] - B * dda.directionVector[X_AXIS]))) - aAplusbB)/params.a2plusb2; if (drev > 0.0 && drev < dda.totalDistance) // if the reversal point is within range { @@ -168,38 +176,56 @@ void DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params) mp.delta.decelStartDsK = roundU32(params.decelStartDistance * stepsPerMm * K2); twoDistanceToStopTimesCsquaredDivD = isquare64(params.topSpeedTimesCdivD) + roundU64((params.decelStartDistance * (StepTimer::StepClockRateSquared * 2))/dda.deceleration); } + + // Prepare for the first step + nextStep = 0; + nextStepTime = 0; + stepInterval = 999999; // initialise to a large value so that we will calculate the time for just one step + stepsTillRecalc = 0; // so that we don't skip the calculation + isDelta = true; + return CalcNextStepTimeDelta(dda, false); } -// Prepare this DM for an extruder move -void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, float speedChange, bool doCompensation) +// Prepare this DM for an extruder move, returning true if there are steps to do +bool DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, float& extrusionPending, float speedChange, bool doCompensation) { - const float dv = dda.directionVector[drive]; - float stepsPerMm = reprap.GetPlatform().DriveStepsPerUnit(drive) * fabsf(dv); + // Calculate the requested extrusion amount and a few other things + float dv = dda.directionVector[drive]; + float extrusionRequired = dda.totalDistance * dv; const size_t extruder = drive - reprap.GetGCodes().GetTotalAxes(); #if SUPPORT_NONLINEAR_EXTRUSION + // Add the nonlinear extrusion correction to totalExtrusion if (dda.isPrintingMove) { float a, b, limit; if (reprap.GetPlatform().GetExtrusionCoefficients(extruder, a, b, limit)) { - const float averageExtrusionSpeed = (dda.totalDistance * dv * StepTimer::StepClockRate)/dda.clocksNeeded; + const float averageExtrusionSpeed = (extrusionRequired * StepTimer::StepClockRate)/dda.clocksNeeded; const float factor = 1.0 + min<float>((averageExtrusionSpeed * a) + (averageExtrusionSpeed * averageExtrusionSpeed * b), limit); - stepsPerMm *= factor; + extrusionRequired *= factor; } } #endif + // Add on any fractional extrusion pending from the previous move + extrusionRequired += extrusionPending; + dv = extrusionRequired/dda.totalDistance; + direction = (dv >= 0.0); + + const float rawStepsPerMm = reprap.GetPlatform().DriveStepsPerUnit(drive); + const float effectiveStepsPerMm = fabsf(dv) * rawStepsPerMm; + float compensationTime; float accelCompensationDistance; - int32_t netSteps; - if (doCompensation && dv > 0.0) + if (doCompensation && direction) { // Calculate the pressure advance parameters compensationTime = reprap.GetPlatform().GetPressureAdvance(extruder); - mp.cart.compensationClocks = roundU32(compensationTime * (float)StepTimer::StepClockRate); - mp.cart.accelCompensationClocks = roundU32(compensationTime * (float)StepTimer::StepClockRate * params.compFactor); + const float compensationClocks = compensationTime * (float)StepTimer::StepClockRate; + mp.cart.compensationClocks = roundU32(compensationClocks); + mp.cart.accelCompensationClocks = roundU32(compensationClocks * params.compFactor); #ifdef COMPENSATE_SPEED_CHANGES // If there is a speed change at the start of the move, theoretically we should instantly advance or retard the filament by the associated compensation amount. @@ -207,33 +233,40 @@ void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl const float factor = 1.0 + (speedChange * compensationTime)/dda.totalDistance; stepsPerMm *= factor; #endif - // Recalculate the net total step count to allow for compensation. It may be negative. - const float compensationDistance = (dda.endSpeed - dda.startSpeed) * compensationTime; - netSteps = (int32_t)((dda.totalDistance + compensationDistance) * stepsPerMm); + // Calculate the net total extrusion to allow for compensation. It may be negative. + extrusionRequired += (dda.endSpeed - dda.startSpeed) * compensationTime * dv; // Calculate the acceleration phase parameters accelCompensationDistance = compensationTime * (dda.topSpeed - dda.startSpeed); - mp.cart.accelStopStep = (uint32_t)((dda.accelDistance + accelCompensationDistance) * stepsPerMm) + 1; + mp.cart.accelStopStep = (uint32_t)((dda.accelDistance + accelCompensationDistance) * effectiveStepsPerMm) + 1; } else { accelCompensationDistance = compensationTime = 0.0; mp.cart.compensationClocks = mp.cart.accelCompensationClocks = 0; - netSteps = (int32_t)(dda.totalDistance * stepsPerMm); // it may have changed from totalSteps if we are using nonlinear extrusion // Calculate the acceleration phase parameters - mp.cart.accelStopStep = (uint32_t)(dda.accelDistance * stepsPerMm) + 1; + mp.cart.accelStopStep = (uint32_t)(dda.accelDistance * effectiveStepsPerMm) + 1; } - mp.cart.twoCsquaredTimesMmPerStepDivA = roundU64((double)(StepTimer::StepClockRateSquared * 2)/((double)stepsPerMm * (double)dda.acceleration)); - mp.cart.twoCsquaredTimesMmPerStepDivD = roundU64((double)(StepTimer::StepClockRateSquared * 2)/((double)stepsPerMm * (double)dda.deceleration)); + int32_t netSteps = (int32_t)(extrusionRequired * rawStepsPerMm); + extrusionPending = extrusionRequired - (float)netSteps/rawStepsPerMm; + + if (!direction) + { + netSteps = -netSteps; + } + + // Note, netSteps may be negative at this point if we are applying pressure advance + mp.cart.twoCsquaredTimesMmPerStepDivA = roundU64((double)(StepTimer::StepClockRateSquared * 2)/((double)effectiveStepsPerMm * (double)dda.acceleration)); + mp.cart.twoCsquaredTimesMmPerStepDivD = roundU64((double)(StepTimer::StepClockRateSquared * 2)/((double)effectiveStepsPerMm * (double)dda.deceleration)); // Constant speed phase parameters - mp.cart.mmPerStepTimesCKdivtopSpeed = (uint32_t)((float)((uint64_t)StepTimer::StepClockRate * K1)/(stepsPerMm * dda.topSpeed)); + mp.cart.mmPerStepTimesCKdivtopSpeed = (uint32_t)((float)((uint64_t)StepTimer::StepClockRate * K1)/(effectiveStepsPerMm * dda.topSpeed)); // Calculate the deceleration and reverse phase parameters and update totalSteps // First check whether there is any deceleration at all, otherwise we may get strange results because of rounding errors - if (dda.decelDistance * stepsPerMm < 0.5) // if less than 1 deceleration step + if (dda.decelDistance * effectiveStepsPerMm < 0.5) // if less than 1 deceleration step { totalSteps = (uint32_t)max<int32_t>(netSteps, 0); mp.cart.decelStartStep = reverseStartStep = netSteps + 1; @@ -242,7 +275,7 @@ void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl } else { - mp.cart.decelStartStep = (uint32_t)((params.decelStartDistance + accelCompensationDistance) * stepsPerMm) + 1; + mp.cart.decelStartStep = (uint32_t)((params.decelStartDistance + accelCompensationDistance) * effectiveStepsPerMm) + 1; const int32_t initialDecelSpeedTimesCdivD = (int32_t)params.topSpeedTimesCdivD - (int32_t)mp.cart.compensationClocks; // signed because it may be negative and we square it const uint64_t initialDecelSpeedTimesCdivDSquared = isquare64(initialDecelSpeedTimesCdivD); twoDistanceToStopTimesCsquaredDivD = @@ -272,10 +305,20 @@ void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl mp.cart.fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivD = 0; } } + + // Prepare for the first step + nextStep = 0; + nextStepTime = 0; + stepInterval = 999999; // initialise to a large value so that we will calculate the time for just one step + stepsTillRecalc = 0; // so that we don't skip the calculation + isDelta = false; + return CalcNextStepTimeCartesian(dda, false); } -void DriveMovement::DebugPrint(char c, bool isDeltaMovement) const +void DriveMovement::DebugPrint() const { + const size_t totalAxes = reprap.GetGCodes().GetTotalAxes(); + char c = (drive < totalAxes) ? reprap.GetGCodes().GetAxisLetters()[drive] : (char)('0' + (drive - totalAxes)); if (state != DMState::idle) { debugPrintf("DM%c%s dir=%c steps=%" PRIu32 " next=%" PRIu32 " rev=%" PRIu32 " interval=%" PRIu32 @@ -283,7 +326,7 @@ void DriveMovement::DebugPrint(char c, bool isDeltaMovement) const c, (state == DMState::stepError) ? " ERR:" : ":", (direction) ? 'F' : 'B', totalSteps, nextStep, reverseStartStep, stepInterval, twoDistanceToStopTimesCsquaredDivD); - if (isDeltaMovement) + if (isDelta) { debugPrintf("hmz0sK=%" PRIi32 " minusAaPlusBbTimesKs=%" PRIi32 " dSquaredMinusAsquaredMinusBsquared=%" PRId64 "\n" "2c2mmsda=%" PRIu64 "2c2mmsdd=%" PRIu64 " asdsk=%" PRIu32 " dsdsk=%" PRIu32 " mmstcdts=%" PRIu32 "\n", @@ -533,9 +576,9 @@ pre(nextStep < totalSteps; stepsTillRecalc == 0) } // Reduce the speed of this movement. Called to reduce the homing speed when we detect we are near the endstop for a drive. -void DriveMovement::ReduceSpeed(const DDA& dda, uint32_t inverseSpeedFactor) +void DriveMovement::ReduceSpeed(uint32_t inverseSpeedFactor) { - if (dda.isDeltaMovement && drive < DELTA_AXES) + if (isDelta) { // Force the linear motion phase mp.delta.accelStopDsK = 0; diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h index c0ed0cc6..8ab22dd4 100644 --- a/src/Movement/DriveMovement.h +++ b/src/Movement/DriveMovement.h @@ -111,9 +111,7 @@ struct PrepParams float zMovement; #endif const LinearDeltaKinematics *dparams; - float diagonalSquared; float a2plusb2; // sum of the squares of the X and Y movement fractions - float a2b2D2; }; enum class DMState : uint8_t @@ -133,11 +131,11 @@ public: bool CalcNextStepTimeCartesian(const DDA &dda, bool live) __attribute__ ((hot)); bool CalcNextStepTimeDelta(const DDA &dda, bool live) __attribute__ ((hot)); - void PrepareCartesianAxis(const DDA& dda, const PrepParams& params) __attribute__ ((hot)); - void PrepareDeltaAxis(const DDA& dda, const PrepParams& params) __attribute__ ((hot)); - void PrepareExtruder(const DDA& dda, const PrepParams& params, float speedChange, bool doCompensation) __attribute__ ((hot)); - void ReduceSpeed(const DDA& dda, uint32_t inverseSpeedFactor); - void DebugPrint(char c, bool withDelta) const; + bool PrepareCartesianAxis(const DDA& dda, const PrepParams& params) __attribute__ ((hot)); + bool PrepareDeltaAxis(const DDA& dda, const PrepParams& params) __attribute__ ((hot)); + bool PrepareExtruder(const DDA& dda, const PrepParams& params, float& extrusionPending, float speedChange, bool doCompensation) __attribute__ ((hot)); + void ReduceSpeed(uint32_t inverseSpeedFactor); + void DebugPrint() const; int32_t GetNetStepsLeft() const; int32_t GetNetStepsTaken() const; @@ -172,7 +170,8 @@ private: uint8_t drive; // the drive that this DM controls uint8_t microstepShift : 4, // log2 of the microstepping factor (for when we use dynamic microstepping adjustment) direction : 1, // true=forwards, false=backwards - fullCurrent : 1; // true if the drivers are set to the full current, false if they are set to the standstill current + fullCurrent : 1, // true if the drivers are set to the full current, false if they are set to the standstill current + isDelta : 1; // true if this DM uses segment-free delta kinematics uint8_t stepsTillRecalc; // how soon we need to recalculate uint32_t totalSteps; // total number of steps for this move diff --git a/src/Movement/Kinematics/CartesianKinematics.cpp b/src/Movement/Kinematics/CartesianKinematics.cpp deleted file mode 100644 index f9a889b1..00000000 --- a/src/Movement/Kinematics/CartesianKinematics.cpp +++ /dev/null @@ -1,63 +0,0 @@ -/* - * CartesianKinematics.cpp - * - * Created on: 6 May 2017 - * Author: David - */ - -#include "CartesianKinematics.h" -#include "Movement/DDA.h" - -CartesianKinematics::CartesianKinematics() : ZLeadscrewKinematics(KinematicsType::cartesian) -{ -} - -// Return the name of the current kinematics -const char *CartesianKinematics::GetName(bool forStatusReport) const -{ - return (forStatusReport) ? "cartesian" : "Cartesian"; -} - -// Convert Cartesian coordinates to motor coordinates -bool CartesianKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const -{ - for (size_t axis = 0; axis < numVisibleAxes; ++axis) - { - motorPos[axis] = lrintf(machinePos[axis] * stepsPerMm[axis]); - } - return true; -} - -// Convert motor coordinates to machine coordinates. Used after homing and after individual motor moves. -void CartesianKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const -{ - // Convert all axes - for (size_t drive = 0; drive < numVisibleAxes; ++drive) - { - machinePos[drive] = motorPos[drive]/stepsPerMm[drive]; - } -} - -// This function is called from the step ISR when an endstop switch is triggered during homing. -// Return true if the entire homing move should be terminated, false if only the motor associated with the endstop switch should be stopped. -bool CartesianKinematics::QueryTerminateHomingMove(size_t axis) const -{ - return false; -} - -// This function is called from the step ISR when an endstop switch is triggered during homing after stopping just one motor or all motors. -// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate() and return false. -void CartesianKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const -{ - const float hitPoint = (highEnd) ? reprap.GetPlatform().AxisMaximum(axis) : reprap.GetPlatform().AxisMinimum(axis); - dda.SetDriveCoordinate(lrintf(hitPoint * stepsPerMm[axis]), axis); -} - -// Limit the speed and acceleration of a move to values that the mechanics can handle. -// The speeds in Cartesian space have already been limited. -void CartesianKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const -{ - // The axes of a Cartesian printer move independently, so there is nothing to do here -} - -// End diff --git a/src/Movement/Kinematics/CartesianKinematics.h b/src/Movement/Kinematics/CartesianKinematics.h deleted file mode 100644 index 6b578282..00000000 --- a/src/Movement/Kinematics/CartesianKinematics.h +++ /dev/null @@ -1,28 +0,0 @@ -/* - * CartesianKinematics.h - * - * Created on: 6 May 2017 - * Author: David - */ - -#ifndef SRC_MOVEMENT_KINEMATICS_CARTESIANKINEMATICS_H_ -#define SRC_MOVEMENT_KINEMATICS_CARTESIANKINEMATICS_H_ - -#include "ZLeadscrewKinematics.h" - -class CartesianKinematics : public ZLeadscrewKinematics -{ -public: - CartesianKinematics(); - - // Overridden base class functions. See Kinematics.h for descriptions. - const char *GetName(bool forStatusReport) const override; - bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; - void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; - HomingMode GetHomingMode() const override { return homeCartesianAxes; } - bool QueryTerminateHomingMove(size_t axis) const override; - void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; -}; - -#endif /* SRC_MOVEMENT_KINEMATICS_CARTESIANKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/CoreBaseKinematics.cpp b/src/Movement/Kinematics/CoreBaseKinematics.cpp deleted file mode 100644 index e4ab0529..00000000 --- a/src/Movement/Kinematics/CoreBaseKinematics.cpp +++ /dev/null @@ -1,83 +0,0 @@ -/* - * CoreBaseKinematics.cpp - * - * Created on: 7 May 2017 - * Author: David - */ - -#include "CoreBaseKinematics.h" - -#include "GCodes/GCodes.h" -#include "GCodes/GCodeBuffer.h" -#include "Movement/DDA.h" - -CoreBaseKinematics::CoreBaseKinematics(KinematicsType t) : ZLeadscrewKinematics(t) -{ - for (float& af : axisFactors) - { - af = 1.0; - } -} - -// Set the parameters from a M665, M666 or M669 command -// Return true if we changed any parameters. Set 'error' true if there was an error, otherwise leave it alone. -// This function is used for CoreXY and CoreXZ kinematics, but it overridden for CoreXYU kinematics -bool CoreBaseKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) /*override*/ -{ - if (mCode == 667) - { - bool seen = false; - for (size_t axis = 0; axis < XYZ_AXES; ++axis) - { - if (gb.Seen(reprap.GetGCodes().GetAxisLetters()[axis])) - { - axisFactors[axis] = gb.GetFValue(); - seen = true; - } - } - if (!seen && !gb.Seen('S')) - { - reply.printf("Kinematics is %s with axis factors", GetName()); - for (size_t axis = 0; axis < XYZ_AXES; ++axis) - { - reply.catf(" %c:%.3f", reprap.GetGCodes().GetAxisLetters()[axis], (double)axisFactors[axis]); - } - } - return seen; - } - else - { - return ZLeadscrewKinematics::Configure(mCode, gb, reply, error); - } -} - -// This function is called from the step ISR when an endstop switch is triggered during homing. -// Return true if the entire homing move should be terminated, false if only the motor associated with the endstop switch should be stopped. -bool CoreBaseKinematics::QueryTerminateHomingMove(size_t axis) const -{ - return DriveIsShared(axis); -} - -// This function is called from the step ISR when an endstop switch is triggered during homing after stopping just one motor or all motors. -// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate() and return false. -void CoreBaseKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const -{ - const float hitPoint = (highEnd) ? reprap.GetPlatform().AxisMaximum(axis) : reprap.GetPlatform().AxisMinimum(axis); - if (DriveIsShared(axis)) - { - float tempCoordinates[MaxAxes]; - const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes(); - for (size_t axis = 0; axis < numTotalAxes; ++axis) - { - tempCoordinates[axis] = dda.GetEndCoordinate(axis, false); - } - tempCoordinates[axis] = hitPoint; - dda.SetPositions(tempCoordinates, numTotalAxes); - } - else - { - dda.SetDriveCoordinate(lrintf(hitPoint * stepsPerMm[axis]), axis); - } -} - -// End diff --git a/src/Movement/Kinematics/CoreBaseKinematics.h b/src/Movement/Kinematics/CoreBaseKinematics.h deleted file mode 100644 index 2df83b52..00000000 --- a/src/Movement/Kinematics/CoreBaseKinematics.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * CoreBaseKinematics.h - * - * Created on: 7 May 2017 - * Author: David - */ - -#ifndef SRC_MOVEMENT_KINEMATICS_COREBASEKINEMATICS_H_ -#define SRC_MOVEMENT_KINEMATICS_COREBASEKINEMATICS_H_ - -#include "ZLeadscrewKinematics.h" - -class CoreBaseKinematics : public ZLeadscrewKinematics -{ -public: - CoreBaseKinematics(KinematicsType t); - - // Overridden base class functions. See Kinematics.h for descriptions. - bool Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) override; - HomingMode GetHomingMode() const override { return homeCartesianAxes; } - bool QueryTerminateHomingMove(size_t axis) const override; - void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; - -protected: - // Return true if the specified endstop axis uses shared motors. - // Used to determine whether to abort the whole move or just one motor when an endstop switch is triggered. - virtual bool DriveIsShared(size_t drive) const = 0; - - float axisFactors[MaxAxes]; // allow more than just XYZ so that we can support e.g. CoreXYU kinematics -}; - -#endif /* SRC_MOVEMENT_KINEMATICS_COREBASEKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/CoreKinematics.cpp b/src/Movement/Kinematics/CoreKinematics.cpp new file mode 100644 index 00000000..5067e071 --- /dev/null +++ b/src/Movement/Kinematics/CoreKinematics.cpp @@ -0,0 +1,407 @@ +/* + * CoreKinematics.cpp + * + * Created on: 4 Jan 2019 + * Author: David + */ + +#include "CoreKinematics.h" +#include "RepRap.h" +#include "Platform.h" +#include "GCodes/GCodes.h" +#include "GCodes/GCodeBuffer.h" +#include "Movement/DDA.h" + +// Recalculate internal variables following a configuration change +void CoreKinematics::Recalc() +{ + // Calculate the forward matrix by inverting the inverse matrix + { + // Set up a double-width matrix with the inverse matrix in the left half and a unit diagonal matrix in the right half + FixedMatrix<float, MaxAxes, 2 * MaxAxes> tempMatrix; + for (size_t i = 0; i < MaxAxes; ++i) + { + for (size_t j = 0; j < MaxAxes; ++j) + { + tempMatrix(i, j) = inverseMatrix(i, j); + } + for (size_t j = MaxAxes; j < 2 * MaxAxes; ++j) + { + tempMatrix(i, j) = 0.0; + } + tempMatrix(i, i + MaxAxes) = 1.0; + } + + // Apply the Gauss-Jordan operation to transform the right half into the inverse of the inverse matrix + const bool ok = tempMatrix.GaussJordan(MaxAxes, 2 * MaxAxes); + if (ok) + { + // Copy the right half to the forward matrix + for (size_t i = 0; i < MaxAxes; ++i) + { + for (size_t j = 0; j < MaxAxes; ++j) + { + forwardMatrix(i, j) = tempMatrix(i, j + MaxAxes); + } + } + } + else + { + forwardMatrix.Fill(0.0); + reprap.GetPlatform().Message(ErrorMessage, "Invalid kinematics matrix\n"); + } + } + + // Calculate the first and last motors for each axis, and first and last axis controlled by each motor. + // These are used to optimise calculations and homing behaviour. + // It doesn't matter if an axis doesn't actually use all the motors from its first to its last inclusive. + // Also determine which motors are shared by two or more axes. + for (size_t i = 0; i < MaxAxes; ++i) + { + firstMotor[i] = firstAxis[i] = MaxAxes; + lastMotor[i] = lastAxis[i] = 0; + connectedAxes[i] = 0; + } + + for (size_t axis = 0; axis < MaxAxes; ++axis) + { + for (size_t motor = 0; motor < MaxAxes; ++motor) + { + if (inverseMatrix(axis, motor) != 0.0) // if this axis needs this motor driven + { + if (axis < firstAxis[motor]) + { + firstAxis[motor] = axis; + } + if (axis > lastAxis[motor]) + { + lastAxis[motor] = axis; + } + SetBit(connectedAxes[axis], motor); + } + + if (forwardMatrix(motor, axis) != 0.0) // if this motor affects this axes + { + if (motor < firstMotor[axis]) + { + firstMotor[axis] = motor; + } + if (motor > lastMotor[axis]) + { + lastMotor[axis] = motor; + } + SetBit(connectedAxes[axis], motor); + } + } + } + + if (reprap.Debug(moduleMove)) + { + PrintMatrix("Inverse", inverseMatrix); + PrintMatrix("Forward", forwardMatrix); + + String<MediumStringLength> s; + s.copy("First/last motors:"); + for (size_t axis = 0; axis < MaxAxes; ++axis) + { + s.catf(" %u/%u", firstMotor[axis], lastMotor[axis]); + } + debugPrintf("%s\n", s.c_str()); + + s.copy("First/last axes:"); + for (size_t motor = 0; motor < MaxAxes; ++motor) + { + s.catf(" %u/%u", firstAxis[motor], lastAxis[motor]); + } + debugPrintf("%s\n", s.c_str()); + } +} + +// Return true if the axis doesn't have a single dedicated motor +inline bool CoreKinematics::HasSharedMotor(size_t axis) const +{ + return connectedAxes[axis] != MakeBitmap<AxesBitmap>(axis); +} + +CoreKinematics::CoreKinematics(KinematicsType k) : ZLeadscrewKinematics(k), modified(false) +{ + // Start by assuming 1:1 mapping of axes to motors by setting diagonal elements to 1 and other element to zero + inverseMatrix.Fill(0.0); + for (size_t i = 0; i < MaxAxes; ++i) + { + inverseMatrix(i, i) = 1.0; + } + + switch (k) + { + case KinematicsType::cartesian: + default: + break; + + case KinematicsType::coreXY: + inverseMatrix(0, 1) = 1.0; + inverseMatrix(1, 0) = 1.0; + inverseMatrix(1, 1) = -1.0; + break; + + case KinematicsType::coreXYU: + // Core XYU is like CoreXY with an additional U axis controlled by the U and V motors + inverseMatrix(0, 1) = 1.0; + inverseMatrix(1, 0) = 1.0; + inverseMatrix(1, 1) = -1.0; + inverseMatrix(1, 3) = 1.0; + inverseMatrix(1, 4) = -1.0; + inverseMatrix(3, 4) = 1.0; + inverseMatrix(4, 4) = 0.0; // V can't be commanded directly + break; + + case KinematicsType::coreXYUV: + // CoreXYUV is a dual CoreXY setup + inverseMatrix(0, 1) = 1.0; + inverseMatrix(1, 0) = 1.0; + inverseMatrix(1, 1) = -1.0; + inverseMatrix(3, 4) = 1.0; + inverseMatrix(4, 3) = 1.0; + inverseMatrix(4, 4) = -1.0; + break; + + case KinematicsType::coreXZ: + inverseMatrix(0, 2) = 1.0; + inverseMatrix(2, 0) = 3.0; + inverseMatrix(2, 2) = -3.0; + break; + + case KinematicsType::markForged: + inverseMatrix(1, 0) = -1.0; + break; + } + + Recalc(); +} + +// Return the name of the current kinematics +const char* CoreKinematics::GetName(bool forStatusReport) const +{ + // This reports the original kinematics that was requested. It doesn't allow for the matrix having been patched to change the kinematics. + switch (GetKinematicsType()) + { + case KinematicsType::cartesian: + return (forStatusReport) ? "cartesian" : "Cartesian"; + + case KinematicsType::coreXY: + return (forStatusReport) ? "coreXY" : "CoreXY"; + + case KinematicsType::coreXYU: + return (forStatusReport) ? "coreXYU" : "CoreXYU"; + + case KinematicsType::coreXYUV: + return (forStatusReport) ? "coreXYUV" : "CoreXYUV"; + break; + + case KinematicsType::coreXZ: + return (forStatusReport) ? "coreXZ" : "CoreXZ"; + + case KinematicsType::markForged: + return "markForged"; + + default: + return "unknown"; + } +} + +// Set the parameters from a M665, M666, M667 or M669 command +// Return true if we changed any parameters. Set 'error' true if there was an error, otherwise leave it alone. +// This function is used for CoreXY and CoreXZ kinematics, but it overridden for CoreXYU kinematics +bool CoreKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) +{ + bool seen; + switch (mCode) + { + case 669: + { + seen = gb.Seen('K'); + const size_t numVisibleAxes = reprap.GetGCodes().GetVisibleAxes(); + for (size_t axis = 0; axis < numVisibleAxes; ++axis) + { + if (gb.Seen(reprap.GetGCodes().GetAxisLetters()[axis])) + { + seen = true; + float motorFactors[MaxAxes]; + size_t numMotors = MaxAxes; + gb.GetFloatArray(motorFactors, numMotors, false); + for (size_t m = 0; m < numMotors; ++m) + { + if (inverseMatrix(axis, m) != motorFactors[m]) + { + inverseMatrix(axis, m) = motorFactors[m]; + modified = true; + } + } + for (size_t m = numMotors; m < MaxAxes; ++m) + { + if (inverseMatrix(axis, m) != 0.0) + { + inverseMatrix(axis, m) = 0.0; + modified = true; + } + } + } + } + } + break; + + default: + return ZLeadscrewKinematics::Configure(mCode, gb, reply, error); + } + + if (seen) + { + Recalc(); + } + else + { + reply.printf("Kinematics is %s%s, matrix:", ((modified) ? "modified " : ""), GetName(false)); + const size_t numVisibleAxes = reprap.GetGCodes().GetVisibleAxes(); + const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes(); + for (size_t axis = 0; axis < numVisibleAxes; ++axis) + { + for (size_t motor = 0; motor < numTotalAxes; ++motor) + { + reply.cat((motor == 0) ? '\n' : ' '); + const float val = inverseMatrix(axis, motor); + if (val == 0.0) + { + reply.cat('0'); // don't print unnecessary decimals, we will probably reach the response buffer limit if we do + } + else + { + reply.catf("%.2f", (double)val); + } + } + } + } + return seen; +} + +// Convert Cartesian coordinates to motor coordinates returning true if successful. +// This is called frequently, so try to keep it efficient. +// If a motor has no visible axes that affect it, leave the old motor coordinate unchanged. +bool CoreKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, + int32_t motorPos[], bool isCoordinated) const +{ + for (size_t motor = 0; motor < numTotalAxes; ++motor) + { + const size_t axisLimit = min<size_t>(numVisibleAxes, lastAxis[motor] + 1); + size_t axis = firstAxis[motor]; + if (axis < axisLimit) + { + float movement = inverseMatrix(axis, motor) * machinePos[axis]; + ++axis; + while (axis < axisLimit) + { + movement += inverseMatrix(axis, motor) * machinePos[axis]; + ++axis; + } + motorPos[motor] = lrintf(movement * stepsPerMm[motor]); + } + } + return true; +} + +// Convert motor coordinates to machine coordinates. Used after homing and after individual motor moves. +void CoreKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const +{ + // If there are more motors than visible axes (e.g. CoreXYU which has a V motor), we assume that we can ignore the trailing ones when calculating the machine position + for (size_t axis = 0; axis < numVisibleAxes; ++axis) + { + float position = 0.0; + const size_t motorLimit = min<size_t>(numVisibleAxes, lastMotor[axis] + 1); + for (size_t motor = firstMotor[axis]; motor < motorLimit; ++motor) + { + const float factor = forwardMatrix(motor, axis); + if (factor != 0.0) + { + position += factor * (float)motorPos[motor] / stepsPerMm[motor]; + } + } + machinePos[axis] = position; + } +} + +// This function is called from the step ISR when an endstop switch is triggered during homing. +// Return true if the entire homing move should be terminated, false if only the motor associated with the endstop switch should be stopped. +bool CoreKinematics::QueryTerminateHomingMove(size_t axis) const +{ + return HasSharedMotor(axis); +} + +// This function is called from the step ISR when an endstop switch is triggered during homing after stopping just one motor or all motors. +// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate() and return false. +void CoreKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const +{ + const float hitPoint = (highEnd) ? reprap.GetPlatform().AxisMaximum(axis) : reprap.GetPlatform().AxisMinimum(axis); + if (HasSharedMotor(axis)) + { + float tempCoordinates[MaxAxes]; + const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes(); + for (size_t axis = 0; axis < numTotalAxes; ++axis) + { + tempCoordinates[axis] = dda.GetEndCoordinate(axis, false); + } + tempCoordinates[axis] = hitPoint; + dda.SetPositions(tempCoordinates, numTotalAxes); + } + else + { + dda.SetDriveCoordinate(lrintf(hitPoint * inverseMatrix(axis, axis) * stepsPerMm[axis]), axis); + } +} + +// Limit the speed and acceleration of a move to values that the mechanics can handle +// The speeds along individual Cartesian axes have already been limited before this is called, so we need only be concerned with shared motors +void CoreKinematics::LimitSpeedAndAcceleration(DDA& dda, const float* normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const +{ + // For each shared motor, calculate how much of the total move it contributes + float motorMovements[MaxAxes]; + for (float& mm : motorMovements) + { + mm = 0.0; + } + + for (size_t axis = 0; axis < numVisibleAxes; ++axis) + { + if (HasSharedMotor(axis)) + { + const float dv = normalisedDirectionVector[axis]; + if (dv != 0.0) + { + for (size_t motor = 0; motor < MaxAxes; ++motor) + { + const float factor = inverseMatrix(axis, motor); + if (factor != 0.0) + { + motorMovements[motor] += factor * dv; + } + } + } + } + } + + for (size_t motor = 0; motor < MaxAxes; ++motor) + { + const float mm = fabsf(motorMovements[motor]); + if (mm != 0.0) + { + dda.LimitSpeedAndAcceleration(reprap.GetPlatform().MaxFeedrate(motor)/mm, reprap.GetPlatform().Acceleration(motor)/mm); + } + } +} + +// Return a bitmap of the motors that are involved in homing a particular axis or tower. Used for implementing stall detection endstops. +// Usually it is just the corresponding motor (hence this default implementation), but CoreXY and similar kinematics move multiple motors to home an individual axis. +AxesBitmap CoreKinematics::GetConnectedAxes(size_t axis) const +{ + return connectedAxes[axis]; +} + +// End diff --git a/src/Movement/Kinematics/CoreKinematics.h b/src/Movement/Kinematics/CoreKinematics.h new file mode 100644 index 00000000..092340f9 --- /dev/null +++ b/src/Movement/Kinematics/CoreKinematics.h @@ -0,0 +1,45 @@ +/* + * CoreKinematics.h + * + * Created on: 4 Jan 2019 + * Author: David + */ + +#ifndef SRC_MOVEMENT_KINEMATICS_COREKINEMATICS_H_ +#define SRC_MOVEMENT_KINEMATICS_COREKINEMATICS_H_ + +#include "ZLeadscrewKinematics.h" +#include "Math/Matrix.h" + +class CoreKinematics : public ZLeadscrewKinematics +{ +public: + CoreKinematics(KinematicsType k); + + // Overridden base class functions. See Kinematics.h for descriptions. + const char *GetName(bool forStatusReport) const override; + bool Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) override; + bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; + void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; + bool QueryTerminateHomingMove(size_t axis) const override; + void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; + HomingMode GetHomingMode() const override { return HomingMode::homeCartesianAxes; } + void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const override; + AxesBitmap GetConnectedAxes(size_t axis) const override; + +private: + void Recalc(); // recalculate internal variables following a configuration change + bool HasSharedMotor(size_t axis) const; // return true if the axis doesn't have a single dedicated motor + + // Primary parameters + FixedMatrix<float, MaxAxes, MaxAxes> inverseMatrix; // maps coordinates to motor positions + + // Derived parameters + FixedMatrix<float, MaxAxes, MaxAxes> forwardMatrix; // maps motor positions to coordinates + AxesBitmap connectedAxes[MaxAxes]; // which other axes are connected to each axis by shared motors etc. + bool modified; // true if matrix has been altered + uint8_t firstMotor[MaxAxes], lastMotor[MaxAxes]; // first and last motor used by each axis + uint8_t firstAxis[MaxAxes], lastAxis[MaxAxes]; // first and last axis that each motor controls +}; + +#endif /* SRC_MOVEMENT_KINEMATICS_COREKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/CoreXYKinematics.cpp b/src/Movement/Kinematics/CoreXYKinematics.cpp deleted file mode 100644 index 09a5f24d..00000000 --- a/src/Movement/Kinematics/CoreXYKinematics.cpp +++ /dev/null @@ -1,79 +0,0 @@ -/* - * CoreXYKinematics.cpp - * - * Created on: 6 May 2017 - * Author: David - */ - -#include "CoreXYKinematics.h" -#include "Movement/DDA.h" - -CoreXYKinematics::CoreXYKinematics() : CoreBaseKinematics(KinematicsType::coreXY) -{ -} - -// Return the name of the current kinematics -const char *CoreXYKinematics::GetName(bool forStatusReport) const -{ - return (forStatusReport) ? "coreXY" : "CoreXY"; -} - -// Convert Cartesian coordinates to motor coordinates returning true if successful -bool CoreXYKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const -{ - motorPos[X_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) + (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[X_AXIS]); - motorPos[Y_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) - (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[Y_AXIS]); - - for (size_t axis = Z_AXIS; axis < numVisibleAxes; ++axis) - { - motorPos[axis] = lrintf(machinePos[axis] * stepsPerMm[axis]); - } - return true; -} - -// Convert motor coordinates to machine coordinates. Used after homing and after individual motor moves. -void CoreXYKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const -{ - // Convert the main axes - const float xyStepsMm = stepsPerMm[X_AXIS] * stepsPerMm[Y_AXIS]; - machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) + (motorPos[Y_AXIS] * stepsPerMm[X_AXIS])) - /(2 * axisFactors[X_AXIS] * xyStepsMm); - machinePos[Y_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) - (motorPos[Y_AXIS] * stepsPerMm[X_AXIS])) - /(2 * axisFactors[Y_AXIS] * xyStepsMm); - machinePos[Z_AXIS] = motorPos[Z_AXIS]/stepsPerMm[Z_AXIS]; - - // Convert any additional axes - for (size_t drive = XYZ_AXES; drive < numVisibleAxes; ++drive) - { - machinePos[drive] = motorPos[drive]/stepsPerMm[drive]; - } -} - -// Return true if the specified endstop axis uses shared motors. -// Used to determine whether to abort the whole move or just one motor when an endstop switch is triggered. -bool CoreXYKinematics::DriveIsShared(size_t drive) const -{ - return drive == X_AXIS || drive == Y_AXIS; -} - -// Limit the speed and acceleration of a move to values that the mechanics can handle. -// The speeds along individual Cartesian axes have already been limited before this is called. -void CoreXYKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const -{ - const float vecX = normalisedDirectionVector[0]; - const float vecY = normalisedDirectionVector[1]; - const float vecMax = max<float>(fabsf(vecX + vecY), fabsf(vecX - vecY)); // pick the case for the motor that is working hardest - if (vecMax > 0.01) // avoid division by zero or near-zero - { - const Platform& platform = reprap.GetPlatform(); - const float aX = platform.Acceleration(0); - const float aY = platform.Acceleration(1); - const float vX = platform.MaxFeedrate(0); - const float vY = platform.MaxFeedrate(1); - const float aMax = (fabsf(vecX) + fabsf(vecY)) * aX * aY/(vecMax * (fabsf(vecX) * aY + fabsf(vecY) * aX)); - const float vMax = (fabsf(vecX) + fabsf(vecY)) * vX * vY/(vecMax * (fabsf(vecX) * vY + fabsf(vecY) * vX)); - dda.LimitSpeedAndAcceleration(vMax, aMax); - } -} - -// End diff --git a/src/Movement/Kinematics/CoreXYKinematics.h b/src/Movement/Kinematics/CoreXYKinematics.h deleted file mode 100644 index 711dd3dc..00000000 --- a/src/Movement/Kinematics/CoreXYKinematics.h +++ /dev/null @@ -1,26 +0,0 @@ -/* - * CoreXYKinematics.h - * - * Created on: 6 May 2017 - * Author: David - */ - -#ifndef SRC_MOVEMENT_KINEMATICS_COREXYKINEMATICS_H_ -#define SRC_MOVEMENT_KINEMATICS_COREXYKINEMATICS_H_ - -#include "CoreBaseKinematics.h" - -class CoreXYKinematics : public CoreBaseKinematics -{ -public: - CoreXYKinematics(); - - // Overridden base class functions. See Kinematics.h for descriptions. - const char *GetName(bool forStatusReport) const override; - bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; - void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; - bool DriveIsShared(size_t drive) const override; - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; -}; - -#endif /* SRC_MOVEMENT_KINEMATICS_COREXYKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/CoreXYUKinematics.cpp b/src/Movement/Kinematics/CoreXYUKinematics.cpp deleted file mode 100644 index 3f2db5cb..00000000 --- a/src/Movement/Kinematics/CoreXYUKinematics.cpp +++ /dev/null @@ -1,138 +0,0 @@ -/* - * CoreXYUKinematics.cpp - * - * Created on: 4 Jun 2017 - * Author: Lars - */ - -#include "CoreXYUKinematics.h" - -#include "GCodes/GCodes.h" -#include "GCodes/GCodeBuffer.h" -#include "Movement/DDA.h" - -CoreXYUKinematics::CoreXYUKinematics() : CoreBaseKinematics(KinematicsType::coreXYU) -{ -} - -// Return the name of the current kinematics -const char *CoreXYUKinematics::GetName(bool forStatusReport) const -{ - return (forStatusReport) ? "coreXYU" : "CoreXYU"; -} - -// Set the parameters from a M665, M666 or M669 command -// Return true if we changed any parameters. Set 'error' true if there was an error, otherwise leave it alone. -bool CoreXYUKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) /*override*/ -{ - if (mCode == 669) - { - bool seen = false; - for (size_t axis = 0; axis < CoreXYU_AXES; ++axis) - { - if (gb.Seen(reprap.GetGCodes().GetAxisLetters()[axis])) - { - axisFactors[axis] = gb.GetFValue(); - seen = true; - } - } - if (!seen && !gb.Seen('K')) - { - reply.printf("Kinematics is %s with axis factors", GetName(false)); - for (size_t axis = 0; axis < CoreXYU_AXES; ++axis) - { - reply.catf(" %c:%3f", reprap.GetGCodes().GetAxisLetters()[axis], (double)axisFactors[axis]); - } - } - return seen; - } - - return CoreBaseKinematics::Configure(mCode, gb, reply, error); -} - -// Convert Cartesian coordinates to motor coordinates -bool CoreXYUKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const -{ - motorPos[X_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) + (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[X_AXIS]); - motorPos[Y_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) - (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[Y_AXIS]); - motorPos[Z_AXIS] = lrintf(machinePos[Z_AXIS] * stepsPerMm[Z_AXIS]); - motorPos[U_AXIS] = lrintf(((machinePos[U_AXIS] * axisFactors[U_AXIS]) + (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[U_AXIS]); - motorPos[V_AXIS] = lrintf(((machinePos[U_AXIS] * axisFactors[U_AXIS]) - (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[V_AXIS]); - - for (size_t axis = CoreXYU_AXES; axis < numVisibleAxes; ++axis) - { - motorPos[axis] = lrintf(machinePos[axis] * stepsPerMm[axis]); - } - return true; -} - -// Convert motor coordinates to machine coordinates. Used after homing and after individual motor moves. -void CoreXYUKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const -{ - // Convert the main axes - const float xyStepsMm = stepsPerMm[X_AXIS] * stepsPerMm[Y_AXIS]; - const float uvStepsMm = stepsPerMm[U_AXIS] * stepsPerMm[V_AXIS]; - machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) + (motorPos[Y_AXIS] * stepsPerMm[X_AXIS])) - /(2 * axisFactors[X_AXIS] * xyStepsMm); - machinePos[Y_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) - (motorPos[Y_AXIS] * stepsPerMm[X_AXIS])) - /(2 * axisFactors[Y_AXIS] * xyStepsMm); - machinePos[U_AXIS] = ((motorPos[U_AXIS] * stepsPerMm[V_AXIS]) + (motorPos[V_AXIS] * stepsPerMm[U_AXIS])) - /(2 * axisFactors[V_AXIS] * uvStepsMm); - machinePos[V_AXIS] = ((motorPos[U_AXIS] * stepsPerMm[V_AXIS]) - (motorPos[V_AXIS] * stepsPerMm[U_AXIS])) - /(2 * axisFactors[V_AXIS] * uvStepsMm); - - machinePos[Z_AXIS] = motorPos[Z_AXIS]/stepsPerMm[Z_AXIS]; - - // Convert any additional axes - for (size_t drive = CoreXYU_AXES; drive < numVisibleAxes; ++drive) - { - machinePos[drive] = motorPos[drive]/stepsPerMm[drive]; - } -} - -// Return true if the specified endstop axis uses shared motors. -// Used to determine whether to abort the whole move or just one motor when an endstop switch is triggered. -bool CoreXYUKinematics::DriveIsShared(size_t drive) const -{ - return drive == X_AXIS || drive == Y_AXIS || drive == U_AXIS - || drive == V_AXIS; // V doesn't have endstop switches, but include it here just in case -} - -// Limit the speed and acceleration of a move to values that the mechanics can handle. -// The speeds along individual Cartesian axes have already been limited before this is called. -void CoreXYUKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const -{ - const float vecX = normalisedDirectionVector[0]; - const float vecY = normalisedDirectionVector[1]; - - // Limit the XY motor accelerations - const float vecMaxXY = max<float>(fabsf(vecX + vecY), fabsf(vecX - vecY)); // pick the case for the motor that is working hardest - if (vecMaxXY > 0.01) // avoid division by zero or near-zero - { - const Platform& platform = reprap.GetPlatform(); - const float aX = platform.Acceleration(0); - const float aY = platform.Acceleration(1); - const float vX = platform.MaxFeedrate(0); - const float vY = platform.MaxFeedrate(1); - const float aMax = (fabsf(vecX) + fabsf(vecY)) * aX * aY/(vecMaxXY * (fabsf(vecX) * aY + fabsf(vecY) * aX)); - const float vMax = (fabsf(vecX) + fabsf(vecY)) * vX * vY/(vecMaxXY * (fabsf(vecX) * vY + fabsf(vecY) * vX)); - dda.LimitSpeedAndAcceleration(vMax, aMax); - } - - // Limit the UV motor accelerations - const float vecU = normalisedDirectionVector[3]; - const float vecMaxUV = max<float>(fabsf(vecU + vecY), fabsf(vecU - vecY)); // pick the case for the motor that is working hardest - if (vecMaxUV > 0.01) // avoid division by zero or near-zero - { - const Platform& platform = reprap.GetPlatform(); - const float aU = platform.Acceleration(3); - const float aY = platform.Acceleration(1); - const float vU = platform.MaxFeedrate(3); - const float vY = platform.MaxFeedrate(1); - const float aMax = (fabsf(vecU) + fabsf(vecY)) * aU * aY/(vecMaxUV * (fabsf(vecU) * aY + fabsf(vecY) * aU)); - const float vMax = (fabsf(vecU) + fabsf(vecY)) * vU * vY/(vecMaxUV * (fabsf(vecU) * vY + fabsf(vecY) * vU)); - dda.LimitSpeedAndAcceleration(vMax, aMax); - } -} - -// End diff --git a/src/Movement/Kinematics/CoreXYUKinematics.h b/src/Movement/Kinematics/CoreXYUKinematics.h deleted file mode 100644 index a7d56f21..00000000 --- a/src/Movement/Kinematics/CoreXYUKinematics.h +++ /dev/null @@ -1,27 +0,0 @@ -/* - * CoreXYUKinematics.h - * - * Created on: 4 Jun 2017 - * Author: Lars - */ - -#ifndef SRC_MOVEMENT_KINEMATICS_COREXYUKINEMATICS_H_ -#define SRC_MOVEMENT_KINEMATICS_COREXYUKINEMATICS_H_ - -#include "CoreBaseKinematics.h" - -class CoreXYUKinematics : public CoreBaseKinematics -{ -public: - CoreXYUKinematics(); - - // Overridden base class functions. See Kinematics.h for descriptions. - const char *GetName(bool forStatusReport) const override; - bool Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) override; - bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; - void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; - bool DriveIsShared(size_t drive) const override; - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; -}; - -#endif /* SRC_MOVEMENT_KINEMATICS_COREXYKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/CoreXYUVKinematics.cpp b/src/Movement/Kinematics/CoreXYUVKinematics.cpp deleted file mode 100644 index 69c24311..00000000 --- a/src/Movement/Kinematics/CoreXYUVKinematics.cpp +++ /dev/null @@ -1,138 +0,0 @@ -/* - * CoreXYUVKinematics.cpp - * - * Created on: 23 Nov 2017 - * Author: David - */ - -#include "CoreXYUVKinematics.h" - -#include "GCodes/GCodes.h" -#include "GCodes/GCodeBuffer.h" -#include "Movement/DDA.h" - -CoreXYUVKinematics::CoreXYUVKinematics() : CoreBaseKinematics(KinematicsType::coreXYUV) -{ -} - -// Return the name of the current kinematics -const char *CoreXYUVKinematics::GetName(bool forStatusReport) const -{ - return (forStatusReport) ? "coreXYUV" : "CoreXYUV"; -} - -// Set the parameters from a M665, M666 or M669 command -// Return true if we changed any parameters. Set 'error' true if there was an error, otherwise leave it alone. -bool CoreXYUVKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) /*override*/ -{ - if (mCode == 669) - { - bool seen = false; - for (size_t axis = 0; axis < CoreXYUV_AXES; ++axis) - { - if (gb.Seen(reprap.GetGCodes().GetAxisLetters()[axis])) - { - axisFactors[axis] = gb.GetFValue(); - seen = true; - } - } - if (!seen && !gb.Seen('K')) - { - reply.printf("Kinematics is %s with axis factors", GetName(false)); - for (size_t axis = 0; axis < CoreXYUV_AXES; ++axis) - { - reply.catf(" %c:%.3f", reprap.GetGCodes().GetAxisLetters()[axis], (double)axisFactors[axis]); - } - } - return seen; - } - - return CoreBaseKinematics::Configure(mCode, gb, reply, error); -} - -// Convert Cartesian coordinates to motor coordinates -bool CoreXYUVKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const -{ - motorPos[X_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) + (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[X_AXIS]); - motorPos[Y_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) - (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[Y_AXIS]); - motorPos[Z_AXIS] = lrintf(machinePos[Z_AXIS] * stepsPerMm[Z_AXIS]); - motorPos[U_AXIS] = lrintf(((machinePos[U_AXIS] * axisFactors[U_AXIS]) + (machinePos[V_AXIS] * axisFactors[V_AXIS])) * stepsPerMm[U_AXIS]); - motorPos[V_AXIS] = lrintf(((machinePos[U_AXIS] * axisFactors[U_AXIS]) - (machinePos[V_AXIS] * axisFactors[V_AXIS])) * stepsPerMm[V_AXIS]); - - for (size_t axis = CoreXYUV_AXES; axis < numVisibleAxes; ++axis) - { - motorPos[axis] = lrintf(machinePos[axis] * stepsPerMm[axis]); - } - return true; -} - -// Convert motor coordinates to machine coordinates. Used after homing and after individual motor moves. -void CoreXYUVKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const -{ - // Convert the main axes - const float xyStepsMm = stepsPerMm[X_AXIS] * stepsPerMm[Y_AXIS]; - const float uvStepsMm = stepsPerMm[U_AXIS] * stepsPerMm[V_AXIS]; - machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) + (motorPos[Y_AXIS] * stepsPerMm[X_AXIS])) - /(2 * axisFactors[X_AXIS] * xyStepsMm); - machinePos[Y_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) - (motorPos[Y_AXIS] * stepsPerMm[X_AXIS])) - /(2 * axisFactors[Y_AXIS] * xyStepsMm); - machinePos[U_AXIS] = ((motorPos[U_AXIS] * stepsPerMm[V_AXIS]) + (motorPos[V_AXIS] * stepsPerMm[U_AXIS])) - /(2 * axisFactors[V_AXIS] * uvStepsMm); - machinePos[V_AXIS] = ((motorPos[U_AXIS] * stepsPerMm[V_AXIS]) - (motorPos[V_AXIS] * stepsPerMm[U_AXIS])) - /(2 * axisFactors[V_AXIS] * uvStepsMm); - - machinePos[Z_AXIS] = motorPos[Z_AXIS]/stepsPerMm[Z_AXIS]; - - // Convert any additional axes - for (size_t drive = CoreXYUV_AXES; drive < numVisibleAxes; ++drive) - { - machinePos[drive] = motorPos[drive]/stepsPerMm[drive]; - } -} - -// Return true if the specified endstop axis uses shared motors. -// Used to determine whether to abort the whole move or just one motor when an endstop switch is triggered. -bool CoreXYUVKinematics::DriveIsShared(size_t drive) const -{ - return drive == X_AXIS || drive == Y_AXIS || drive == U_AXIS || drive == V_AXIS; -} - -// Limit the speed and acceleration of a move to values that the mechanics can handle. -// The speeds along individual Cartesian axes have already been limited before this is called. -void CoreXYUVKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const -{ - const float vecX = normalisedDirectionVector[0]; - const float vecY = normalisedDirectionVector[1]; - - // Limit the XY motor accelerations - const float vecMaxXY = max<float>(fabsf(vecX + vecY), fabsf(vecX - vecY)); // pick the case for the motor that is working hardest - if (vecMaxXY > 0.01) // avoid division by zero or near-zero - { - const Platform& platform = reprap.GetPlatform(); - const float aX = platform.Acceleration(0); - const float aY = platform.Acceleration(1); - const float vX = platform.MaxFeedrate(0); - const float vY = platform.MaxFeedrate(1); - const float aMax = (fabsf(vecX) + fabsf(vecY)) * aX * aY/(vecMaxXY * (fabsf(vecX) * aY + fabsf(vecY) * aX)); - const float vMax = (fabsf(vecX) + fabsf(vecY)) * vX * vY/(vecMaxXY * (fabsf(vecX) * vY + fabsf(vecY) * vX)); - dda.LimitSpeedAndAcceleration(vMax, aMax); - } - - // Limit the UV motor accelerations - const float vecU = normalisedDirectionVector[3]; - const float vecV = normalisedDirectionVector[4]; - const float vecMaxUV = max<float>(fabsf(vecU + vecV), fabsf(vecU - vecV)); // pick the case for the motor that is working hardest - if (vecMaxUV > 0.01) // avoid division by zero or near-zero - { - const Platform& platform = reprap.GetPlatform(); - const float aU = platform.Acceleration(3); - const float aV = platform.Acceleration(4); - const float vU = platform.MaxFeedrate(3); - const float vV = platform.MaxFeedrate(4); - const float aMax = (fabsf(vecU) + fabsf(vecV)) * aU * aV/(vecMaxUV * (fabsf(vecU) * aV + fabsf(vecV) * aU)); - const float vMax = (fabsf(vecU) + fabsf(vecV)) * vU * vV/(vecMaxUV * (fabsf(vecU) * vV + fabsf(vecV) * vU)); - dda.LimitSpeedAndAcceleration(vMax, aMax); - } -} - -// End diff --git a/src/Movement/Kinematics/CoreXYUVKinematics.h b/src/Movement/Kinematics/CoreXYUVKinematics.h deleted file mode 100644 index 6cb73499..00000000 --- a/src/Movement/Kinematics/CoreXYUVKinematics.h +++ /dev/null @@ -1,27 +0,0 @@ -/* - * CoreXYUVKinematics.h - * - * Created on: 23 Nov 2017 - * Author: David - */ - -#ifndef SRC_MOVEMENT_KINEMATICS_COREXYUVKINEMATICS_H_ -#define SRC_MOVEMENT_KINEMATICS_COREXYUVKINEMATICS_H_ - -#include "CoreBaseKinematics.h" - -class CoreXYUVKinematics : public CoreBaseKinematics -{ -public: - CoreXYUVKinematics(); - - // Overridden base class functions. See Kinematics.h for descriptions. - const char *GetName(bool forStatusReport) const override; - bool Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) override; - bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; - void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; - bool DriveIsShared(size_t drive) const override; - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; -}; - -#endif /* SRC_MOVEMENT_KINEMATICS_COREXYUVKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/CoreXZKinematics.cpp b/src/Movement/Kinematics/CoreXZKinematics.cpp deleted file mode 100644 index 4144aa47..00000000 --- a/src/Movement/Kinematics/CoreXZKinematics.cpp +++ /dev/null @@ -1,68 +0,0 @@ -/* - * CoreXZKinematics.cpp - * - * Created on: 6 May 2017 - * Author: David - */ - -#include "CoreXZKinematics.h" - -CoreXZKinematics::CoreXZKinematics() : CoreBaseKinematics(KinematicsType::coreXZ) -{ -} - -// Return the name of the current kinematics -const char *CoreXZKinematics::GetName(bool forStatusReport) const -{ - return (forStatusReport) ? "coreXZ" : "CoreXZ"; -} - -// Convert Cartesian coordinates to motor coordinates -bool CoreXZKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const -{ - motorPos[X_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) + (machinePos[Z_AXIS] * axisFactors[Z_AXIS])) * stepsPerMm[X_AXIS]); - motorPos[Y_AXIS] = lrintf(machinePos[Y_AXIS] * stepsPerMm[Y_AXIS]); - motorPos[Z_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) - (machinePos[Z_AXIS] * axisFactors[Z_AXIS])) * stepsPerMm[Z_AXIS]); - - for (size_t axis = XYZ_AXES; axis < numVisibleAxes; ++axis) - { - motorPos[axis] = lrintf(machinePos[axis] * stepsPerMm[axis]); - } - return true; -} - -// Convert motor coordinates to machine coordinates. Used after homing and after individual motor moves. -void CoreXZKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const -{ - // Convert the main axes - const float xzStepsMmm = stepsPerMm[X_AXIS] * stepsPerMm[Z_AXIS]; - machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Z_AXIS]) + (motorPos[Z_AXIS] * stepsPerMm[X_AXIS])) - /(2 * axisFactors[X_AXIS] * xzStepsMmm); - machinePos[Y_AXIS] = motorPos[Y_AXIS]/stepsPerMm[Y_AXIS]; - machinePos[Z_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Z_AXIS]) - (motorPos[Z_AXIS] * stepsPerMm[X_AXIS])) - /(2 * axisFactors[Z_AXIS] * xzStepsMmm); - - // Convert any additional axes linearly - for (size_t drive = XYZ_AXES; drive < numVisibleAxes; ++drive) - { - machinePos[drive] = motorPos[drive]/stepsPerMm[drive]; - } -} - -// Return true if the specified endstop axis uses shared motors. -// Used to determine whether to abort the whole move or just one motor when an endstop switch is triggered. -bool CoreXZKinematics::DriveIsShared(size_t drive) const -{ - return drive == X_AXIS || drive == Z_AXIS; -} - -// Limit the speed and acceleration of a move to values that the mechanics can handle. -// The speeds in Cartesian space have already been limited. -void CoreXZKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const -{ - // Ideally we would do something here, but for now we don't. - // This could mean that a simultaneous X and Z movement with Z at maximum speed up and X at 3x that speed would be under-powered, - // but the workaround in that case would be just to lower the maximum Z speed a little, which won't affect printing speed significantly. -} - -// End diff --git a/src/Movement/Kinematics/CoreXZKinematics.h b/src/Movement/Kinematics/CoreXZKinematics.h deleted file mode 100644 index cd8f02b9..00000000 --- a/src/Movement/Kinematics/CoreXZKinematics.h +++ /dev/null @@ -1,27 +0,0 @@ -/* - * CoreXZKinematics.h - * - * Created on: 6 May 2017 - * Author: David - */ - -#ifndef SRC_MOVEMENT_KINEMATICS_COREXZKINEMATICS_H_ -#define SRC_MOVEMENT_KINEMATICS_COREXZKINEMATICS_H_ - -#include "CoreBaseKinematics.h" - -class CoreXZKinematics : public CoreBaseKinematics -{ -public: - CoreXZKinematics(); - - // Overridden base class functions. See Kinematics.h for descriptions. - const char *GetName(bool forStatusReport) const override; - bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; - void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; - bool DriveIsShared(size_t drive) const override; - bool SupportsAutoCalibration() const override { return false; } - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; -}; - -#endif /* SRC_MOVEMENT_KINEMATICS_COREXZKINEMATICS_H_ */ diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp index 2cfdec8f..8e61c5d9 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.cpp +++ b/src/Movement/Kinematics/HangprinterKinematics.cpp @@ -173,7 +173,7 @@ bool HangprinterKinematics::IsReachable(float x, float y, bool isCoordinated) co } // Limit the Cartesian position that the user wants to move to returning true if we adjusted the position -bool HangprinterKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const +bool HangprinterKinematics::LimitPosition(float finalCoords[], float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const { const AxesBitmap allAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); bool limited = false; @@ -182,24 +182,27 @@ bool HangprinterKinematics::LimitPosition(float coords[], size_t numVisibleAxes, // If axes have been homed on a delta printer and this isn't a homing move, check for movements outside limits. // Skip this check if axes have not been homed, so that extruder-only moves are allowed before homing // Constrain the move to be within the build radius - const float diagonalSquared = fsquare(coords[X_AXIS]) + fsquare(coords[Y_AXIS]); + const float diagonalSquared = fsquare(finalCoords[X_AXIS]) + fsquare(finalCoords[Y_AXIS]); if (diagonalSquared > printRadiusSquared) { const float factor = sqrtf(printRadiusSquared / diagonalSquared); - coords[X_AXIS] *= factor; - coords[Y_AXIS] *= factor; + finalCoords[X_AXIS] *= factor; + finalCoords[Y_AXIS] *= factor; limited = true; } - if (coords[Z_AXIS] < reprap.GetPlatform().AxisMinimum(Z_AXIS)) + if (applyM208Limits) { - coords[Z_AXIS] = reprap.GetPlatform().AxisMinimum(Z_AXIS); - limited = true; - } - else if (coords[Z_AXIS] > reprap.GetPlatform().AxisMaximum(Z_AXIS)) - { - coords[Z_AXIS] = reprap.GetPlatform().AxisMaximum(Z_AXIS); - limited = true; + if (finalCoords[Z_AXIS] < reprap.GetPlatform().AxisMinimum(Z_AXIS)) + { + finalCoords[Z_AXIS] = reprap.GetPlatform().AxisMinimum(Z_AXIS); + limited = true; + } + else if (finalCoords[Z_AXIS] > reprap.GetPlatform().AxisMaximum(Z_AXIS)) + { + finalCoords[Z_AXIS] = reprap.GetPlatform().AxisMaximum(Z_AXIS); + limited = true; + } } } return limited; @@ -266,7 +269,7 @@ AxesBitmap HangprinterKinematics::MustBeHomedAxes(AxesBitmap axesMoving, bool di // Limit the speed and acceleration of a move to values that the mechanics can handle. // The speeds in Cartesian space have already been limited. -void HangprinterKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const +void HangprinterKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const { // Limit the speed in the XY plane to the lower of the X and Y maximum speeds, and similarly for the acceleration const float xyFactor = sqrtf(fsquare(normalisedDirectionVector[X_AXIS]) + fsquare(normalisedDirectionVector[Y_AXIS])); @@ -420,8 +423,17 @@ bool HangprinterKinematics::DoAutoCalibration(size_t numFactors, const RandomPro PrintMatrix("Normal matrix", normalMatrix, numFactors, numFactors + 1); } + if (!normalMatrix.GaussJordan(numFactors, numFactors + 1)) + { + reply.copy("Unable to calculate calibration parameters. Please choose different probe points."); + return true; + } + floatc_t solution[NumHangprinterFactors]; - normalMatrix.GaussJordan(solution, numFactors); + for (size_t i = 0; i < numFactors; ++i) + { + solution[i] = normalMatrix(i, numFactors); + } if (reprap.Debug(moduleMove)) { diff --git a/src/Movement/Kinematics/HangprinterKinematics.h b/src/Movement/Kinematics/HangprinterKinematics.h index aa4a7cbe..b1e3a7dd 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.h +++ b/src/Movement/Kinematics/HangprinterKinematics.h @@ -26,18 +26,18 @@ public: void SetCalibrationDefaults() override { Init(); } bool WriteCalibrationParameters(FileStore *f) const override; bool IsReachable(float x, float y, bool isCoordinated) const override; - bool LimitPosition(float position[], size_t numAxes, AxesBitmap axesHomed, bool isCoordinated) const override; + bool LimitPosition(float finalCoords[], float * null initialCoords, size_t numAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const override; void GetAssumedInitialPosition(size_t numAxes, float positions[]) const override; size_t NumHomingButtons(size_t numVisibleAxes) const override { return 0; } const char* HomingButtonNames() const override { return "ABCD"; } - HomingMode GetHomingMode() const override { return homeIndividualMotors; } + HomingMode GetHomingMode() const override { return HomingMode::homeIndividualMotors; } AxesBitmap AxesAssumedHomed(AxesBitmap g92Axes) const override; AxesBitmap MustBeHomedAxes(AxesBitmap axesMoving, bool disallowMovesBeforeHoming) const override; AxesBitmap GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, const StringRef& filename) const override; bool QueryTerminateHomingMove(size_t axis) const override; void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; bool WriteResumeSettings(FileStore *f) const override; - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; + void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const override; private: static constexpr float DefaultSegmentsPerSecond = 100.0; diff --git a/src/Movement/Kinematics/Kinematics.cpp b/src/Movement/Kinematics/Kinematics.cpp index 7291b443..53b5f282 100644 --- a/src/Movement/Kinematics/Kinematics.cpp +++ b/src/Movement/Kinematics/Kinematics.cpp @@ -5,17 +5,15 @@ * Author: David */ -#include "LinearDeltaKinematics.h" #include "Kinematics.h" -#include "CartesianKinematics.h" -#include "CoreXYKinematics.h" -#include "CoreXZKinematics.h" + +#include "CoreKinematics.h" +#include "LinearDeltaKinematics.h" +#include "RotaryDeltaKinematics.h" #include "ScaraKinematics.h" -#include "CoreXYUKinematics.h" #include "HangprinterKinematics.h" #include "PolarKinematics.h" -#include "CoreXYUVKinematics.h" -#include "RotaryDeltaKinematics.h" + #include "RepRap.h" #include "Platform.h" #include "GCodes/GCodes.h" @@ -59,9 +57,9 @@ bool Kinematics::IsReachable(float x, float y, bool isCoordinated) const // Limit the Cartesian position that the user wants to move to, returning true if any coordinates were changed // This default implementation just applies the rectangular limits set up by M208 to those axes that have been homed. -bool Kinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const +bool Kinematics::LimitPosition(float finalCoords[], float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const { - return LimitPositionFromAxis(coords, 0, numVisibleAxes, axesHomed); + return (applyM208Limits) ? LimitPositionFromAxis(finalCoords, 0, numVisibleAxes, axesHomed) : false; } // Apply the M208 limits to the Cartesian position that the user wants to move to for all axes from the specified one upwards @@ -133,38 +131,42 @@ AxesBitmap Kinematics::GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alread return homeFirst & ~alreadyHomed; } +// Return a bitmap of the motors that affect this axis or tower. Used for implementing stall detection endstops and energising additional motors. +// Usually it is just the corresponding motor (hence this default implementation), but CoreXY and similar kinematics move multiple motors to home an individual axis. +AxesBitmap Kinematics::GetConnectedAxes(size_t axis) const +{ + return MakeBitmap<AxesBitmap>(axis); +} + /*static*/ Kinematics *Kinematics::Create(KinematicsType k) { switch (k) { - case KinematicsType::linearDeltaPlusZ: // not implemented yet default: return nullptr; case KinematicsType::cartesian: - return new CartesianKinematics(); - case KinematicsType::linearDelta: - return new LinearDeltaKinematics(); case KinematicsType::coreXY: - return new CoreXYKinematics(); case KinematicsType::coreXZ: - return new CoreXZKinematics(); + case KinematicsType::coreXYU: + case KinematicsType::coreXYUV: + case KinematicsType::markForged: + return new CoreKinematics(k); + + case KinematicsType::linearDelta: + return new LinearDeltaKinematics(); case KinematicsType::scara: return new ScaraKinematics(); - case KinematicsType::coreXYU: - return new CoreXYUKinematics(); case KinematicsType::hangprinter: return new HangprinterKinematics(); case KinematicsType::polar: return new PolarKinematics(); - case KinematicsType::coreXYUV: - return new CoreXYUVKinematics(); case KinematicsType::rotaryDelta: return new RotaryDeltaKinematics(); } } -/*static*/ void Kinematics::PrintMatrix(const char* s, const MathMatrix<floatc_t>& m, size_t maxRows, size_t maxCols) +/*static*/ void Kinematics::PrintMatrix(const char* s, const MathMatrix<float>& m, size_t maxRows, size_t maxCols) { debugPrintf("%s\n", s); if (maxRows == 0) @@ -185,7 +187,28 @@ AxesBitmap Kinematics::GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alread } } -/*static*/ void Kinematics::PrintVector(const char *s, const floatc_t *v, size_t numElems) +/*static*/ void Kinematics::PrintMatrix(const char* s, const MathMatrix<double>& m, size_t maxRows, size_t maxCols) +{ + debugPrintf("%s\n", s); + if (maxRows == 0) + { + maxRows = m.rows(); + } + if (maxCols == 0) + { + maxCols = m.cols(); + } + + for (size_t i = 0; i < maxRows; ++i) + { + for (size_t j = 0; j < maxCols; ++j) + { + debugPrintf("%7.4f%c", m(i, j), (j == maxCols - 1) ? '\n' : ' '); + } + } +} + +/*static*/ void Kinematics::PrintVector(const char *s, const float *v, size_t numElems) { debugPrintf("%s:", s); for (size_t i = 0; i < numElems; ++i) @@ -195,4 +218,14 @@ AxesBitmap Kinematics::GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alread debugPrintf("\n"); } +/*static*/ void Kinematics::PrintVector(const char *s, const double *v, size_t numElems) +{ + debugPrintf("%s:", s); + for (size_t i = 0; i < numElems; ++i) + { + debugPrintf(" %7.4f", v[i]); + } + debugPrintf("\n"); +} + // End diff --git a/src/Movement/Kinematics/Kinematics.h b/src/Movement/Kinematics/Kinematics.h index 7b4093e8..aabf489b 100644 --- a/src/Movement/Kinematics/Kinematics.h +++ b/src/Movement/Kinematics/Kinematics.h @@ -29,8 +29,9 @@ enum class KinematicsType : uint8_t hangprinter, polar, coreXYUV, - linearDeltaPlusZ, // reserved for @sga, see https://forum.duet3d.com/topic/5775/aditional-carterian-z-axis-on-delta-printer + reserved, // reserved for @sga, see https://forum.duet3d.com/topic/5775/aditional-carterian-z-axis-on-delta-printer rotaryDelta, // not yet implemented + markForged, unknown // this one must be last! }; @@ -42,17 +43,17 @@ enum class MotionType : uint8_t segmentFreeDelta }; +// Class used to define homing mode +enum class HomingMode : uint8_t +{ + homeCartesianAxes, + homeIndividualMotors, + homeSharedMotors +}; + class Kinematics { public: - // Class used to define homing mode - enum HomingMode : uint8_t - { - homeCartesianAxes, - homeIndividualMotors, - homeSharedMotors - }; - // Functions that must be defined in each derived class that implements a kinematics // Return the name of the current kinematics. @@ -112,7 +113,13 @@ public: // Limit the Cartesian position that the user wants to move to, returning true if any coordinates were changed // The default implementation just applies the rectangular limits set up by M208 to those axes that have been homed. - virtual bool LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const; + // applyM208Limits determines whether the m208 limits are applied, otherwise just the geometric limitations of the architecture are applied. + // If initialCoords is null, just limit the final coordinates; else limit all points on a straight line between the two. + virtual bool LimitPosition(float finalCoords[], float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const; + + // Return true if the intermediate XY positions of a straight line move are reachable without exceeding geometric limits, given that the start and end positions are reachable. + // This matters for SCARA and similar printers. On most other printers, if the start and end point are reachable, so are all the intermediate points. + virtual bool IntermediatePositionsReachable(const float initialCoords[], const float finalCoords[], float margin) const { return true; } // Return the set of axes that must have been homed before bed probing is allowed // The default implementation requires just X and Y, but some kinematics require additional axes to be homed (e.g. delta, CoreXZ) @@ -160,11 +167,16 @@ public: // Limit the speed and acceleration of a move to values that the mechanics can handle. // The speeds along individual Cartesian axes have already been limited before this is called. - virtual void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const = 0; + virtual void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const = 0; // Return true if the specified axis is a continuous rotation axis virtual bool IsContinuousRotationAxis(size_t axis) const { return false; } + // Return a bitmap of the motors that cause movement of a particular axis or tower. + // This is used to determine which motors we need to enable to move a particular axis, and which motors to monitor for stall detect homing. + // For example, the first XY move made by a CoreXY machine may be a diagonal move, and it's important to enable the non-moving motor too. + virtual AxesBitmap GetConnectedAxes(size_t axis) const; + // Override this virtual destructor if your constructor allocates any dynamic memory virtual ~Kinematics() { } @@ -189,8 +201,10 @@ protected: bool LimitPositionFromAxis(float coords[], size_t firstAxis, size_t numVisibleAxes, AxesBitmap axesHomed) const; // Debugging functions - static void PrintMatrix(const char* s, const MathMatrix<floatc_t>& m, size_t numRows = 0, size_t maxCols = 0); - static void PrintVector(const char *s, const floatc_t *v, size_t numElems); + static void PrintMatrix(const char* s, const MathMatrix<float>& m, size_t numRows = 0, size_t maxCols = 0); + static void PrintMatrix(const char* s, const MathMatrix<double>& m, size_t numRows = 0, size_t maxCols = 0); + static void PrintVector(const char *s, const float *v, size_t numElems); + static void PrintVector(const char *s, const double *v, size_t numElems); float segmentsPerSecond; // if we are using segmentation, the target number of segments/second float minSegmentLength; // if we are using segmentation, the minimum segment size diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.cpp b/src/Movement/Kinematics/LinearDeltaKinematics.cpp index 47e5b887..d7ee9477 100644 --- a/src/Movement/Kinematics/LinearDeltaKinematics.cpp +++ b/src/Movement/Kinematics/LinearDeltaKinematics.cpp @@ -13,7 +13,7 @@ #include "GCodes/GCodeBuffer.h" -LinearDeltaKinematics::LinearDeltaKinematics() : Kinematics(KinematicsType::linearDelta, -1.0, 0.0, true) +LinearDeltaKinematics::LinearDeltaKinematics() : Kinematics(KinematicsType::linearDelta, -1.0, 0.0, true), numTowers(UsualNumTowers) { Init(); } @@ -26,17 +26,21 @@ const char *LinearDeltaKinematics::GetName(bool forStatusReport) const void LinearDeltaKinematics::Init() { - diagonal = DefaultDiagonal; radius = DefaultDeltaRadius; xTilt = yTilt = 0.0; printRadius = DefaultPrintRadius; homedHeight = DefaultDeltaHomedHeight; doneAutoCalibration = false; - for (size_t axis = 0; axis < DELTA_AXES; ++axis) + for (size_t axis = 0; axis < UsualNumTowers; ++axis) { angleCorrections[axis] = 0.0; endstopAdjustments[axis] = 0.0; + } + + for (size_t axis = 0; axis < MaxTowers; ++axis) + { + diagonals[axis] = DefaultDiagonal; towerX[axis] = towerY[axis] = 0.0; } @@ -63,14 +67,38 @@ void LinearDeltaKinematics::Recalc() coreFc = fsquare(towerX[DELTA_C_AXIS]) + fsquare(towerY[DELTA_C_AXIS]); Q = (Xca * Yab - Xab * Yca) * 2; Q2 = fsquare(Q); - D2 = fsquare(diagonal); - // Calculate the base carriage height when the printer is homed, i.e. the carriages are at the endstops less the corrections - const float tempHeight = diagonal; // any sensible height will do here - float machinePos[DELTA_AXES]; - ForwardTransform(tempHeight, tempHeight, tempHeight, machinePos); - homedCarriageHeight = homedHeight + tempHeight - machinePos[Z_AXIS]; + // Calculate the base carriage heights when the printer is homed, i.e. the carriages are at the endstops, and the always-reachable height + alwaysReachableHeight = homedHeight; + for (size_t axis = 0; axis < numTowers; ++axis) + { + D2[axis] = fsquare(diagonals[axis]); + if (axis < UsualNumTowers) + { + homedCarriageHeights[axis] = homedHeight + sqrtf(D2[axis] - fsquare(radius)) + endstopAdjustments[axis]; + } + else + { + homedCarriageHeights[axis] = homedHeight + sqrtf(D2[axis] - fsquare(towerX[axis]) - fsquare(towerY[axis])); + } + const float heightLimit = homedCarriageHeights[axis] - diagonals[axis]; + if (heightLimit < alwaysReachableHeight) + { + alwaysReachableHeight = heightLimit; + } + } + printRadiusSquared = fsquare(printRadius); + + if (reprap.Debug(moduleMove)) + { + debugPrintf("HCH:"); + for (size_t i = 0; i < numTowers; ++i) + { + debugPrintf(" %.2f", (double)homedCarriageHeights[i]); + } + debugPrintf("\n"); + } } // Make the average of the endstop adjustments zero, without changing the individual homed carriage heights @@ -81,15 +109,14 @@ void LinearDeltaKinematics::NormaliseEndstopAdjustments() endstopAdjustments[DELTA_B_AXIS] -= eav; endstopAdjustments[DELTA_C_AXIS] -= eav; homedHeight += eav; - homedCarriageHeight += eav; // no need for a full recalc, this is sufficient } // Calculate the motor position for a single tower from a Cartesian coordinate. float LinearDeltaKinematics::Transform(const float machinePos[], size_t axis) const { - if (axis < DELTA_AXES) + if (axis < numTowers) { - return sqrtf(D2 - fsquare(machinePos[X_AXIS] - towerX[axis]) - fsquare(machinePos[Y_AXIS] - towerY[axis])) + return sqrtf(D2[axis] - fsquare(machinePos[X_AXIS] - towerX[axis]) - fsquare(machinePos[Y_AXIS] - towerY[axis])) + machinePos[Z_AXIS] + (machinePos[X_AXIS] * xTilt) + (machinePos[Y_AXIS] * yTilt); @@ -101,7 +128,7 @@ float LinearDeltaKinematics::Transform(const float machinePos[], size_t axis) co } // Calculate the Cartesian coordinates from the motor coordinates -void LinearDeltaKinematics::ForwardTransform(float Ha, float Hb, float Hc, float machinePos[DELTA_AXES]) const +void LinearDeltaKinematics::ForwardTransform(float Ha, float Hb, float Hc, float machinePos[XYZ_AXES]) const { const float Fa = coreFa + fsquare(Ha); const float Fb = coreFb + fsquare(Hb); @@ -117,7 +144,7 @@ void LinearDeltaKinematics::ForwardTransform(float Ha, float Hb, float Hc, float const float A = U2 + R2 + Q2; const float minusHalfB = S * U + P * R + Ha * Q2 + towerX[DELTA_A_AXIS] * U * Q - towerY[DELTA_A_AXIS] * R * Q; - const float C = fsquare(S + towerX[DELTA_A_AXIS] * Q) + fsquare(P - towerY[DELTA_A_AXIS] * Q) + (fsquare(Ha) - D2) * Q2; + const float C = fsquare(S + towerX[DELTA_A_AXIS] * Q) + fsquare(P - towerY[DELTA_A_AXIS] * Q) + (fsquare(Ha) - D2[DELTA_A_AXIS]) * Q2; const float z = (minusHalfB - sqrtf(fsquare(minusHalfB) - A * C)) / A; machinePos[X_AXIS] = (U * z - S) / Q; @@ -129,7 +156,7 @@ void LinearDeltaKinematics::ForwardTransform(float Ha, float Hb, float Hc, float bool LinearDeltaKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const { bool ok = true; - for (size_t axis = 0; axis < min<size_t>(numVisibleAxes, DELTA_AXES); ++axis) + for (size_t axis = 0; axis < numTowers; ++axis) { const float pos = Transform(machinePos, axis); if (isnan(pos) || isinf(pos)) @@ -143,7 +170,7 @@ bool LinearDeltaKinematics::CartesianToMotorSteps(const float machinePos[], cons } // Transform any additional axes linearly - for (size_t axis = DELTA_AXES; axis < numVisibleAxes; ++axis) + for (size_t axis = numTowers; axis < numVisibleAxes; ++axis) { motorPos[axis] = lrintf(machinePos[axis] * stepsPerMm[axis]); } @@ -156,7 +183,7 @@ void LinearDeltaKinematics::MotorStepsToCartesian(const int32_t motorPos[], cons ForwardTransform(motorPos[DELTA_A_AXIS]/stepsPerMm[DELTA_A_AXIS], motorPos[DELTA_B_AXIS]/stepsPerMm[DELTA_B_AXIS], motorPos[DELTA_C_AXIS]/stepsPerMm[DELTA_C_AXIS], machinePos); // Convert any additional axes linearly - for (size_t drive = DELTA_AXES; drive < numVisibleAxes; ++drive) + for (size_t drive = numTowers; drive < numVisibleAxes; ++drive) { machinePos[drive] = motorPos[drive]/stepsPerMm[drive]; } @@ -169,43 +196,116 @@ bool LinearDeltaKinematics::IsReachable(float x, float y, bool isCoordinated) co } // Limit the Cartesian position that the user wants to move to returning true if we adjusted the position -bool LinearDeltaKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const +bool LinearDeltaKinematics::LimitPosition(float finalCoords[], float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const { const AxesBitmap allAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); bool limited = false; + + // If axes have been homed on a delta printer and this isn't a homing move, check for movements outside limits. + // Skip this check if axes have not been homed, so that extruder-only moves are allowed before homing if ((axesHomed & allAxes) == allAxes) { - // If axes have been homed on a delta printer and this isn't a homing move, check for movements outside limits. - // Skip this check if axes have not been homed, so that extruder-only moves are allowed before homing // Constrain the move to be within the build radius - const float diagonalSquared = fsquare(coords[X_AXIS]) + fsquare(coords[Y_AXIS]); + const float diagonalSquared = fsquare(finalCoords[X_AXIS]) + fsquare(finalCoords[Y_AXIS]); if (diagonalSquared > printRadiusSquared) { const float factor = sqrtf(printRadiusSquared / diagonalSquared); - coords[X_AXIS] *= factor; - coords[Y_AXIS] *= factor; + finalCoords[X_AXIS] *= factor; + finalCoords[Y_AXIS] *= factor; limited = true; } - if (coords[Z_AXIS] < reprap.GetPlatform().AxisMinimum(Z_AXIS)) + // Constrain the position to be withint the reachable height + if (initialCoords == nullptr) { - coords[Z_AXIS] = reprap.GetPlatform().AxisMinimum(Z_AXIS); - limited = true; + // Asking to limit a single position + if (finalCoords[Z_AXIS] > alwaysReachableHeight) + { + for (size_t tower = 0; tower < UsualNumTowers; ++tower) + { + const float carriageHeight = Transform(finalCoords, tower); + if (carriageHeight > homedCarriageHeights[tower]) + { + finalCoords[Z_AXIS] -= (carriageHeight - homedCarriageHeights[tower]); + limited = true; + } + } + } + } - else + else if (finalCoords[Z_AXIS] > alwaysReachableHeight || initialCoords[Z_AXIS] > alwaysReachableHeight) { - // Determine the maximum reachable height at this radius, in the worst case when the head is on a radius to a tower - const float maxHeight = homedCarriageHeight - sqrtf(D2 - fsquare(radius - sqrtf(diagonalSquared))); - if (coords[Z_AXIS] > maxHeight) + // Asking to limit all positions along a straight line + // Determine the maximum reachable height at this position and all intermediate positions + const float dx = finalCoords[X_AXIS] - initialCoords[X_AXIS], + dy = finalCoords[Y_AXIS] - initialCoords[Y_AXIS]; + const float P = fsquare(dx) + fsquare(dy); + float dz = finalCoords[Z_AXIS] - initialCoords[Z_AXIS]; + float Q = P + fsquare(dz); + if (Q != 0.0) // if there is any XYZ movement { - coords[Z_AXIS] = maxHeight; - limited = true; + for (size_t tower = 0; tower < numTowers; ++tower) + { + bool again; + const float tx = towerX[tower] - initialCoords[X_AXIS], + ty = towerY[tower] - initialCoords[Y_AXIS]; + do + { + again = false; + + // Determine the coordinates of the closest point of approach to the tower + const float t = (dz * sqrtf(Q * (fsquare(diagonals[tower]) * P - fsquare(dx * ty - dy * tx))) + (dx * tx + dy * ty) * P); + if (t > 0.0) + { + float tempCoords[XYZ_AXES]; + float PQ = P * Q; + if (t < PQ) + { + tempCoords[X_AXIS] = initialCoords[X_AXIS] + dx * (t/PQ); + tempCoords[Y_AXIS] = initialCoords[Y_AXIS] + dy * (t/PQ); + tempCoords[Z_AXIS] = initialCoords[Z_AXIS] + dz * (t/PQ); + } + else + { + tempCoords[X_AXIS] = finalCoords[X_AXIS]; + tempCoords[Y_AXIS] = finalCoords[Y_AXIS]; + tempCoords[Z_AXIS] = finalCoords[Z_AXIS]; + } + const float carriageHeight = Transform(tempCoords, tower); + if (carriageHeight > homedCarriageHeights[tower]) + { + float reductionNeeded = carriageHeight - homedCarriageHeights[tower]; + if (t < PQ) + { + reductionNeeded *= PQ/t; + } + finalCoords[Z_AXIS] -= reductionNeeded + 0.5; // over-correct to speed up convergence. 0.5mm is better than 0.1mm and as good as 1mm. + limited = true; + + // Changing the end point Z coordinate will have moved the closest point of approach, so we need to iterate + again = true; + dz = finalCoords[Z_AXIS] - initialCoords[Z_AXIS]; + Q = P + fsquare(dz); + if (reprap.Debug(moduleMove)) + { + debugPrintf("Limit tower %u, t=%.2f\n", tower, (double)(t/PQ)); + } + } + } + } while (again); + } } } + + if (applyM208Limits && finalCoords[Z_AXIS] < reprap.GetPlatform().AxisMinimum(Z_AXIS)) + { + finalCoords[Z_AXIS] = reprap.GetPlatform().AxisMinimum(Z_AXIS); + limited = true; + } } // Limit any additional axes according to the M208 limits - if (LimitPositionFromAxis(coords, Z_AXIS + 1, numVisibleAxes, axesHomed)) + if (applyM208Limits && LimitPositionFromAxis(finalCoords, numTowers, numVisibleAxes, axesHomed)) { limited = true; } @@ -246,13 +346,13 @@ bool LinearDeltaKinematics::DoAutoCalibration(size_t numFactors, const RandomPro //uint32_t startTime = reprap.GetPlatform()->GetInterruptClocks(); // Transform the probing points to motor endpoints and store them in a matrix, so that we can do multiple iterations using the same data - FixedMatrix<floatc_t, MaxCalibrationPoints, DELTA_AXES> probeMotorPositions; + FixedMatrix<floatc_t, MaxCalibrationPoints, UsualNumTowers> probeMotorPositions; floatc_t corrections[MaxCalibrationPoints]; floatc_t initialSumOfSquares = 0.0; for (size_t i = 0; i < numPoints; ++i) { corrections[i] = 0.0; - float machinePos[DELTA_AXES]; + float machinePos[XYZ_AXES]; const floatc_t zp = reprap.GetMove().GetProbeCoordinates(i, machinePos[X_AXIS], machinePos[Y_AXIS], probePoints.PointWasCorrected(i)); machinePos[Z_AXIS] = 0.0; @@ -275,8 +375,14 @@ bool LinearDeltaKinematics::DoAutoCalibration(size_t numFactors, const RandomPro for (size_t j = 0; j < numFactors; ++j) { const size_t adjustedJ = (numFactors == 8 && j >= 6) ? j + 1 : j; // skip diagonal rod length if doing 8-factor calibration - derivativeMatrix(i, j) = + const floatc_t d = ComputeDerivative(adjustedJ, probeMotorPositions(i, DELTA_A_AXIS), probeMotorPositions(i, DELTA_B_AXIS), probeMotorPositions(i, DELTA_C_AXIS)); + if (isnan(d)) // a couple of users have reported getting Nans in the derivative, probably due to points being unreachable + { + reply.printf("Auto calibration failed because probe point P%u was unreachable using the current delta parameters. Try a smaller probing radius.", i); + return true; + } + derivativeMatrix(i, j) = d; } } @@ -311,8 +417,17 @@ bool LinearDeltaKinematics::DoAutoCalibration(size_t numFactors, const RandomPro PrintMatrix("Normal matrix", normalMatrix, numFactors, numFactors + 1); } + if (!normalMatrix.GaussJordan(numFactors, numFactors + 1)) + { + reply.copy("Unable to calculate calibration parameters. Please choose different probe points."); + return true; + } + floatc_t solution[NumDeltaFactors]; - normalMatrix.GaussJordan(solution, numFactors); + for (size_t i = 0; i < numFactors; ++i) + { + solution[i] = normalMatrix(i, numFactors); + } if (reprap.Debug(moduleMove)) { @@ -336,22 +451,22 @@ bool LinearDeltaKinematics::DoAutoCalibration(size_t numFactors, const RandomPro } // Save the old homed carriage heights before we change the endstop corrections - float homedCarriageHeights[DELTA_AXES]; - for (size_t drive = 0; drive < DELTA_AXES; ++drive) + float oldHomedCarriageHeights[UsualNumTowers]; + for (size_t drive = 0; drive < UsualNumTowers; ++drive) { - homedCarriageHeights[drive] = GetHomedCarriageHeight(drive); + oldHomedCarriageHeights[drive] = GetHomedCarriageHeight(drive); } Adjust(numFactors, solution); // adjust the delta parameters - float heightAdjust[DELTA_AXES]; - for (size_t drive = 0; drive < DELTA_AXES; ++drive) + float heightAdjust[UsualNumTowers]; + for (size_t drive = 0; drive < UsualNumTowers; ++drive) { - heightAdjust[drive] = GetHomedCarriageHeight(drive) - homedCarriageHeights[drive]; + heightAdjust[drive] = GetHomedCarriageHeight(drive) - oldHomedCarriageHeights[drive]; } // Adjust the motor endpoints to allow for the change to endstop adjustments - reprap.GetMove().AdjustMotorPositions(heightAdjust, DELTA_AXES); + reprap.GetMove().AdjustMotorPositions(heightAdjust, UsualNumTowers); // Calculate the expected probe heights using the new parameters { @@ -359,11 +474,11 @@ bool LinearDeltaKinematics::DoAutoCalibration(size_t numFactors, const RandomPro floatc_t sumOfSquares = 0.0; for (size_t i = 0; i < numPoints; ++i) { - for (size_t axis = 0; axis < DELTA_AXES; ++axis) + for (size_t axis = 0; axis < UsualNumTowers; ++axis) { probeMotorPositions(i, axis) += solution[axis]; } - float newPosition[DELTA_AXES]; + float newPosition[XYZ_AXES]; ForwardTransform(probeMotorPositions(i, DELTA_A_AXIS), probeMotorPositions(i, DELTA_B_AXIS), probeMotorPositions(i, DELTA_C_AXIS), newPosition); corrections[i] = newPosition[Z_AXIS]; expectedResiduals[i] = probePoints.GetZHeight(i) + newPosition[Z_AXIS]; @@ -407,7 +522,7 @@ bool LinearDeltaKinematics::DoAutoCalibration(size_t numFactors, const RandomPro // Return the type of motion computation needed by an axis MotionType LinearDeltaKinematics::GetMotionType(size_t axis) const { - return (axis < DELTA_AXES) ? MotionType::segmentFreeDelta : MotionType::linear; + return (axis < numTowers) ? MotionType::segmentFreeDelta : MotionType::linear; } // Compute the derivative of height with respect to a parameter at the specified motor endpoints. @@ -452,8 +567,11 @@ floatc_t LinearDeltaKinematics::ComputeDerivative(unsigned int deriv, float ha, break; case 6: - hiParams.diagonal += perturb; - loParams.diagonal -= perturb; + for (size_t tower = 0; tower < UsualNumTowers; ++tower) + { + hiParams.diagonals[tower] += perturb; + loParams.diagonals[tower] -= perturb; + } hiParams.Recalc(); loParams.Recalc(); break; @@ -464,7 +582,7 @@ floatc_t LinearDeltaKinematics::ComputeDerivative(unsigned int deriv, float ha, break; } - float newPos[DELTA_AXES]; + float newPos[XYZ_AXES]; hiParams.ForwardTransform((deriv == 0) ? ha + perturb : ha, (deriv == 1) ? hb + perturb : hb, (deriv == 2) ? hc + perturb : hc, newPos); if (deriv == 7) { @@ -493,8 +611,6 @@ floatc_t LinearDeltaKinematics::ComputeDerivative(unsigned int deriv, float ha, // Y tilt adjustment void LinearDeltaKinematics::Adjust(size_t numFactors, const floatc_t v[]) { - const float oldCarriageHeightA = GetHomedCarriageHeight(DELTA_A_AXIS); // save for later - // Update endstop adjustments endstopAdjustments[DELTA_A_AXIS] += (float)v[0]; endstopAdjustments[DELTA_B_AXIS] += (float)v[1]; @@ -512,7 +628,10 @@ void LinearDeltaKinematics::Adjust(size_t numFactors, const floatc_t v[]) if (numFactors == 7 || numFactors == 9) { - diagonal += (float)v[6]; + for (size_t tower = 0; tower < UsualNumTowers; ++tower) + { + diagonals[tower] += (float)v[6]; + } } if (numFactors == 8) @@ -526,15 +645,9 @@ void LinearDeltaKinematics::Adjust(size_t numFactors, const floatc_t v[]) yTilt += (float)v[8]/printRadius; } } - - Recalc(); } - // Adjusting the diagonal and the tower positions affects the homed carriage height. - // We need to adjust homedHeight to allow for this, to get the change that was requested in the endstop corrections. - const float heightError = GetHomedCarriageHeight(DELTA_A_AXIS) - oldCarriageHeightA - (float)v[0]; - homedHeight -= heightError; - homedCarriageHeight -= heightError; + Recalc(); // Note: if we adjusted the X and Y tilts, and there are any endstop adjustments, then the homed position won't be exactly in the centre // and changing the tilt will therefore affect the homed height. We ignore this for now. If it is ever significant, a second autocalibration @@ -544,9 +657,16 @@ void LinearDeltaKinematics::Adjust(size_t numFactors, const floatc_t v[]) // Print all the parameters for debugging void LinearDeltaKinematics::PrintParameters(const StringRef& reply) const { - reply.printf("Stops X%.3f Y%.3f Z%.3f height %.3f diagonal %.3f radius %.3f xcorr %.2f ycorr %.2f zcorr %.2f xtilt %.3f%% ytilt %.3f%%\n", - (double)endstopAdjustments[DELTA_A_AXIS], (double)endstopAdjustments[DELTA_B_AXIS], (double)endstopAdjustments[DELTA_C_AXIS], (double)homedHeight, (double)diagonal, (double)radius, - (double)angleCorrections[DELTA_A_AXIS], (double)angleCorrections[DELTA_B_AXIS], (double)angleCorrections[DELTA_C_AXIS], (double)(xTilt * 100.0), (double)(yTilt * 100.0)); + reply.printf("Stops X%.3f Y%.3f Z%.3f height %.3f diagonals", + (double)endstopAdjustments[DELTA_A_AXIS], (double)endstopAdjustments[DELTA_B_AXIS], (double)endstopAdjustments[DELTA_C_AXIS], (double)homedHeight); + for (size_t tower = 0; tower < numTowers; ++tower) + { + reply.catf("%c%.3f", (tower == 0) ? ' ' : ':', (double)diagonals[tower]); + } + reply.catf(" radius %.3f xcorr %.2f ycorr %.2f zcorr %.2f xtilt %.3f%% ytilt %.3f%%\n", + (double)radius, + (double)angleCorrections[DELTA_A_AXIS], (double)angleCorrections[DELTA_B_AXIS], (double)angleCorrections[DELTA_C_AXIS], + (double)(xTilt * 100.0), (double)(yTilt * 100.0)); } // Write the parameters that are set by auto calibration to a file, returning true if success @@ -556,8 +676,15 @@ bool LinearDeltaKinematics::WriteCalibrationParameters(FileStore *f) const if (ok) { String<ScratchStringLength> scratchString; - scratchString.printf("M665 L%.3f R%.3f H%.3f B%.1f X%.3f Y%.3f Z%.3f\n", - (double)diagonal, (double)radius, (double)homedHeight, (double)printRadius, (double)angleCorrections[DELTA_A_AXIS], (double)angleCorrections[DELTA_B_AXIS], (double)angleCorrections[DELTA_C_AXIS]); + scratchString.copy("M665 "); + for (size_t tower = 0; tower < numTowers; ++tower) + { + scratchString.catf("%c%.3f", (tower == 0) ? 'L' : ':', (double)diagonals[tower]); + } + + scratchString.catf(" R%.3f H%.3f B%.1f X%.3f Y%.3f Z%.3f\n", + (double)radius, (double)homedHeight, (double)printRadius, + (double)angleCorrections[DELTA_A_AXIS], (double)angleCorrections[DELTA_B_AXIS], (double)angleCorrections[DELTA_C_AXIS]); ok = f->Write(scratchString.c_str()); if (ok) { @@ -590,7 +717,18 @@ bool LinearDeltaKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const case 665: { bool seen = false; - gb.TryGetFValue('L', diagonal, seen); + if (gb.Seen('L')) + { + seen = true; + size_t numValues = MaxAxes; + gb.GetFloatArray(diagonals, numValues, false); + while (numValues < 3) + { + diagonals[numValues++] = diagonals[0]; + } + numTowers = numValues; + } + gb.TryGetFValue('R', radius, seen); if (gb.Seen('B')) @@ -622,9 +760,14 @@ bool LinearDeltaKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const } else { - reply.printf("Diagonal %.3f, delta radius %.3f, homed height %.3f, bed radius %.1f" + reply.copy("Diagonals"); + for (size_t tower = 0; tower < numTowers; ++tower) + { + reply.catf("%c%.3f", (tower == 0) ? ' ' : ':', (double)diagonals[tower]); + } + reply.catf(", delta radius %.3f, homed height %.3f, bed radius %.1f" ", X %.3f" DEGREE_SYMBOL ", Y %.3f" DEGREE_SYMBOL ", Z %.3f" DEGREE_SYMBOL, - (double)diagonal, (double)radius, + (double)radius, (double)homedHeight, (double)printRadius, (double)angleCorrections[DELTA_A_AXIS], (double)angleCorrections[DELTA_B_AXIS], (double)angleCorrections[DELTA_C_AXIS]); } @@ -649,7 +792,11 @@ bool LinearDeltaKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const seen = true; } - if (!seen) + if (seen) + { + Recalc(); + } + else { reply.printf("Endstop adjustments X%.2f Y%.2f Z%.2f, tilt X%.2f%% Y%.2f%%", (double)endstopAdjustments[X_AXIS], (double)endstopAdjustments[Y_AXIS], (double)endstopAdjustments[Z_AXIS], @@ -658,6 +805,41 @@ bool LinearDeltaKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const return seen; } + case 669: + { + // X and Y give the X and Y coordinates of the additional towers beyond the first three + // The correct number of L parameters must have been given in the M665 command first + size_t numX = 0, numY = 0; + if (gb.Seen('X')) + { + numX = MaxTowers - UsualNumTowers; + gb.GetFloatArray(towerX + UsualNumTowers, numX, false); + if (numX != numTowers - UsualNumTowers) + { + reply.copy("Wrong number of X values"); + error = true; + return true; + } + } + if (gb.Seen('Y')) + { + numY = MaxTowers - UsualNumTowers; + gb.GetFloatArray(towerY + UsualNumTowers, numY, false); + if (numY != numTowers - UsualNumTowers) + { + reply.copy("Wrong number of Y values"); + error = true; + return true; + } + } + if (numX != 0 || numY != 0) + { + Recalc(); // recalculate the homed carriage heights + return true; + } + return Kinematics::Configure(mCode, gb, reply, error); + } + default: return Kinematics::Configure(mCode, gb, reply, error); } @@ -692,7 +874,7 @@ AxesBitmap LinearDeltaKinematics::MustBeHomedAxes(AxesBitmap axesMoving, bool di AxesBitmap LinearDeltaKinematics::GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, const StringRef& filename) const { // If homing X, Y or Z we must home all the towers - if ((toBeHomed & LowestNBits<AxesBitmap>(DELTA_AXES)) != 0) + if ((toBeHomed & LowestNBits<AxesBitmap>(XYZ_AXES)) != 0) { filename.copy("homedelta.g"); return 0; @@ -709,15 +891,14 @@ bool LinearDeltaKinematics::QueryTerminateHomingMove(size_t axis) const } // This function is called from the step ISR when an endstop switch is triggered during homing after stopping just one motor or all motors. -// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate() and return false. +// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate(). void LinearDeltaKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const { - if (axis < DELTA_AXES) + if (axis < numTowers) { if (highEnd) { - const float hitPoint = GetHomedCarriageHeight(axis); - dda.SetDriveCoordinate(lrintf(hitPoint * stepsPerMm[axis]), axis); + dda.SetDriveCoordinate(lrintf(homedCarriageHeights[axis] * stepsPerMm[axis]), axis); } } else @@ -730,7 +911,7 @@ void LinearDeltaKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, c // Limit the speed and acceleration of a move to values that the mechanics can handle. // The speeds in Cartesian space have already been limited. -void LinearDeltaKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const +void LinearDeltaKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const { // Limit the speed in the XY plane to the lower of the X and Y maximum speeds, and similarly for the acceleration const float xyFactor = sqrtf(fsquare(normalisedDirectionVector[X_AXIS]) + fsquare(normalisedDirectionVector[Y_AXIS])); diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.h b/src/Movement/Kinematics/LinearDeltaKinematics.h index 8a98de35..d0fbde2a 100644 --- a/src/Movement/Kinematics/LinearDeltaKinematics.h +++ b/src/Movement/Kinematics/LinearDeltaKinematics.h @@ -11,8 +11,6 @@ #include "RepRapFirmware.h" #include "Kinematics.h" -constexpr size_t DELTA_AXES = 3; - // Class to hold the parameter for a delta machine. class LinearDeltaKinematics : public Kinematics { @@ -31,25 +29,25 @@ public: bool WriteCalibrationParameters(FileStore *f) const override; float GetTiltCorrection(size_t axis) const override; bool IsReachable(float x, float y, bool isCoordinated) const override; - bool LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const override; + bool LimitPosition(float finalCoords[], float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const override; void GetAssumedInitialPosition(size_t numAxes, float positions[]) const override; AxesBitmap AxesToHomeBeforeProbing() const override { return MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); } MotionType GetMotionType(size_t axis) const override; size_t NumHomingButtons(size_t numVisibleAxes) const override { return 0; } - HomingMode GetHomingMode() const override { return homeIndividualMotors; } + HomingMode GetHomingMode() const override { return HomingMode::homeIndividualMotors; } AxesBitmap AxesAssumedHomed(AxesBitmap g92Axes) const override; AxesBitmap MustBeHomedAxes(AxesBitmap axesMoving, bool disallowMovesBeforeHoming) const override; AxesBitmap GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, const StringRef& filename) const override; bool QueryTerminateHomingMove(size_t axis) const override; void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; bool WriteResumeSettings(FileStore *f) const override; - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; + void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const override; // Public functions specific to this class - float GetDiagonalSquared() const { return D2; } + float GetDiagonalSquared(size_t tower) const { return D2[tower]; } float GetTowerX(size_t axis) const { return towerX[axis]; } float GetTowerY(size_t axis) const { return towerY[axis]; } - float GetHomedCarriageHeight(size_t axis) const { return homedCarriageHeight + endstopAdjustments[axis]; } + float GetHomedCarriageHeight(size_t axis) const { return homedCarriageHeights[axis] + endstopAdjustments[axis]; } float GetHomedHeight() const { return homedHeight; } private: @@ -57,12 +55,15 @@ private: void Recalc(); void NormaliseEndstopAdjustments(); // Make the average of the endstop adjustments zero float Transform(const float headPos[], size_t axis) const; // Calculate the motor position for a single tower from a Cartesian coordinate - void ForwardTransform(float Ha, float Hb, float Hc, float headPos[]) const; // Calculate the Cartesian position from the motor positions + void ForwardTransform(float Ha, float Hb, float Hc, float headPos[XYZ_AXES]) const; // Calculate the Cartesian position from the motor positions floatc_t ComputeDerivative(unsigned int deriv, float ha, float hb, float hc) const; // Compute the derivative of height with respect to a parameter at a set of motor endpoints void Adjust(size_t numFactors, const floatc_t v[]); // Perform 3-, 4-, 6- or 7-factor adjustment void PrintParameters(const StringRef& reply) const; // Print all the parameters for debugging + static constexpr size_t MaxTowers = 6; // maximum number of delta towers + static constexpr size_t UsualNumTowers = 3; // the usual number of towers, which are the ones we use for forward kinematics and the ones we calibrate + // Axis names used internally static constexpr size_t DELTA_A_AXIS = 0; static constexpr size_t DELTA_B_AXIS = 1; @@ -75,22 +76,25 @@ private: static constexpr float DefaultDeltaHomedHeight = 240.0; // Core parameters - float diagonal; // The diagonal rod length, all 3 are assumed to be the same length + size_t numTowers; + float diagonals[MaxTowers]; // The diagonal rod lengths float radius; // The nominal delta radius, before any fine tuning of tower positions - float angleCorrections[DELTA_AXES]; // Tower position corrections - float endstopAdjustments[DELTA_AXES]; // How much above or below the ideal position each endstop is + float angleCorrections[UsualNumTowers]; // Tower position corrections for the first 3 axes + float endstopAdjustments[UsualNumTowers]; // How much above or below the ideal position each endstop is float printRadius; float homedHeight; float xTilt, yTilt; // How much we need to raise Z for each unit of movement in the +X and +Y directions // Derived values - float towerX[DELTA_AXES]; // The X coordinate of each tower - float towerY[DELTA_AXES]; // The Y coordinate of each tower + float towerX[MaxTowers]; // The X coordinate of each tower + float towerY[MaxTowers]; // The Y coordinate of each tower float printRadiusSquared; - float homedCarriageHeight; + float homedCarriageHeights[MaxTowers]; float Xbc, Xca, Xab, Ybc, Yca, Yab; float coreFa, coreFb, coreFc; - float Q, Q2, D2; + float Q, Q2; + float D2[MaxTowers]; + float alwaysReachableHeight; bool doneAutoCalibration; // True if we have done auto calibration }; diff --git a/src/Movement/Kinematics/PolarKinematics.cpp b/src/Movement/Kinematics/PolarKinematics.cpp index 9c0f01db..89203fb7 100644 --- a/src/Movement/Kinematics/PolarKinematics.cpp +++ b/src/Movement/Kinematics/PolarKinematics.cpp @@ -134,10 +134,12 @@ bool PolarKinematics::IsReachable(float x, float y, bool isCoordinated) const } // Limit the Cartesian position that the user wants to move to, returning true if any coordinates were changed -bool PolarKinematics::LimitPosition(float position[], size_t numAxes, AxesBitmap axesHomed, bool isCoordinated) const +bool PolarKinematics::LimitPosition(float finalCoords[], float * null initialCoords, size_t numAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const { - const bool m208Limited = Kinematics::LimitPositionFromAxis(position, Z_AXIS, numAxes, axesHomed); // call base class function to limit Z and higher axes - const float r2 = fsquare(position[0]) + fsquare(position[1]); + const bool m208Limited = (applyM208Limits) + ? Kinematics::LimitPositionFromAxis(finalCoords, Z_AXIS, numAxes, axesHomed) // call base class function to limit Z and higher axes + : false; + const float r2 = fsquare(finalCoords[X_AXIS]) + fsquare(finalCoords[Y_AXIS]); bool radiusLimited; if (r2 < minRadiusSquared) { @@ -145,21 +147,21 @@ bool PolarKinematics::LimitPosition(float position[], size_t numAxes, AxesBitmap const float r = sqrtf(r2); if (r < 0.01) { - position[0] = minRadius; - position[1] = 0.0; + finalCoords[X_AXIS] = minRadius; + finalCoords[Y_AXIS] = 0.0; } else { - position[0] *= minRadius/r; - position[1] *= minRadius/r; + finalCoords[X_AXIS] *= minRadius/r; + finalCoords[Y_AXIS] *= minRadius/r; } } else if (r2 > maxRadiusSquared) { radiusLimited = true; const float r = sqrtf(r2); - position[0] *= maxRadius/r; - position[1] *= maxRadius/r; + finalCoords[X_AXIS] *= maxRadius/r; + finalCoords[Y_AXIS] *= maxRadius/r; } else { @@ -212,11 +214,11 @@ AxesBitmap PolarKinematics::GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap a if (ret == 0) { // Change the returned name if it is X or Y - if (StringEquals(filename.c_str(), "homex.g")) + if (StringEqualsIgnoreCase(filename.c_str(), "homex.g")) { filename.copy(HomeRadiusFileName); } - else if (StringEquals(filename.c_str(), "homey.g")) + else if (StringEqualsIgnoreCase(filename.c_str(), "homey.g")) { filename.copy(HomeBedFileName); } @@ -255,13 +257,29 @@ void PolarKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const f // Limit the speed and acceleration of a move to values that the mechanics can handle. // The speeds in Cartesian space have already been limited. -void PolarKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const +void PolarKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const { - const int32_t turntableMovement = labs(dda.DriveCoordinates()[1] - dda.GetPrevious()->DriveCoordinates()[1]); + int32_t turntableMovement = labs(dda.DriveCoordinates()[1] - dda.GetPrevious()->DriveCoordinates()[1]); if (turntableMovement != 0) { - const float stepRatio = dda.GetTotalDistance() * reprap.GetPlatform().DriveStepsPerUnit(1)/turntableMovement; - dda.LimitSpeedAndAcceleration(stepRatio * maxTurntableSpeed, stepRatio * maxTurntableAcceleration); + const float stepsPerDegree = reprap.GetPlatform().DriveStepsPerUnit(1); + if (continuousRotationShortcut) + { + const int32_t stepsPerRotation = lrintf(360.0 * stepsPerDegree); + if (turntableMovement > stepsPerRotation/2) + { + turntableMovement -= stepsPerRotation; + } + else if (turntableMovement < -stepsPerRotation/2) + { + turntableMovement += stepsPerRotation; + } + } + if (turntableMovement != 0) + { + const float stepRatio = dda.GetTotalDistance() * stepsPerDegree/abs(turntableMovement); + dda.LimitSpeedAndAcceleration(stepRatio * maxTurntableSpeed, stepRatio * maxTurntableAcceleration); + } } } diff --git a/src/Movement/Kinematics/PolarKinematics.h b/src/Movement/Kinematics/PolarKinematics.h index ae6199c3..0768a3f4 100644 --- a/src/Movement/Kinematics/PolarKinematics.h +++ b/src/Movement/Kinematics/PolarKinematics.h @@ -21,16 +21,16 @@ public: bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; bool IsReachable(float x, float y, bool isCoordinated) const override; - bool LimitPosition(float position[], size_t numAxes, AxesBitmap axesHomed, bool isCoordinated) const override; + bool LimitPosition(float finalCoords[], float * null initialCoords, size_t numAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const override; void GetAssumedInitialPosition(size_t numAxes, float positions[]) const override; const char* HomingButtonNames() const override { return "RTZUVWABC"; } - HomingMode GetHomingMode() const override { return homeIndividualMotors; } + HomingMode GetHomingMode() const override { return HomingMode::homeIndividualMotors; } AxesBitmap AxesAssumedHomed(AxesBitmap g92Axes) const override; AxesBitmap MustBeHomedAxes(AxesBitmap axesMoving, bool disallowMovesBeforeHoming) const override; AxesBitmap GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, const StringRef& filename) const override; bool QueryTerminateHomingMove(size_t axis) const override; void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; + void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const override; bool IsContinuousRotationAxis(size_t axis) const override; private: diff --git a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp index d60aaf41..50f3cdac 100644 --- a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp +++ b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp @@ -236,7 +236,7 @@ bool RotaryDeltaKinematics::IsReachable(float x, float y, bool isCoordinated) co } // Limit the Cartesian position that the user wants to move to returning true if we adjusted the position -bool RotaryDeltaKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const +bool RotaryDeltaKinematics::LimitPosition(float finalCoords[], float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const { const AxesBitmap allAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); bool limited = false; @@ -245,29 +245,29 @@ bool RotaryDeltaKinematics::LimitPosition(float coords[], size_t numVisibleAxes, // If axes have been homed on a delta printer and this isn't a homing move, check for movements outside limits. // Skip this check if axes have not been homed, so that extruder-only moves are allowed before homing // Constrain the move to be within the build radius - const float diagonalSquared = fsquare(coords[X_AXIS]) + fsquare(coords[Y_AXIS]); + const float diagonalSquared = fsquare(finalCoords[X_AXIS]) + fsquare(finalCoords[Y_AXIS]); if (diagonalSquared > printRadiusSquared) { const float factor = sqrtf(printRadiusSquared / diagonalSquared); - coords[X_AXIS] *= factor; - coords[Y_AXIS] *= factor; + finalCoords[X_AXIS] *= factor; + finalCoords[Y_AXIS] *= factor; limited = true; } - if (coords[Z_AXIS] < reprap.GetPlatform().AxisMinimum(Z_AXIS)) + if (finalCoords[Z_AXIS] < reprap.GetPlatform().AxisMinimum(Z_AXIS)) { - coords[Z_AXIS] = reprap.GetPlatform().AxisMinimum(Z_AXIS); + finalCoords[Z_AXIS] = reprap.GetPlatform().AxisMinimum(Z_AXIS); limited = true; } - else if (coords[Z_AXIS] > reprap.GetPlatform().AxisMaximum(Z_AXIS)) + else if (finalCoords[Z_AXIS] > reprap.GetPlatform().AxisMaximum(Z_AXIS)) { - coords[Z_AXIS] = reprap.GetPlatform().AxisMaximum(Z_AXIS); + finalCoords[Z_AXIS] = reprap.GetPlatform().AxisMaximum(Z_AXIS); limited = true; } } // Limit any additional axes according to the M208 limits - if (LimitPositionFromAxis(coords, Z_AXIS + 1, numVisibleAxes, axesHomed)) + if (applyM208Limits && LimitPositionFromAxis(finalCoords, Z_AXIS + 1, numVisibleAxes, axesHomed)) { limited = true; } @@ -359,7 +359,7 @@ bool RotaryDeltaKinematics::WriteResumeSettings(FileStore *f) const // Limit the speed and acceleration of a move to values that the mechanics can handle. // The speeds in Cartesian space have already been limited. -void RotaryDeltaKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const +void RotaryDeltaKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const { // Limit the speed in the XY plane to the lower of the X and Y maximum speeds, and similarly for the acceleration const float xyFactor = sqrtf(fsquare(normalisedDirectionVector[X_AXIS]) + fsquare(normalisedDirectionVector[Y_AXIS])); diff --git a/src/Movement/Kinematics/RotaryDeltaKinematics.h b/src/Movement/Kinematics/RotaryDeltaKinematics.h index 3b731820..d338ccfe 100644 --- a/src/Movement/Kinematics/RotaryDeltaKinematics.h +++ b/src/Movement/Kinematics/RotaryDeltaKinematics.h @@ -26,18 +26,18 @@ public: void SetCalibrationDefaults() override { Init(); } bool WriteCalibrationParameters(FileStore *f) const override; bool IsReachable(float x, float y, bool isCoordinated) const override; - bool LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const override; + bool LimitPosition(float finalCoords[], float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const override; void GetAssumedInitialPosition(size_t numAxes, float positions[]) const override; AxesBitmap AxesToHomeBeforeProbing() const override { return MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); } size_t NumHomingButtons(size_t numVisibleAxes) const override { return 0; } - HomingMode GetHomingMode() const override { return homeIndividualMotors; } + HomingMode GetHomingMode() const override { return HomingMode::homeIndividualMotors; } AxesBitmap AxesAssumedHomed(AxesBitmap g92Axes) const override; AxesBitmap MustBeHomedAxes(AxesBitmap axesMoving, bool disallowMovesBeforeHoming) const override; AxesBitmap GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, const StringRef& filename) const override; bool QueryTerminateHomingMove(size_t axis) const override; void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; bool WriteResumeSettings(FileStore *f) const override; - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; + void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const override; private: void Init(); diff --git a/src/Movement/Kinematics/ScaraKinematics.cpp b/src/Movement/Kinematics/ScaraKinematics.cpp index ac0bff98..32ccd594 100644 --- a/src/Movement/Kinematics/ScaraKinematics.cpp +++ b/src/Movement/Kinematics/ScaraKinematics.cpp @@ -22,7 +22,7 @@ ScaraKinematics::ScaraKinematics() thetaLimits[1] = DefaultMaxTheta; psiLimits[0] = DefaultMinPsi; psiLimits[1] = DefaultMaxPsi; - crosstalk[0] = crosstalk[1] = crosstalk[2] = 0.0; + crosstalk[0] = crosstalk[1] = crosstalk[2] = requestedMinRadius = 0.0; Recalc(); } @@ -98,6 +98,12 @@ bool ScaraKinematics::CalculateThetaAndPsi(const float machinePos[], bool isCoor armMode = !armMode; } + // Save the original and transformed coordinates so that we don't need to calculate them again if we are commanded to move to this position + cachedX = machinePos[0]; + cachedY = machinePos[1]; + cachedTheta = theta; + cachedPsi = psi; + cachedArmMode = armMode; return true; } @@ -143,8 +149,12 @@ void ScaraKinematics::MotorStepsToCartesian(const int32_t motorPos[], const floa const float theta = ((float)motorPos[X_AXIS]/stepsPerMm[X_AXIS]); const float psi = ((float)motorPos[Y_AXIS]/stepsPerMm[Y_AXIS]) + (crosstalk[0] * theta); - machinePos[X_AXIS] = (cosf(theta * DegreesToRadians) * proximalArmLength + cosf((psi + theta) * DegreesToRadians) * distalArmLength) - xOffset; - machinePos[Y_AXIS] = (sinf(theta * DegreesToRadians) * proximalArmLength + sinf((psi + theta) * DegreesToRadians) * distalArmLength) - yOffset; + // Cache the current values so that a Z probe at this position won't fail due to rounding error when transforming the XY coordinates back + currentArmMode = cachedArmMode = (motorPos[Y_AXIS] >= 0); + cachedTheta = theta; + cachedPsi = psi; + cachedX = machinePos[X_AXIS] = (cosf(theta * DegreesToRadians) * proximalArmLength + cosf((psi + theta) * DegreesToRadians) * distalArmLength) - xOffset; + cachedY = machinePos[Y_AXIS] = (sinf(theta * DegreesToRadians) * proximalArmLength + sinf((psi + theta) * DegreesToRadians) * distalArmLength) - yOffset; // On some machines (e.g. Helios), the X and/or Y arm motors also affect the Z height machinePos[Z_AXIS] = ((float)motorPos[Z_AXIS]/stepsPerMm[Z_AXIS]) + (crosstalk[1] * theta) + (crosstalk[2] * psi); @@ -185,6 +195,7 @@ bool ScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const Strin error = true; return true; } + gb.TryGetFValue('R', requestedMinRadius, seen); if (seen || seenNonGeometry) { @@ -208,49 +219,45 @@ bool ScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const Strin } } -// Return true if the specified XY position is reachable by the print head reference point. +// Return true if the specified XY position is reachable by the print head reference point, ignoring M208 limits. bool ScaraKinematics::IsReachable(float x, float y, bool isCoordinated) const { - // Check the M208 limits first - float coords[2] = {x, y}; - if (Kinematics::LimitPosition(coords, 2, LowestNBits<AxesBitmap>(2), isCoordinated)) - { - return false; - } - // See if we can transform the position + float coords[2] = {x, y}; float theta, psi; bool armMode = currentArmMode; - const bool reachable = CalculateThetaAndPsi(coords, isCoordinated, theta, psi, armMode); - if (reachable) + return CalculateThetaAndPsi(coords, isCoordinated, theta, psi, armMode); +} + +// Return true if the intermediate XY positions of a straight line move are reachable without exceeding geometric limits, given that the start and end positions are reachable. +bool ScaraKinematics::IntermediatePositionsReachable(const float initialCoords[], const float finalCoords[], float margin) const +{ + // Calculate how far along the line the closest point of approach to the distal axis is + const float xdiff = finalCoords[0] - initialCoords[0]; + const float ydiff = finalCoords[1] - initialCoords[1]; + const float sumOfSquares = fsquare(xdiff) + fsquare(ydiff); + const float p = (xdiff * (initialCoords[0] + xOffset) + ydiff * (initialCoords[1] + yOffset))/sumOfSquares; + if (p <= 0.0 || p >= 1.0) { - // Save the original and transformed coordinates so that we don't need to calculate them again if we are commanded to move to this position - cachedX = x; - cachedY = y; - cachedTheta = theta; - cachedPsi = psi; - cachedArmMode = armMode; + return true; } - return reachable; + // The closest point of approach to the distal axis is between the start and end points, so calculate the distance + const float cpa = fabsf((finalCoords[0] + xOffset) * (initialCoords[1] + yOffset) - (finalCoords[1] + yOffset) * (initialCoords[0] + xOffset))/sqrtf(sumOfSquares); + return cpa >= minRadius + margin; } // Limit the Cartesian position that the user wants to move to, returning true if any coordinates were changed -bool ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const +bool ScaraKinematics::LimitPosition(float finalCoords[], float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const { // First limit all axes according to M208 - const bool m208Limited = Kinematics::LimitPosition(coords, numVisibleAxes, axesHomed, isCoordinated); - + const bool m208Limited = (applyM208Limits) + ? Kinematics::LimitPositionFromAxis(finalCoords, 0, axesHomed, isCoordinated) + : false; float theta, psi; bool armMode = currentArmMode; - if (CalculateThetaAndPsi(coords, isCoordinated, theta, psi, armMode)) + if (CalculateThetaAndPsi(finalCoords, isCoordinated, theta, psi, armMode)) { - // Save the original and transformed coordinates so that we don't need to calculate them again if we are commanded to move to this position - cachedX = coords[0]; - cachedY = coords[1]; - cachedTheta = theta; - cachedPsi = psi; - cachedArmMode = armMode; return m208Limited; } @@ -258,8 +265,8 @@ bool ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesB if (std::isnan(theta)) { // We are radius-limited - float x = coords[X_AXIS] + xOffset; - float y = coords[Y_AXIS] + yOffset; + float x = finalCoords[X_AXIS] + xOffset; + float y = finalCoords[Y_AXIS] + yOffset; const float r = sqrtf(fsquare(x) + fsquare(y)); if (r < minRadius) { @@ -282,18 +289,18 @@ bool ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesB y *= maxRadius/r; } - coords[X_AXIS] = x - xOffset; - coords[Y_AXIS] = y - yOffset; + finalCoords[X_AXIS] = x - xOffset; + finalCoords[Y_AXIS] = y - yOffset; } // Recalculate theta and psi, but don't allow arm mode changes this time - if (!CalculateThetaAndPsi(coords, true, theta, psi, armMode) && !std::isnan(theta)) + if (!CalculateThetaAndPsi(finalCoords, true, theta, psi, armMode) && !std::isnan(theta)) { // Radius is in range but at least one arm angle isn't cachedTheta = theta = constrain<float>(theta, thetaLimits[0], thetaLimits[1]); cachedPsi = psi = constrain<float>(psi, psiLimits[0], psiLimits[1]); - cachedX = coords[X_AXIS] = (cosf(psi * DegreesToRadians) * proximalArmLength + cosf((psi + theta) * DegreesToRadians) * distalArmLength) - xOffset; - cachedY = coords[Y_AXIS] = (sinf(psi * DegreesToRadians) * proximalArmLength + sinf((psi + theta) * DegreesToRadians) * distalArmLength) - yOffset; + cachedX = finalCoords[X_AXIS] = (cosf(psi * DegreesToRadians) * proximalArmLength + cosf((psi + theta) * DegreesToRadians) * distalArmLength) - xOffset; + cachedY = finalCoords[Y_AXIS] = (sinf(psi * DegreesToRadians) * proximalArmLength + sinf((psi + theta) * DegreesToRadians) * distalArmLength) - yOffset; cachedArmMode = currentArmMode; } @@ -326,10 +333,10 @@ AxesBitmap ScaraKinematics::AxesAssumedHomed(AxesBitmap g92Axes) const // Return the set of axes that must be homed prior to regular movement of the specified axes AxesBitmap ScaraKinematics::MustBeHomedAxes(AxesBitmap axesMoving, bool disallowMovesBeforeHoming) const { - constexpr AxesBitmap xyzAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); - if ((axesMoving & xyzAxes) != 0) + constexpr AxesBitmap xyAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS); + if ((axesMoving & xyAxes) != 0) { - axesMoving |= xyzAxes; + axesMoving |= xyAxes; } return axesMoving; } @@ -363,11 +370,11 @@ AxesBitmap ScaraKinematics::GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap a if (ret == 0) { // Change the returned name if it is X or Y - if (StringEquals(filename.c_str(), "homex.g")) + if (StringEqualsIgnoreCase(filename.c_str(), "homex.g")) { filename.copy(HomeProximalFileName); } - else if (StringEquals(filename.c_str(), "homey.g")) + else if (StringEqualsIgnoreCase(filename.c_str(), "homey.g")) { filename.copy(HomeDistalFileName); } @@ -392,7 +399,7 @@ bool ScaraKinematics::QueryTerminateHomingMove(size_t axis) const } // This function is called from the step ISR when an endstop switch is triggered during homing after stopping just one motor or all motors. -// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate() and return false. +// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate(). void ScaraKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const { switch (axis) @@ -432,7 +439,7 @@ void ScaraKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const f // Limit the speed and acceleration of a move to values that the mechanics can handle. // The speeds in Cartesian space have already been limited. -void ScaraKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const +void ScaraKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const { // For now we limit the speed in the XY plane to the lower of the X and Y maximum speeds, and similarly for the acceleration. // Limiting the angular rates of the arms would be better. @@ -459,8 +466,9 @@ void ScaraKinematics::Recalc() distalArmLengthSquared = fsquare(distalArmLength); twoPd = proximalArmLength * distalArmLength * 2; - minRadius = sqrtf(proximalArmLengthSquared + distalArmLengthSquared - - twoPd * max<float>(cosf(psiLimits[0] * DegreesToRadians), cosf(psiLimits[1] * DegreesToRadians))) * 1.005; + minRadius = max<float>(sqrtf(proximalArmLengthSquared + distalArmLengthSquared + - twoPd * max<float>(cosf(psiLimits[0] * DegreesToRadians), cosf(psiLimits[1] * DegreesToRadians))) * 1.005, + requestedMinRadius); // If the total angle range is greater than 360 degrees, we assume that it supports continuous rotation supportsContinuousRotation[0] = (thetaLimits[1] - thetaLimits[0] > 360.0); @@ -477,8 +485,6 @@ void ScaraKinematics::Recalc() maxRadius = sqrtf(proximalArmLengthSquared + distalArmLengthSquared + (twoPd * cosf(minAngle))); } maxRadius *= 0.995; - minRadiusSquared = fsquare(minRadius); - maxRadiusSquared = fsquare(maxRadius); cachedX = cachedY = std::numeric_limits<float>::quiet_NaN(); // make sure that the cached values won't match any coordinates } diff --git a/src/Movement/Kinematics/ScaraKinematics.h b/src/Movement/Kinematics/ScaraKinematics.h index 15913322..330e5b0a 100644 --- a/src/Movement/Kinematics/ScaraKinematics.h +++ b/src/Movement/Kinematics/ScaraKinematics.h @@ -31,17 +31,18 @@ public: bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; bool IsReachable(float x, float y, bool isCoordinated) const override; - bool LimitPosition(float position[], size_t numAxes, AxesBitmap axesHomed, bool isCoordinated) const override; + bool IntermediatePositionsReachable(const float initialCoords[], const float finalCoords[], float margin) const override; + bool LimitPosition(float finalCoords[], float * null initialCoords, size_t numAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const override; void GetAssumedInitialPosition(size_t numAxes, float positions[]) const override; size_t NumHomingButtons(size_t numVisibleAxes) const override; const char* HomingButtonNames() const override { return "PDZUVWABC"; } - HomingMode GetHomingMode() const override { return homeIndividualMotors; } + HomingMode GetHomingMode() const override { return HomingMode::homeIndividualMotors; } AxesBitmap AxesAssumedHomed(AxesBitmap g92Axes) const override; AxesBitmap MustBeHomedAxes(AxesBitmap axesMoving, bool disallowMovesBeforeHoming) const override; AxesBitmap GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, const StringRef& filename) const override; bool QueryTerminateHomingMove(size_t axis) const override; void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; - void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; + void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const override; bool IsContinuousRotationAxis(size_t axis) const override; private: @@ -68,11 +69,12 @@ private: float crosstalk[3]; // proximal to distal, proximal to X and distal to Z crosstalk float xOffset; // where bed X=0 is relative to the proximal joint float yOffset; // where bed Y=0 is relative to the proximal joint + float requestedMinRadius; // requested minimum radius bool supportsContinuousRotation[2]; // true if the (proximal, distal) arms support continuous rotation // Derived parameters - float minRadius, minRadiusSquared; - float maxRadius, maxRadiusSquared; + float minRadius; + float maxRadius; float proximalArmLengthSquared; float distalArmLengthSquared; float twoPd; diff --git a/src/Movement/Kinematics/ZLeadscrewKinematics.cpp b/src/Movement/Kinematics/ZLeadscrewKinematics.cpp index 89081f1a..1d7180ea 100644 --- a/src/Movement/Kinematics/ZLeadscrewKinematics.cpp +++ b/src/Movement/Kinematics/ZLeadscrewKinematics.cpp @@ -229,8 +229,17 @@ bool ZLeadscrewKinematics::DoAutoCalibration(size_t numFactors, const RandomProb PrintMatrix("Normal matrix", normalMatrix, numFactors, numFactors + 1); } + if (!normalMatrix.GaussJordan(numFactors, numFactors + 1)) + { + reply.copy("Unable to calculate screw corrections. Please choose different probe points."); + return true; + } + floatc_t solution[MaxLeadscrews]; - normalMatrix.GaussJordan(solution, numFactors); + for (size_t i = 0; i < numFactors; ++i) + { + solution[i] = normalMatrix(i, numFactors); + } if (reprap.Debug(moduleMove)) { diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp index 567d3702..1928a26d 100644 --- a/src/Movement/Move.cpp +++ b/src/Movement/Move.cpp @@ -57,11 +57,12 @@ constexpr uint32_t AbsoluteMinimumPreparedTime = StepTimer::StepClockRate/20; / const ObjectModelTableEntry Move::objectModelTable[] = { + // These entries must be in alphabetical order + { "drcEnabled", OBJECT_MODEL_FUNC(&(self->drcEnabled)), TYPE_OF(bool), ObjectModelTableEntry::none }, + { "drcMinimumAcceleration", OBJECT_MODEL_FUNC(&(self->drcMinimumAcceleration)), TYPE_OF(float), ObjectModelTableEntry::none }, + { "drcPeriod", OBJECT_MODEL_FUNC(&(self->drcPeriod)), TYPE_OF(float), ObjectModelTableEntry::none }, { "maxPrintingAcceleration", OBJECT_MODEL_FUNC(&(self->maxPrintingAcceleration)), TYPE_OF(float), ObjectModelTableEntry::none }, { "maxTravelAcceleration", OBJECT_MODEL_FUNC(&(self->maxTravelAcceleration)), TYPE_OF(float), ObjectModelTableEntry::none }, - { "drcPeriod", OBJECT_MODEL_FUNC(&(self->drcPeriod)), TYPE_OF(float), ObjectModelTableEntry::none }, - { "drcMinimumAcceleration", OBJECT_MODEL_FUNC(&(self->drcMinimumAcceleration)), TYPE_OF(float), ObjectModelTableEntry::none }, - { "drcEnabled", OBJECT_MODEL_FUNC(&(self->drcEnabled)), TYPE_OF(bool), ObjectModelTableEntry::none }, }; DEFINE_GET_OBJECT_MODEL_TABLE(Move) @@ -126,9 +127,9 @@ void Move::Init() for (size_t i = 0; i < MaxExtruders; ++i) { extrusionAccumulators[i] = 0; - extruderNonPrinting[i] = false; extrusionPending[i] = 0.0; } + extrudersPrinting = false; usingMesh = false; useTaper = false; @@ -210,7 +211,6 @@ void Move::Spin() #endif ddaRingAddPointer->GetState() == DDA::empty && ddaRingAddPointer->GetNext()->GetState() != DDA::provisional // function Prepare needs to access the endpoints in the previous move, so don't change them - && DriveMovement::NumFree() >= (int)MaxTotalDrivers // check that we won't run out of DMs ); if (canAddMove) { @@ -243,6 +243,7 @@ void Move::Spin() if (ddaRingAddPointer->Init(specialMoveCoords)) { ddaRingAddPointer = ddaRingAddPointer->GetNext(); + scheduledMoves++; if (moveState == MoveState::idle || moveState == MoveState::timing) { // We were previously idle, so we have a state change @@ -267,14 +268,6 @@ void Move::Spin() { if (simulationMode < 2) // in simulation mode 2 and higher, we don't process incoming moves beyond this point { -#if 0 // disabled this because it causes jerky movements on the SCARA printer - // Add on the extrusion left over from last time. - const size_t numAxes = reprap.GetGCodes().GetTotalAxes(); - for (size_t drive = numAxes; drive < DRIVES; ++drive) - { - nextMove.coords[drive] += extrusionPending[drive - numAxes]; - } -#endif if (nextMove.moveType == 0) { AxisAndBedTransform(nextMove.coords, nextMove.xAxes, nextMove.yAxes, true); @@ -283,8 +276,8 @@ void Move::Spin() if (ddaRingAddPointer->Init(nextMove, !IsRawMotorMove(nextMove.moveType))) { ddaRingAddPointer = ddaRingAddPointer->GetNext(); - idleCount = 0; scheduledMoves++; + idleCount = 0; if (moveState == MoveState::idle || moveState == MoveState::timing) { moveState = MoveState::collecting; @@ -297,14 +290,6 @@ void Move::Spin() lastStateChangeTime = now; } } - -#if 0 // see above - // Save the amount of extrusion not done - for (size_t drive = numAxes; drive < DRIVES; ++drive) - { - extrusionPending[drive - numAxes] = nextMove.coords[drive]; - } -#endif } } } @@ -335,9 +320,10 @@ void Move::Spin() #if SUPPORT_CAN_EXPANSION && CanInterface::CanPrepareMove() #endif + && DriveMovement::NumFree() >= (int)MaxTotalDrivers // check that we won't run out of DMs ) { - dda->Prepare(simulationMode); + dda->Prepare(simulationMode, extrusionPending); } if (dda->GetState() == DDA::frozen) { @@ -401,7 +387,7 @@ void Move::Spin() #endif ) { - cdda->Prepare(simulationMode); + cdda->Prepare(simulationMode, extrusionPending); } preparedTime += cdda->GetTimeLeft(); ++preparedCount; @@ -451,7 +437,7 @@ bool Move::SetKinematics(KinematicsType k) // Return true if this is a raw motor move bool Move::IsRawMotorMove(uint8_t moveType) const { - return moveType == 2 || ((moveType == 1 || moveType == 3) && kinematics->GetHomingMode() != Kinematics::HomingMode::homeCartesianAxes); + return moveType == 2 || ((moveType == 1 || moveType == 3) && kinematics->GetHomingMode() != HomingMode::homeCartesianAxes); } // Return true if the specified point is accessible to the Z probe @@ -574,9 +560,16 @@ bool Move::LowPowerOrStallPause(RestorePoint& rp) { // We are executing a move that has a file address, so we can interrupt it StepTimer::DisableStepInterrupt(); +#if SUPPORT_LASER + if (reprap.GetGCodes().GetMachineType() == MachineType::laser) + { + reprap.GetPlatform().SetLaserPwm(0); + } +#endif dda->MoveAborted(); CurrentMoveCompleted(); // updates live endpoints, extrusion, ddaRingGetPointer, currentDda etc. --completedMoves; // this move wasn't really completed + --scheduledMoves; // ...but it is no longer scheduled either abortedMove = true; } else @@ -718,6 +711,7 @@ void Move::SetPositions(const float move[MaxTotalDrivers]) } } +// This may be called from an ISR, e.g. via Kinematics::OnHomingSwitchTriggered and DDA::SetPositions void Move::EndPointToMachine(const float coords[], int32_t ep[], size_t numDrives) const { if (CartesianToMotorSteps(coords, ep, true)) @@ -725,13 +719,13 @@ void Move::EndPointToMachine(const float coords[], int32_t ep[], size_t numDrive const size_t numAxes = reprap.GetGCodes().GetTotalAxes(); for (size_t drive = numAxes; drive < numDrives; ++drive) { - ep[drive] = MotorEndPointToMachine(drive, coords[drive]); + ep[drive] = MotorMovementToSteps(drive, coords[drive]); } } } // Convert distance to steps for a particular drive -int32_t Move::MotorEndPointToMachine(size_t drive, float coord) +int32_t Move::MotorMovementToSteps(size_t drive, float coord) { return lrintf(coord * reprap.GetPlatform().DriveStepsPerUnit(drive)); } @@ -741,23 +735,44 @@ int32_t Move::MotorEndPointToMachine(size_t drive, float coord) void Move::MotorStepsToCartesian(const int32_t motorPos[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const { kinematics->MotorStepsToCartesian(motorPos, reprap.GetPlatform().GetDriveStepsPerUnit(), numVisibleAxes, numTotalAxes, machinePos); + if (reprap.Debug(moduleMove) && !inInterrupt()) + { + debugPrintf("Forward transformed %" PRIi32 " %" PRIi32 " %" PRIi32 " to %.2f %.2f %.2f\n", + motorPos[0], motorPos[1], motorPos[2], (double)machinePos[0], (double)machinePos[1], (double)machinePos[2]); + } } // Convert Cartesian coordinates to motor steps, axes only, returning true if successful. // Used to perform movement and G92 commands. +// This may be called from an ISR, e.g. via Kinematics::OnHomingSwitchTriggered, DDA::SetPositions and Move::EndPointToMachine bool Move::CartesianToMotorSteps(const float machinePos[MaxAxes], int32_t motorPos[MaxAxes], bool isCoordinated) const { const bool b = kinematics->CartesianToMotorSteps(machinePos, reprap.GetPlatform().GetDriveStepsPerUnit(), reprap.GetGCodes().GetVisibleAxes(), reprap.GetGCodes().GetTotalAxes(), motorPos, isCoordinated); - if (reprap.Debug(moduleMove) && reprap.Debug(moduleDda)) + if (reprap.Debug(moduleMove) && !inInterrupt()) { - if (b) + if (!b) { - debugPrintf("Transformed %.2f %.2f %.2f to %" PRIu32 " %" PRIu32 " %" PRIu32 "\n", (double)machinePos[0], (double)machinePos[1], (double)machinePos[2], motorPos[0], motorPos[1], motorPos[2]); + debugPrintf("Unable to transform"); + for (size_t i = 0; i < reprap.GetGCodes().GetVisibleAxes(); ++i) + { + debugPrintf(" %.2f", (double)machinePos[i]); + } + debugPrintf("\n"); } - else + else if (reprap.Debug(moduleDda)) { - debugPrintf("Unable to transform %.2f %.2f %.2f\n", (double)machinePos[0], (double)machinePos[1], (double)machinePos[2]); + debugPrintf("Transformed"); + for (size_t i = 0; i < reprap.GetGCodes().GetVisibleAxes(); ++i) + { + debugPrintf(" %.2f", (double)machinePos[i]); + } + debugPrintf(" to"); + for (size_t i = 0; i < reprap.GetGCodes().GetTotalAxes(); ++i) + { + debugPrintf(" %" PRIi32, motorPos[i]); + } + debugPrintf("\n"); } } return b; @@ -1079,10 +1094,6 @@ void Move::CurrentMoveCompleted() for (size_t drive = numAxes; drive < MaxTotalDrivers; ++drive) { extrusionAccumulators[drive - numAxes] += currentDda->GetStepsTaken(drive); - if (currentDda->IsNonPrintingExtruderMove(drive)) - { - extruderNonPrinting[drive - numAxes] = true; - } } currentDda = nullptr; @@ -1134,7 +1145,7 @@ void Move::GetCurrentMachinePosition(float m[MaxAxes], bool disableMotorMapping) } } -/*static*/ float Move::MotorEndpointToPosition(int32_t endpoint, size_t drive) +/*static*/ float Move::MotorStepsToMovement(size_t drive, int32_t endpoint) { return ((float)(endpoint))/reprap.GetPlatform().DriveStepsPerUnit(drive); } @@ -1218,9 +1229,8 @@ void Move::ResetExtruderPositions() } // Get the accumulated extruder motor steps taken by an extruder since the last call. Used by the filament monitoring code. -// Returns the number of motor steps moves since the last call, and nonPrinting is true if we are currently executing an extruding but non-printing move -// or we completed one since the last call. -int32_t Move::GetAccumulatedExtrusion(size_t extruder, bool& nonPrinting) +// Returns the number of motor steps moves since the last call, and isPrinting is true unless we are currently executing an extruding but non-printing move +int32_t Move::GetAccumulatedExtrusion(size_t extruder, bool& isPrinting) { const size_t drive = extruder + reprap.GetGCodes().GetTotalAxes(); if (drive < MaxTotalDrivers) @@ -1229,27 +1239,14 @@ int32_t Move::GetAccumulatedExtrusion(size_t extruder, bool& nonPrinting) const int32_t ret = extrusionAccumulators[extruder]; const DDA * const cdda = currentDda; // capture volatile variable const int32_t adjustment = (cdda == nullptr) ? 0 : cdda->GetStepsTaken(drive); - if (adjustment == 0) - { - // Either there is no current move, or we are at the very start of this move, or it doesn't involve this extruder e.g. a travel move - nonPrinting = extruderNonPrinting[extruder]; - } - else if (cdda->IsPrintingMove()) - { - nonPrinting = extruderNonPrinting[extruder]; - extruderNonPrinting[extruder] = false; - } - else - { - nonPrinting = true; - } extrusionAccumulators[extruder] = -adjustment; + isPrinting = extrudersPrinting; cpu_irq_restore(flags); return ret + adjustment; } - nonPrinting = true; - return 0.0; + isPrinting = false; + return 0; } void Move::SetXYBedProbePoint(size_t index, float x, float y) @@ -1313,7 +1310,10 @@ void Move::AdjustLeadscrews(const floatc_t corrections[]) const AxisDriversConfig& config = reprap.GetPlatform().GetAxisDriversConfig(Z_AXIS); for (size_t i = 0; i < config.numDrivers; ++i) { - specialMoveCoords[config.driverNumbers[i]] = corrections[i]; + if (config.driverNumbers[i] < MaxTotalDrivers) + { + specialMoveCoords[config.driverNumbers[i]] = corrections[i]; + } } specialMoveAvailable = true; } diff --git a/src/Movement/Move.h b/src/Movement/Move.h index e5e4660c..f61ad117 100644 --- a/src/Movement/Move.h +++ b/src/Movement/Move.h @@ -18,19 +18,18 @@ // Define the number of DDAs and DMs. // A DDA represents a move in the queue. -// Each DDA needs one DM per drive that it moves. -// However, DM's are large, so we provide fewer than DRIVES * DdaRingLength of them. The planner checks that enough DMs are available before filling in a new DDA. +// Each DDA needs one DM per drive that it moves, but only when it has been prepared and frozen #if SAME70 -const unsigned int DdaRingLength = 30; -const unsigned int NumDms = DdaRingLength * 12; // allow enough for plenty of CAN expansion +const unsigned int DdaRingLength = 40; +const unsigned int NumDms = 20 * 12; // allow enough for plenty of CAN expansion #elif SAM4E || SAM4S -const unsigned int DdaRingLength = 30; -const unsigned int NumDms = DdaRingLength * 8; // suitable for e.g. a delta + 5 input hot end +const unsigned int DdaRingLength = 40; +const unsigned int NumDms = 20 * 8; // suitable for e.g. a delta + 5 input hot end #else // We are more memory-constrained on the SAM3X const unsigned int DdaRingLength = 20; -const unsigned int NumDms = DdaRingLength * 5; // suitable for e.g. a delta + 2-input hot end +const unsigned int NumDms = 20 * 5; // suitable for e.g. a delta + 2-input hot end #endif constexpr uint32_t MovementStartDelayClocks = StepTimer::StepClockRate/100; // 10ms delay between preparing the first move and starting it @@ -143,16 +142,18 @@ public: void AdjustLeadscrews(const floatc_t corrections[]); // Called by some Kinematics classes to adjust the leadscrews - int32_t GetAccumulatedExtrusion(size_t extruder, bool& nonPrinting); // Return and reset the accumulated extrusion amount + int32_t GetAccumulatedExtrusion(size_t extruder, bool& isPrinting); // Return and reset the accumulated commanded extrusion amount bool WriteResumeSettings(FileStore *f) const; // Write settings for resuming the print + uint32_t ExtruderPrintingSince() const { return extrudersPrintingSince; } // When we started doing normal moves after the most recent extruder-only move + #if HAS_SMART_DRIVERS uint32_t GetStepInterval(size_t axis, uint32_t microstepShift) const; // Get the current step interval for this axis or extruder #endif - static int32_t MotorEndPointToMachine(size_t drive, float coord); // Convert a single motor position to number of steps - static float MotorEndpointToPosition(int32_t endpoint, size_t drive); // Convert number of motor steps to motor position + static int32_t MotorMovementToSteps(size_t drive, float coord); // Convert a single motor position to number of steps + static float MotorStepsToMovement(size_t drive, int32_t endpoint); // Convert number of motor steps to motor position protected: DECLARE_OBJECT_MODEL @@ -205,7 +206,8 @@ private: volatile bool liveCoordinatesValid; // True if the XYZ live coordinates are reliable (the extruder ones always are) volatile int32_t liveEndPoints[MaxTotalDrivers]; // The XYZ endpoints of the last completed move in motor coordinates volatile int32_t extrusionAccumulators[MaxExtruders]; // Accumulated extruder motor steps - volatile bool extruderNonPrinting[MaxExtruders]; // Set whenever the extruder starts a non-printing move + volatile uint32_t extrudersPrintingSince; // The milliseconds clock time when extrudersPrinting was set to true + volatile bool extrudersPrinting; // Set whenever an extruder starts a printing move, cleared by a non-printing extruder move float tangents[3]; // Axis compensation - 90 degrees + angle gives angle between axes float& tanXY = tangents[0]; @@ -254,12 +256,23 @@ inline bool Move::AllMovesAreFinished() return NoLiveMovement(); } -// Start the next move. Must be called with interrupts disabled, to avoid a race with the step ISR. +// Start the next move. Return true if the +// Must be called with base priority greater than the step interrupt, to avoid a race with the step ISR. inline bool Move::StartNextMove(uint32_t startTime) pre(ddaRingGetPointer->GetState() == DDA::frozen) { - currentDda = ddaRingGetPointer; - return currentDda->Start(startTime); + DDA * const cdda = ddaRingGetPointer; // capture volatile variable + if (cdda->IsNonPrintingExtruderMove()) + { + extrudersPrinting = false; + } + else if (!extrudersPrinting) + { + extrudersPrinting = true; + extrudersPrintingSince = millis(); + } + currentDda = cdda; + return cdda->Start(startTime); } // This is the function that is called by the timer interrupt to step the motors. diff --git a/src/Movement/StepTimer.cpp b/src/Movement/StepTimer.cpp index 35132656..6bc92c1c 100644 --- a/src/Movement/StepTimer.cpp +++ b/src/Movement/StepTimer.cpp @@ -16,8 +16,8 @@ #if SAM4S || SAME70 // Static data used by step ISR -volatile uint32_t stepTimerPendingStatus = 0; // for holding status bits that we have read (and therefore cleared) but haven't serviced yet -volatile uint32_t stepTimerHighWord = 0; // upper 16 bits of step timer +static volatile uint32_t stepTimerPendingStatus = 0; // for holding status bits that we have read (and therefore cleared) but haven't serviced yet +static volatile uint32_t stepTimerHighWord = 0; // upper 16 bits of step timer #endif namespace StepTimer @@ -29,33 +29,33 @@ namespace StepTimer // We choose a clock divisor of 128 which gives // 1.524us resolution on the Duet 085 (84MHz clock) // 1.067us resolution on the Duet WiFi (120MHz clock) - // 0.853us resolution on the SAM E70 (150MHz clock) + // 0.853us resolution on the SAM E70 (150MHz peripheral clock) #if __LPC17xx__ //LPC has 32bit timers //Using the same 128 divisor (as also specified in DDA) //LPC Timers default to /4 --> (SystemCoreClock/4) - const uint32_t res = (VARIANT_MCK/128); // 1.28us for 100MHz (LPC1768) and 1.067us for 120MHz (LPC1769) + const uint32_t res = (VARIANT_MCK/128); // 1.28us for 100MHz (LPC1768) and 1.067us for 120MHz (LPC1769) //Start a free running Timer using Match Registers 0 and 1 to generate interrupts - LPC_SC->PCONP |= ((uint32_t) 1<<SBIT_PCTIM0); // Ensure the Power bit is set for the Timer - STEP_TC->MCR = 0; // disable all MRx interrupts - STEP_TC->PR = (getPclk(PCLK_TIMER0) / res) - 1; // Set the LPC Prescaler (i.e. TC increment every 32 TimerClock Ticks) - STEP_TC->TC = 0x00; // Restart the Timer Count - NVIC_SetPriority(STEP_TC_IRQN, NvicPriorityStep); // set high priority for this IRQ; it's time-critical + LPC_SC->PCONP |= ((uint32_t) 1<<SBIT_PCTIM0); // Ensure the Power bit is set for the Timer + STEP_TC->MCR = 0; // disable all MRx interrupts + STEP_TC->PR = (getPclk(PCLK_TIMER0) / res) - 1; // Set the LPC Prescaler (i.e. TC increment every 32 TimerClock Ticks) + STEP_TC->TC = 0x00; // Restart the Timer Count + NVIC_SetPriority(STEP_TC_IRQN, NvicPriorityStep); // set high priority for this IRQ; it's time-critical NVIC_EnableIRQ(STEP_TC_IRQN); - STEP_TC->TCR = (1 <<SBIT_CNTEN); // Start Timer + STEP_TC->TCR = (1 <<SBIT_CNTEN); // Start Timer #else pmc_set_writeprotect(false); pmc_enable_periph_clk(STEP_TC_ID); tc_init(STEP_TC, STEP_TC_CHAN, TC_CMR_WAVE | TC_CMR_WAVSEL_UP | TC_CMR_TCCLKS_TIMER_CLOCK4 | TC_CMR_EEVT_XC0); // must set TC_CMR_EEVT nonzero to get RB compare interrupts - STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = ~(uint32_t)0; // interrupts disabled for now -#if SAM4S || SAME70 // if 16-bit TCs - STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_COVFS; // enable the overflow interrupt so that we can use it to extend the count to 32-bits + STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = ~(uint32_t)0; // interrupts disabled for now +#if SAM4S || SAME70 // if 16-bit TCs + STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_COVFS; // enable the overflow interrupt so that we can use it to extend the count to 32-bits #endif tc_start(STEP_TC, STEP_TC_CHAN); - tc_get_status(STEP_TC, STEP_TC_CHAN); // clear any pending interrupt - NVIC_SetPriority(STEP_TC_IRQN, NvicPriorityStep); // set priority for this IRQ + tc_get_status(STEP_TC, STEP_TC_CHAN); // clear any pending interrupt + NVIC_SetPriority(STEP_TC_IRQN, NvicPriorityStep); // set priority for this IRQ NVIC_EnableIRQ(STEP_TC_IRQN); #endif } @@ -66,23 +66,34 @@ namespace StepTimer // The TCs on the SAM4S and SAME70 are only 16 bits wide, so we maintain the upper 16 bits in software uint32_t GetInterruptClocksInterruptsDisabled() { - uint32_t tcsr = STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_SR; // get the status to see whether there is an overflow - tcsr &= STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IMR; // clear any bits that don't generate interrupts uint32_t lowWord = STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV; // get the timer low word - uint32_t highWord = stepTimerHighWord; // get the volatile high word - if ((tcsr & TC_SR_COVFS) != 0) // if the timer has overflowed + uint32_t tcsr = STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_SR; // get the status to see whether there is an overflow + while ((tcsr & TC_SR_COVFS) != 0) // if the timer has overflowed { - highWord += (1u << 16); // overflow is pending, so increment the high word - stepTimerHighWord = highWord; // and save it - tcsr &= ~TC_SR_COVFS; // we handled the overflow, don't do it again - lowWord = STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV; // read the low word again in case the overflow occurred just after we read it the first time + lowWord = STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV; // get the timer low word + stepTimerHighWord += (1u << 16); + tcsr = (tcsr & ~TC_SR_COVFS) | STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_SR; } + + tcsr &= STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IMR; // clear any bits that don't generate interrupts if (tcsr != 0) // if there were any other pending status bits that generate interrupts { stepTimerPendingStatus |= tcsr; // save the other pending bits NVIC_SetPendingIRQ(STEP_TC_IRQN); // set step timer interrupt pending } - return (lowWord & 0x0000FFFF) | highWord; + return (lowWord & 0x0000FFFF) | stepTimerHighWord; + } + +#else + + // Get the interrupt clock count. Despite the name, on these processors we don't need to disable interrupts before calling this. + uint32_t GetInterruptClocksInterruptsDisabled() + { +#if __LPC17xx__ + return STEP_TC->TC; +#else + return STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV; +#endif } #endif @@ -108,13 +119,13 @@ namespace StepTimer // Unfortunately, this would clear any other pending interrupts from the same TC. // So we don't, and the step ISR must allow for getting called prematurely. STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_CPAS; // enable the interrupt - cpu_irq_restore(flags); #endif + cpu_irq_restore(flags); #ifdef MOVE_DEBUG ++numInterruptsScheduled; nextInterruptTime = tim; - nextInterruptScheduledAt = StepTimer::GetInterruptClocks(); + nextInterruptScheduledAt = GetInterruptClocks(); #endif return false; } @@ -136,7 +147,7 @@ namespace StepTimer bool ScheduleSoftTimerInterrupt(uint32_t tim) { const irqflags_t flags = cpu_irq_save(); - const int32_t diff = (int32_t)(tim - StepTimer::GetInterruptClocksInterruptsDisabled()); // see how long we have to go + const int32_t diff = (int32_t)(tim - GetInterruptClocksInterruptsDisabled()); // see how long we have to go if (diff < (int32_t)DDA::MinInterruptInterval) // if less than about 6us or already passed { cpu_irq_restore(flags); @@ -205,7 +216,7 @@ void STEP_TC_HANDLER() stepTimerPendingStatus &= ~TC_SR_CPAS; #ifdef MOVE_DEBUG ++numInterruptsExecuted; - lastInterruptTime = Platform::GetInterruptClocks(); + lastInterruptTime = GetInterruptClocks(); #endif reprap.GetMove().Interrupt(); // execute the step interrupt } @@ -230,7 +241,7 @@ void STEP_TC_HANDLER() # ifdef MOVE_DEBUG ++numInterruptsExecuted; - lastInterruptTime = Platform::GetInterruptClocks(); + lastInterruptTime = GetInterruptClocks(); # endif reprap.GetMove().Interrupt(); // execute the step interrupt } @@ -255,7 +266,7 @@ void STEP_TC_HANDLER() STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IDR = TC_IER_CPAS; // disable the interrupt #ifdef MOVE_DEBUG ++numInterruptsExecuted; - lastInterruptTime = Platform::GetInterruptClocks(); + lastInterruptTime = GetInterruptClocks(); #endif reprap.GetMove().Interrupt(); // execute the step interrupt } diff --git a/src/Movement/StepTimer.h b/src/Movement/StepTimer.h index b82a11c1..fcdeebc9 100644 --- a/src/Movement/StepTimer.h +++ b/src/Movement/StepTimer.h @@ -19,11 +19,12 @@ namespace StepTimer void Init(); -#if SAM4S || SAME70 // if the TCs are 16-bit - - // Function GetInterruptClocksInterruptsDisabled() is quite long for these processors, so it is moved to StepTimer.cpp and no longer inlined + // Function GetInterruptClocksInterruptsDisabled() is quite long for SAM4S and SAME70 processors, so it is moved to StepTimer.cpp and no longer inlined + // On other processors we have had trouble with the compiler moving instructions around too much when it is inlined, so we don't inline it any more. uint32_t GetInterruptClocksInterruptsDisabled() __attribute__ ((hot)); // Get the interrupt clock count, when we know already that interrupts are disabled +#if SAM4S || SAME70 // if the TCs are 16-bit + // Get the interrupt clock count static inline uint32_t GetInterruptClocks() { @@ -38,13 +39,7 @@ namespace StepTimer // Get the interrupt clock count static inline uint32_t GetInterruptClocks() { - return STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV; - } - - // Get the interrupt clock count, when we know that interrupts are already disabled - static inline uint32_t GetInterruptClocksInterruptsDisabled() - { - return STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV; + return GetInterruptClocksInterruptsDisabled(); // no need to disable interrupts on these processors } #endif @@ -52,7 +47,11 @@ namespace StepTimer // Get the interrupt clock count when we only care about the lowest 16 bits. More efficient than calling GetInterruptClocks on platforms with 16-bit timers. static inline uint16_t GetInterruptClocks16() { - return (uint16_t)STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV; +#if __LPC17xx__ + return (uint16_t)STEP_TC->TC; +#else + return (uint16_t)STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV; +#endif } bool ScheduleStepInterrupt(uint32_t tim) __attribute__ ((hot)); // Schedule an interrupt at the specified clock count, or return true if it has passed already diff --git a/src/Movement/StepperDrivers/DriverMode.h b/src/Movement/StepperDrivers/DriverMode.h index c1012fe3..3376fcbe 100644 --- a/src/Movement/StepperDrivers/DriverMode.h +++ b/src/Movement/StepperDrivers/DriverMode.h @@ -37,7 +37,8 @@ enum class SmartDriverRegister : unsigned int chopperControl, coolStep, tpwmthrs, - thigh + thigh, + mstepPos }; #endif /* SRC_MOVEMENT_STEPPERDRIVERS_DRIVERMODE_H_ */ diff --git a/src/Movement/StepperDrivers/TMC2660.cpp b/src/Movement/StepperDrivers/TMC2660.cpp index 240404d5..424fd1b1 100644 --- a/src/Movement/StepperDrivers/TMC2660.cpp +++ b/src/Movement/StepperDrivers/TMC2660.cpp @@ -48,18 +48,23 @@ const uint32_t DriversSpiClockFrequency = 2000000; // 2MHz SPI clock const int DefaultStallGuardThreshold = 1; // Range is -64..63. Zero seems to be too sensitive. Higher values reduce sensitivity of stall detection. // TMC2660 register addresses -const uint32_t TMC_REG_DRVCTRL = 0; -const uint32_t TMC_REG_CHOPCONF = 0x80000; -const uint32_t TMC_REG_SMARTEN = 0xA0000; -const uint32_t TMC_REG_SGCSCONF = 0xC0000; -const uint32_t TMC_REG_DRVCONF = 0xE0000; +const uint32_t TMC_REGNUM_MASK = 7 << 17; +const uint32_t TMC_REG_DRVCTRL = 0 << 17; +const uint32_t TMC_REG_CHOPCONF = 4 << 17; +const uint32_t TMC_REG_SMARTEN = 5 << 17; +const uint32_t TMC_REG_SGCSCONF = 6 << 17; +const uint32_t TMC_REG_DRVCONF = 7 << 17; const uint32_t TMC_DATA_MASK = 0x0001FFFF; // DRVCONF register bits -const uint32_t TMC_DRVCONF_RDSEL_0 = 0 << 4; -const uint32_t TMC_DRVCONF_RDSEL_1 = 1 << 4; -const uint32_t TMC_DRVCONF_RDSEL_2 = 2 << 4; -const uint32_t TMC_DRVCONF_RDSEL_3 = 3 << 4; +const uint32_t TMC_DRVCONF_RDSEL_SHIFT = 4; +const uint32_t TMC_DRVCONF_RDSEL_MASK = 3 << TMC_DRVCONF_RDSEL_SHIFT; + +const uint32_t TMC_DRVCONF_RDSEL_0 = 0 << TMC_DRVCONF_RDSEL_SHIFT; +const uint32_t TMC_DRVCONF_RDSEL_1 = 1 << TMC_DRVCONF_RDSEL_SHIFT; +const uint32_t TMC_DRVCONF_RDSEL_2 = 2 << TMC_DRVCONF_RDSEL_SHIFT; +const uint32_t TMC_DRVCONF_RDSEL_3 = 3 << TMC_DRVCONF_RDSEL_SHIFT; + const uint32_t TMC_DRVCONF_VSENSE = 1 << 6; const uint32_t TMC_DRVCONF_SDOFF = 1 << 7; const uint32_t TMC_DRVCONF_TS2G_3P2 = 0 << 8; @@ -93,7 +98,7 @@ const uint32_t TMC_CHOPCONF_TBL_SHIFT = 15; #define TMC_CHOPCONF_HSTRT(n) ((((uint32_t)n) & 7) << 4) #define TMC_CHOPCONF_HEND(n) ((((uint32_t)n) & 15) << 7) #define TMC_CHOPCONF_HDEC(n) ((((uint32_t)n) & 3) << 11) -#define TMC_CHOPCONF_TBL(n) (((uint32_t)n & 3) << 15) +#define TMC_CHOPCONF_TBL(n) (((uint32_t)n & 3) << 15) // Driver control register bits, when SDOFF=0 const uint32_t TMC_DRVCTRL_MRES_MASK = 0x0F; @@ -132,6 +137,9 @@ const uint32_t TMC_SMARTEN_SEIMIN_QTR = 1 << 15; const unsigned int NumWriteRegisters = 5; +const uint32_t TMC_RR_SG_LOAD_SHIFT = 10; // shift to get the stallguard load register +const uint32_t TMC_RR_MSTEP_SHIFT = 10; // shift to get the microestep position register + // Chopper control register defaults // 0x901B4 as per datasheet example // CHM bit not set, so uses spread cycle mode @@ -151,7 +159,7 @@ const uint32_t defaultSgscConfReg = // Driver configuration register const uint32_t defaultDrvConfReg = TMC_REG_DRVCONF - | TMC_DRVCONF_RDSEL_1 // read SG register in status + | TMC_DRVCONF_RDSEL_0 // read microstep register in status, until the drive is enabled | TMC_DRVCONF_VSENSE // use high sensitivity range | TMC_DRVCONF_TS2G_0P8 // fast short-to-ground detection | 0; @@ -199,6 +207,8 @@ public: uint32_t ReadLiveStatus() const; uint32_t ReadAccumulatedStatus(uint32_t bitsToKeep); + uint32_t ReadMicrostepPosition() const { return mstepPosition; } + private: bool SetChopConf(uint32_t newVal); @@ -230,10 +240,12 @@ private: uint32_t maxStallStepInterval; // maximum interval between full steps to take any notice of stall detection uint32_t minSgLoadRegister; // the minimum value of the StallGuard bits we read uint32_t maxSgLoadRegister; // the maximum value of the StallGuard bits we read + uint32_t mstepPosition; // the current microstep position, or 0xFFFFFFFF if unknown volatile uint32_t lastReadStatus; // the status word that we read most recently, updated by the ISR volatile uint32_t accumulatedStatus; bool enabled; + volatile uint8_t rdselState; // 0-3 = actual RDSEL value, 0xFF = unknown }; // State structures for all drivers @@ -382,6 +394,8 @@ pre(!driversPowered) registers[DriveConfig] = defaultDrvConfReg; registersToUpdate = UpdateAllRegisters; accumulatedStatus = lastReadStatus = 0; + rdselState = 0xFF; + mstepPosition = 0xFFFFFFFF; ResetLoadRegisters(); SetMicrostepping(DefaultMicrosteppingShift, DefaultInterpolation); SetStallDetectThreshold(DefaultStallDetectThreshold); @@ -458,6 +472,9 @@ uint32_t TmcDriverState::GetRegister(SmartDriverRegister reg) const case SmartDriverRegister::hdec: return (configuredChopConfReg & TMC_CHOPCONF_HDEC_MASK) >> TMC_CHOPCONF_HDEC_SHIFT; + case SmartDriverRegister::mstepPos: + return mstepPosition; + case SmartDriverRegister::tpwmthrs: default: return 0; @@ -545,27 +562,38 @@ void TmcDriverState::SetCurrent(float current) registersToUpdate |= 1u << StallGuardConfig; } -// Enable or disable the driver. Also called from SetChopConf after the chopper control configuration has been changed. +// Enable or disable the driver void TmcDriverState::Enable(bool en) { if (enabled != en) { + enabled = en; + UpdateChopConfRegister(); + + const irqflags_t flags = cpu_irq_save(); + mstepPosition = 0xFFFFFFFF; // microstep position is or is about to become invalid if (en) { // Driver was disabled and we are enabling it, so clear the stall status // Unfortunately this may not be sufficient, because the stall status probably won't be updated until the next full step position. accumulatedStatus &= ~TMC_RR_SG; lastReadStatus &= ~TMC_RR_SG; + registers[DriveConfig] = (registers[DriveConfig] & ~TMC_DRVCONF_RDSEL_MASK) | TMC_DRVCONF_RDSEL_1; // read the stallguard level when drive is enabled } - enabled = en; - UpdateChopConfRegister(); + else + { + registers[DriveConfig] = (registers[DriveConfig] & ~TMC_DRVCONF_RDSEL_MASK) | TMC_DRVCONF_RDSEL_0; // read the microstep position when drive is disabled + } + rdselState = 0xFF; + registersToUpdate |= 1 << DriveConfig; + cpu_irq_restore(flags); } } void TmcDriverState::UpdateChopConfRegister() { registers[ChopperControl] = (enabled) ? configuredChopConfReg : (configuredChopConfReg & ~TMC_CHOPCONF_TOFF_MASK); - registersToUpdate |= 1u << ChopperControl; + registersToUpdate |= (1u << ChopperControl); } // Read the status @@ -686,7 +714,7 @@ inline void TmcDriverState::TransferDone() { status &= ~TMC_RR_SG; // remove the stall status bit } - else + else if (rdselState == 1) { const uint32_t sgLoad = (status >> TMC_RR_SG_LOAD_SHIFT) & 1023; // get the StallGuard load register if (sgLoad < minSgLoadRegister) @@ -698,12 +726,22 @@ inline void TmcDriverState::TransferDone() maxSgLoadRegister = sgLoad; } } + if (rdselState == 0) + { + mstepPosition = (status >> TMC_RR_MSTEP_SHIFT) & 1023; + } if ((status & TMC_RR_STST) != 0 || interval == 0 || interval > StepTimer::StepClockRate/MinimumOpenLoadFullStepsPerSec) { status &= ~(TMC_RR_OLA | TMC_RR_OLB); // open load bits are unreliable at standstill and low speeds } lastReadStatus = status; accumulatedStatus |= status; + + const uint32_t dataWritten = be32_to_cpu(spiDataOut) >> 8; + if ((dataWritten & TMC_REGNUM_MASK) == TMC_REG_DRVCONF) + { + rdselState = (dataWritten & TMC_DRVCONF_RDSEL_MASK) >> TMC_DRVCONF_RDSEL_SHIFT; + } } } diff --git a/src/Movement/StepperDrivers/TMC2660.h b/src/Movement/StepperDrivers/TMC2660.h index 172c48cc..90336c7f 100644 --- a/src/Movement/StepperDrivers/TMC2660.h +++ b/src/Movement/StepperDrivers/TMC2660.h @@ -15,7 +15,7 @@ #include "Pins.h" #include "MessageType.h" -// TMC2660 Read response. The microstep counter can also be read, but we don't include that here. +// TMC2660 read response bits that are returned by the status calls const uint32_t TMC_RR_SG = 1 << 0; // stall detected const uint32_t TMC_RR_OT = 1 << 1; // over temperature shutdown const uint32_t TMC_RR_OTPW = 1 << 2; // over temperature warning @@ -23,7 +23,6 @@ const uint32_t TMC_RR_S2G = 3 << 3; // short to ground counter (2 bits) const uint32_t TMC_RR_OLA = 1 << 5; // open load A const uint32_t TMC_RR_OLB = 1 << 6; // open load B const uint32_t TMC_RR_STST = 1 << 7; // standstill detected -const uint32_t TMC_RR_SG_LOAD_SHIFT = 10; // shift to get stallguard load register namespace SmartDrivers { diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.cpp b/src/Networking/ESP8266WiFi/WiFiInterface.cpp index 334d598b..8473ecfc 100644 --- a/src/Networking/ESP8266WiFi/WiFiInterface.cpp +++ b/src/Networking/ESP8266WiFi/WiFiInterface.cpp @@ -136,7 +136,7 @@ static inline void DisableEspInterrupt() WiFiInterface::WiFiInterface(Platform& p) : platform(p), uploader(nullptr), ftpDataPort(0), closeDataPort(false), state(NetworkState::disabled), requestedMode(WiFiState::disabled), currentMode(WiFiState::disabled), activated(false), - espStatusChanged(false), spiTxUnderruns(0), spiRxOverruns(0), serialRunning(false) + espStatusChanged(false), spiTxUnderruns(0), spiRxOverruns(0), serialRunning(false), debugMessageChars(0) { wifiInterface = this; @@ -167,9 +167,11 @@ WiFiInterface::WiFiInterface(Platform& p) : platform(p), uploader(nullptr), ftpD const ObjectModelTableEntry WiFiInterface::objectModelTable[] = { + // These entries must be in alphabetical order + { "gateway", OBJECT_MODEL_FUNC(&(self->gateway)), TYPE_OF(IPAddress), ObjectModelTableEntry::none }, { "ip", OBJECT_MODEL_FUNC(&(self->ipAddress)), TYPE_OF(IPAddress), ObjectModelTableEntry::none }, + { "name", OBJECT_MODEL_FUNC_NOSELF("wifi"), TYPE_OF(const char *), ObjectModelTableEntry::none }, { "netmask", OBJECT_MODEL_FUNC(&(self->netmask)), TYPE_OF(IPAddress), ObjectModelTableEntry::none }, - { "gateway", OBJECT_MODEL_FUNC(&(self->gateway)), TYPE_OF(IPAddress), ObjectModelTableEntry::none } }; DEFINE_GET_OBJECT_MODEL_TABLE(WiFiInterface) @@ -698,8 +700,8 @@ void WiFiInterface::Spin(bool full) } else if (c != '\r') { - debugMessageBuffer.cat(c); - if (debugMessageBuffer.strlen() == debugMessageBuffer.Capacity()) + debugMessageBuffer[debugMessageChars++] = c; + if (debugMessageChars == ARRAY_SIZE(debugMessageBuffer) - 1) { debugPrintPending = true; } @@ -714,9 +716,10 @@ void WiFiInterface::Spin(bool full) { if (reprap.Debug(moduleWiFi)) { - debugPrintf("WiFi: %s\n", debugMessageBuffer.c_str()); + debugMessageBuffer[debugMessageChars] = 0; + debugPrintf("WiFi: %s\n", debugMessageBuffer); } - debugMessageBuffer.Clear(); + debugMessageChars = 0; debugPrintPending = false; } } @@ -1802,7 +1805,7 @@ void WiFiInterface::StartWiFi() digitalWrite(EspResetPin, HIGH); ConfigurePin(g_APinDescription[APINS_Serial1]); // connect the pins to UART1 Serial1.begin(WiFiBaudRate); // initialise the UART, to receive debug info - debugMessageBuffer.Clear(); + debugMessageChars = 0; serialRunning = true; debugPrintPending = false; } diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.h b/src/Networking/ESP8266WiFi/WiFiInterface.h index 35435914..6656967a 100644 --- a/src/Networking/ESP8266WiFi/WiFiInterface.h +++ b/src/Networking/ESP8266WiFi/WiFiInterface.h @@ -161,7 +161,8 @@ private: // For processing debug messages from the WiFi module bool serialRunning; bool debugPrintPending; - String<150> debugMessageBuffer; + char debugMessageBuffer[200]; + size_t debugMessageChars; }; #endif diff --git a/src/Networking/ESP8266WiFi/WifiFirmwareUploader.cpp b/src/Networking/ESP8266WiFi/WifiFirmwareUploader.cpp index d4e41838..c9f04cc3 100644 --- a/src/Networking/ESP8266WiFi/WifiFirmwareUploader.cpp +++ b/src/Networking/ESP8266WiFi/WifiFirmwareUploader.cpp @@ -710,7 +710,7 @@ void WifiFirmwareUploader::Spin() uploadPort.end(); // disable the port, it has a high interrupt priority if (uploadResult == EspUploadResult::success) { - reprap.GetPlatform().Message(FirmwareUpdateMessage, "Upload successful\n"); + MessageF("Upload successful\n"); if (restartModeOnCompletion == 1) { interface.Start(); diff --git a/src/Networking/FtpResponder.cpp b/src/Networking/FtpResponder.cpp index 44b03690..1fc6dbb3 100644 --- a/src/Networking/FtpResponder.cpp +++ b/src/Networking/FtpResponder.cpp @@ -6,15 +6,17 @@ */ #include "FtpResponder.h" + +#if SUPPORT_FTP + #include "Socket.h" #include "Network.h" #include "NetworkInterface.h" #include "Platform.h" -FtpResponder::FtpResponder(NetworkResponder *n) : NetworkResponder(n), dataSocket(nullptr), - passivePort(0), passivePortOpenTime(0), dataBuf(nullptr) +FtpResponder::FtpResponder(NetworkResponder *n) : UploadingNetworkResponder(n), dataSocket(nullptr), + passivePort(0), passivePortOpenTime(0), dataBuf(nullptr), haveFileToMove(false) { - fileToMove.Clear(); } // Ask the responder to accept this connection, returns true if it did @@ -446,6 +448,9 @@ void FtpResponder::ProcessLine() switch (responderState) { case ResponderState::authenticating: + haveFileToMove = false; + filenameBeingProcessed.Clear(); + // don't check the user name if (StringStartsWith(clientMessage, "USER")) { @@ -458,7 +463,7 @@ void FtpResponder::ProcessLine() const char *password = GetParameter("PASS"); if (reprap.NoPasswordSet() || reprap.CheckPassword(password)) { - strcpy(currentDirectory, "/"); + currentDirectory.copy("/"); outBuf->copy("230 Login successful.\r\n"); Commit(ResponderState::reading); @@ -470,7 +475,7 @@ void FtpResponder::ProcessLine() } } // end connection - else if (StringEquals(clientMessage, "QUIT")) + else if (StringEqualsIgnoreCase(clientMessage, "QUIT")) { outBuf->copy("221 Goodbye.\r\n"); Commit(); @@ -485,13 +490,13 @@ void FtpResponder::ProcessLine() case ResponderState::reading: // get system type - if (StringEquals(clientMessage, "SYST")) + if (StringEqualsIgnoreCase(clientMessage, "SYST")) { outBuf->copy("215 UNIX Type: L8\r\n"); Commit(ResponderState::reading); } // get features - else if (StringEquals(clientMessage, "FEAT")) + else if (StringEqualsIgnoreCase(clientMessage, "FEAT")) { outBuf->copy( "211-Features:\r\n" "PASV\r\n" // support PASV mode @@ -500,9 +505,9 @@ void FtpResponder::ProcessLine() Commit(ResponderState::reading); } // get current dir - else if (StringEquals(clientMessage, "PWD")) + else if (StringEqualsIgnoreCase(clientMessage, "PWD")) { - outBuf->printf("257 \"%s\"\r\n", currentDirectory); + outBuf->printf("257 \"%s\"\r\n", currentDirectory.c_str()); Commit(ResponderState::reading); } // set current dir @@ -512,7 +517,7 @@ void FtpResponder::ProcessLine() ChangeDirectory(directory); } // change to parent of current directory - else if (StringEquals(clientMessage, "CDUP")) + else if (StringEqualsIgnoreCase(clientMessage, "CDUP")) { ChangeDirectory(".."); } @@ -520,11 +525,11 @@ void FtpResponder::ProcessLine() else if (StringStartsWith(clientMessage, "TYPE")) { const char *type = GetParameter("TYPE"); - if (StringEquals(type, "I")) + if (StringEqualsIgnoreCase(type, "I")) { outBuf->copy("200 Switching to Binary mode.\r\n"); } - else if (StringEquals(type, "A")) + else if (StringEqualsIgnoreCase(type, "A")) { outBuf->copy("200 Switching to ASCII mode.\r\n"); } @@ -535,7 +540,7 @@ void FtpResponder::ProcessLine() Commit(ResponderState::reading); } // enter passive mode mode - else if (StringEquals(clientMessage, "PASV")) + else if (StringEqualsIgnoreCase(clientMessage, "PASV")) { // reset error conditions uploadError = sendError = false; @@ -567,7 +572,7 @@ void FtpResponder::ProcessLine() else if (StringStartsWith(clientMessage, "DELE")) { const char *filename = GetParameter("DELE"); - if (GetPlatform().GetMassStorage()->Delete(currentDirectory, filename)) + if (GetPlatform().GetMassStorage()->Delete(currentDirectory.c_str(), filename)) { outBuf->copy("250 Delete operation successful.\r\n"); } @@ -581,7 +586,7 @@ void FtpResponder::ProcessLine() else if (StringStartsWith(clientMessage, "RMD")) { const char *filename = GetParameter("RMD"); - if (GetPlatform().GetMassStorage()->Delete(currentDirectory, filename)) + if (GetPlatform().GetMassStorage()->Delete(currentDirectory.c_str(), filename)) { outBuf->copy("250 Remove directory operation successful.\r\n"); } @@ -596,7 +601,7 @@ void FtpResponder::ProcessLine() { const char *filename = GetParameter("MKD"); String<MaxFilenameLength> location; - MassStorage::CombineName(location.GetRef(), currentDirectory, filename); + MassStorage::CombineName(location.GetRef(), currentDirectory.c_str(), filename); if (GetPlatform().GetMassStorage()->MakeDirectory(location.c_str())) { @@ -612,10 +617,11 @@ void FtpResponder::ProcessLine() else if (StringStartsWith(clientMessage, "RNFR")) { const char *filename = GetParameter("RNFR"); - MassStorage::CombineName(fileToMove.GetRef(), currentDirectory, filename); + MassStorage::CombineName(filenameBeingProcessed.GetRef(), currentDirectory.c_str(), filename); - if (GetPlatform().GetMassStorage()->FileExists(fileToMove.c_str())) + if (GetPlatform().GetMassStorage()->FileExists(filenameBeingProcessed.c_str())) { + haveFileToMove = true; outBuf->copy("350 Ready to RNTO.\r\n"); } else @@ -628,9 +634,9 @@ void FtpResponder::ProcessLine() { const char *filename = GetParameter("RNTO"); String<MaxFilenameLength> location; - MassStorage::CombineName(location.GetRef(), currentDirectory, filename); + MassStorage::CombineName(location.GetRef(), currentDirectory.c_str(), filename); - if (GetPlatform().GetMassStorage()->Rename(fileToMove.c_str(), location.c_str())) + if (haveFileToMove && GetPlatform().GetMassStorage()->Rename(filenameBeingProcessed.c_str(), location.c_str())) { outBuf->copy("250 Rename successful.\r\n"); } @@ -638,17 +644,20 @@ void FtpResponder::ProcessLine() { outBuf->copy("500 Could not rename file or directory\r\n"); } + haveFileToMove = false; Commit(ResponderState::reading); } // no op - else if (StringEquals(clientMessage, "NOOP")) + else if (StringEqualsIgnoreCase(clientMessage, "NOOP")) { outBuf->copy("200 NOOP okay.\r\n"); Commit(ResponderState::reading); } // end connection - else if (StringEquals(clientMessage, "QUIT")) + else if (StringEqualsIgnoreCase(clientMessage, "QUIT")) { + haveFileToMove = false; + filenameBeingProcessed.Clear(); outBuf->copy("221 Goodbye.\r\n"); Commit(); } @@ -671,7 +680,7 @@ void FtpResponder::ProcessLine() // build directory listing, dataBuf is sent later in the Spin loop MassStorage * const massStorage = GetPlatform().GetMassStorage(); FileInfo fileInfo; - if (massStorage->FindFirst(currentDirectory, fileInfo)) + if (massStorage->FindFirst(currentDirectory.c_str(), fileInfo)) { do { // Example for a typical UNIX-like file list: @@ -680,7 +689,7 @@ void FtpResponder::ProcessLine() const struct tm * const timeInfo = gmtime(&fileInfo.lastModified); dataBuf->catf("%crw-rw-rw- 1 ftp ftp %13lu %s %02d %04d %s\r\n", dirChar, fileInfo.size, massStorage->GetMonthName(timeInfo->tm_mon + 1), - timeInfo->tm_mday, timeInfo->tm_year + 1900, fileInfo.fileName); + timeInfo->tm_mday, timeInfo->tm_year + 1900, fileInfo.fileName.c_str()); } while (massStorage->FindNext(fileInfo)); } } @@ -688,11 +697,11 @@ void FtpResponder::ProcessLine() else if (StringStartsWith(clientMessage, "TYPE")) { const char *type = GetParameter("TYPE"); - if (StringEquals(type, "I")) + if (StringEqualsIgnoreCase(type, "I")) { outBuf->copy("200 Switching to Binary mode.\r\n"); } - else if (StringEquals(type, "A")) + else if (StringEqualsIgnoreCase(type, "A")) { outBuf->copy("200 Switching to ASCII mode.\r\n"); } @@ -705,8 +714,12 @@ void FtpResponder::ProcessLine() // upload a file else if (StringStartsWith(clientMessage, "STOR")) { - const char *filename = GetParameter("STOR"); - FileStore *file = GetPlatform().OpenFile(currentDirectory, filename, OpenMode::write); + // Variable filenameBeingProcessed is used for both uploading and for renaming files, so clear it here and clear haveFileToMove + haveFileToMove = false; + filenameBeingProcessed.Clear(); + + const char * const filename = GetParameter("STOR"); + FileStore * const file = GetPlatform().OpenFile(currentDirectory.c_str(), filename, OpenMode::write); if (file != nullptr) { StartUpload(file, filename); @@ -723,8 +736,8 @@ void FtpResponder::ProcessLine() // download a file else if (StringStartsWith(clientMessage, "RETR")) { - const char *filename = GetParameter("RETR"); - fileBeingSent = GetPlatform().OpenFile(currentDirectory, filename, OpenMode::read); + const char * const filename = GetParameter("RETR"); + fileBeingSent = GetPlatform().OpenFile(currentDirectory.c_str(), filename, OpenMode::read); if (fileBeingSent != nullptr) { outBuf->printf("150 Opening data connection for %s (%lu bytes).\r\n", filename, fileBeingSent->Length()); @@ -737,7 +750,7 @@ void FtpResponder::ProcessLine() } } // abort current operation - else if (StringEquals(clientMessage, "ABOR")) + else if (StringEqualsIgnoreCase(clientMessage, "ABOR")) { CloseDataPort(); @@ -745,7 +758,7 @@ void FtpResponder::ProcessLine() Commit(ResponderState::reading); } // end connection - else if (StringEquals(clientMessage, "QUIT")) + else if (StringEqualsIgnoreCase(clientMessage, "QUIT")) { CloseDataPort(); @@ -763,7 +776,7 @@ void FtpResponder::ProcessLine() case ResponderState::uploading: case ResponderState::sendingPasvData: // abort current transfer - if (StringEquals(clientMessage, "ABOR")) + if (StringEqualsIgnoreCase(clientMessage, "ABOR")) { CancelUpload(); CloseDataPort(); @@ -812,14 +825,14 @@ void FtpResponder::ChangeDirectory(const char *newDirectory) { combinedPath.copy(newDirectory); } - else if (StringEquals(newDirectory, ".")) + else if (StringEqualsIgnoreCase(newDirectory, ".")) { - combinedPath.copy(currentDirectory); + combinedPath.copy(currentDirectory.c_str()); } - else if (StringEquals(newDirectory, "..")) // Go up + else if (StringEqualsIgnoreCase(newDirectory, "..")) // Go up { // Check if we're already at the root directory - if (StringEquals(currentDirectory, "/")) + if (StringEqualsIgnoreCase(currentDirectory.c_str(), "/")) { outBuf->copy("550 Failed to change directory.\r\n"); Commit(responderState); @@ -827,7 +840,7 @@ void FtpResponder::ChangeDirectory(const char *newDirectory) } // No - find the parent directory - combinedPath.copy(currentDirectory); + combinedPath.copy(currentDirectory.c_str()); for(int i = combinedPath.strlen() - 2; i >= 0; i--) { if (combinedPath[i] == '/') @@ -839,7 +852,7 @@ void FtpResponder::ChangeDirectory(const char *newDirectory) } else // Go to child directory { - combinedPath.copy(currentDirectory); + combinedPath.copy(currentDirectory.c_str()); if (!combinedPath.EndsWith('/') && combinedPath.strlen() > 1) { combinedPath.cat('/'); @@ -856,7 +869,7 @@ void FtpResponder::ChangeDirectory(const char *newDirectory) // Verify the final path and change it if possible if (GetPlatform().GetMassStorage()->DirectoryExists(combinedPath.GetRef())) { - SafeStrncpy(currentDirectory, combinedPath.c_str(), ARRAY_SIZE(currentDirectory)); + currentDirectory.copy(combinedPath.c_str()); outBuf->copy("250 Directory successfully changed.\r\n"); Commit(responderState); } @@ -899,4 +912,6 @@ void FtpResponder::CloseDataPort() } } +#endif + // End diff --git a/src/Networking/FtpResponder.h b/src/Networking/FtpResponder.h index 3ba7b8a8..ee34f8fb 100644 --- a/src/Networking/FtpResponder.h +++ b/src/Networking/FtpResponder.h @@ -8,9 +8,9 @@ #ifndef SRC_NETWORKING_FTPRESPONDER_H_ #define SRC_NETWORKING_FTPRESPONDER_H_ -#include "NetworkResponder.h" +#include "UploadingNetworkResponder.h" -class FtpResponder : public NetworkResponder +class FtpResponder : public UploadingNetworkResponder { public: FtpResponder(NetworkResponder *n); @@ -46,11 +46,11 @@ protected: void CloseDataPort(); bool haveCompleteLine; + bool haveFileToMove; char clientMessage[ftpMessageLength]; size_t clientPointer; - char currentDirectory[MaxFilenameLength]; - String<MaxFilenameLength> fileToMove; + String<MaxFilenameLength> currentDirectory; }; #endif /* SRC_NETWORKING_FTPRESPONDER_H_ */ diff --git a/src/Networking/HttpResponder.cpp b/src/Networking/HttpResponder.cpp index 1bba4444..e5a275f5 100644 --- a/src/Networking/HttpResponder.cpp +++ b/src/Networking/HttpResponder.cpp @@ -8,7 +8,6 @@ #include "HttpResponder.h" #include "Socket.h" #include "GCodes/GCodes.h" -#include "PrintMonitor.h" #include "General/IP4String.h" #define KO_START "rr_" @@ -16,6 +15,8 @@ const size_t KoFirst = 3; const char* const overflowResponse = "overflow"; const char* const badEscapeResponse = "bad escape"; +const char* const serviceUnavailableResponse = "HTTP/1.1 503 Service Unavailable\r\n\r\n"; +static_assert(ARRAY_SIZE(serviceUnavailableResponse) <= OUTPUT_BUFFER_SIZE, "OUTPUT_BUFFER_SIZE too small"); const uint32_t HttpReceiveTimeout = 2000; @@ -31,7 +32,7 @@ const char* const ErrorPagePart2 = "</p>\n" "</body>\n"; -HttpResponder::HttpResponder(NetworkResponder *n) : NetworkResponder(n) +HttpResponder::HttpResponder(NetworkResponder *n) : UploadingNetworkResponder(n) { } @@ -447,7 +448,7 @@ bool HttpResponder::CharFromClient(char c) bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response, bool& keepOpen) { keepOpen = false; // assume we don't want to persist the connection - if (StringEquals(request, "connect") && GetKeyValue("password") != nullptr) + if (StringEqualsIgnoreCase(request, "connect") && GetKeyValue("password") != nullptr) { if (!CheckAuthenticated()) { @@ -488,12 +489,12 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response RejectMessage("Not authorized", 401); return false; } - else if (StringEquals(request, "disconnect")) + else if (StringEqualsIgnoreCase(request, "disconnect")) { response->printf("{\"err\":%d}", (RemoveAuthentication()) ? 0 : 1); reprap.GetPlatform().MessageF(LogMessage, "HTTP client %s disconnected\n", IP4String(GetRemoteIP()).c_str()); } - else if (StringEquals(request, "status")) + else if (StringEqualsIgnoreCase(request, "status")) { const char *typeString = GetKeyValue("type"); if (typeString != nullptr) @@ -515,29 +516,29 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response response = reprap.GetLegacyStatusResponse(1, 0); } } - else if (StringEquals(request, "gcode") && GetKeyValue("gcode") != nullptr) + else if (StringEqualsIgnoreCase(request, "gcode") && GetKeyValue("gcode") != nullptr) { NetworkGCodeInput * const httpInput = reprap.GetGCodes().GetHTTPInput(); httpInput->Put(HttpMessage, GetKeyValue("gcode")); response->printf("{\"buff\":%u}", httpInput->BufferSpaceLeft()); } - else if (StringEquals(request, "upload")) + else if (StringEqualsIgnoreCase(request, "upload")) { response->printf("{\"err\":%d}", (uploadError) ? 1 : 0); } - else if (StringEquals(request, "delete") && GetKeyValue("name") != nullptr) + else if (StringEqualsIgnoreCase(request, "delete") && GetKeyValue("name") != nullptr) { const bool ok = GetPlatform().GetMassStorage()->Delete(FS_PREFIX, GetKeyValue("name")); response->printf("{\"err\":%d}", (ok) ? 0 : 1); } - else if (StringEquals(request, "filelist") && GetKeyValue("dir") != nullptr) + else if (StringEqualsIgnoreCase(request, "filelist") && GetKeyValue("dir") != nullptr) { OutputBuffer::Release(response); const char* const firstVal = GetKeyValue("first"); const unsigned int startAt = (firstVal == nullptr) ? 0 : (unsigned int)SafeStrtol(firstVal); response = reprap.GetFilelistResponse(GetKeyValue("dir"), startAt); // this may return nullptr } - else if (StringEquals(request, "files")) + else if (StringEqualsIgnoreCase(request, "files")) { OutputBuffer::Release(response); const char* dir = GetKeyValue("dir"); @@ -551,23 +552,23 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response const bool flagDirs = flagDirsVal != nullptr && SafeStrtol(flagDirsVal) == 1; response = reprap.GetFilesResponse(dir, startAt, flagDirs); // this may return nullptr } - else if (StringEquals(request, "fileinfo")) + else if (StringEqualsIgnoreCase(request, "fileinfo")) { const char* const nameVal = GetKeyValue("name"); if (nameVal != nullptr) { // Regular rr_fileinfo?name=xxx call - SafeStrncpy(filenameBeingProcessed, nameVal, ARRAY_SIZE(filenameBeingProcessed)); + filenameBeingProcessed.copy(nameVal); } else { // Simple rr_fileinfo call to get info about the file being printed - filenameBeingProcessed[0] = 0; + filenameBeingProcessed.Clear(); } responderState = ResponderState::gettingFileInfo; return false; } - else if (StringEquals(request, "move")) + else if (StringEqualsIgnoreCase(request, "move")) { const char* const oldVal = GetKeyValue("old"); const char* const newVal = GetKeyValue("new"); @@ -575,15 +576,15 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response if (oldVal != nullptr && newVal != nullptr) { MassStorage * const ms = GetPlatform().GetMassStorage(); - if (StringEquals(GetKeyValue("deleteexisting"), "yes") && ms->FileExists(oldVal) && ms->FileExists(newVal)) + if (StringEqualsIgnoreCase(GetKeyValue("deleteexisting"), "yes") && ms->FileExists(oldVal) && ms->FileExists(newVal)) { - ms->Delete(nullptr, newVal, true); + ms->Delete(nullptr, newVal); } success = ms->Rename(oldVal, newVal); } response->printf("{\"err\":%d}", (success) ? 0 : 1); } - else if (StringEquals(request, "mkdir")) + else if (StringEqualsIgnoreCase(request, "mkdir")) { const char* const dirVal = GetKeyValue("dir"); bool success = false; @@ -593,7 +594,7 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response } response->printf("{\"err\":%d}", (success) ? 0 : 1); } - else if (StringEquals(request, "config")) + else if (StringEqualsIgnoreCase(request, "config")) { OutputBuffer::Release(response); response = reprap.GetConfigResponse(); @@ -611,7 +612,7 @@ const char* HttpResponder::GetKeyValue(const char *key) const { for (size_t i = 0; i < numQualKeys; ++i) { - if (StringEquals(qualifiers[i].key, key)) + if (StringEqualsIgnoreCase(qualifiers[i].key, key)) { return qualifiers[i].value; } @@ -624,19 +625,19 @@ const char* HttpResponder::GetKeyValue(const char *key) const bool HttpResponder::SendFileInfo(bool quitEarly) { OutputBuffer *jsonResponse = nullptr; - bool gotFileInfo = reprap.GetFileInfoResponse(filenameBeingProcessed, jsonResponse, quitEarly); + bool gotFileInfo = reprap.GetFileInfoResponse(filenameBeingProcessed.c_str(), jsonResponse, quitEarly); if (gotFileInfo) { // Got it - send the response now - outBuf->copy( "HTTP/1.1 200 OK\n" - "Cache-Control: no-cache, no-store, must-revalidate\n" - "Pragma: no-cache\n" - "Expires: 0\n" - "Access-Control-Allow-Origin: *\n" - "Content-Type: application/json\n" + outBuf->copy( "HTTP/1.1 200 OK\r\n" + "Cache-Control: no-cache, no-store, must-revalidate\r\n" + "Pragma: no-cache\r\n" + "Expires: 0\r\n" + "Access-Control-Allow-Origin: *\r\n" + "Content-Type: application/json\r\n" ); - outBuf->catf("Content-Length: %u\n", (jsonResponse != nullptr) ? jsonResponse->Length() : 0); - outBuf->cat("Connection: close\n\n"); + outBuf->catf("Content-Length: %u\r\n", (jsonResponse != nullptr) ? jsonResponse->Length() : 0); + outBuf->cat("Connection: close\r\n\r\n"); outBuf->Append(jsonResponse); if (outBuf->HadOverflow()) { @@ -646,6 +647,7 @@ bool HttpResponder::SendFileInfo(bool quitEarly) } else { + filenameBeingProcessed.Clear(); Commit(); } } @@ -721,33 +723,53 @@ void HttpResponder::SendFile(const char* nameOfFileToSend, bool isWebFile) if (nameOfFileToSend[0] == '/') { ++nameOfFileToSend; // all web files are relative to the /www folder, so remove the leading '/' - if (nameOfFileToSend[0] == 0) - { - nameOfFileToSend = INDEX_PAGE_FILE; - } } - // Try to open a gzipped version of the file first - if (!StringEndsWith(nameOfFileToSend, ".gz") && strlen(nameOfFileToSend) + 3 <= MaxFilenameLength) + // If we are asked to return the root, return the index file + if (nameOfFileToSend[0] == 0) { - String<MaxFilenameLength> nameBuf; - nameBuf.copy(nameOfFileToSend); - nameBuf.cat(".gz"); - fileToSend = GetPlatform().OpenFile(GetPlatform().GetWebDir(), nameBuf.c_str(), OpenMode::read); - if (fileToSend != nullptr) - { - zip = true; - } + nameOfFileToSend = INDEX_PAGE_FILE; } - // If that failed, try to open the normal version of the file - if (fileToSend == nullptr) + for (;;) { + // Try to open a gzipped version of the file first + if (!StringEndsWithIgnoreCase(nameOfFileToSend, ".gz") && strlen(nameOfFileToSend) + 3 <= MaxFilenameLength) + { + String<MaxFilenameLength> nameBuf; + nameBuf.copy(nameOfFileToSend); + nameBuf.cat(".gz"); + fileToSend = GetPlatform().OpenFile(GetPlatform().GetWebDir(), nameBuf.c_str(), OpenMode::read); + if (fileToSend != nullptr) + { + zip = true; + break; + } + } + + // That failed, so try to open the normal version of the file fileToSend = GetPlatform().OpenFile(GetPlatform().GetWebDir(), nameOfFileToSend, OpenMode::read); + if (fileToSend != nullptr) + { + break; + } + + if (StringEqualsIgnoreCase(nameOfFileToSend, INDEX_PAGE_FILE)) + { + nameOfFileToSend = OLD_INDEX_PAGE_FILE; // the index file wasn't found, so try the old one + } + else if (!strchr(nameOfFileToSend, '.')) // if we were asked to return a file without a '.' in the name, return the index page + { + nameOfFileToSend = INDEX_PAGE_FILE; + } + else + { + break; + } } // If we still couldn't find the file and it was an HTML file, return the 404 error page - if (fileToSend == nullptr && (StringEndsWith(nameOfFileToSend, ".html") || StringEndsWith(nameOfFileToSend, ".htm"))) + if (fileToSend == nullptr && (StringEndsWithIgnoreCase(nameOfFileToSend, ".html") || StringEndsWithIgnoreCase(nameOfFileToSend, ".htm"))) { nameOfFileToSend = FOUR04_PAGE_FILE; fileToSend = GetPlatform().OpenFile(GetPlatform().GetWebDir(), nameOfFileToSend, OpenMode::read); @@ -755,10 +777,9 @@ void HttpResponder::SendFile(const char* nameOfFileToSend, bool isWebFile) if (fileToSend == nullptr) { - RejectMessage("page not found", 404); + RejectMessage("page not found<br>Check that the SD card is mounted and has the correct files in its /www folder", 404); return; } - fileBeingSent = fileToSend; } else { @@ -768,48 +789,48 @@ void HttpResponder::SendFile(const char* nameOfFileToSend, bool isWebFile) RejectMessage("file not found", 404); return; } - fileBeingSent = fileToSend; } - outBuf->copy("HTTP/1.1 200 OK\n"); + fileBeingSent = fileToSend; + outBuf->copy("HTTP/1.1 200 OK\r\n"); // Don't cache files served by rr_download if (!isWebFile) { - outBuf->cat( "Cache-Control: no-cache, no-store, must-revalidate\n" - "Pragma: no-cache\n" - "Expires: 0\n" - "Access-Control-Allow-Origin: *\n" + outBuf->cat( "Cache-Control: no-cache, no-store, must-revalidate\r\n" + "Pragma: no-cache\r\n" + "Expires: 0\r\n" + "Access-Control-Allow-Origin: *\r\n" ); } const char* contentType; - if (StringEndsWith(nameOfFileToSend, ".png")) + if (StringEndsWithIgnoreCase(nameOfFileToSend, ".png")) { contentType = "image/png"; } - else if (StringEndsWith(nameOfFileToSend, ".ico")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".ico")) { contentType = "image/x-icon"; } - else if (StringEndsWith(nameOfFileToSend, ".js")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".js")) { contentType = "application/javascript"; } - else if (StringEndsWith(nameOfFileToSend, ".css")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".css")) { contentType = "text/css"; } - else if (StringEndsWith(nameOfFileToSend, ".htm") || StringEndsWith(nameOfFileToSend, ".html")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".htm") || StringEndsWithIgnoreCase(nameOfFileToSend, ".html")) { contentType = "text/html"; } - else if (StringEndsWith(nameOfFileToSend, ".zip")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".zip")) { contentType = "application/zip"; zip = true; } - else if (StringEndsWith(nameOfFileToSend, ".g") || StringEndsWith(nameOfFileToSend, ".gc") || StringEndsWith(nameOfFileToSend, ".gcode")) + else if (StringEndsWithIgnoreCase(nameOfFileToSend, ".g") || StringEndsWithIgnoreCase(nameOfFileToSend, ".gc") || StringEndsWithIgnoreCase(nameOfFileToSend, ".gcode")) { contentType = "text/plain"; } @@ -817,15 +838,15 @@ void HttpResponder::SendFile(const char* nameOfFileToSend, bool isWebFile) { contentType = "application/octet-stream"; } - outBuf->catf("Content-Type: %s\n", contentType); + outBuf->catf("Content-Type: %s\r\n", contentType); - if (zip && fileToSend != nullptr) + if (zip) { - outBuf->cat("Content-Encoding: gzip\n"); - outBuf->catf("Content-Length: %lu\n", fileToSend->Length()); + outBuf->cat("Content-Encoding: gzip\r\n"); } - outBuf->cat("Connection: close\n\n"); + outBuf->catf("Content-Length: %lu\r\n", fileToSend->Length()); + outBuf->cat("Connection: close\r\n\r\n"); Commit(); } @@ -858,15 +879,15 @@ void HttpResponder::SendGCodeReply() } // Send the whole G-Code reply as plain text to the client - outBuf->copy( "HTTP/1.1 200 OK\n" - "Cache-Control: no-cache, no-store, must-revalidate\n" - "Pragma: no-cache\n" - "Expires: 0\n" - "Access-Control-Allow-Origin: *\n" - "Content-Type: text/plain\n" + outBuf->copy( "HTTP/1.1 200 OK\r\n" + "Cache-Control: no-cache, no-store, must-revalidate\r\n" + "Pragma: no-cache\r\n" + "Expires: 0\r\n" + "Access-Control-Allow-Origin: *\r\n" + "Content-Type: text/plain\r\n" ); - outBuf->catf("Content-Length: %u\n", gcodeReply.DataLength()); - outBuf->cat("Connection: close\n\n"); + outBuf->catf("Content-Length: %u\r\n", gcodeReply.DataLength()); + outBuf->cat("Connection: close\r\n\r\n"); outStack.Append(gcodeReply); // Possibly clean up the G-code reply once again @@ -890,13 +911,13 @@ void HttpResponder::SendJsonResponse(const char* command) // Update the authentication status and try to handle "text/plain" requests here if (CheckAuthenticated()) { - if (StringEquals(command, "reply")) // rr_reply + if (StringEqualsIgnoreCase(command, "reply")) // rr_reply { SendGCodeReply(); return; } - if (StringEquals(command, "configfile")) // rr_configfile [DEPRECATED] + if (StringEqualsIgnoreCase(command, "configfile")) // rr_configfile [DEPRECATED] { String<MaxFilenameLength> fileName; MassStorage::CombineName(fileName.GetRef(), GetPlatform().GetSysDir(), GetPlatform().GetConfigFile()); @@ -904,7 +925,7 @@ void HttpResponder::SendJsonResponse(const char* command) return; } - if (StringEquals(command, "download")) + if (StringEqualsIgnoreCase(command, "download")) { const char* const filename = GetKeyValue("name"); if (filename != nullptr) @@ -937,19 +958,30 @@ void HttpResponder::SendJsonResponse(const char* command) if (jsonResponse == nullptr) { // We ran out of buffers at some point. - // Unfortunately the protocol is prone to deadlocking, because if most output buffer are used up holding a GCode reply, + // Unfortunately the protocol is prone to deadlocking, because if most output buffers are used up holding a GCode reply, // there may be insufficient buffers left to compose the status response to tell DWC that it needs to fetch that GCode reply. - // Until we fix the protocol, the best we can do is time out and throw the GCode response away. + // Until we fix the protocol, the best we can do is time out and throw some GCode responses away. if (millis() - startedProcessingRequestAt >= MaxBufferWaitTime) { { + // Looks like we've run out of buffers and waiting hasn't help, so release some of the responses that are waiting to go MutexLocker lock(gcodeReplyMutex); OutputBuffer *buf = gcodeReply.Pop(); - OutputBuffer::ReleaseAll(buf); + if (buf != nullptr) + { + OutputBuffer::ReleaseAll(buf); + return; // next time we try, hopefully there will be a spare buffer + } } + + // We've freed all the buffer we have ReportOutputBufferExhaustion(__FILE__, __LINE__); + + // We know that we have an output buffer, but it may be too short to send a long reply, so send a short one + outBuf->copy(serviceUnavailableResponse); + Commit(ResponderState::free, false); + return; } - return; } // Send the JSON response @@ -959,10 +991,10 @@ void HttpResponder::SendJsonResponse(const char* command) // Check that the browser wants to persist the connection too for (size_t i = 0; i < numHeaderKeys; ++i) { - if (StringEquals(headers[i].key, "Connection")) + if (StringEqualsIgnoreCase(headers[i].key, "Connection")) { // Comment out the following line to disable persistent connections - keepOpen = StringEquals(headers[i].value, "keep-alive"); + keepOpen = StringEqualsIgnoreCase(headers[i].value, "keep-alive"); break; } } @@ -973,16 +1005,16 @@ void HttpResponder::SendJsonResponse(const char* command) // so other tasks may allocate buffers meanwhile, and the previous mechanism for ensuring that there is sufficient // buffer space remaining don't work. // This response is currently about 230 bytes long in the worst case. - outBuf->copy( "HTTP/1.1 200 OK\n" - "Cache-Control: no-cache, no-store, must-revalidate\n" - "Pragma: no-cache\n" - "Expires: 0\n" - "Access-Control-Allow-Origin: *\n" - "Content-Type: application/json\n" + outBuf->copy( "HTTP/1.1 200 OK\r\n" + "Cache-Control: no-cache, no-store, must-revalidate\r\n" + "Pragma: no-cache\r\n" + "Expires: 0\r\n" + "Access-Control-Allow-Origin: *\r\n" + "Content-Type: application/json\r\n" ); const unsigned int replyLength = (jsonResponse != nullptr) ? jsonResponse->Length() : 0; - outBuf->catf("Content-Length: %u\n", replyLength); - outBuf->catf("Connection: %s\n\n", keepOpen ? "keep-alive" : "close"); + outBuf->catf("Content-Length: %u\r\n", replyLength); + outBuf->catf("Connection: %s\r\n\r\n", keepOpen ? "keep-alive" : "close"); outBuf->Append(jsonResponse); if (outBuf->HadOverflow()) @@ -998,18 +1030,25 @@ void HttpResponder::SendJsonResponse(const char* command) { MutexLocker lock(gcodeReplyMutex); OutputBuffer *buf = gcodeReply.Pop(); - OutputBuffer::ReleaseAll(buf); + if (buf != nullptr) + { + OutputBuffer::ReleaseAll(buf); + return; + } } ReportOutputBufferExhaustion(__FILE__, __LINE__); + OutputBuffer::Truncate(outBuf, 999999); // release all buffers except the first one + outBuf->copy(serviceUnavailableResponse); + Commit(ResponderState::free, false); + return; } } - else + + // Here if everything is OK + Commit(keepOpen ? ResponderState::reading : ResponderState::free, false); + if (reprap.Debug(moduleWebserver)) { - Commit(keepOpen ? ResponderState::reading : ResponderState::free, false); - if (reprap.Debug(moduleWebserver)) - { - debugPrintf("Sending JSON reply, length %u\n", replyLength); - } + debugPrintf("Sending JSON reply, length %u\n", replyLength); } } @@ -1049,7 +1088,7 @@ void HttpResponder::ProcessRequest() // Reserve an output buffer before we process the request, or we won't be able to reply if (outBuf != nullptr || OutputBuffer::Allocate(outBuf)) { - if (StringEquals(commandWords[0], "GET")) + if (StringEqualsIgnoreCase(commandWords[0], "GET")) { if (StringStartsWith(commandWords[1], KO_START)) { @@ -1066,17 +1105,17 @@ void HttpResponder::ProcessRequest() return; } - if (StringEquals(commandWords[0], "OPTIONS")) + if (StringEqualsIgnoreCase(commandWords[0], "OPTIONS")) { - outBuf->copy( "HTTP/1.1 200 OK\n" - "Allow: OPTIONS, GET, POST\n" - "Cache-Control: no-cache, no-store, must-revalidate\n" - "Pragma: no-cache\n" - "Expires: 0\n" - "Access-Control-Allow-Origin: *\n" - "Access-Control-Allow-Headers: Content-Type\n" - "Content-Length: 0\n" - "\n" + outBuf->copy( "HTTP/1.1 200 OK\r\n" + "Allow: OPTIONS, GET, POST\r\n" + "Cache-Control: no-cache, no-store, must-revalidate\r\n" + "Pragma: no-cache\r\n" + "Expires: 0\r\n" + "Access-Control-Allow-Origin: *\r\n" + "Access-Control-Allow-Headers: Content-Type\r\n" + "Content-Length: 0\r\n" + "\r\n" ); if (outBuf->HadOverflow()) { @@ -1090,10 +1129,10 @@ void HttpResponder::ProcessRequest() return; } - if (CheckAuthenticated() && StringEquals(commandWords[0], "POST")) + if (CheckAuthenticated() && StringEqualsIgnoreCase(commandWords[0], "POST")) { - const bool isUploadRequest = (StringEquals(commandWords[1], KO_START "upload")) - || (commandWords[1][0] == '/' && StringEquals(commandWords[1] + 1, KO_START "upload")); + const bool isUploadRequest = (StringEqualsIgnoreCase(commandWords[1], KO_START "upload")) + || (commandWords[1][0] == '/' && StringEqualsIgnoreCase(commandWords[1] + 1, KO_START "upload")); if (isUploadRequest) { const char* const filename = GetKeyValue("name"); @@ -1103,7 +1142,7 @@ void HttpResponder::ProcessRequest() bool contentLengthFound = false; for (size_t i = 0; i < numHeaderKeys; i++) { - if (StringEquals(headers[i].key, "Content-Length")) + if (StringEqualsIgnoreCase(headers[i].key, "Content-Length")) { postFileLength = atoi(headers[i].value); contentLengthFound = true; @@ -1119,7 +1158,7 @@ void HttpResponder::ProcessRequest() } // Start a new file upload - FileStore *file = GetPlatform().OpenFile(FS_PREFIX, filename, OpenMode::write); + FileStore *file = GetPlatform().OpenFile(FS_PREFIX, filename, OpenMode::write, postFileLength); if (file == nullptr) { RejectMessage("could not create file"); @@ -1193,7 +1232,10 @@ void HttpResponder::RejectMessage(const char* response, unsigned int code) if (outBuf != nullptr || OutputBuffer::Allocate(outBuf)) { - outBuf->printf("HTTP/1.1 %u %s\nConnection: close\n\n", code, response); + outBuf->printf("HTTP/1.1 %u %s\r\n" + "Connection: close\r\n" + "Access-Control-Allow-Origin: *\r\n" + "\r\n", code, response); outBuf->catf("%s%s%s", ErrorPagePart1, response, ErrorPagePart2); Commit(); } @@ -1278,7 +1320,7 @@ void HttpResponder::CancelUpload() } } } - NetworkResponder::CancelUpload(); + UploadingNetworkResponder::CancelUpload(); } // This overrides the version in class NetworkResponder diff --git a/src/Networking/HttpResponder.h b/src/Networking/HttpResponder.h index 9f3d060e..addfd3a8 100644 --- a/src/Networking/HttpResponder.h +++ b/src/Networking/HttpResponder.h @@ -8,9 +8,9 @@ #ifndef SRC_NETWORKING_HTTPRESPONDER_H_ #define SRC_NETWORKING_HTTPRESPONDER_H_ -#include "NetworkResponder.h" +#include "UploadingNetworkResponder.h" -class HttpResponder : public NetworkResponder +class HttpResponder : public UploadingNetworkResponder { public: HttpResponder(NetworkResponder *n); @@ -106,7 +106,7 @@ private: // rr_fileinfo requests uint32_t startedProcessingRequestAt; // when we started processing the current HTTP request - char filenameBeingProcessed[MaxFilenameLength]; // The filename being processed (for rr_fileinfo) + // rr_fileinfo also uses fileBeingProcessed in the networkResponder class // Keeping track of HTTP sessions static HttpSession sessions[MaxHttpSessions]; diff --git a/src/Networking/LwipEthernet/LwipEthernetInterface.cpp b/src/Networking/LwipEthernet/LwipEthernetInterface.cpp index 368013b7..ed89f892 100644 --- a/src/Networking/LwipEthernet/LwipEthernetInterface.cpp +++ b/src/Networking/LwipEthernet/LwipEthernetInterface.cpp @@ -149,9 +149,11 @@ LwipEthernetInterface::LwipEthernetInterface(Platform& p) : platform(p), closeDa const ObjectModelTableEntry LwipEthernetInterface::objectModelTable[] = { + // These entries must be in alphabetical order + { "gateway", OBJECT_MODEL_FUNC(&(self->gateway)), TYPE_OF(IPAddress), ObjectModelTableEntry::none }, { "ip", OBJECT_MODEL_FUNC(&(self->ipAddress)), TYPE_OF(IPAddress), ObjectModelTableEntry::none }, + { "name", OBJECT_MODEL_FUNC_NOSELF("ethernet"), TYPE_OF(const char *), ObjectModelTableEntry::none }, { "netmask", OBJECT_MODEL_FUNC(&(self->netmask)), TYPE_OF(IPAddress), ObjectModelTableEntry::none }, - { "gateway", OBJECT_MODEL_FUNC(&(self->gateway)), TYPE_OF(IPAddress), ObjectModelTableEntry::none } }; DEFINE_GET_OBJECT_MODEL_TABLE(LwipEthernetInterface) diff --git a/src/Networking/Network.cpp b/src/Networking/Network.cpp index 6a69728c..28d20846 100644 --- a/src/Networking/Network.cpp +++ b/src/Networking/Network.cpp @@ -24,6 +24,10 @@ #include "ESP8266WiFi/WiFiInterface.h" #endif +#if HAS_RTOSPLUSTCP_NETWORKING +#include "RTOSPlusTCPEthernet/RTOSPlusTCPEthernetInterface.h" +#endif + #include "Platform.h" #include "RepRap.h" #include "HttpResponder.h" @@ -35,7 +39,12 @@ #ifdef RTOS +#if __LPC17xx__ +constexpr size_t NetworkStackWords = 470; +#else constexpr size_t NetworkStackWords = 550; +#endif + static Task<NetworkStackWords> networkTask; #endif @@ -49,6 +58,8 @@ Network::Network(Platform& p) : platform(p), responders(nullptr), nextResponderT interfaces[0] = nullptr; // we set this up in Init() #elif defined(DUET_M) interfaces[0] = new W5500Interface(p); +#elif defined(__LPC17xx__) + interfaces[0] = new RTOSPlusTCPEthernetInterface(p); #else # error Unknown board #endif @@ -70,7 +81,8 @@ static const ObjectModelArrayDescriptor interfaceArrayDescriptor = const ObjectModelTableEntry Network::objectModelTable[] = { - { "interface", OBJECT_MODEL_FUNC_NOSELF(&interfaceArrayDescriptor), TYPE_OF(ObjectModel) | IsArray, ObjectModelTableEntry::none } + // These entries must be in alphabetical order + { "interfaces", OBJECT_MODEL_FUNC_NOSELF(&interfaceArrayDescriptor), TYPE_OF(ObjectModel) | IsArray, ObjectModelTableEntry::none } }; DEFINE_GET_OBJECT_MODEL_TABLE(Network) @@ -81,7 +93,9 @@ DEFINE_GET_OBJECT_MODEL_TABLE(Network) void Network::Init() { httpMutex.Create("HTTP"); +#if SUPPORT_TELNET telnetMutex.Create("Telnet"); +#endif #if defined(DUET_NG) interfaces[0] = (platform.IsDuetWiFi()) ? static_cast<NetworkInterface*>(new WiFiInterface(platform)) : static_cast<NetworkInterface*>(new W5500Interface(platform)); @@ -89,22 +103,29 @@ void Network::Init() // Create the responders HttpResponder::InitStatic(); + +#if SUPPORT_TELNET TelnetResponder::InitStatic(); for (size_t i = 0; i < NumTelnetResponders; ++i) { responders = new TelnetResponder(responders); } +#endif + +#if SUPPORT_FTP for (size_t i = 0; i < NumFtpResponders; ++i) { responders = new FtpResponder(responders); } +#endif + for (size_t i = 0; i < NumHttpResponders; ++i) { responders = new HttpResponder(responders); } - strcpy(hostname, DEFAULT_HOSTNAME); + SafeStrncpy(hostname, DEFAULT_HOSTNAME, ARRAY_SIZE(hostname)); NetworkBuffer::AllocateBuffers(NetworkBufferCount); @@ -468,8 +489,10 @@ void Network::HandleHttpGCodeReply(const char *msg) void Network::HandleTelnetGCodeReply(const char *msg) { +#if SUPPORT_TELNET MutexLocker lock(telnetMutex); TelnetResponder::HandleGCodeReply(msg); +#endif } void Network::HandleHttpGCodeReply(OutputBuffer *buf) @@ -480,8 +503,12 @@ void Network::HandleHttpGCodeReply(OutputBuffer *buf) void Network::HandleTelnetGCodeReply(OutputBuffer *buf) { +#if SUPPORT_TELNET MutexLocker lock(telnetMutex); TelnetResponder::HandleGCodeReply(buf); +#else + OutputBuffer::Release(buf); +#endif } uint32_t Network::GetHttpReplySeq() diff --git a/src/Networking/Network.h b/src/Networking/Network.h index 6e86a1b0..8bf0e76d 100644 --- a/src/Networking/Network.h +++ b/src/Networking/Network.h @@ -17,15 +17,22 @@ #if defined(DUET3) || defined(SAME70XPLD) const size_t NumNetworkInterfaces = 2; -#elif defined(DUET_NG) || defined(DUET_M) +#elif defined(DUET_NG) || defined(DUET_M) || defined(__LPC17xx__) const size_t NumNetworkInterfaces = 1; #else # error Wrong Network.h file included #endif +#if defined(__LPC17xx__) +// Only 1 http responder as we are tight on memory . +const size_t NumHttpResponders = 2; // the number of concurrent HTTP requests we can process +const size_t NumFtpResponders = 0; // the number of concurrent FTP sessions we support +const size_t NumTelnetResponders = 0; // the number of concurrent Telnet sessions we support +#else const size_t NumHttpResponders = 4; // the number of concurrent HTTP requests we can process const size_t NumFtpResponders = 1; // the number of concurrent FTP sessions we support const size_t NumTelnetResponders = 2; // the number of concurrent Telnet sessions we support +#endif // Forward declarations class NetworkResponder; @@ -80,7 +87,7 @@ public: uint32_t GetHttpReplySeq(); #if SUPPORT_OBJECT_MODEL - void *GetInterface(size_t n) { return interfaces[n]; } + NetworkInterface *GetInterface(size_t n) const { return interfaces[n]; } #endif protected: @@ -95,7 +102,10 @@ private: NetworkResponder *responders; NetworkResponder *nextResponderToPoll; - Mutex httpMutex, telnetMutex; + Mutex httpMutex; +#if SUPPORT_TELNET + Mutex telnetMutex; +#endif uint32_t fastLoop, slowLoop; diff --git a/src/Networking/NetworkDefs.h b/src/Networking/NetworkDefs.h index fb347d27..2bb34088 100644 --- a/src/Networking/NetworkDefs.h +++ b/src/Networking/NetworkDefs.h @@ -36,7 +36,12 @@ constexpr Port DefaultTelnetPort = 23; constexpr Port DefaultPortNumbers[NumProtocols] = { DefaultHttpPort, DefaultFtpPort, DefaultTelnetPort }; constexpr const char * ProtocolNames[NumProtocols] = { "HTTP", "FTP", "TELNET" }; +#if defined(__LPC17xx__) +const size_t NetworkBufferCount = 2; // number of MSS sized buffers +#else constexpr size_t NetworkBufferCount = 6; // number of 2K network buffers +#endif + constexpr size_t SsidBufferLength = 32; // maximum characters in an SSID #endif /* SRC_NETWORKING_NETWORKDEFS_H_ */ diff --git a/src/Networking/NetworkResponder.cpp b/src/Networking/NetworkResponder.cpp index 85b0ccaa..48a4c2d9 100644 --- a/src/Networking/NetworkResponder.cpp +++ b/src/Networking/NetworkResponder.cpp @@ -125,7 +125,10 @@ void NetworkResponder::SendData() } fileBuffer->Taken(sent); - if (sent < remaining) + + if ( sent < remaining // if we couldn't send it all... + || fileBuffer->IsEmpty() // ...or if we've sent the whole buffer, return to allow other sockets to be polled + ) { return; } @@ -147,7 +150,6 @@ void NetworkResponder::SendData() // This is called when we lose a connection or when we are asked to terminate. Overridden in some derived classes. void NetworkResponder::ConnectionLost() { - CancelUpload(); OutputBuffer::ReleaseAll(outBuf); outStack.ReleaseAll(); @@ -172,69 +174,6 @@ void NetworkResponder::ConnectionLost() responderState = ResponderState::free; } -// Start writing to a new file -void NetworkResponder::StartUpload(FileStore *file, const char *fileName) -{ - fileBeingUploaded.Set(file); - SafeStrncpy(filenameBeingUploaded, fileName, ARRAY_SIZE(filenameBeingUploaded)); - responderState = ResponderState::uploading; - uploadError = false; -} - -// If this responder has an upload in progress, cancel it -void NetworkResponder::CancelUpload() -{ - if (fileBeingUploaded.IsLive()) - { - fileBeingUploaded.Close(); - if (filenameBeingUploaded[0] != 0) - { - GetPlatform().GetMassStorage()->Delete(FS_PREFIX, filenameBeingUploaded); - } - } -} - -// Finish a file upload. Set variable uploadError if anything goes wrong. -void NetworkResponder::FinishUpload(uint32_t fileLength, time_t fileLastModified) -{ - // Flush remaining data for FSO - if (!fileBeingUploaded.Flush()) - { - uploadError = true; - GetPlatform().Message(ErrorMessage, "Could not flush remaining data while finishing upload!\n"); - } - - // Check the file length is as expected - if (fileLength != 0 && fileBeingUploaded.Length() != fileLength) - { - uploadError = true; - GetPlatform().MessageF(ErrorMessage, "Uploaded file size is different (%lu vs. expected %lu bytes)!\n", fileBeingUploaded.Length(), fileLength); - } - - // Close the file - if (fileBeingUploaded.IsLive()) - { - fileBeingUploaded.Close(); - } - - // Delete the file again if an error has occurred - if (filenameBeingUploaded[0] != 0) - { - if (uploadError) - { - GetPlatform().GetMassStorage()->Delete(FS_PREFIX, filenameBeingUploaded); - } - else if (fileLastModified != 0) - { - // Update the file timestamp if it was specified - (void)GetPlatform().GetMassStorage()->SetLastModifiedTime(nullptr, filenameBeingUploaded, fileLastModified); - } - } - - // Clean up again - filenameBeingUploaded[0] = 0; -} - IPAddress NetworkResponder::GetRemoteIP() const { return (skt == nullptr) ? IPAddress() : skt->GetRemoteIP(); diff --git a/src/Networking/NetworkResponder.h b/src/Networking/NetworkResponder.h index 98a9e775..8d7384fb 100644 --- a/src/Networking/NetworkResponder.h +++ b/src/Networking/NetworkResponder.h @@ -59,10 +59,6 @@ protected: virtual void SendData(); virtual void ConnectionLost(); - void StartUpload(FileStore *file, const char *fileName); - void FinishUpload(uint32_t fileLength, time_t fileLastModified); - virtual void CancelUpload(); - IPAddress GetRemoteIP() const; void ReportOutputBufferExhaustion(const char *sourceFile, int line); @@ -81,13 +77,6 @@ protected: OutputStack outStack; // not volatile because only one task accesses it FileStore *fileBeingSent; NetworkBuffer *fileBuffer; - - // File uploads - FileData fileBeingUploaded; - char filenameBeingUploaded[MaxFilenameLength]; - uint32_t postFileLength, uploadedBytes; // How many POST bytes do we expect and how many have already been written? - time_t fileLastModified; - bool uploadError; }; #endif /* SRC_NETWORKING_NETWORKRESPONDER_H_ */ diff --git a/src/Networking/TelnetResponder.cpp b/src/Networking/TelnetResponder.cpp index f2caf8a5..88de2c98 100644 --- a/src/Networking/TelnetResponder.cpp +++ b/src/Networking/TelnetResponder.cpp @@ -6,6 +6,9 @@ */ #include "TelnetResponder.h" + +#if SUPPORT_TELNET + #include "Socket.h" #include "OutputMemory.h" #include "GCodes/GCodes.h" @@ -267,7 +270,7 @@ void TelnetResponder::CharFromClient(char c) void TelnetResponder::ProcessLine() { // Special commands for Telnet - if (StringEquals(clientMessage, "exit") || StringEquals(clientMessage, "quit")) + if (StringEqualsIgnoreCase(clientMessage, "exit") || StringEqualsIgnoreCase(clientMessage, "quit")) { if (outBuf != nullptr || OutputBuffer::Allocate(outBuf)) { @@ -381,4 +384,6 @@ unsigned int TelnetResponder::clientsServed = 0; OutputBuffer *TelnetResponder::gcodeReply = nullptr; Mutex TelnetResponder::gcodeReplyMutex; +#endif + // End diff --git a/src/Networking/UploadingNetworkResponder.cpp b/src/Networking/UploadingNetworkResponder.cpp new file mode 100644 index 00000000..204f2413 --- /dev/null +++ b/src/Networking/UploadingNetworkResponder.cpp @@ -0,0 +1,85 @@ +/* + * UploadingNetworkResponder.cpp + * + * Created on: 3 Feb 2019 + * Author: David + */ + +#include "UploadingNetworkResponder.h" +#include "Socket.h" +#include "Platform.h" + +UploadingNetworkResponder::UploadingNetworkResponder(NetworkResponder *n) : NetworkResponder(n), uploadError(false) +{ +} + +// This is called when we lose a connection or when we are asked to terminate. Overridden in some derived classes. +void UploadingNetworkResponder::ConnectionLost() +{ + CancelUpload(); + NetworkResponder::ConnectionLost(); +} + +// Start writing to a new file +void UploadingNetworkResponder::StartUpload(FileStore *file, const char *fileName) +{ + fileBeingUploaded.Set(file); + filenameBeingProcessed.copy(fileName); + responderState = ResponderState::uploading; + uploadError = false; +} + +// If this responder has an upload in progress, cancel it +void UploadingNetworkResponder::CancelUpload() +{ + if (fileBeingUploaded.IsLive()) + { + fileBeingUploaded.Close(); + if (!filenameBeingProcessed.IsEmpty()) + { + GetPlatform().GetMassStorage()->Delete(nullptr, filenameBeingProcessed.c_str()); + filenameBeingProcessed.Clear(); + } + } +} + +// Finish a file upload. Set variable uploadError if anything goes wrong. +void UploadingNetworkResponder::FinishUpload(uint32_t fileLength, time_t fileLastModified) +{ + // Flush remaining data for FSO + if (!fileBeingUploaded.Flush()) + { + uploadError = true; + GetPlatform().Message(ErrorMessage, "Could not flush remaining data while finishing upload!\n"); + } + + // Check the file length is as expected + if (fileLength != 0 && fileBeingUploaded.Length() != fileLength) + { + uploadError = true; + GetPlatform().MessageF(ErrorMessage, "Uploaded file size is different (%lu vs. expected %lu bytes)!\n", fileBeingUploaded.Length(), fileLength); + } + + // Close the file + if (fileBeingUploaded.IsLive()) + { + fileBeingUploaded.Close(); + } + + // Delete the file again if an error has occurred + if (!filenameBeingProcessed.IsEmpty()) + { + if (uploadError) + { + GetPlatform().GetMassStorage()->Delete(nullptr, filenameBeingProcessed.c_str()); + } + else if (fileLastModified != 0) + { + // Update the file timestamp if it was specified + (void)GetPlatform().GetMassStorage()->SetLastModifiedTime(nullptr, filenameBeingProcessed.c_str(), fileLastModified); + } + filenameBeingProcessed.Clear(); + } +} + +// End diff --git a/src/Networking/UploadingNetworkResponder.h b/src/Networking/UploadingNetworkResponder.h new file mode 100644 index 00000000..e94f7d3c --- /dev/null +++ b/src/Networking/UploadingNetworkResponder.h @@ -0,0 +1,32 @@ +/* + * UploadingNetworkResponder.h + * + * Created on: 3 Feb 2019 + * Author: David + */ + +#ifndef SRC_NETWORKING_UPLOADINGNETWORKRESPONDER_H_ +#define SRC_NETWORKING_UPLOADINGNETWORKRESPONDER_H_ + +#include "NetworkResponder.h" + +class UploadingNetworkResponder : public NetworkResponder +{ +protected: + UploadingNetworkResponder(NetworkResponder *n); + + void ConnectionLost() override; + + void StartUpload(FileStore *file, const char *fileName); + void FinishUpload(uint32_t fileLength, time_t fileLastModified); + virtual void CancelUpload(); + + // File uploads + FileData fileBeingUploaded; + String<MaxFilenameLength> filenameBeingProcessed; // usually the name of the file being uploaded, but also used by HttpResponder and FtpResponder + uint32_t postFileLength, uploadedBytes; // how many POST bytes do we expect and how many have already been written? + time_t fileLastModified; + bool uploadError; +}; + +#endif /* SRC_NETWORKING_UPLOADINGNETWORKRESPONDER_H_ */ diff --git a/src/Networking/W5500Ethernet/W5500Interface.cpp b/src/Networking/W5500Ethernet/W5500Interface.cpp index fb8ba382..3d401ff8 100644 --- a/src/Networking/W5500Ethernet/W5500Interface.cpp +++ b/src/Networking/W5500Ethernet/W5500Interface.cpp @@ -44,9 +44,11 @@ W5500Interface::W5500Interface(Platform& p) const ObjectModelTableEntry W5500Interface::objectModelTable[] = { + // These entries must be in alphabetical order + { "gateway", OBJECT_MODEL_FUNC(&(self->gateway)), TYPE_OF(IPAddress), ObjectModelTableEntry::none }, { "ip", OBJECT_MODEL_FUNC(&(self->ipAddress)), TYPE_OF(IPAddress), ObjectModelTableEntry::none }, + { "name", OBJECT_MODEL_FUNC_NOSELF("ethernet"), TYPE_OF(const char *), ObjectModelTableEntry::none }, { "netmask", OBJECT_MODEL_FUNC(&(self->netmask)), TYPE_OF(IPAddress), ObjectModelTableEntry::none }, - { "gateway", OBJECT_MODEL_FUNC(&(self->gateway)), TYPE_OF(IPAddress), ObjectModelTableEntry::none } }; DEFINE_GET_OBJECT_MODEL_TABLE(W5500Interface) diff --git a/src/ObjectModel/ObjectModel.cpp b/src/ObjectModel/ObjectModel.cpp index fdbd79c9..d8ead242 100644 --- a/src/ObjectModel/ObjectModel.cpp +++ b/src/ObjectModel/ObjectModel.cpp @@ -11,6 +11,7 @@ #include "OutputMemory.h" #include <cstring> +#include <General/SafeStrtod.h> // Constructor ObjectModel::ObjectModel() @@ -32,7 +33,7 @@ bool ObjectModel::ReportAsJson(OutputBuffer* buf, const char* filter, ReportFlag { buf->cat(','); } - omte->ReportAsJson(buf, this, filter, flags); + omte->ReportAsJson(buf, this, GetNextElement(filter), flags); added = true; } --numEntries; @@ -68,99 +69,6 @@ const ObjectModelTableEntry* ObjectModel::FindObjectModelTableEntry(const char* return (low < numElems && tbl[low].IdCompare(idString) == 0) ? &tbl[low] : nullptr; } -// Get the object model table entry for the leaf object in the query -const ObjectModelTableEntry *ObjectModel::FindObjectModelLeafEntry(const char *idString) -{ - const ObjectModelTableEntry *e = FindObjectModelTableEntry(idString); - return (e == nullptr) ? e : e->FindLeafEntry(this, idString); -} - -#if 0 // not implemented yet -bool ObjectModel::GetStringObjectValue(const StringRef& str, const char* idString) const -{ -} - -bool ObjectModel::GetLongEnumObjectValue(const StringRef& str, const char* idString) const -{ -} - -bool ObjectModel::GetShortEnumObjectValue(uint32_t& val, const char* idString) const -{ -} - -bool ObjectModel::GetBitmapObjectValue(uint32_t& val, const char* idString) const -{ -} -#endif - -#if 0 -bool ObjectModel::SetFloatObjectValue(float val, const char* idString) -{ -} - -bool ObjectModel::SetUnsignedObjectValue(uint32_t val, const char* idString) -{ -} - -bool ObjectModel::SetSignedObjectValue(int32_t val, const char* idString) -{ -} - -bool ObjectModel::SetStringObjectValue(const StringRef& str, const char* idString) -{ -} - -bool ObjectModel::SetLongEnumObjectValue(const StringRef& str, const char* idString) -{ -} - -bool ObjectModel::SetShortEnumObjectValue(uint32_t val, const char* idString) -{ -} - -bool ObjectModel::SetBitmapObjectValue(uint32_t val, const char* idString) -{ -} - -bool ObjectModel::SetBoolObjectValue(bool val, const char* idString) -{ -} - -bool ObjectModel::AdjustFloatObjectValue(float val, const char* idString) -{ -} - -bool ObjectModel::AdjustUnsignedObjectValue(int32_t val, const char* idString) -{ -} - -bool ObjectModel::AdjustSignedObjectValue(int32_t val, const char* idString) -{ -} - -bool ObjectModel::ToggleBoolObjectValue(const char* idString) -{ -} -#endif - -const char** ObjectModel::GetStringObjectPointer(const char* idString) -{ - //TODO - return nullptr; -} - -uint32_t* ObjectModel::GetShortEnumObjectPointer(const char* idString) -{ - const ObjectModelTableEntry *e = FindObjectModelLeafEntry(idString); - return (e == nullptr) ? nullptr : (uint32_t*)(e->GetValuePointer(this, TYPE_OF(Enum32))); -} - -uint32_t* ObjectModel::GetBitmapObjectPointer(const char* idString) -{ - const ObjectModelTableEntry *e = FindObjectModelLeafEntry(idString); - return (e == nullptr) ? nullptr : (uint32_t*)(e->GetValuePointer(this, TYPE_OF(Bitmap32))); -} - /*static*/ const char* ObjectModel::GetNextElement(const char *id) { while (*id != 0 && *id != '.' && *id != '[') @@ -179,16 +87,6 @@ bool ObjectModelTableEntry::Matches(const char* filterString, ObjectModelFilterF return IdCompare(filterString) == 0 && (flags & filterFlags) == filterFlags; } -const ObjectModelTableEntry *ObjectModelTableEntry::FindLeafEntry(ObjectModel *self, const char *idString) const -{ - if (!IsObject()) - { - return this; - } - - return ((ObjectModel*)param(self))->FindObjectModelLeafEntry(ObjectModel::GetNextElement(idString)); -} - // Private function to report a value of primitive type void ObjectModelTableEntry::ReportItemAsJson(OutputBuffer *buf, const char *filter, ObjectModel::ReportFlags flags, void *nParam, TypeCode type) { @@ -199,7 +97,15 @@ void ObjectModelTableEntry::ReportItemAsJson(OutputBuffer *buf, const char *filt break; case TYPE_OF(float): - buf->catf("%.1f", (double)*(const float *)nParam); //TODO different parameters need different number of decimal places + buf->catf("%.1f", (double)*(const float *)nParam); + break; + + case TYPE_OF(Float2): + buf->catf("%.2f", (double)*(const float *)nParam); + break; + + case TYPE_OF(Float3): + buf->catf("%.3f", (double)*(const float *)nParam); break; case TYPE_OF(uint32_t): @@ -210,6 +116,10 @@ void ObjectModelTableEntry::ReportItemAsJson(OutputBuffer *buf, const char *filt buf->catf("%" PRIi32, *(const int32_t *)nParam); break; + case TYPE_OF(const char*): + buf->EncodeString((const char*)nParam, true); + break; + case TYPE_OF(Bitmap32): if (flags & ObjectModel::flagShortForm) { @@ -217,8 +127,15 @@ void ObjectModelTableEntry::ReportItemAsJson(OutputBuffer *buf, const char *filt } else { + uint32_t v = *(const uint32_t *)nParam; buf->cat('['); - // TODO list the bits that are set + buf->cat((v & 1) ? '1' : '0'); + for (unsigned int i = 1; i < 32; ++i) + { + v >>= 1; + buf->cat(','); + buf->cat((v & 1) ? '1' : '0'); + } buf->cat(']'); } break; @@ -244,7 +161,7 @@ void ObjectModelTableEntry::ReportItemAsJson(OutputBuffer *buf, const char *filt } else { - buf->cat((bVal) ? "yes" : "no"); + buf->cat((bVal) ? "\"yes\"" : "\"no\""); } } break; @@ -311,68 +228,104 @@ int ObjectModelTableEntry::IdCompare(const char *id) const : -1; } -// Check the type is correct, call the function if necessary and return the pointer -void* ObjectModelTableEntry::GetValuePointer(ObjectModel *self, TypeCode t) const -{ - if (t != type) - { - return nullptr; - } - return param(self); -} - -// Return the type of an object -TypeCode ObjectModel::GetObjectType(const char *idString) -{ - const ObjectModelTableEntry * const e = FindObjectModelLeafEntry(idString); - return (e == nullptr) ? NoType : e->type; -} - // Get the value of an object when we don't know what its type is TypeCode ObjectModel::GetObjectValue(ExpressionValue& val, const char *idString) { - const ObjectModelTableEntry * const e = FindObjectModelLeafEntry(idString); + const ObjectModelTableEntry *e = FindObjectModelTableEntry(idString); if (e == nullptr) { return NoType; } - switch (e->type) + + idString = GetNextElement(idString); + void * param = e->param(this); + TypeCode tc = e->type; + if ((tc & IsArray) != 0) { + if (*idString != '[') + { + return NoType; // no array index is provided, and we don't currently allow an entire array to be returned + } + const char *endptr; + const unsigned long val = SafeStrtoul(idString + 1, &endptr); + if (endptr == idString + 1 || *endptr != ']') + { + return NoType; // invalid syntax + } + const ObjectModelArrayDescriptor *arr = (const ObjectModelArrayDescriptor*)param; + if (val >= arr->GetNumElements(this)) + { + return NoType; // array index out of range + } + + idString = endptr + 1; // skip past the ']' + if (*idString == '.') + { + ++idString; // skip any '.' after it because it could be an array of objects + } + tc &= ~IsArray; // clear the array flag + param = arr->GetElement(this, val); // fetch the pointer to the array element + } + + switch (tc) + { + case TYPE_OF(ObjectModel): + return ((ObjectModel*)param)->GetObjectValue(val, idString); + case TYPE_OF(float): - val.fVal = *((const float*)e->param(this)); + case TYPE_OF(Float2): + case TYPE_OF(Float3): + val.fVal = *((const float*)param); break; case TYPE_OF(uint32_t): case TYPE_OF(Bitmap32): case TYPE_OF(Enum32): - val.uVal = *((const uint32_t*)e->param(this)); + val.uVal = *((const uint32_t*)param); break; case TYPE_OF(int32_t): - val.iVal = *((const int32_t*)e->param(this)); + val.iVal = *((const int32_t*)param); break; case TYPE_OF(const char*): - val.sVal = *((const char* const *)e->param(this)); + val.sVal = (const char*)param; break; - default: + case TYPE_OF(bool): + val.bVal = *((const bool*)param); break; + + case TYPE_OF(IPAddress): + val.uVal = ((const IPAddress *)param)->GetV4LittleEndian(); + break; + + default: + return NoType; } - return e->type; + return tc; } // Template specialisations -template<> bool ObjectModel::GetObjectValue(float& val, const char *idString) +bool ObjectModel::GetObjectValue(float& val, const char *idString) { - const ObjectModelTableEntry * const e = FindObjectModelLeafEntry(idString); + const ObjectModelTableEntry *e = FindObjectModelTableEntry(idString); if (e == nullptr) { - return false; + return NoType; + } + + if ((e->type & IsArray) != 0) + { + //TODO handle arrays + return NoType; } switch (e->type) { + case TYPE_OF(ObjectModel): + return ((ObjectModel*)e->param(this))->GetObjectValue(val, GetNextElement(idString)); + case TYPE_OF(float): val = *((const float*)e->param(this)); return true; @@ -391,16 +344,25 @@ template<> bool ObjectModel::GetObjectValue(float& val, const char *idString) } // Specialisation of above for int, allowing conversion from unsigned to signed -template<> bool ObjectModel::GetObjectValue(int32_t& val, const char *idString) +bool ObjectModel::GetObjectValue(int32_t& val, const char *idString) { - const ObjectModelTableEntry * const e = FindObjectModelLeafEntry(idString); + const ObjectModelTableEntry *e = FindObjectModelTableEntry(idString); if (e == nullptr) { - return false; + return NoType; + } + + if ((e->type & IsArray) != 0) + { + //TODO handle arrays + return NoType; } switch (e->type) { + case TYPE_OF(ObjectModel): + return ((ObjectModel*)e->param(this))->GetObjectValue(val, GetNextElement(idString)); + case TYPE_OF(int32_t): val = *((const int32_t*)e->param(this)); return true; diff --git a/src/ObjectModel/ObjectModel.h b/src/ObjectModel/ObjectModel.h index d76f9ce5..a3ad2d17 100644 --- a/src/ObjectModel/ObjectModel.h +++ b/src/ObjectModel/ObjectModel.h @@ -24,6 +24,7 @@ class ObjectModel; union ExpressionValue { + bool bVal; float fVal; int32_t iVal; uint32_t uVal; @@ -32,8 +33,10 @@ union ExpressionValue }; // Dummy types, used to define type codes -class Bitmap32 { }; -class Enum32 { }; +class Bitmap32; +class Enum32; +class Float2; // float printed to 2 decimal places instead of 1 +class Float3; // float printed to 3 decimal places instead of 1 class ObjectModel { @@ -55,35 +58,15 @@ public: // Get the value of an object when we don't know what its type is TypeCode GetObjectValue(ExpressionValue& val, const char *idString); - // Get values of various types from the object model, returning true if successful - template<class T> bool GetObjectValue(T& val, const char *idString); - - bool GetStringObjectValue(const StringRef& str, const char* idString) const; - bool GetLongEnumObjectValue(const StringRef& str, const char *idString) const; - bool GetShortEnumObjectValue(uint32_t &val, const char *idString) const; - bool GetBitmapObjectValue(uint32_t &val, const char *idString) const; - - // Try to set values of various types from the object model, returning true if successful - bool SetFloatObjectValue(float val, const char *idString); - bool SetUnsignedObjectValue(uint32_t val, const char *idString); - bool SetSignedObjectValue(int32_t val, const char *idString); - bool SetStringObjectValue(const StringRef& str, const char *idString); - bool SetLongEnumObjectValue(const StringRef& str, const char *idString); - bool SetShortEnumObjectValue(uint32_t val, const char *idString); - bool SetBitmapObjectValue(uint32_t val, const char *idString); - bool SetBoolObjectValue(bool val, const char *idString); - - // Try to adjust values of various types from the object model, returning true if successful - bool AdjustFloatObjectValue(float val, const char *idString); - bool AdjustUnsignedObjectValue(int32_t val, const char *idString); - bool AdjustSignedObjectValue(int32_t val, const char *idString); - bool ToggleBoolObjectValue(const char *idString); + // Specialisation of above for float, allowing conversion from integer to float + bool GetObjectValue(float& val, const char *idString); + + // Specialisation of above for int, allowing conversion from unsigned to signed + bool GetObjectValue(int32_t& val, const char *idString); // Get the object model table entry for the current level object in the query const ObjectModelTableEntry *FindObjectModelTableEntry(const char *idString); - // Get the object model table entry for the leaf object in the query - const ObjectModelTableEntry *FindObjectModelLeafEntry(const char *idString); // Skip the current element in the ID or filter string static const char* GetNextElement(const char *id); @@ -107,11 +90,13 @@ template<> constexpr TypeCode TypeOf<bool> () { return 1; } template<> constexpr TypeCode TypeOf<uint32_t> () { return 2; } template<> constexpr TypeCode TypeOf<int32_t>() { return 3; } template<> constexpr TypeCode TypeOf<float>() { return 4; } -template<> constexpr TypeCode TypeOf<Bitmap32>() { return 5; } -template<> constexpr TypeCode TypeOf<Enum32>() { return 6; } -template<> constexpr TypeCode TypeOf<ObjectModel>() { return 7; } -template<> constexpr TypeCode TypeOf<const char *>() { return 8; } -template<> constexpr TypeCode TypeOf<IPAddress>() { return 9; } +template<> constexpr TypeCode TypeOf<Float2>() { return 5; } +template<> constexpr TypeCode TypeOf<Float3>() { return 6; } +template<> constexpr TypeCode TypeOf<Bitmap32>() { return 7; } +template<> constexpr TypeCode TypeOf<Enum32>() { return 8; } +template<> constexpr TypeCode TypeOf<ObjectModel>() { return 9; } +template<> constexpr TypeCode TypeOf<const char *>() { return 10; } +template<> constexpr TypeCode TypeOf<IPAddress>() { return 11; } #define TYPE_OF(_t) (TypeOf<_t>()) @@ -161,49 +146,10 @@ public: // Compare the name of this field with the filter string that we are trying to match int IdCompare(const char *id) const; - // Return true if this field is an object, not a primitive type - bool IsObject() const { return type == TYPE_OF(ObjectModel); } - - // Follow the path specified by the ifString until we reach the end of it - const ObjectModelTableEntry *FindLeafEntry(ObjectModel *self, const char *idString) const; - - // Check the type is correct, call the function and return the pointer - void* GetValuePointer(ObjectModel *self, TypeCode t) const; - // Private function to report a value of primitive type static void ReportItemAsJson(OutputBuffer *buf, const char *filter, ObjectModel::ReportFlags flags, void *nParam, TypeCode type); }; -// Function to retrieve a value by searching the object model -// Returns true if success -template<class T> bool ObjectModel::GetObjectValue(T& val, const char *idString) -{ - const ObjectModelTableEntry * const e = FindObjectModelLeafEntry(idString); - if (e == nullptr) - { - return false; - } - const T *p = (float*)(e->GetValuePointer(this, TYPE_OF(T))); - if (p == nullptr) - { - return false; - } - val = *p; - return true; -} - -// Specialisation of above for float, allowing conversion from integer to float -template<> bool ObjectModel::GetObjectValue(float& val, const char *idString); - -// Specialisation of above for int, allowing conversion from unsigned to signed -template<> bool ObjectModel::GetObjectValue(int32_t& val, const char *idString); - -template<class T> T* ObjectModel::GetObjectPointer(const char* idString) -{ - const ObjectModelTableEntry *e = FindObjectModelLeafEntry(idString); - return (e == nullptr) ? nullptr : (T*)(e->GetValuePointer(this, TYPE_OF(T))); -} - // Use this macro to inherit form ObjectModel #define INHERIT_OBJECT_MODEL : public ObjectModel diff --git a/src/OutputMemory.cpp b/src/OutputMemory.cpp index 22200a1f..5158e547 100644 --- a/src/OutputMemory.cpp +++ b/src/OutputMemory.cpp @@ -96,7 +96,7 @@ const char *OutputBuffer::Read(size_t len) size_t OutputBuffer::printf(const char *fmt, ...) { - char formatBuffer[FORMAT_STRING_LENGTH]; + char formatBuffer[FormatStringLength]; va_list vargs; va_start(vargs, fmt); SafeVsnprintf(formatBuffer, ARRAY_SIZE(formatBuffer), fmt, vargs); @@ -107,7 +107,7 @@ size_t OutputBuffer::printf(const char *fmt, ...) size_t OutputBuffer::vprintf(const char *fmt, va_list vargs) { - char formatBuffer[FORMAT_STRING_LENGTH]; + char formatBuffer[FormatStringLength]; SafeVsnprintf(formatBuffer, ARRAY_SIZE(formatBuffer), fmt, vargs); return cat(formatBuffer); @@ -115,7 +115,7 @@ size_t OutputBuffer::vprintf(const char *fmt, va_list vargs) size_t OutputBuffer::catf(const char *fmt, ...) { - char formatBuffer[FORMAT_STRING_LENGTH]; + char formatBuffer[FormatStringLength]; va_list vargs; va_start(vargs, fmt); SafeVsnprintf(formatBuffer, ARRAY_SIZE(formatBuffer), fmt, vargs); @@ -230,86 +230,78 @@ size_t OutputBuffer::cat(StringRef &str) return cat(str.c_str(), str.strlen()); } -// Encode a string in JSON format and append it to a string buffer and return the number of bytes written -size_t OutputBuffer::EncodeString(const char *src, size_t srcLength, bool allowControlChars, bool encapsulateString, bool prependAsterisk) +// Encode a character in JSON format, and append it to the buffer and return the number of bytes written +size_t OutputBuffer::EncodeChar(char c) { - size_t bytesWritten = 0; - if (encapsulateString) + char esc; + switch (c) { - bytesWritten += cat('"'); + case '\r': + esc = 'r'; + break; + case '\n': + esc = 'n'; + break; + case '\t': + esc = 't'; + break; + case '"': + case '\\': +#if 1 + // Escaping '/' is optional in JSON, although doing so so confuses PanelDue (fixed in PanelDue firmware version 1.15 and later). As it's optional, we don't do it. +#else + case '/': +#endif + esc = c; + break; + default: + esc = 0; + break; } + + if (esc != 0) + { + cat('\\'); + cat(esc); + return 2; + } + + cat(c); + return 1; +} + +// Encode a string in JSON format and append it to the buffer and return the number of bytes written +size_t OutputBuffer::EncodeString(const char *src, bool allowControlChars, bool prependAsterisk) +{ + size_t bytesWritten = cat('"'); if (prependAsterisk) { bytesWritten += cat('*'); } - if (srcLength != 0) + if (src != nullptr) { - size_t srcPointer = 1; - char c = *src++; - while (srcPointer <= srcLength && c != 0 && (c >= ' ' || allowControlChars)) + char c; + while ((c = *src++) != 0 && (c >= ' ' || allowControlChars)) { - char esc; - switch (c) - { - case '\r': - esc = 'r'; - break; - case '\n': - esc = 'n'; - break; - case '\t': - esc = 't'; - break; - case '"': - case '\\': -#if 1 - // In theory we should escape '/' as well. However, we never used to, and doing so confuses PanelDue. - // This will be fixed in PanelDue firmware version 1.15, but in the mean time, don't escape '/'. -#else - case '/': -#endif - esc = c; - break; - default: - esc = 0; - break; - } - - if (esc != 0) - { - bytesWritten += cat('\\'); - bytesWritten += cat(esc); - } - else - { - bytesWritten += cat(c); - } - - c = *src++; - srcPointer++; + bytesWritten += EncodeChar(c); } } - if (encapsulateString) - { - bytesWritten += cat('"'); - } + bytesWritten += cat('"'); return bytesWritten; } -size_t OutputBuffer::EncodeString(const StringRef& str, bool allowControlChars, bool encapsulateString) -{ - return EncodeString(str.c_str(), str.Capacity(), encapsulateString); -} - -size_t OutputBuffer::EncodeReply(OutputBuffer *src, bool allowControlChars) +size_t OutputBuffer::EncodeReply(OutputBuffer *src) { size_t bytesWritten = cat('"'); while (src != nullptr) { - bytesWritten += EncodeString(src->Data(), src->DataLength(), allowControlChars, false); + for (size_t index = 0; index < src->DataLength(); ++index) + { + bytesWritten += EncodeChar(src->Data()[index]); + } src = Release(src); } @@ -401,6 +393,7 @@ bool OutputBuffer::WriteToFile(FileData& f) const } // Truncate an output buffer to free up more memory. Returns the number of released bytes. +// This never releases the first buffer in the chain, so call it with a large value of bytesNeeded to release all buffers except the first. /*static */ size_t OutputBuffer::Truncate(OutputBuffer *buffer, size_t bytesNeeded) { // Can we free up space from this chain? Don't break it up if it's referenced anywhere else @@ -430,7 +423,7 @@ bool OutputBuffer::WriteToFile(FileData& f) const } while (previousItem != buffer && releasedBytes < bytesNeeded); // Update all the references to the last item - for(OutputBuffer *item = buffer; item != nullptr; item = item->Next()) + for (OutputBuffer *item = buffer; item != nullptr; item = item->Next()) { item->last = previousItem; } diff --git a/src/OutputMemory.h b/src/OutputMemory.h index c5d31787..0004062e 100644 --- a/src/OutputMemory.h +++ b/src/OutputMemory.h @@ -54,9 +54,14 @@ class OutputBuffer size_t cat(const char *src, size_t len); size_t cat(StringRef &str); - size_t EncodeString(const char *src, size_t srcLength, bool allowControlChars, bool encapsulateString = true, bool prependAsterisk = false); - size_t EncodeString(const StringRef& str, bool allowControlChars, bool encapsulateString = true); - size_t EncodeReply(OutputBuffer *src, bool allowControlChars); + size_t EncodeString(const char *src, bool allowControlChars, bool prependAsterisk = false); + + template<size_t Len> size_t EncodeString(const String<Len>& str, bool allowControlChars, bool prependAsterisk = false) + { + return EncodeString(str.c_str(), allowControlChars, prependAsterisk); + } + + size_t EncodeReply(OutputBuffer *src); uint32_t GetAge() const; @@ -87,6 +92,7 @@ class OutputBuffer static unsigned int GetFreeBuffers() { return OUTPUT_BUFFER_COUNT - usedOutputBuffers; } private: + size_t EncodeChar(char c); OutputBuffer *next; OutputBuffer *last; diff --git a/src/Pccb/Pins_Pccb.h b/src/Pccb/Pins_Pccb.h index c0b40b83..362ae1c9 100644 --- a/src/Pccb/Pins_Pccb.h +++ b/src/Pccb/Pins_Pccb.h @@ -71,8 +71,6 @@ constexpr size_t NumThermistorInputs = 2; constexpr size_t MinAxes = 3; // The minimum and default number of axes constexpr size_t MaxAxes = 6; // The maximum number of movement axes in the machine, <= DRIVES -// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES -#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f } constexpr size_t MaxExtruders = NumDirectDrivers - MinAxes; // The maximum number of extruders constexpr size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis @@ -80,6 +78,9 @@ constexpr size_t MaxDriversPerAxis = 4; // The maximum number of stepper driv constexpr size_t NUM_SERIAL_CHANNELS = 1; // The number of serial IO channels (USB only) #define SERIAL_MAIN_DEVICE SerialUSB +// SerialUSB +constexpr Pin UsbVBusPin = PortCPin(11); // Pin used to monitor VBUS on USB port + #define I2C_IFACE Wire // First and only I2C interface #define I2C_IRQn WIRE_ISR_ID @@ -90,10 +91,10 @@ constexpr Pin GlobalTmc22xxEnablePin = 1; // The pin that drives ENN of all in #ifdef PCCB_X5 -constexpr Pin GlobalTmc2660EnablePin = 52; // The pin that drives ENN of all drivers on the DueX5 -constexpr Pin ENABLE_PINS[NumDirectDrivers] = { 61, 35, 41, 55, 0, 64 }; -constexpr Pin STEP_PINS[NumDirectDrivers] = { 60, 38, 58, 56, 46, 50 }; -constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { 17, 57, 54, 34, 1, 53 }; +constexpr Pin GlobalTmc2660EnablePin = PortCPin(16); // The pin that drives ENN of all drivers on the DueX5 +constexpr Pin ENABLE_PINS[NumDirectDrivers] = { PortBPin(14), PortCPin(25), PortCPin( 5), PortCPin(19), PortAPin( 0), PortCPin(28) }; +constexpr Pin STEP_PINS[NumDirectDrivers] = { PortCPin(24), PortCPin( 2), PortCPin(22), PortCPin(20), PortCPin(10), PortCPin(14) }; +constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { PortAPin(17), PortCPin(21), PortCPin(18), PortCPin(13), PortAPin( 1), PortCPin(17) }; Spi * const SPI_TMC2660 = SPI; constexpr uint32_t ID_TMC2660_SPI = ID_SPI; @@ -101,15 +102,15 @@ constexpr IRQn TMC2660_SPI_IRQn = SPI_IRQn; # define TMC2660_SPI_Handler SPI_Handler // Pin assignments, using USART1 in SPI mode -constexpr Pin TMC2660MosiPin = 13; // PA13 -constexpr Pin TMC2660MisoPin = 12; // PA12 -constexpr Pin TMC2660SclkPin = 14; // PA14 +constexpr Pin TMC2660MosiPin = PortAPin(13); +constexpr Pin TMC2660MisoPin = PortAPin(12); +constexpr Pin TMC2660SclkPin = PortAPin(14); #else -constexpr Pin ENABLE_PINS[NumDirectDrivers] = { NoPin, NoPin, 61, 35, 41, 55, 0, 64 }; -constexpr Pin STEP_PINS[NumDirectDrivers] = { 40, 43, 60, 38, 58, 56, 46, 50 }; -constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { 8, 11, 17, 57, 54, 34, 1, 53 }; +constexpr Pin ENABLE_PINS[NumDirectDrivers] = { NoPin, NoPin, PortBPin(14), PortCPin(25), PortCPin( 5), PortCPin(19), PortAPin( 0), PortCPin(28) }; +constexpr Pin STEP_PINS[NumDirectDrivers] = { PortCPin( 4), PortCPin( 7), PortCPin(24), PortCPin( 2), PortCPin(22), PortCPin(20), PortCPin(10), PortCPin(14) }; +constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { PortAPin( 8), PortAPin(11), PortAPin(17), PortCPin(21), PortCPin(18), PortCPin(13), PortAPin( 1), PortCPin(17) }; Uart * const TMC22xxUarts[MaxSmartDrivers] = { UART0, UART1 }; constexpr uint32_t TMC22xxUartIds[MaxSmartDrivers] = { ID_UART0, ID_UART1 }; @@ -134,13 +135,13 @@ const uint32_t TransferTimeout = 10; // any transfer should complete within // Endstops // RepRapFirmware only has a single endstop per axis. // Gcode defines if it is a max ("high end") or min ("low end") endstop and sets if it is active HIGH or LOW. -constexpr Pin END_STOP_PINS[NumEndstops] = { 25, 67, 24, 63 }; +constexpr Pin END_STOP_PINS[NumEndstops] = { PortAPin(24), PortAPin(25), PortCPin(31), PortCPin(27) }; // Heaters and thermistors -constexpr Pin HEAT_ON_PINS[NumHeaters] = { 36, 59 }; // these are actually the LED control pins -constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 20, 49 }; // Thermistor pin numbers -constexpr Pin VssaSensePin = 19; -constexpr Pin VrefSensePin = 27; +constexpr Pin HEAT_ON_PINS[NumHeaters] = { PortCPin(0), PortCPin(23) }; // these are actually the LED control pins +constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { PortAPin(20), PortCPin(13) }; // thermistor pin numbers +constexpr Pin VssaSensePin = PortAPin(19); +constexpr Pin VrefSensePin = PortBPin(1); // Default thermistor parameters - on PCCB we default both thermistors to the same parameters constexpr float BED_R25 = 100000.0; @@ -157,14 +158,14 @@ constexpr float THERMISTOR_SERIES_RS = 2200.0; constexpr size_t MaxSpiTempSensors = 1; //TODO which SPI channels does PCCB route to the DueX? // Digital pins the 31855s have their select lines tied to -constexpr Pin SpiTempSensorCsPins[MaxSpiTempSensors] = { 63 }; // SPI0_CS6 if a DueX5 is connected +constexpr Pin SpiTempSensorCsPins[MaxSpiTempSensors] = { PortCPin(27) }; // SPI0_CS6 if a DueX5 is connected // Pin that controls the ATX power on/off constexpr Pin ATX_POWER_PIN = NoPin; // Analogue pin numbers constexpr Pin Z_PROBE_PIN = NoPin; // Z probe analog input -constexpr Pin PowerMonitorVinDetectPin = 48; // Vin monitor +constexpr Pin PowerMonitorVinDetectPin = PortCPin(12); // Vin monitor constexpr float PowerMonitorVoltageRange = 11.0 * 3.3; // We use an 11:1 voltage divider // Digital pin number to turn the IR LED on (high) or off (low), also controls the DIAG LED @@ -174,24 +175,24 @@ constexpr Pin DiagPin = NoPin; // Cooling fans constexpr size_t NUM_FANS = 4; constexpr size_t NumTachos = 2; -constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { 16, 39, 15, 37 }; // PWML2, PWML3, TIOA1, PWML1 -constexpr Pin TachoPins[NumTachos] = { 26, 66 }; +constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { PortAPin(16), PortCPin(3), PortAPin(15), PortCPin(1) }; // PWML2, PWML3, TIOA1, PWML1 +constexpr Pin TachoPins[NumTachos] = { PortBPin(0), PortCPin(30) }; // Main LED control constexpr size_t NumLeds = 2; // number of main LEDs -constexpr Pin LedOnPins[NumLeds] = { 36, 59 }; // LED control pins +constexpr Pin LedOnPins[NumLeds] = { PortCPin(0), PortCPin(23) }; // LED control pins // DotStar LED control (USART0 is SharedSPI, Usart * const DotStarUsart = USART1; constexpr uint32_t DotStarUsartId = ID_USART1; -constexpr Pin DotStarMosiPin = 22; -constexpr Pin DotStarSclkPin = 23; +constexpr Pin DotStarMosiPin = PortAPin(22); +constexpr Pin DotStarSclkPin = PortAPin(23); constexpr IRQn DotStarUsartIRQn = USART1_IRQn; const uint32_t DotStarSpiClockFrequency = 100000; // try sending at 100kHz // SD cards constexpr size_t NumSdCards = 1; -constexpr Pin SdCardDetectPins[NumSdCards] = { 44 }; +constexpr Pin SdCardDetectPins[NumSdCards] = { PortCPin(8) }; constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin }; constexpr Pin SdSpiCSPins[1] = { NoPin }; constexpr uint32_t ExpectedSdCardSpeed = 15000000; @@ -201,10 +202,10 @@ constexpr uint32_t ExpectedSdCardSpeed = 15000000; // This is the mapping from logical pins 60+ to firmware pin numbers constexpr Pin SpecialPinMap[] = { - 18, 21, 51, 59, 62, 65 // PA18/AD1, PA21/AD8, PC15/AD11, PC22, PC23, PC29 + PortAPin(18), PortAPin(21), PortCPin(15), PortCPin(29) // PA18/AD1, PA21/AD8, PC15/AD11, PC29 }; -constexpr int HighestLogicalPin = 65; // highest logical pin number on this electronics +constexpr int HighestLogicalPin = 63; // highest logical pin number on this electronics // SAM4S Flash locations (may be expanded in the future) constexpr uint32_t IAP_FLASH_START = 0x00470000; @@ -111,7 +111,23 @@ # define HAS_LEGACY_NETWORKING 0 #endif -#define HAS_NETWORKING (HAS_LWIP_NETWORKING || HAS_WIFI_NETWORKING || HAS_W5500_NETWORKING || HAS_LEGACY_NETWORKING) +#ifndef HAS_RTOSPLUSTCP_NETWORKING +# define HAS_RTOSPLUSTCP_NETWORKING 0 +#endif + +#ifndef HAS_ESP32_NETWORKING +# define HAS_ESP32_NETWORKING 0 +#endif + +#define HAS_NETWORKING (HAS_LWIP_NETWORKING || HAS_WIFI_NETWORKING || HAS_W5500_NETWORKING || HAS_LEGACY_NETWORKING || HAS_RTOSPLUSTCP_NETWORKING || HAS_ESP32_NETWORKING) + +#ifndef SUPPORT_FTP +# define SUPPORT_FTP HAS_NETWORKING +#endif + +#ifndef SUPPORT_TELNET +# define SUPPORT_TELNET HAS_NETWORKING +#endif #if SUPPORT_DHT_SENSOR && !defined(RTOS) # error DHT sensor support requires RTOS diff --git a/src/Platform.cpp b/src/Platform.cpp index 483cca12..cdcbe514 100644 --- a/src/Platform.cpp +++ b/src/Platform.cpp @@ -25,6 +25,7 @@ #include "Movement/DDA.h" #include "Movement/Move.h" #include "Movement/StepTimer.h" +#include "Tools/Tool.h" #include "Network.h" #include "PrintMonitor.h" #include "FilamentMonitors/FilamentMonitor.h" @@ -66,6 +67,11 @@ #if HAS_LINUX_INTERFACE # include "SAME70_TEST/LinuxComm.h" #endif +#if HAS_NETWORKING && !HAS_LEGACY_NETWORKING +# include "Networking/HttpResponder.h" +# include "Networking/FtpResponder.h" +# include "Networking/TelnetResponder.h" +#endif #include <climits> @@ -148,6 +154,9 @@ extern "C" void UrgentInit() // The prototype boards don't have a pulldown on LCD_BEEP, which causes a hissing sound from the beeper on the 12864 display until the pin is initialised pinMode(LcdBeepPin, OUTPUT_LOW); + // Set the 12864 display CS pin low to prevent it from receiving garbage due to other SPI traffic + pinMode(LcdCSPin, OUTPUT_LOW); + // On the prototype boards the stepper driver expansion ports don't have external pullup resistors on their enable pins pinMode(ENABLE_PINS[5], OUTPUT_HIGH); pinMode(ENABLE_PINS[6], OUTPUT_HIGH); @@ -166,7 +175,6 @@ Platform::Platform() : #endif lastFanCheckTime(0), auxGCodeReply(nullptr), tickState(0), debugCode(0), lastWarningMillis(0), deliberateError(false), i2cInitialised(false) { - // Files massStorage = new MassStorage(this); } @@ -191,7 +199,7 @@ void Platform::Init() pinMode(GlobalTmc22xxEnablePin, OUTPUT_HIGH); // Ensure that the main LEDs are turned off. - // The main LED output is active, just like a heater on the Duet 2 series. + // The main LED output is active low, just like a heater on the Duet 2 series. // The secondary LED control dims the LED via the external controller when the output is high. So both outputs must be initialised high. for (size_t i = 0; i < NumLeds; ++i) { @@ -208,39 +216,38 @@ void Platform::Init() // Comms baudRates[0] = MAIN_BAUD_RATE; -#ifdef SERIAL_AUX_DEVICE - baudRates[1] = AUX_BAUD_RATE; -#endif -#ifdef SERIAL_AUX2_DEVICE - baudRates[2] = AUX2_BAUD_RATE; -#endif commsParams[0] = 0; -#ifdef SERIAL_AUX_DEVICE - commsParams[1] = 1; // by default we require a checksum on data from the aux port, to guard against overrun errors -#endif -#ifdef SERIAL_AUX2_DEVICE - commsParams[2] = 0; -#endif - usbMutex.Create("USB"); + SERIAL_MAIN_DEVICE.Start(UsbVBusPin); + #ifdef SERIAL_AUX_DEVICE + baudRates[1] = AUX_BAUD_RATE; + commsParams[1] = 1; // by default we require a checksum on data from the aux port, to guard against overrun errors auxMutex.Create("Aux"); auxDetected = false; auxSeq = 0; -#endif - - SERIAL_MAIN_DEVICE.begin(baudRates[0]); -#ifdef SERIAL_AUX_DEVICE SERIAL_AUX_DEVICE.begin(baudRates[1]); // this can't be done in the constructor because the Arduino port initialisation isn't complete at that point #endif + #ifdef SERIAL_AUX2_DEVICE - SERIAL_AUX2_DEVICE.begin(baudRates[2]); + baudRates[2] = AUX2_BAUD_RATE; + commsParams[2] = 0; aux2Mutex.Create("Aux2"); + SERIAL_AUX2_DEVICE.begin(baudRates[2]); #endif compatibility = Compatibility::marlin; // default to Marlin because the common host programs expect the "OK" response to commands - // File management + // File management and SD card interfaces + for (size_t i = 0; i < NumSdCards; ++i) + { + const Pin p = SdCardDetectPins[i]; + if (p != NoPin) + { + setPullup(p, true); + } + } + massStorage->Init(); ipAddress = DefaultIpAddress; @@ -351,23 +358,13 @@ void Platform::Init() // AXES for (size_t axis = 0; axis < MaxAxes; ++axis) { - axisMinima[axis] = 0.0; - axisMaxima[axis] = 200.0; + axisMinima[axis] = DefaultAxisMinimum; + axisMaxima[axis] = DefaultAxisMaximum; } axisMaximaProbed = axisMinimaProbed = 0; idleCurrentFactor = DefaultIdleCurrentFactor; - // SD card interfaces - for (size_t i = 0; i < NumSdCards; ++i) - { - const Pin p = SdCardDetectPins[i]; - if (p != NoPin) - { - setPullup(p, true); - } - } - // Motors #ifndef __LPC17xx__ // Disable parallel writes to all pins. We re-enable them for the step pins. @@ -416,7 +413,7 @@ void Platform::Init() } } - for (size_t endstop = 0; endstop < NumEndstops; ++endstop) + for (Pin p : endStopPins) { #if defined(DUET_NG) || defined(DUET_06_085) || defined(__RADDS__) || defined(__ALLIGATOR__) // Enable pullup resistors on endstop inputs here if necessary. @@ -427,9 +424,9 @@ void Platform::Init() // Note: if we don't have a DueX board connected, the pullups on endstop inputs 5-9 must always be enabled. // Also the pullups on endstop inputs 10-11 must always be enabled. // I don't know whether RADDS and Alligator have hardware pullup resistors or not. I'll assume they might not. - pinMode(endStopPins[endstop], INPUT_PULLUP); // enable pullup on endstop input + pinMode(p, INPUT_PULLUP); // enable pullup on endstop input #else - pinMode(endStopPins[endstop], INPUT); // don't enable pullup on endstop input + pinMode(p, INPUT); // don't enable pullup on endstop input #endif } @@ -454,6 +451,8 @@ void Platform::Init() // The SX1509B has an independent power on reset, so give it some time delay(200); expansionBoard = DuetExpansion::DueXnInit(); + +#if HAS_SMART_DRIVERS switch (expansionBoard) { case ExpansionBoardType::DueX2: @@ -468,6 +467,7 @@ void Platform::Init() numSmartDrivers = 5; // assume that any additional drivers are dumb enable/step/dir ones break; } +#endif if (expansionBoard != ExpansionBoardType::none) { @@ -509,6 +509,10 @@ void Platform::Init() autoSaveState = AutoSaveState::starting; #endif +#if HAS_SMART_DRIVERS && HAS_VOLTAGE_MONITOR + warnDriversNotPowered = false; +#endif + extrusionAncilliaryPwmValue = 0.0; configuredHeaters = 0; @@ -530,19 +534,19 @@ void Platform::Init() // Enable pullups on all the SPI CS pins. This is required if we are using more than one device on the SPI bus. // Otherwise, when we try to initialise the first device, the other devices may respond as well because their CS lines are not high. - for (size_t i = 0; i < MaxSpiTempSensors; ++i) + for (Pin p : SpiTempSensorCsPins) { - setPullup(SpiTempSensorCsPins[i], true); + pinMode(p, INPUT_PULLUP); } - for (size_t heater = 0; heater < NumHeaters; heater++) + for (Pin p : HEAT_ON_PINS) { // pinMode is safe to call when the pin is NoPin, so we don't need to check it here - pinMode(HEAT_ON_PINS[heater], + pinMode(p, #if ACTIVE_LOW_HEAT_ON - OUTPUT_LOW -#else OUTPUT_HIGH +#else + OUTPUT_LOW #endif ); } @@ -630,7 +634,9 @@ void Platform::Init() memset(logicalPinModes, PIN_MODE_NOT_CONFIGURED, sizeof(logicalPinModes)); // set all pins to "not configured" // Kick everything off - InitialiseInterrupts(); // also sets 'active' to true + InitialiseInterrupts(); + + active = true; } void Platform::SetZProbeDefaults() @@ -751,7 +757,7 @@ int Platform::GetZProbeSecondaryValues(int& v1, int& v2) } // Get our best estimate of the Z probe temperature -float Platform::GetZProbeTemperature() +float Platform::GetZProbeTemperature() const { for (size_t i = 0; i < NumBedHeaters; i++) { @@ -769,7 +775,7 @@ float Platform::GetZProbeTemperature() return 25.0; // assume 25C if we can't read the bed temperature } -float Platform::ZProbeStopHeight() +float Platform::GetZProbeStopHeight() const { return GetCurrentZProbeParameters().GetStopHeight(GetZProbeTemperature()); } @@ -849,8 +855,8 @@ void Platform::SetZProbeParameters(ZProbeType probeType, const ZProbe& params) } } -// Program the Z probe, returning true if error -bool Platform::ProgramZProbe(GCodeBuffer& gb, const StringRef& reply) +// Program the Z probe +GCodeResult Platform::ProgramZProbe(GCodeBuffer& gb, const StringRef& reply) { if (gb.Seen('S')) { @@ -864,15 +870,15 @@ bool Platform::ProgramZProbe(GCodeBuffer& gb, const StringRef& reply) if (zProbeProgram[i] > 255) { reply.copy("Out of range value in program bytes"); - return true; + return GCodeResult::error; } } zProbeProg.SendProgram(zProbeProgram, len); - return false; + return GCodeResult::ok; } } reply.copy("No program bytes provided"); - return true; + return GCodeResult::error; } // Set the state of the Z probe modulation pin @@ -943,7 +949,7 @@ void Platform::UpdateFirmware() DisableCache(); // Step 1 - Write update binary to Flash and overwrite the remaining space with zeros - // Leave the last 1KB of Flash memory untouched, so we can reuse the NvData after this update + // On the SAM3X, leave the last 1KB of Flash memory untouched, so we can reuse the NvData after this update #if !defined(IFLASH_PAGE_SIZE) && defined(IFLASH0_PAGE_SIZE) # define IFLASH_PAGE_SIZE IFLASH0_PAGE_SIZE @@ -1156,7 +1162,7 @@ void Platform::SendAuxMessage(const char* msg) if (OutputBuffer::Allocate(buf)) { buf->copy("{\"message\":"); - buf->EncodeString(msg, strlen(msg), false, true); + buf->EncodeString(msg, false); buf->cat("}\n"); auxOutput.Push(buf); FlushAuxMessages(); @@ -1194,9 +1200,14 @@ Compatibility Platform::Emulating() const return (compatibility == Compatibility::reprapFirmware) ? Compatibility::me : compatibility; } +bool Platform::EmulatingMarlin() const +{ + return compatibility == Compatibility::marlin || compatibility == Compatibility::nanoDLP; +} + void Platform::SetEmulating(Compatibility c) { - if (c != Compatibility::me && c != Compatibility::reprapFirmware && c != Compatibility::marlin) + if (c != Compatibility::me && c != Compatibility::reprapFirmware && c != Compatibility::marlin && c != Compatibility::nanoDLP) { Message(ErrorMessage, "Attempt to emulate unsupported firmware.\n"); } @@ -1331,6 +1342,7 @@ void Platform::Spin() } #ifdef DUET3 + // Blink the LED { static uint32_t lastTime = 0; static bool diagState = true; @@ -1416,7 +1428,7 @@ void Platform::Spin() // The driver often produces a transient open-load error, especially in stealthchop mode, so we require the condition to persist before we report it. // Also, false open load indications persist when in standstill, if the phase has zero current in that position - if ((stat & TMC_RR_OLA) != 0) + if ((stat & TMC_RR_OLA) != 0 && motorCurrents[nextDriveToPoll] * motorCurrentFraction[nextDriveToPoll] >= MinimumOpenLoadMotorCurrent) { if (!openLoadATimer.IsRunning()) { @@ -1434,7 +1446,7 @@ void Platform::Spin() } } - if ((stat & TMC_RR_OLB) != 0) + if ((stat & TMC_RR_OLB) != 0 && motorCurrents[nextDriveToPoll] * motorCurrentFraction[nextDriveToPoll] >= MinimumOpenLoadMotorCurrent) { if (!openLoadBTimer.IsRunning()) { @@ -1508,6 +1520,9 @@ void Platform::Spin() # if HAS_VOLTAGE_MONITOR else if (currentVin >= driverPowerOnAdcReading && currentVin <= driverNormalVoltageAdcReading) { + openLoadATimer.Stop(); + openLoadBTimer.Stop(); + temperatureShutdownDrivers = temperatureWarningDrivers = shortToGroundDrivers = openLoadADrivers = openLoadBDrivers = notOpenLoadADrivers = notOpenLoadBDrivers = 0; driversPowered = true; } # endif @@ -1517,13 +1532,10 @@ void Platform::Spin() const uint32_t now = millis(); // Update the time - if (realTime != 0) + if (IsDateTimeSet() && now - timeLastUpdatedMillis >= 1000) { - if (now - timeLastUpdatedMillis >= 1000) - { - ++realTime; // this assumes that time_t is a seconds-since-epoch counter, which is not guaranteed by the C standard - timeLastUpdatedMillis += 1000; - } + ++realTime; // this assumes that time_t is a seconds-since-epoch counter, which is not guaranteed by the C standard + timeLastUpdatedMillis += 1000; } // Thermostatically-controlled fans (do this after getting TMC driver status) @@ -1615,7 +1627,7 @@ void Platform::Spin() // Check for a VSSA fault #if HAS_VREF_MONITOR - constexpr uint32_t MaxVssaFilterSum = (15 * 4096 * ThermistorAverageReadings * 4)/2200; + constexpr uint32_t MaxVssaFilterSum = (15 * 4096 * ThermistorAverageReadings * 4)/2200; // VSSA fuse should have <= 15 ohms resistance if (adcFilters[VssaFilterIndex].GetSum() > MaxVssaFilterSum) { Message(ErrorMessage, "VSSA fault, check thermistor wiring\n"); @@ -1630,6 +1642,16 @@ void Platform::Spin() reported = true; } #endif + +#if HAS_SMART_DRIVERS && HAS_VOLTAGE_MONITOR + // Check for attempts to move motors when not powered + if (warnDriversNotPowered) + { + Message(ErrorMessage, "Attempt to move motors when VIN is not in range"); + warnDriversNotPowered = false; + reported = true; + } +#endif if (reported) { lastWarningMillis = now; @@ -1891,15 +1913,17 @@ void Platform::SoftwareReset(uint16_t reason, const uint32_t *stk) srdBuf[slot].icsr = SCB->ICSR; srdBuf[slot].bfar = SCB->BFAR; #ifdef RTOS - srdBuf[slot].taskName = *reinterpret_cast<const uint32_t*>(pcTaskGetName(nullptr)); + // Get the task name if we can. There may be no task executing, so we must allow for this. + const TaskHandle_t currentTask = xTaskGetCurrentTaskHandle(); + srdBuf[slot].taskName = (currentTask == nullptr) ? 0 : *reinterpret_cast<const uint32_t*>(pcTaskGetName(currentTask)); #endif if (stk != nullptr) { srdBuf[slot].sp = reinterpret_cast<uint32_t>(stk); - for (size_t i = 0; i < ARRAY_SIZE(srdBuf[slot].stack); ++i) + for (uint32_t& stval : srdBuf[slot].stack) { - srdBuf[slot].stack[i] = (stk < &_estack) ? *stk : 0xFFFFFFFF; + stval = (stk < &_estack) ? *stk : 0xFFFFFFFF; ++stk; } } @@ -2041,24 +2065,6 @@ void Platform::InitialiseInterrupts() // Tick interrupt for ADC conversions tickState = 0; currentFilterNumber = 0; - - // Set up the timeout of the regulator watchdog, and set up the backup watchdog if there is one -#if __LPC17xx__ - wdt_init(1); // set wdt to 1 second. reset the processor on a watchdog fault -#else - // The clock frequency for both watchdogs is 32768/128 = 256Hz - const uint16_t timeout = 32768/128; // set watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds) - wdt_init(WDT, WDT_MR_WDRSTEN, timeout, timeout); // reset the processor on a watchdog fault -#endif - -#if SAM4E || SAME70 - // The RSWDT must be initialised *after* the main WDT - const uint16_t rsTimeout = 16384/128; // set secondary watchdog timeout to 0.5 second (max allowed value is 4095 = 16 seconds) - rswdt_init(RSWDT, RSWDT_MR_WDFIEN, rsTimeout, rsTimeout); // generate an interrupt on a watchdog fault - NVIC_EnableIRQ(WDT_IRQn); // enable the watchdog interrupt -#endif - - active = true; // this enables the tick interrupt, which keeps the watchdog happy } //************************************************************************************************* @@ -2244,9 +2250,9 @@ void Platform::Diagnostics(MessageType mtype) { // We saved a stack dump, so print it scratchString.Clear(); - for (size_t i = 0; i < ARRAY_SIZE(srdBuf[slot].stack); ++i) + for (uint32_t stval : srdBuf[slot].stack) { - scratchString.catf(" %08" PRIx32, srdBuf[slot].stack[i]); + scratchString.catf(" %08" PRIx32, stval); } MessageF(mtype, "Stack:%s\n", scratchString.c_str()); } @@ -2283,9 +2289,10 @@ void Platform::Diagnostics(MessageType mtype) #if HAS_VOLTAGE_MONITOR // Show the supply voltage - MessageF(mtype, "Supply voltage: min %.1f, current %.1f, max %.1f, under voltage events: %" PRIu32 ", over voltage events: %" PRIu32 "\n", + MessageF(mtype, "Supply voltage: min %.1f, current %.1f, max %.1f, under voltage events: %" PRIu32 ", over voltage events: %" PRIu32 ", power good: %s\n", (double)AdcReadingToPowerVoltage(lowestVin), (double)AdcReadingToPowerVoltage(currentVin), (double)AdcReadingToPowerVoltage(highestVin), - numUnderVoltageEvents, numOverVoltageEvents); + numUnderVoltageEvents, numOverVoltageEvents, + (driversPowered) ? "yes" : "no"); lowestVin = highestVin = currentVin; #endif @@ -2293,20 +2300,12 @@ void Platform::Diagnostics(MessageType mtype) // Show the motor stall status for (size_t drive = 0; drive < numSmartDrivers; ++drive) { - String<100> driverStatus; + String<MediumStringLength> driverStatus; SmartDrivers::AppendDriverStatus(drive, driverStatus.GetRef()); MessageF(mtype, "Driver %u:%s\n", drive, driverStatus.c_str()); } #endif -#ifdef DUET_NG - if (expansionBoard == ExpansionBoardType::DueX2 || expansionBoard == ExpansionBoardType::DueX5) - { - const bool stalled = digitalRead(DueX_SG); - MessageF(mtype, "Expansion motor(s) stall indication: %s\n", (stalled) ? "yes" : "no"); - } -#endif - // Show current RTC time Message(mtype, "Date/time: "); struct tm timeInfo; @@ -2344,9 +2343,15 @@ void Platform::Diagnostics(MessageType mtype) MessageF(mtype, "Soft timer interrupts executed %u, next %u scheduled at %u, now %u\n", numSoftTimerInterruptsExecuted, STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_RB, lastSoftTimerInterruptScheduledAt, GetInterruptClocks()); #endif + +#ifdef I2C_IFACE + const TwoWire::ErrorCounts errs = I2C_IFACE.GetErrorCounts(true); + MessageF(mtype, "I2C nak errors %" PRIu32 ", send timeouts %" PRIu32 ", receive timeouts %" PRIu32 ", finishTimeouts %" PRIu32 "\n", + errs.naks, errs.sendTimeouts, errs.recvTimeouts, errs.finishTimeouts); +#endif } -bool Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d) +GCodeResult Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d) { static const uint32_t dummy[2] = { 0, 0 }; @@ -2383,12 +2388,12 @@ bool Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d) bool seen = false; if (gb.TryGetFloatArray('T', numTemps, tempMinMax, reply, seen, false)) { - return true; + return GCodeResult::error; } if (!seen) { reply.copy("Missing T parameter"); - return true; + return GCodeResult::error; } const float currentMcuTemperature = AdcReadingToCpuTemperature(adcFilters[CpuTempFilterIndex].GetSum()); @@ -2417,12 +2422,12 @@ bool Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d) bool seen = false; if (gb.TryGetFloatArray('V', numVoltages, voltageMinMax, reply, seen, false)) { - return true; + return GCodeResult::error; } if (!seen) { reply.copy("Missing V parameter"); - return true; + return GCodeResult::error; } const float voltage = AdcReadingToPowerVoltage(currentVin); @@ -2564,6 +2569,57 @@ bool Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d) } break; + case (int)DiagnosticTestType::TimeSinCos: // Show the sin/cosine calculation time. The displayed value is subject to interrupts. + { + uint32_t tim1 = 0; + bool ok1 = true; + for (unsigned int i = 0; i < 100; ++i) + { + const float angle = 0.01 * i; + const uint32_t now1 = StepTimer::GetInterruptClocks(); + const float f1 = RepRap::SinfCosf(angle); + tim1 += StepTimer::GetInterruptClocks() - now1; + if (f1 >= 1.5) + { + ok1 = false; // need to use f1 to prevent the calculations being omitted + } + } + + uint32_t tim2 = 0; + bool ok2 = true; + for (unsigned int i = 0; i < 100; ++i) + { + const double angle = (double)0.01 * i; + const uint32_t now2 = StepTimer::GetInterruptClocks(); + const double d1 = RepRap::SinCos(angle); + tim2 += StepTimer::GetInterruptClocks() - now2; + if (d1 >= (double)1.5) + { + ok1 = false; // need to use f1 to prevent the calculations being omitted + } + } + reply.printf("Sine + cosine: float %.2fus %s, double %.2fus %s", + (double)(tim1 * 10000)/StepTimer::StepClockRate, (ok1) ? "ok" : "ERROR", + (double)(tim2 * 10000)/StepTimer::StepClockRate, (ok2) ? "ok" : "ERROR"); + } + break; + + case (int)DiagnosticTestType::TimeSDWrite: + return reprap.GetGCodes().StartSDTiming(gb, reply); + + case (int)DiagnosticTestType::PrintObjectSizes: + reply.printf( + "DDA %u, DM %u, Tool %u" +#if HAS_NETWORKING && !HAS_LEGACY_NETWORKING + ", HTTP resp %u, FTP resp %u, Telnet resp %u" +#endif + , sizeof(DDA), sizeof(DriveMovement), sizeof(Tool) +#if HAS_NETWORKING && !HAS_LEGACY_NETWORKING + , sizeof(HttpResponder), sizeof(FtpResponder), sizeof(TelnetResponder) +#endif + ); + break; + #ifdef DUET_NG case (int)DiagnosticTestType::PrintExpanderStatus: reply.printf("Expander status %04X\n", DuetExpansion::DiagnosticRead()); @@ -2574,7 +2630,7 @@ bool Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d) break; } - return false; + return GCodeResult::ok; } #if HAS_SMART_DRIVERS @@ -2653,17 +2709,17 @@ void Platform::UpdateConfiguredHeaters() } } -EndStopHit Platform::Stopped(size_t drive) const +EndStopHit Platform::Stopped(size_t axisOrExtruder) const { const size_t numAxes = reprap.GetGCodes().GetTotalAxes(); - if (drive < numAxes) + if (axisOrExtruder < numAxes) { - switch (endStopInputType[drive]) + switch (endStopInputType[axisOrExtruder]) { case EndStopInputType::zProbe: { const EndStopHit rslt = GetZProbeResult(); - return (rslt == EndStopHit::lowHit && endStopPos[drive] == EndStopPosition::highEndStop) + return (rslt == EndStopHit::lowHit && endStopPos[axisOrExtruder] == EndStopPosition::highEndStop) ? EndStopHit::highHit : rslt; } @@ -2672,64 +2728,56 @@ EndStopHit Platform::Stopped(size_t drive) const case EndStopInputType::motorStall: { bool motorIsStalled; - switch (reprap.GetMove().GetKinematics().GetKinematicsType()) + const Kinematics& k = reprap.GetMove().GetKinematics(); + if (k.GetHomingMode() == HomingMode::homeIndividualMotors) { - case KinematicsType::coreXY: - // Both X and Y motors are involved in homing X or Y - motorIsStalled = (drive == X_AXIS || drive == Y_AXIS) - ? AnyAxisMotorStalled(X_AXIS) || AnyAxisMotorStalled(Y_AXIS) - : AnyAxisMotorStalled(drive); - break; - - case KinematicsType::coreXYU: - // Both X and Y motors are involved in homing X or Y, and both U and V motors are involved in homing U - motorIsStalled = (drive == X_AXIS || drive == Y_AXIS) - ? AnyAxisMotorStalled(X_AXIS) || AnyAxisMotorStalled(Y_AXIS) - : (drive == U_AXIS) - ? AnyAxisMotorStalled(U_AXIS) || AnyAxisMotorStalled(V_AXIS) - : AnyAxisMotorStalled(drive); - break; - - case KinematicsType::coreXYUV: - // Both X and Y motors are involved in homing X or Y, and both U and V motors are involved in homing U and V - motorIsStalled = (drive == X_AXIS || drive == Y_AXIS) - ? AnyAxisMotorStalled(X_AXIS) || AnyAxisMotorStalled(Y_AXIS) - : (drive == U_AXIS || drive == V_AXIS) - ? AnyAxisMotorStalled(U_AXIS) || AnyAxisMotorStalled(V_AXIS) - : AnyAxisMotorStalled(drive); - break; - - case KinematicsType::coreXZ: - // Both X and Z motors are involved in homing X or Z - motorIsStalled = (drive == X_AXIS || drive == Z_AXIS) - ? AnyAxisMotorStalled(X_AXIS) || AnyAxisMotorStalled(Z_AXIS) - : AnyAxisMotorStalled(drive); - break; - - default: - motorIsStalled = AnyAxisMotorStalled(drive); - break; + motorIsStalled = AnyAxisMotorStalled(axisOrExtruder); + } + else + { + AxesBitmap connectedAxes = k.GetConnectedAxes(axisOrExtruder); + if (connectedAxes == MakeBitmap<AxesBitmap>(axisOrExtruder)) + { + // Optimisation: no need to search the connectedAxes bitmap in the common case of no connected axes + motorIsStalled = AnyAxisMotorStalled(axisOrExtruder); + } + else + { + motorIsStalled = false; + for (size_t motor = 0; connectedAxes != 0; ++motor) + { + if (IsBitSet(connectedAxes, motor)) + { + if (AnyAxisMotorStalled(motor)) + { + motorIsStalled = true; + break; + } + ClearBit(connectedAxes, motor); + } + } + } } return (!motorIsStalled) ? EndStopHit::noStop - : (endStopPos[drive] == EndStopPosition::highEndStop) ? EndStopHit::highHit + : (endStopPos[axisOrExtruder] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit; } break; #endif case EndStopInputType::activeLow: - if (drive < NumEndstops && endStopPins[drive] != NoPin) + if (axisOrExtruder < NumEndstops && endStopPins[axisOrExtruder] != NoPin) { - const bool b = IoPort::ReadPin(endStopPins[drive]); - return (b) ? EndStopHit::noStop : (endStopPos[drive] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit; + const bool b = IoPort::ReadPin(endStopPins[axisOrExtruder]); + return (b) ? EndStopHit::noStop : (endStopPos[axisOrExtruder] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit; } break; case EndStopInputType::activeHigh: - if (drive < NumEndstops && endStopPins[drive] != NoPin) + if (axisOrExtruder < NumEndstops && endStopPins[axisOrExtruder] != NoPin) { - const bool b = !IoPort::ReadPin(endStopPins[drive]); - return (b) ? EndStopHit::noStop : (endStopPos[drive] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit; + const bool b = !IoPort::ReadPin(endStopPins[axisOrExtruder]); + return (b) ? EndStopHit::noStop : (endStopPos[axisOrExtruder] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit; } break; @@ -2738,10 +2786,10 @@ EndStopHit Platform::Stopped(size_t drive) const } } #if HAS_STALL_DETECT - else if (drive < NumDirectDrivers) + else if (axisOrExtruder < NumDirectDrivers) { // Endstop is for an extruder drive, so use stall detection - return (ExtruderMotorStalled(drive - numAxes)) ? EndStopHit::highHit : EndStopHit::noStop; + return (ExtruderMotorStalled(axisOrExtruder - numAxes)) ? EndStopHit::highHit : EndStopHit::noStop; } #endif return EndStopHit::noStop; @@ -2799,18 +2847,18 @@ bool Platform::WritePlatformParameters(FileStore *f, bool includingG31) const ok = true; } - if (ok && includingG31) + if (ok && (includingG31 || irZProbeParameters.saveToConfigOverride || alternateZProbeParameters.saveToConfigOverride || switchZProbeParameters.saveToConfigOverride)) { ok = f->Write("; Z probe parameters\n"); - if (ok) + if (ok && (includingG31 || irZProbeParameters.saveToConfigOverride)) { ok = irZProbeParameters.WriteParameters(f, 1); } - if (ok) + if (ok && (includingG31 || alternateZProbeParameters.saveToConfigOverride)) { ok = alternateZProbeParameters.WriteParameters(f, 3); } - if (ok) + if (ok && (includingG31 || switchZProbeParameters.saveToConfigOverride)) { ok = switchZProbeParameters.WriteParameters(f, 4); } @@ -2873,26 +2921,37 @@ void Platform::SetDirection(size_t drive, bool direction) // Enable a driver. Must not be called from an ISR, or with interrupts disabled. void Platform::EnableDriver(size_t driver) { - if (driver < NumDirectDrivers && driverState[driver] != DriverStatus::enabled) +#if HAS_SMART_DRIVERS && HAS_VOLTAGE_MONITOR + if (driver < numSmartDrivers && !driversPowered) { - driverState[driver] = DriverStatus::enabled; - UpdateMotorCurrent(driver); // the current may have been reduced by the idle timeout + warnDriversNotPowered = true; + } + else + { +#endif + if (driver < NumDirectDrivers && driverState[driver] != DriverStatus::enabled) + { + driverState[driver] = DriverStatus::enabled; + UpdateMotorCurrent(driver); // the current may have been reduced by the idle timeout #if defined(DUET3) && HAS_SMART_DRIVERS - SmartDrivers::EnableDrive(driver, true); // all drivers driven directly by the main board are smart + SmartDrivers::EnableDrive(driver, true); // all drivers driven directly by the main board are smart #elif HAS_SMART_DRIVERS - if (driver < numSmartDrivers) - { - SmartDrivers::EnableDrive(driver, true); - } - else - { - digitalWrite(ENABLE_PINS[driver], enableValues[driver] > 0); - } + if (driver < numSmartDrivers) + { + SmartDrivers::EnableDrive(driver, true); + } + else + { + digitalWrite(ENABLE_PINS[driver], enableValues[driver] > 0); + } #else - digitalWrite(ENABLE_PINS[driver], enableValues[driver] > 0); + digitalWrite(ENABLE_PINS[driver], enableValues[driver] > 0); #endif + } +#if HAS_SMART_DRIVERS && HAS_VOLTAGE_MONITOR } +#endif } // Disable a driver @@ -3159,6 +3218,20 @@ void Platform::SetIdleCurrentFactor(float f) } } +void Platform::SetDriveStepsPerUnit(size_t axisOrExtruder, float value, uint32_t microstepping) +{ + if (microstepping > 0) + { + bool dummy; + const unsigned int currentMicrostepping = GetMicrostepping(axisOrExtruder, dummy); + if (currentMicrostepping != microstepping) + { + value = value * (float)currentMicrostepping / (float)microstepping; + } + } + driveStepsPerUnit[axisOrExtruder] = max<float>(value, 1.0); // don't allow zero or negative +} + // Set the microstepping for a driver, returning true if successful bool Platform::SetDriverMicrostepping(size_t driver, unsigned int microsteps, int mode) { @@ -3729,7 +3802,7 @@ void Platform::Message(const MessageType type, OutputBuffer *buffer) void Platform::MessageF(MessageType type, const char *fmt, va_list vargs) { - String<FORMAT_STRING_LENGTH> formatString; + String<FormatStringLength> formatString; if ((type & ErrorMessageFlag) != 0) { formatString.copy("Error: "); @@ -3764,7 +3837,7 @@ void Platform::Message(MessageType type, const char *message) } else { - String<FORMAT_STRING_LENGTH> formatString; + String<FormatStringLength> formatString; formatString.copy(((type & ErrorMessageFlag) != 0) ? "Error: " : "Warning: "); formatString.cat(message); RawMessage((MessageType)(type & ~(ErrorMessageFlag | WarningMessageFlag)), formatString.c_str()); @@ -3803,7 +3876,7 @@ void Platform::SendAlert(MessageType mt, const char *message, const char *title, } // Configure logging according to the M929 command received, returning true if error -bool Platform::ConfigureLogging(GCodeBuffer& gb, const StringRef& reply) +GCodeResult Platform::ConfigureLogging(GCodeBuffer& gb, const StringRef& reply) { if (gb.Seen('S')) { @@ -3827,7 +3900,7 @@ bool Platform::ConfigureLogging(GCodeBuffer& gb, const StringRef& reply) if (!gb.GetQuotedString(filename)) { reply.copy("Missing filename in M929 command"); - return true; + return GCodeResult::error; } } else @@ -3841,7 +3914,7 @@ bool Platform::ConfigureLogging(GCodeBuffer& gb, const StringRef& reply) { reply.printf("Event logging is %s", (logger != nullptr && logger->IsActive()) ? "enabled" : "disabled"); } - return false; + return GCodeResult::ok; } // This is called from EmergencyStop. It closes the log file and stops logging. @@ -3942,15 +4015,13 @@ uint32_t Platform::GetCommsProperties(size_t chan) const } // Re-initialise a serial channel. -// Ideally, this would be part of the Line class. However, the Arduino core inexplicably fails to make the serial I/O begin() and end() members -// virtual functions of a base class, which makes that difficult to do. void Platform::ResetChannel(size_t chan) { switch(chan) { case 0: SERIAL_MAIN_DEVICE.end(); - SERIAL_MAIN_DEVICE.begin(baudRates[0]); + SERIAL_MAIN_DEVICE.Start(UsbVBusPin); break; #ifdef SERIAL_AUX_DEVICE @@ -4432,7 +4503,11 @@ GCodeResult Platform::ConfigureStallDetection(GCodeBuffer& gb, const StringRef& { for (size_t j = 0; j < axisDrivers[i].numDrivers; ++j) { - SetBit(drivers, axisDrivers[i].driverNumbers[j]); + const uint8_t driver = axisDrivers[i].driverNumbers[j]; + if (driver < numSmartDrivers) + { + SetBit(drivers, driver); + } } } } @@ -4447,7 +4522,11 @@ GCodeResult Platform::ConfigureStallDetection(GCodeBuffer& gb, const StringRef& { if (extruderNumbers[i] < MaxExtruders) { - SetBit(drivers, GetExtruderDriver(extruderNumbers[i])); + const uint8_t driver = GetExtruderDriver(extruderNumbers[i]); + if (driver < numSmartDrivers) + { + SetBit(drivers, driver); + } } } } @@ -4581,16 +4660,6 @@ GCodeResult Platform::ConfigureStallDetection(GCodeBuffer& gb, const StringRef& // Real-time clock -bool Platform::IsDateTimeSet() const -{ - return realTime != 0; -} - -time_t Platform::GetDateTime() const -{ - return realTime; -} - bool Platform::SetDateTime(time_t time) { struct tm brokenDateTime; @@ -4607,14 +4676,18 @@ bool Platform::SetDateTime(time_t time) return ok; } -// Misc +// Initialise the I2C interface, if not already done void Platform::InitI2c() { #if defined(I2C_IFACE) if (!i2cInitialised) { - I2C_IFACE.begin(); - i2cInitialised = true; + MutexLocker lock(Tasks::GetI2CMutex()); + if (!i2cInitialised) // test it again, now that we own the mutex + { + I2C_IFACE.BeginMaster(I2cClockFreq); + i2cInitialised = true; + } } #endif } @@ -4641,10 +4714,6 @@ uint32_t Platform::Random() void Platform::Tick() { -#if SAM4E || SAME70 - rswdt_restart(RSWDT); // kick the secondary watchdog (the primary one is kicked in CoreNG) -#endif - #if HAS_VOLTAGE_MONITOR if (tickState != 0) { diff --git a/src/Platform.h b/src/Platform.h index 6014aa63..3b9c9e13 100644 --- a/src/Platform.h +++ b/src/Platform.h @@ -163,7 +163,8 @@ enum class Compatibility : uint8_t marlin = 2, teacup = 3, sprinter = 4, - repetier = 5 + repetier = 5, + nanoDLP = 6 }; /***************************************************************************************************/ @@ -201,6 +202,9 @@ enum class DiagnosticTestType : int PrintExpanderStatus = 101, // print DueXn expander status #endif TimeSquareRoot = 102, // do a timing test on the square root function + TimeSinCos = 103, // do a timing test on the trig functions + TimeSDWrite = 104, // do a write timing test on the SD card + PrintObjectSizes = 105, // print the sizes of various objects TestWatchdog = 1001, // test that we get a watchdog reset if the tick interrupt stops TestSpinLockup = 1002, // test that we get a software reset if a Spin() function takes too long @@ -309,11 +313,13 @@ public: Compatibility Emulating() const; void SetEmulating(Compatibility c); + bool EmulatingMarlin() const; + void Diagnostics(MessageType mtype); - bool DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d); + GCodeResult DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d); void LogError(ErrorCode e) { errorCodeBits |= (uint32_t)e; } - void SoftwareReset(uint16_t reason, const uint32_t *stk = nullptr); + void SoftwareReset(uint16_t reason, const uint32_t *stk = nullptr) __attribute((noreturn)); bool AtxPower() const; void AtxPowerOn(); void AtxPowerOff(bool defer); @@ -331,16 +337,16 @@ public: void Tick() __attribute__((hot)); // Process a systick interrupt // Real-time clock - bool IsDateTimeSet() const; // Has the RTC been set yet? - time_t GetDateTime() const; // Retrieves the current RTC datetime and returns true if it's valid - bool SetDateTime(time_t time); // Sets the current RTC date and time or returns false on error + bool IsDateTimeSet() const { return realTime != 0; } // Has the RTC been set yet? + time_t GetDateTime() const { return realTime; } // Retrieves the current RTC datetime and returns true if it's valid + bool SetDateTime(time_t time); // Sets the current RTC date and time or returns false on error // Communications and data storage - OutputBuffer *GetAuxGCodeReply(); // Returns cached G-Code reply for AUX devices and clears its reference + OutputBuffer *GetAuxGCodeReply(); // Returns cached G-Code reply for AUX devices and clears its reference void AppendAuxReply(OutputBuffer *buf, bool rawMessage); void AppendAuxReply(const char *msg, bool rawMessage); uint32_t GetAuxSeq() { return auxSeq; } - bool HaveAux() const { return auxDetected; } // Any device on the AUX line? + bool HaveAux() const { return auxDetected; } // Any device on the AUX line? void SetAuxDetected() { auxDetected = true; } void SetIPAddress(IPAddress ip); @@ -362,7 +368,10 @@ public: friend class FileStore; MassStorage* GetMassStorage() const; - FileStore* OpenFile(const char* directory, const char* fileName, OpenMode mode) { return massStorage->OpenFile(directory, fileName, mode); } + FileStore* OpenFile(const char* directory, const char* fileName, OpenMode mode, uint32_t preAllocSize = 0) + { + return massStorage->OpenFile(directory, fileName, mode, preAllocSize); + } const char* GetWebDir() const; // Where the html etc files are const char* GetGCodeDir() const; // Where the gcodes are @@ -408,7 +417,7 @@ public: float DriveStepsPerUnit(size_t axisOrExtruder) const; const float *GetDriveStepsPerUnit() const { return driveStepsPerUnit; } - void SetDriveStepsPerUnit(size_t axisOrExtruder, float value); + void SetDriveStepsPerUnit(size_t axisOrExtruder, float value, uint32_t microstepping); float Acceleration(size_t axisOrExtruder) const; const float* Accelerations() const; void SetAcceleration(size_t axisOrExtruder, float value); @@ -457,7 +466,7 @@ public: // Z probe void SetZProbeDefaults(); - float ZProbeStopHeight(); + float GetZProbeStopHeight() const; float GetZProbeDiveHeight() const; float GetZProbeStartingHeight(); float GetZProbeTravelSpeed() const; @@ -472,11 +481,11 @@ public: bool HomingZWithProbe() const; bool WritePlatformParameters(FileStore *f, bool includingG31) const; void SetProbing(bool isProbing); - bool ProgramZProbe(GCodeBuffer& gb, const StringRef& reply); + GCodeResult ProgramZProbe(GCodeBuffer& gb, const StringRef& reply); void SetZProbeModState(bool b) const; // Heat and temperature - float GetZProbeTemperature(); // Get our best estimate of the Z probe temperature + float GetZProbeTemperature() const; // Get our best estimate of the Z probe temperature volatile ThermistorAveragingFilter& GetAdcFilter(size_t channel) pre(channel < ARRAY_SIZE(adcFilters)) @@ -566,7 +575,7 @@ public: Pin GetEndstopPin(int endstop) const; // Get the firmware pin number for an endstop // Logging support - bool ConfigureLogging(GCodeBuffer& gb, const StringRef& reply); + GCodeResult ConfigureLogging(GCodeBuffer& gb, const StringRef& reply); // Ancillary PWM void SetExtrusionAncilliaryPwmValue(float v); @@ -702,7 +711,7 @@ private: void InitialiseInterrupts(); - // DRIVES + // Drives void SetDriverCurrent(size_t driver, float current, int code); void UpdateMotorCurrent(size_t driver); void SetDriverDirection(uint8_t driver, bool direction) @@ -741,6 +750,10 @@ private: bool driversPowered; #endif +#if HAS_SMART_DRIVERS && HAS_VOLTAGE_MONITOR + bool warnDriversNotPowered; +#endif + #if HAS_STALL_DETECT DriversBitmap logOnStallDrivers, pauseOnStallDrivers, rehomeOnStallDrivers; DriversBitmap stalledDrivers, stalledDriversToLog, stalledDriversToPause, stalledDriversToRehome; @@ -750,7 +763,7 @@ private: // Digipots MCP4461 mcpDuet; MCP4461 mcpExpansion; - Pin potWipes[8]; // we have only 8 digipots, on the Duet 0.8.5 we use the DAC for the 9th + uint8_t potWipes[8]; // we have only 8 digipots, on the Duet 0.8.5 we use the DAC for the 9th float senseResistor; float maxStepperDigipotVoltage; float stepperDacVoltageRange, stepperDacVoltageOffset; @@ -951,11 +964,6 @@ inline float Platform::DriveStepsPerUnit(size_t drive) const return driveStepsPerUnit[drive]; } -inline void Platform::SetDriveStepsPerUnit(size_t drive, float value) -{ - driveStepsPerUnit[drive] = max<float>(value, 1.0); // don't allow zero or negative -} - inline float Platform::Acceleration(size_t drive) const { return accelerations[drive]; diff --git a/src/PrintMonitor.cpp b/src/PrintMonitor.cpp index d56a7f48..1a296f2b 100644 --- a/src/PrintMonitor.cpp +++ b/src/PrintMonitor.cpp @@ -31,6 +31,7 @@ PrintMonitor::PrintMonitor(Platform& p, GCodes& gc) : platform(p), gCodes(gc), i lastLayerFilament(0.0), lastLayerZ(0.0), numLayerSamples(0), layerEstimatedTimeLeft(0.0), printingFileParsed(false) { filenameBeingPrinted[0] = 0; + printingFileInfo.Init(); } void PrintMonitor::Init() @@ -38,37 +39,20 @@ void PrintMonitor::Init() lastUpdateTime = millis(); } -// Get information for the specified file, or the currently printing file, in JSON format -bool PrintMonitor::GetPrintingFileInfoResponse(OutputBuffer *&response) const +bool PrintMonitor::GetPrintingFileInfo(GCodeFileInfo& info) { - // If the file being printed hasn't been processed yet or if we cannot write the response, try again later - if (!printingFileParsed || !OutputBuffer::Allocate(response)) + if (IsPrinting()) { - return false; - } - - // Poll file info about a file currently being printed - response->printf("{\"err\":0,\"size\":%lu,\"height\":%.2f,\"firstLayerHeight\":%.2f,\"layerHeight\":%.2f,\"filament\":", - printingFileInfo.fileSize, (double)printingFileInfo.objectHeight, (double)printingFileInfo.firstLayerHeight, (double)printingFileInfo.layerHeight); - char ch = '['; - if (printingFileInfo.numFilaments == 0) - { - response->cat(ch); + if (!printingFileParsed) + { + return false; // not ready yet + } + info = printingFileInfo; } else { - for (size_t i = 0; i < printingFileInfo.numFilaments; ++i) - { - response->catf("%c%.1f", ch, (double)printingFileInfo.filamentNeeded[i]); - ch = ','; - } + info.isValid = false; } - response->cat("],\"generatedBy\":"); - response->EncodeString(printingFileInfo.generatedBy.c_str(), printingFileInfo.generatedBy.Capacity(), false); - response->catf(",\"printDuration\":%d,\"fileName\":", (int)GetPrintDuration()); - response->EncodeString(filenameBeingPrinted.c_str(), filenameBeingPrinted.Capacity(), false); - response->cat('}'); - return true; } @@ -125,36 +109,34 @@ void PrintMonitor::Spin() warmUpDuration += (millis64() - heatingStartedTime) * MillisToSeconds; } - if (!gCodes.DoingFileMacro() && reprap.GetMove().IsExtruding()) + float currentZ; + if (gCodes.GetLastPrintingHeight(currentZ)) { // Print is in progress and filament is being extruded - float liveCoordinates[MaxTotalDrivers]; - reprap.GetMove().LiveCoordinates(liveCoordinates, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes()); - if (currentLayer == 0) { currentLayer = 1; // See if we need to determine the first layer height (usually smaller than the nozzle diameter) - if (printingFileInfo.firstLayerHeight == 0.0 && liveCoordinates[Z_AXIS] < platform.GetNozzleDiameter() * 1.5) + if (printingFileInfo.firstLayerHeight == 0.0 && currentZ < platform.GetNozzleDiameter() * 1.5) { - printingFileInfo.firstLayerHeight = liveCoordinates[Z_AXIS]; + printingFileInfo.firstLayerHeight = currentZ; } } else if (currentLayer == 1) { // Check if we've finished the first layer - if (liveCoordinates[Z_AXIS] > printingFileInfo.firstLayerHeight + LAYER_HEIGHT_TOLERANCE) + if (currentZ > printingFileInfo.firstLayerHeight + LAYER_HEIGHT_TOLERANCE) { FirstLayerComplete(); currentLayer++; - lastLayerZ = liveCoordinates[Z_AXIS]; + lastLayerZ = currentZ; lastLayerChangeTime = GetPrintDuration(); } } // Else check for following layer changes - else if (liveCoordinates[Z_AXIS] > lastLayerZ + LAYER_HEIGHT_TOLERANCE) + else if (currentZ > lastLayerZ + LAYER_HEIGHT_TOLERANCE) { LayerComplete(); currentLayer++; @@ -162,7 +144,7 @@ void PrintMonitor::Spin() // If we know the layer height, compute what the current layer height should be. This is to handle slicers that use a different layer height for support. lastLayerZ = (printingFileInfo.layerHeight > 0.0) ? printingFileInfo.firstLayerHeight + (currentLayer - 1) * printingFileInfo.layerHeight - : liveCoordinates[Z_AXIS]; + : currentZ; lastLayerChangeTime = GetPrintDuration(); } } diff --git a/src/PrintMonitor.h b/src/PrintMonitor.h index 818ab302..1fb2bc1c 100644 --- a/src/PrintMonitor.h +++ b/src/PrintMonitor.h @@ -63,7 +63,7 @@ class PrintMonitor float GetFirstLayerHeight() const; const char *GetPrintingFilename() const { return (isPrinting) ? filenameBeingPrinted.c_str() : nullptr; } - bool GetPrintingFileInfoResponse(OutputBuffer *&response) const; + bool GetPrintingFileInfo(GCodeFileInfo& info); private: Platform& platform; diff --git a/src/RADDS/Network.h b/src/RADDS/Network.h index 88c9771a..72b93de3 100644 --- a/src/RADDS/Network.h +++ b/src/RADDS/Network.h @@ -4,12 +4,15 @@ #include "RepRapFirmware.h" #include "MessageType.h" #include "GCodes/GCodeResult.h" +#include "General/IPAddress.h" -const uint8_t DefaultIpAddress[4] = { 0, 0, 0, 0 }; -const uint8_t DefaultNetMask[4] = { 0, 0, 0, 0 }; -const uint8_t DefaultGateway[4] = { 0, 0, 0, 0 }; +const IPAddress DefaultIpAddress; +const IPAddress DefaultNetMask; +const IPAddress DefaultGateway; const uint8_t macAddress[6] = { 0, 0, 0, 0, 0, 0 }; +const uint8_t DefaultMacAddress[6] = { 0, 0, 0, 0, 0, 0 }; + const size_t SsidBufferLength = 32; // maximum characters in an SSID // The main network class that drives the network. @@ -31,7 +34,7 @@ public: GCodeResult GetNetworkState(unsigned int interface, const StringRef& reply); - void SetEthernetIPAddress(const uint8_t p_ipAddress[], const uint8_t p_netmask[], const uint8_t p_gateway[]) { } + void SetEthernetIPAddress(IPAddress p_ipAddress, IPAddress p_netmask, IPAddress p_gateway) { } void SetMacAddress(unsigned int interface, const uint8_t mac[]) { } const uint8_t *GetMacAddress(unsigned int interface) const { return macAddress; } diff --git a/src/RADDS/Pins_RADDS.h b/src/RADDS/Pins_RADDS.h index 40a51827..df03c790 100644 --- a/src/RADDS/Pins_RADDS.h +++ b/src/RADDS/Pins_RADDS.h @@ -29,11 +29,8 @@ const size_t NumFirmwareUpdateModules = 1; // The physical capabilities of the machine // The number of drives in the machine, including X, Y, and Z plus extruder drives -const size_t DRIVES = 9; - -// Initialization macro used in statements needing to initialize values in arrays of size DRIVES. E.g., -// max_feed_rates[DRIVES] = {DRIVES_(1, 1, 1, 1, 1, 1, 1, 1, 1, 1)} -#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g,h,i } +constexpr size_t NumDirectDrivers = 9; +constexpr size_t MaxTotalDrivers = NumDirectDrivers; // The number of heaters in the machine // 0 is the heated bed even if there isn't one. @@ -44,11 +41,8 @@ constexpr size_t NumThermistorInputs = 4; constexpr size_t MinAxes = 3; // The minimum and default number of axes constexpr size_t MaxAxes = 6; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES -// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES -#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f } -constexpr size_t MIN_AXES = 3; // The minimum and default number of axes -constexpr size_t MaxExtruders = DRIVES - MIN_AXES; // The maximum number of extruders +constexpr size_t MaxExtruders = NumDirectDrivers - MinAxes; // The maximum number of extruders constexpr size_t MaxDriversPerAxis = 4; // The maximum number of stepper drivers assigned to one axis constexpr size_t NUM_SERIAL_CHANNELS = 2; @@ -56,13 +50,16 @@ constexpr size_t NUM_SERIAL_CHANNELS = 2; #define SERIAL_MAIN_DEVICE SerialUSB #define SERIAL_AUX_DEVICE Serial1 +// SerialUSB +constexpr Pin UsbVBusPin = NoPin; // Pin used to monitor VBUS on USB port. Not needed for SAM3X. + // The numbers of entries in each array must correspond with the values of DRIVES, AXES, or HEATERS. Set values to NoPin to flag unavailability. // DRIVES -// X Y Z E1 E2 E3 E4 E5 E6 -const Pin ENABLE_PINS[DRIVES] = { 26, 22, 15, 62, 65, 49, 37, 31, 68 }; -// A15 A12 A09 A02 B19 C12 C03 D06 B16 -const Pin STEP_PINS[DRIVES] = { 24, 17, 2, 61, 64, 51, 35, 29, 67 }; -const Pin DIRECTION_PINS[DRIVES] = { 23, 16, 3, 60, 63, 53, 33, 27, 66 }; +// X Y Z E1 E2 E3 E4 E5 E6 +constexpr Pin ENABLE_PINS[NumDirectDrivers] = { 26, 22, 15, 62, 65, 49, 37, 31, 68 }; +// A15 A12 A09 A02 B19 C12 C03 D06 B16 +constexpr Pin STEP_PINS[NumDirectDrivers] = { 24, 17, 2, 61, 64, 51, 35, 29, 67 }; +constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { 23, 16, 3, 60, 63, 53, 33, 27, 66 }; // Endstops // E Stops not currently used @@ -77,52 +74,51 @@ const Pin DIRECTION_PINS[DRIVES] = { 23, 16, 3, 60, 63, 53, 33, 27, 66 }; // // This leaves 34, 36, and 38 as spare pins (X, Y, Z max) -const Pin END_STOP_PINS[NumEndstops] = { 28, 30, 32, 39 }; +constexpr Pin END_STOP_PINS[NumEndstops] = { 28, 30, 32, 39 }; // HEATERS - The bed is assumed to be the at index 0 // Analogue pin numbers -const Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 4, 0, 1, 2 }; +constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 4, 0, 1, 2 }; // Heater outputs // Bed PMW: D7 has hardware PWM so bed has PWM // h0, h1 PMW: D13 & D12 are on TIOB0 & B8 which are both TC B channels, so they get PWM // h2 bang-bang: D11 is on TIOA8 which is a TC A channel shared with h1, it gets bang-bang control -const Pin HEAT_ON_PINS[NumHeaters] = { 7, 13, 12, 11 }; // bed, h0, h1, h2 +constexpr Pin HEAT_ON_PINS[NumHeaters] = { 7, 13, 12, 11 }; // bed, h0, h1, h2 // Default thermistor betas -const float BED_R25 = 10000.0; -const float BED_BETA = 4066.0; -const float BED_SHC = 0.0; -const float EXT_R25 = 100000.0; -const float EXT_BETA = 4066.0; -const float EXT_SHC = 0.0; +constexpr float BED_R25 = 10000.0; +constexpr float BED_BETA = 4066.0; +constexpr float BED_SHC = 0.0; +constexpr float EXT_R25 = 100000.0; +constexpr float EXT_BETA = 4066.0; +constexpr float EXT_SHC = 0.0; // Thermistor series resistor value in Ohms -const float THERMISTOR_SERIES_RS = 4700.0; +constexpr float THERMISTOR_SERIES_RS = 4700.0; -const size_t MaxSpiTempSensors = 2; +constexpr size_t MaxSpiTempSensors = 2; // Digital pins the 31855s have their select lines tied to -const Pin SpiTempSensorCsPins[MaxSpiTempSensors] = { 38, 36 }; +constexpr Pin SpiTempSensorCsPins[MaxSpiTempSensors] = { 38, 36 }; // Digital pin number that controls the ATX power on/off -const Pin ATX_POWER_PIN = 40; +constexpr Pin ATX_POWER_PIN = 40; // Z Probe pin -// Must be an ADC capable pin. Can be any of the ARM's A/D capable -// pins even a non-Arduino pin. -const Pin Z_PROBE_PIN = A5; // RADDS "ADC" pin +// Must be an ADC capable pin. Can be any of the ARM's A/D capable pins even a non-Arduino pin. +constexpr Pin Z_PROBE_PIN = A5; // RADDS "ADC" pin // Digital pin number to turn the IR LED on (high) or off (low) // D34 -- unused X-max on RADDS -const Pin Z_PROBE_MOD_PIN = 34; -const Pin DiagPin = NoPin; +constexpr Pin Z_PROBE_MOD_PIN = 34; +constexpr Pin DiagPin = NoPin; // Use a PWM capable pin -const size_t NUM_FANS = 2; -const Pin COOLING_FAN_PINS[NUM_FANS] = { 9, 8 }; // Fan 0, Fan 1 +constexpr size_t NUM_FANS = 2; +constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { 9, 8 }; // Fan 0, Fan 1 // Firmware will attach a FALLING interrupt to this pin // see FanInterrupt() in Platform.cpp @@ -132,10 +128,10 @@ constexpr size_t NumTachos = 1; constexpr Pin TachoPins[NumTachos] = { 25 }; // SD cards -const size_t NumSdCards = 2; -const Pin SdCardDetectPins[NumSdCards] = { 14, 14 }; -const Pin SdWriteProtectPins[NumSdCards] = { NoPin, NoPin }; -const Pin SdSpiCSPins[2] = { 87, 77 }; +constexpr size_t NumSdCards = 2; +constexpr Pin SdCardDetectPins[NumSdCards] = { 14, 14 }; +constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin, NoPin }; +constexpr Pin SdSpiCSPins[2] = { 87, 77 }; // Definition of which pins we allow to be controlled using M42 // Spare pins on the Arduino Due are @@ -156,18 +152,18 @@ const Pin SdSpiCSPins[2] = { 87, 77 }; // M42 and M208 commands now use logical pin numbers, not firmware pin numbers. // This is the mapping from logical pins 60+ to firmware pin numbers -const Pin SpecialPinMap[] = +constexpr Pin SpecialPinMap[] = { 5, 6, 58, 59, 70, 71, 72, 73 }; // This next definition defines the highest one. -const int HighestLogicalPin = 60 + ARRAY_SIZE(SpecialPinMap) - 1; // highest logical pin number on this electronics +constexpr int HighestLogicalPin = 60 + ARRAY_SIZE(SpecialPinMap) - 1; // highest logical pin number on this electronics // SAM3X Flash locations (may be expanded in the future) -const uint32_t IAP_FLASH_START = 0x000F0000; -const uint32_t IAP_FLASH_END = 0x000FFBFF; // don't touch the last 1KB, it's used for NvData +constexpr uint32_t IAP_FLASH_START = 0x000F0000; +constexpr uint32_t IAP_FLASH_END = 0x000FFBFF; // don't touch the last 1KB, it's used for NvData // Timer allocation #define NETWORK_TC (TC1) diff --git a/src/RepRap.cpp b/src/RepRap.cpp index ce0dd1fd..89ad8637 100644 --- a/src/RepRap.cpp +++ b/src/RepRap.cpp @@ -143,11 +143,6 @@ extern "C" void hsmciIdle(uint32_t stBits, uint32_t dmaBits) DuetExpansion::Spin(false); } #endif - - if (reprap.GetSpinningModule() != moduleFilamentSensors) - { - FilamentMonitor::Spin(false); - } } #endif @@ -166,9 +161,9 @@ const ObjectModelTableEntry RepRap::objectModelTable[] = // These entries are temporary pending design of the object model //TODO design the object model { "gcodes", OBJECT_MODEL_FUNC(&(self->GetGCodes())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none }, + { "meshProbe", OBJECT_MODEL_FUNC(&(self->GetMove().GetGrid())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none }, { "move", OBJECT_MODEL_FUNC(&(self->GetMove())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none }, { "network", OBJECT_MODEL_FUNC(&(self->GetNetwork())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none }, - { "meshProbe", OBJECT_MODEL_FUNC(&(self->GetMove().GetGrid())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none }, { "randomProbe", OBJECT_MODEL_FUNC(&(self->GetMove().GetProbePoints())), TYPE_OF(ObjectModel), ObjectModelTableEntry::none }, }; @@ -187,7 +182,6 @@ RepRap::RepRap() : toolList(nullptr), currentTool(nullptr), lastWarningMillis(0) #endif spinningModule(noModule), debug(0), stopped(false), active(false), resetting(false), processingConfig(true), beepFrequency(0), beepDuration(0), - displayMessageBox(false), boxSeq(0), diagnosticsDestination(MessageType::NoDestinationMessage), justSentDiagnostics(false) { OutputBuffer::Init(); @@ -216,7 +210,8 @@ RepRap::RepRap() : toolList(nullptr), currentTool(nullptr), lastWarningMillis(0) printMonitor = new PrintMonitor(*platform, *gCodes); SetPassword(DEFAULT_PASSWORD); - message[0] = 0; + message.Clear(); + messageSequence = 0; } void RepRap::Init() @@ -250,6 +245,30 @@ void RepRap::Init() #if HAS_LINUX_INTERFACE linuxComm->Init(); #endif + + // Set up the timeout of the regular watchdog, and set up the backup watchdog if there is one. +#if __LPC17xx__ + wdt_init(1); // set wdt to 1 second. reset the processor on a watchdog fault +#else + { + // The clock frequency for both watchdogs is about 32768/128 = 256Hz + // The watchdogs on the SAM4E seem to be very timing-sensitive. On the Duet WiFi/Ethernet they were going off spuriously depending on how long the DueX initialisation took. + // The documentation says you mustn't write to the mode register within 3 slow clocks after kicking the watchdog. + // I have a theory that the converse is also true, i.e. after enabling the watchdog you mustn't kick it within 3 slow clocks + // So I've added a delay call before we set 'active' true (which enables kicking the watchdog), and that seems to fix the problem. + const uint16_t timeout = 32768/128; // set watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds) + wdt_init(WDT, WDT_MR_WDRSTEN, timeout, timeout); // reset the processor on a watchdog fault + +#if SAM4E || SAME70 + // The RSWDT must be initialised *after* the main WDT + const uint16_t rsTimeout = 16384/128; // set secondary watchdog timeout to 0.5 second (max allowed value is 4095 = 16 seconds) + rswdt_init(RSWDT, RSWDT_MR_WDFIEN, rsTimeout, rsTimeout); // generate an interrupt on a watchdog fault + NVIC_EnableIRQ(WDT_IRQn); // enable the watchdog interrupt +#endif + delayMicroseconds(200); // 200us is about 6 slow clocks + } +#endif + active = true; // must do this before we start the network or call Spin(), else the watchdog may time out platform->MessageF(UsbMessage, "%s Version %s dated %s\n", FIRMWARE_NAME, VERSION, DATE); @@ -318,10 +337,6 @@ void RepRap::Init() #endif platform->MessageF(UsbMessage, "%s is up and running.\n", FIRMWARE_NAME); -#if SUPPORT_12864_LCD - display->Start(); -#endif - fastLoop = UINT32_MAX; slowLoop = 0; } @@ -409,17 +424,17 @@ void RepRap::Spin() #ifdef DUET_NG ticksInSpinState = 0; spinningModule = moduleDuetExpansion; - DuetExpansion::Spin(true); + DuetExpansion::Spin(); #endif ticksInSpinState = 0; spinningModule = moduleFilamentSensors; - FilamentMonitor::Spin(true); + FilamentMonitor::Spin(); #if SUPPORT_12864_LCD ticksInSpinState = 0; spinningModule = moduleDisplay; - display->Spin(true); + display->Spin(); #endif #if HAS_LINUX_INTERFACE @@ -461,7 +476,14 @@ void RepRap::Spin() } else { - const uint32_t dt = StepTimer::GetInterruptClocks() - lastTime; + const uint32_t now = StepTimer::GetInterruptClocks(); + const uint32_t dt = now - lastTime; +#if 0 //DEBUG + if (dt > 1000000) + { + platform->MessageF(ErrorMessage, "dt %" PRIu32 " now %08" PRIx32 " last %08" PRIx32 "\n", dt, now, lastTime); + } +#endif if (dt < fastLoop) { fastLoop = dt; @@ -777,39 +799,47 @@ unsigned int RepRap::GetNumberOfContiguousTools() const void RepRap::Tick() { - if (active && !resetting) + // Kicking the watchdog before it has been initialised may trigger it! + if (active) { - platform->Tick(); - ++ticksInSpinState; + wdt_restart(WDT); // kick the watchdog +#if SAM4E || SAME70 + rswdt_restart(RSWDT); // kick the secondary watchdog +#endif + + if (!resetting) + { + platform->Tick(); + ++ticksInSpinState; #ifdef RTOS - ++heatTaskIdleTicks; - const bool heatTaskStuck = (heatTaskIdleTicks >= MaxTicksInSpinState); - if (heatTaskStuck || ticksInSpinState >= MaxTicksInSpinState) // if we stall for 20 seconds, save diagnostic data and reset + ++heatTaskIdleTicks; + const bool heatTaskStuck = (heatTaskIdleTicks >= MaxTicksInSpinState); + if (heatTaskStuck || ticksInSpinState >= MaxTicksInSpinState) // if we stall for 20 seconds, save diagnostic data and reset #else - if (ticksInSpinState >= MaxTicksInSpinState) // if we stall for 20 seconds, save diagnostic data and reset + if (ticksInSpinState >= MaxTicksInSpinState) // if we stall for 20 seconds, save diagnostic data and reset #endif - { - resetting = true; - for (size_t i = 0; i < NumHeaters; i++) { - platform->SetHeater(i, 0.0); - } - platform->DisableAllDrives(); + resetting = true; + for (size_t i = 0; i < NumHeaters; i++) + { + platform->SetHeater(i, 0.0); + } + platform->DisableAllDrives(); - // We now save the stack when we get stuck in a spin loop + // We now save the stack when we get stuck in a spin loop #ifdef RTOS - __asm volatile("mrs r2, psp"); - register const uint32_t * stackPtr asm ("r2"); // we want the PSP not the MSP - platform->SoftwareReset( - (heatTaskStuck) ? (uint16_t)SoftwareResetReason::heaterWatchdog : (uint16_t)SoftwareResetReason::stuckInSpin, - stackPtr + 5 // discard uninteresting registers, keep LR PC PSR + __asm volatile("mrs r2, psp"); + register const uint32_t * stackPtr asm ("r2"); // we want the PSP not the MSP + platform->SoftwareReset( + (heatTaskStuck) ? (uint16_t)SoftwareResetReason::heaterWatchdog : (uint16_t)SoftwareResetReason::stuckInSpin, + stackPtr + 5); // discard uninteresting registers, keep LR PC PSR #else - register const uint32_t * stackPtr asm ("sp"); - platform->SoftwareReset( - (uint16_t)SoftwareResetReason::stuckInSpin, - stackPtr + 5 // discard uninteresting registers, keep LR PC PSR + register const uint32_t * stackPtr asm ("sp"); + platform->SoftwareReset( + (uint16_t)SoftwareResetReason::stuckInSpin, + stackPtr + 5); // discard uninteresting registers, keep LR PC PSR #endif - ); + } } } } @@ -892,7 +922,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) ch = '['; for (size_t extruder = 0; extruder < GetExtrudersInUse(); extruder++) { - response->catf("%c%.1f", ch, (double)liveCoordinates[gCodes->GetTotalAxes() + extruder]); + response->catf("%c%.1f", ch, HideNan(liveCoordinates[gCodes->GetTotalAxes() + extruder])); ch = ','; } if (ch == '[') // we may have no extruders @@ -911,17 +941,17 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) // Output notifications { const bool sendBeep = ((source == ResponseSource::AUX || !platform->HaveAux()) && beepDuration != 0 && beepFrequency != 0); - const bool sendMessage = (message[0] != 0); + const bool sendMessage = !message.IsEmpty(); float timeLeft = 0.0; MutexLocker lock(messageBoxMutex); - if (displayMessageBox && boxTimer != 0) + if (mbox.active && mbox.timer != 0) { - timeLeft = (float)(boxTimeout) / 1000.0 - (float)(millis() - boxTimer) / 1000.0; - displayMessageBox = (timeLeft > 0.0); + timeLeft = (float)(mbox.timeout) / 1000.0 - (float)(millis() - mbox.timer) / 1000.0; + mbox.active = (timeLeft > 0.0); } - if (sendBeep || sendMessage || displayMessageBox) + if (sendBeep || sendMessage || mbox.active) { response->cat(",\"output\":{"); @@ -929,9 +959,9 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) if (sendBeep) { response->catf("\"beepDuration\":%u,\"beepFrequency\":%u", beepDuration, beepFrequency); - if (sendMessage || displayMessageBox) + if (sendMessage || mbox.active) { - response->cat(","); + response->cat(','); } beepFrequency = beepDuration = 0; } @@ -940,24 +970,24 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) if (sendMessage) { response->cat("\"message\":"); - response->EncodeString(message, ARRAY_SIZE(message), false); - if (displayMessageBox) + response->EncodeString(message, false); + if (mbox.active) { - response->cat(","); + response->cat(','); } - message[0] = 0; + message.Clear(); } // Report message box - if (displayMessageBox) + if (mbox.active) { response->cat("\"msgBox\":{\"msg\":"); - response->EncodeString(boxMessage.c_str(), boxMessage.Capacity(), false); + response->EncodeString(mbox.message, false); response->cat(",\"title\":"); - response->EncodeString(boxTitle.c_str(), boxTitle.Capacity(), false); - response->catf(",\"mode\":%d,\"seq\":%" PRIu32 ",\"timeout\":%.1f,\"controls\":%" PRIu32 "}", boxMode, boxSeq, (double)timeLeft, boxControls); + response->EncodeString(mbox.title, false); + response->catf(",\"mode\":%d,\"seq\":%" PRIu32 ",\"timeout\":%.1f,\"controls\":%" PRIu32 "}", mbox.mode, mbox.seq, (double)timeLeft, mbox.controls); } - response->cat("}"); + response->cat('}'); } } @@ -987,17 +1017,17 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) ch = ','; const char *fanName = GetPlatform().GetFanName(fan); - response->EncodeString(fanName, strlen(fanName), true); + response->EncodeString(fanName, true); } response->cat((ch == '[') ? "[]" : "]"); } - // Speed and Extrusion factors - response->catf(",\"speedFactor\":%.1f,\"extrFactors\":", (double)(gCodes->GetSpeedFactor() * 100.0)); + // Speed and Extrusion factors in % + response->catf(",\"speedFactor\":%.1f,\"extrFactors\":", (double)(gCodes->GetSpeedFactor())); ch = '['; for (size_t extruder = 0; extruder < GetExtrudersInUse(); extruder++) { - response->catf("%c%.1f", ch, (double)(gCodes->GetExtrusionFactor(extruder) * 100.0)); + response->catf("%c%.1f", ch, (double)(gCodes->GetExtrusionFactor(extruder))); ch = ','; } response->cat((ch == '[') ? "[]" : "]"); @@ -1061,8 +1091,8 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) const int8_t bedHeater = (NumBedHeaters > 0) ? heat->GetBedHeater(0) : -1; if (bedHeater != -1) { - response->catf("\"bed\":{\"current\":%.1f,\"active\":%.1f,\"state\":%d,\"heater\":%d},", - (double)heat->GetTemperature(bedHeater), (double)heat->GetActiveTemperature(bedHeater), + response->catf("\"bed\":{\"current\":%.1f,\"active\":%.1f,\"standby\":%.1f,\"state\":%d,\"heater\":%d},", + (double)heat->GetTemperature(bedHeater), (double)heat->GetActiveTemperature(bedHeater), (double)heat->GetStandbyTemperature(bedHeater), heat->GetStatus(bedHeater), bedHeater); } @@ -1115,9 +1145,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) { response->cat(ch); ch = ','; - - const char *heaterName = GetHeat().GetHeaterName(heater); - response->EncodeString(heaterName, (heaterName == nullptr) ? 0 : strlen(heaterName), true); + response->EncodeString(GetHeat().GetHeaterName(heater), true); } response->cat((ch == '[') ? "[]" : "]"); } @@ -1138,7 +1166,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) if (tool->Next() != nullptr) { - response->cat(","); + response->cat(','); } } @@ -1155,7 +1183,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) if (tool->Next() != nullptr) { - response->cat(","); + response->cat(','); } } } @@ -1174,7 +1202,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) } first = false; response->cat("{\"name\":"); - response->EncodeString(nm, strlen(nm), false, true); + response->EncodeString(nm, false, true); TemperatureError err; const float t = heat->GetTemperature(heater, err); response->catf(",\"temp\":%.1f}", (double)t); @@ -1326,14 +1354,14 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) // Machine name response->cat(",\"name\":"); - response->EncodeString(myName.c_str(), myName.Capacity(), false); + response->EncodeString(myName, false); /* Probe */ { const ZProbe probeParams = platform->GetCurrentZProbeParameters(); // Trigger threshold - response->catf(",\"probe\":{\"threshold\":%" PRIi32, probeParams.adcValue); + response->catf(",\"probe\":{\"threshold\":%d", probeParams.adcValue); // Trigger height response->catf(",\"height\":%.2f", (double)probeParams.triggerHeight); @@ -1356,7 +1384,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) if (toolName[0] != 0) { response->cat(",\"name\":"); - response->EncodeString(toolName, strlen(toolName), false); + response->EncodeString(toolName, false); } // Heaters @@ -1366,7 +1394,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) response->catf("%d", tool->Heater(heater)); if (heater + 1 < tool->HeaterCount()) { - response->cat(","); + response->cat(','); } } @@ -1377,7 +1405,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) response->catf("%d", tool->Drive(drive)); if (drive + 1 < tool->DriveCount()) { - response->cat(","); + response->cat(','); } } @@ -1394,7 +1422,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) } else { - response->cat(","); + response->cat(','); } response->catf("%u", xi); } @@ -1411,7 +1439,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) } else { - response->cat(","); + response->cat(','); } response->catf("%u", yi); } @@ -1426,7 +1454,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) { const char *filamentName = tool->GetFilament()->GetName(); response->catf(",\"filament\":"); - response->EncodeString(filamentName, strlen(filamentName), false); + response->EncodeString(filamentName, false); } // Offsets @@ -1439,7 +1467,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) // Do we have any more tools? response->cat((tool->Next() != nullptr) ? "]}," : "]}"); } - response->cat("]"); + response->cat(']'); } // MCU temperatures @@ -1519,13 +1547,13 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) if (response != nullptr) { // Send the response to the last command. Do this last - response->catf(",\"seq\":%" PRIu32 ",\"resp\":", platform->GetAuxSeq()); // send the response sequence number + response->catf(",\"seq\":%" PRIu32 ",\"resp\":", platform->GetAuxSeq()); // send the response sequence number // Send the JSON response - response->EncodeReply(reply, true); // also releases the OutputBuffer chain + response->EncodeReply(reply); // also releases the OutputBuffer chain } } - response->cat("}"); + response->cat('}'); return response; } @@ -1591,8 +1619,10 @@ OutputBuffer *RepRap::GetConfigResponse() response->catf(" + %s", additionalExpansionName); } #endif - response->catf("\",\"firmwareName\":\"%s\"", FIRMWARE_NAME); - response->catf(",\"firmwareVersion\":\"%s\"", VERSION); + response->cat("\",\"firmwareName\":"); + response->EncodeString(FIRMWARE_NAME, false); + response->cat(",\"firmwareVersion\":"); + response->EncodeString(VERSION, false); #if HAS_WIFI_NETWORKING // If we have WiFi networking, send the WiFi module firmware version @@ -1681,7 +1711,7 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) { response->catf(",%.1f", (double)(heat->GetActiveTemperature(heater))); } - response->cat("]"); + response->cat(']'); // Send the heater standby temperatures response->catf(",\"standby\":[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetStandbyTemperature(bedHeater))); @@ -1689,7 +1719,7 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) { response->catf(",%.1f", (double)(heat->GetStandbyTemperature(heater))); } - response->cat("]"); + response->cat(']'); // Send the heater statuses (0=off, 1=standby, 2=active, 3 = fault) response->catf(",\"hstat\":[%d", (bedHeater == -1) ? 0 : static_cast<int>(heat->GetStatus(bedHeater))); @@ -1697,7 +1727,7 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) { response->catf(",%d", static_cast<int>(heat->GetStatus(heater))); } - response->cat("]"); + response->cat(']'); // Send XYZ positions const size_t numVisibleAxes = gCodes->GetVisibleAxes(); @@ -1710,7 +1740,7 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) { // Coordinates may be NaNs, for example when delta or SCARA homing fails. Replace any NaNs or infinities by 9999.9 to prevent JSON parsing errors. const float coord = userPos[axis]; - response->catf("%c%.3f", ch, (double)((std::isnan(coord) || std::isinf(coord)) ? 9999.9 : coord)); + response->catf("%c%.3f", ch, HideNan(coord)); ch = ','; } @@ -1721,16 +1751,16 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) ch = '['; for (size_t drive = 0; drive < numVisibleAxes; drive++) { - response->catf("%c%.3f", ch, (double)liveCoordinates[drive]); + response->catf("%c%.3f", ch, HideNan(liveCoordinates[drive])); ch = ','; } // Send the speed and extruder override factors - response->catf("],\"sfactor\":%.2f,\"efactor\":", (double)(gCodes->GetSpeedFactor() * 100.0)); + response->catf("],\"sfactor\":%.2f,\"efactor\":", (double)(gCodes->GetSpeedFactor())); ch = '['; for (size_t i = 0; i < GetExtrudersInUse(); ++i) { - response->catf("%c%.2f", ch, (double)(gCodes->GetExtrusionFactor(i) * 100.0)); + response->catf("%c%.2f", ch, (double)(gCodes->GetExtrusionFactor(i))); ch = ','; } response->cat((ch == '[') ? "[]" : "]"); @@ -1758,20 +1788,19 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) } // Send the fan settings, for PanelDue firmware 1.13 and later - response->catf(",\"fanPercent\":"); - ch = '['; + // Currently, PanelDue assumes that the first value is the print cooling fan speed and only uses that one, so send the mapped fan speed first + response->catf(",\"fanPercent\":[%.1f", (double)(gCodes->GetMappedFanSpeed() * 100.0)); for (size_t i = 0; i < NUM_FANS; ++i) { - response->catf("%c%.1f", ch, (double)(platform->GetFanValue(i) * 100.0)); - ch = ','; + response->catf(",%.1f", (double)(platform->GetFanValue(i) * 100.0)); } + response->cat(']'); // Send fan RPM value(s) - response->cat(']'); if (NumTachos != 0) { response->cat(",\"fanRPM\":"); - // For compatibility with older versions of DWC, if there is only one tacho value then we send it as a simple variable + // For compatibility with older versions of DWC and PanelDue, if there is only one tacho value then we send it as a simple variable if (NumTachos > 1) { char ch = '['; @@ -1812,20 +1841,20 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) float timeLeft = 0.0; MutexLocker lock(messageBoxMutex); - if (displayMessageBox && boxTimer != 0) + if (mbox.active && mbox.timer != 0) { - timeLeft = (float)(boxTimeout) / 1000.0 - (float)(millis() - boxTimer) / 1000.0; - displayMessageBox = (timeLeft > 0.0); + timeLeft = (float)(mbox.timeout) / 1000.0 - (float)(millis() - mbox.timer) / 1000.0; + mbox.active = (timeLeft > 0.0); } - if (displayMessageBox) + if (mbox.active) { response->catf(",\"msgBox.mode\":%d,\"msgBox.seq\":%" PRIu32 ",\"msgBox.timeout\":%.1f,\"msgBox.controls\":%" PRIu32 "", - boxMode, boxSeq, (double)timeLeft, boxControls); + mbox.mode, mbox.seq, (double)timeLeft, mbox.controls); response->cat(",\"msgBox.msg\":"); - response->EncodeString(boxMessage.c_str(), boxMessage.Capacity(), false); + response->EncodeString(mbox.message, false); response->cat(",\"msgBox.title\":"); - response->EncodeString(boxTitle.c_str(), boxTitle.Capacity(), false); + response->EncodeString(mbox.title, false); } else { @@ -1849,9 +1878,9 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) // Add the static fields response->catf(",\"geometry\":\"%s\",\"axes\":%u,\"totalAxes\":%u,\"axisNames\":\"%s\",\"volumes\":%u,\"numTools\":%u,\"myName\":", move->GetGeometryString(), numVisibleAxes, gCodes->GetTotalAxes(), gCodes->GetAxisLetters(), NumSdCards, GetNumberOfContiguousTools()); - response->EncodeString(myName.c_str(), myName.Capacity(), false); + response->EncodeString(myName, false); response->cat(",\"firmwareName\":"); - response->EncodeString(FIRMWARE_NAME, strlen(FIRMWARE_NAME), false); + response->EncodeString(FIRMWARE_NAME, false); } const int auxSeq = (int)platform->GetAuxSeq(); @@ -1862,10 +1891,10 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) response->catf(",\"seq\":%d,\"resp\":", auxSeq); // send the response sequence number // Send the JSON response - response->EncodeReply(platform->GetAuxGCodeReply(), true); // also releases the OutputBuffer chain + response->EncodeReply(platform->GetAuxGCodeReply()); // also releases the OutputBuffer chain } - response->cat("}"); + response->cat('}'); return response; } @@ -1881,7 +1910,7 @@ OutputBuffer *RepRap::GetFilesResponse(const char *dir, unsigned int startAt, bo } response->copy("{\"dir\":"); - response->EncodeString(dir, strlen(dir), false); + response->EncodeString(dir, false); response->catf(",\"first\":%u,\"files\":[", startAt); unsigned int err; unsigned int nextFile = 0; @@ -1899,7 +1928,7 @@ OutputBuffer *RepRap::GetFilesResponse(const char *dir, unsigned int startAt, bo err = 0; FileInfo fileInfo; unsigned int filesFound = 0; - bool gotFile = platform->GetMassStorage()->FindFirst(dir, fileInfo); // TODO error handling here + bool gotFile = platform->GetMassStorage()->FindFirst(dir, fileInfo); size_t bytesLeft = OutputBuffer::GetBytesLeft(response); // don't write more bytes than we can @@ -1910,7 +1939,7 @@ OutputBuffer *RepRap::GetFilesResponse(const char *dir, unsigned int startAt, bo if (filesFound >= startAt) { // Make sure we can end this response properly - if (bytesLeft < strlen(fileInfo.fileName) * 2 + 20) + if (bytesLeft < fileInfo.fileName.strlen() * 2 + 20) { // No more space available - stop here platform->GetMassStorage()->AbandonFindNext(); @@ -1924,11 +1953,11 @@ OutputBuffer *RepRap::GetFilesResponse(const char *dir, unsigned int startAt, bo bytesLeft -= response->cat(','); } - bytesLeft -= response->EncodeString(fileInfo.fileName, MaxFilenameLength, false, true, flagsDirs && fileInfo.isDirectory); + bytesLeft -= response->EncodeString(fileInfo.fileName, false, flagsDirs && fileInfo.isDirectory); } ++filesFound; } - gotFile = platform->GetMassStorage()->FindNext(fileInfo); // TODO error handling here + gotFile = platform->GetMassStorage()->FindNext(fileInfo); } } @@ -1954,7 +1983,7 @@ OutputBuffer *RepRap::GetFilelistResponse(const char *dir, unsigned int startAt) } response->copy("{\"dir\":"); - response->EncodeString(dir, strlen(dir), false); + response->EncodeString(dir, false); response->catf(",\"first\":%u,\"files\":[", startAt); unsigned int err; unsigned int nextFile = 0; @@ -1982,7 +2011,7 @@ OutputBuffer *RepRap::GetFilelistResponse(const char *dir, unsigned int startAt) if (filesFound >= startAt) { // Make sure we can end this response properly - if (bytesLeft < strlen(fileInfo.fileName) * 2 + 50) + if (bytesLeft < fileInfo.fileName.strlen() * 2 + 50) { // No more space available - stop here platform->GetMassStorage()->AbandonFindNext(); @@ -1998,7 +2027,7 @@ OutputBuffer *RepRap::GetFilelistResponse(const char *dir, unsigned int startAt) // Write another file entry bytesLeft -= response->catf("{\"type\":\"%c\",\"name\":", fileInfo.isDirectory ? 'd' : 'f'); - bytesLeft -= response->EncodeString(fileInfo.fileName, MaxFilenameLength, false); + bytesLeft -= response->EncodeString(fileInfo.fileName, false); bytesLeft -= response->catf(",\"size\":%" PRIu32, fileInfo.size); const struct tm * const timeInfo = gmtime(&fileInfo.lastModified); @@ -2033,85 +2062,80 @@ OutputBuffer *RepRap::GetFilelistResponse(const char *dir, unsigned int startAt) return response; } -// Get information for the specified file, or the currently printing file, in JSON format +// Get information for the specified file, or the currently printing file (if 'filename' is null or empty), in JSON format bool RepRap::GetFileInfoResponse(const char *filename, OutputBuffer *&response, bool quitEarly) { - // Poll file info for a specific file - if (filename != nullptr && filename[0] != 0) + const bool specificFile = (filename != nullptr && filename[0] != 0); + GCodeFileInfo info; + if (specificFile) { - GCodeFileInfo info; - if (!platform->GetMassStorage()->GetFileInfo(GCODE_DIR, filename, info, quitEarly)) + // Poll file info for a specific file + if (!platform->GetMassStorage()->GetFileInfo(platform->GetGCodeDir(), filename, info, quitEarly)) { // This may take a few runs... return false; } + } + else if (!printMonitor->GetPrintingFileInfo(info)) + { + return false; + } + + if (!OutputBuffer::Allocate(response)) + { + return false; + } - if (info.isValid) + if (info.isValid) + { + response->printf("{\"err\":0,\"size\":%lu,",info.fileSize); + const struct tm * const timeInfo = gmtime(&info.lastModifiedTime); + if (timeInfo->tm_year > /*19*/80) { - if (!OutputBuffer::Allocate(response)) - { - // Should never happen - return false; - } + response->catf("\"lastModified\":\"%04u-%02u-%02uT%02u:%02u:%02u\",", + timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday, + timeInfo->tm_hour, timeInfo->tm_min, timeInfo->tm_sec); + } - response->printf("{\"err\":0,\"size\":%lu,",info.fileSize); - const struct tm * const timeInfo = gmtime(&info.lastModifiedTime); - if (timeInfo->tm_year > /*19*/80) - { - response->catf("\"lastModified\":\"%04u-%02u-%02uT%02u:%02u:%02u\",", - timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday, - timeInfo->tm_hour, timeInfo->tm_min, timeInfo->tm_sec); - } + response->catf("\"height\":%.2f,\"firstLayerHeight\":%.2f,\"layerHeight\":%.2f,", + (double)info.objectHeight, (double)info.firstLayerHeight, (double)info.layerHeight); + if (info.printTime != 0) + { + response->catf("\"printTime\":%" PRIu32 ",", info.printTime); + } + if (info.simulatedTime != 0) + { + response->catf("\"simulatedTime\":%" PRIu32 ",", info.simulatedTime); + } - response->catf("\"height\":%.2f,\"firstLayerHeight\":%.2f,\"layerHeight\":%.2f,", - (double)info.objectHeight, (double)info.firstLayerHeight, (double)info.layerHeight); - if (info.printTime != 0) - { - response->catf("\"printTime\":%" PRIu32 ",", info.printTime); - } - if (info.simulatedTime != 0) - { - response->catf("\"simulatedTime\":%" PRIu32 ",", info.simulatedTime); - } - response->cat("\"filament\":"); - char ch = '['; - if (info.numFilaments == 0) - { - response->cat(ch); - } - else - { - for (size_t i = 0; i < info.numFilaments; ++i) - { - response->catf("%c%.1f", ch, (double)info.filamentNeeded[i]); - ch = ','; - } - } - response->cat("],\"generatedBy\":"); - response->EncodeString(info.generatedBy.c_str(), info.generatedBy.Capacity(), false); - response->cat("}"); + response->cat("\"filament\":"); + char ch = '['; + if (info.numFilaments == 0) + { + response->cat(ch); } else { - if (!OutputBuffer::Allocate(response)) + for (size_t i = 0; i < info.numFilaments; ++i) { - return false; + response->catf("%c%.1f", ch, (double)info.filamentNeeded[i]); + ch = ','; } + } + response->cat("]"); - response->copy("{\"err\":1}"); + if (!specificFile) + { + response->catf(",\"printDuration\":%d,\"fileName\":", (int)printMonitor->GetPrintDuration()); + response->EncodeString(printMonitor->GetPrintingFilename(), false); } - } - else if (GetPrintMonitor().IsPrinting()) - { - return GetPrintMonitor().GetPrintingFileInfoResponse(response); + + response->cat(",\"generatedBy\":"); + response->EncodeString(info.generatedBy, false); + response->cat('}'); } else { - if (!OutputBuffer::Allocate(response)) - { - return false; - } - response->copy("{\"err\":1}"); } return true; @@ -2146,7 +2170,8 @@ void RepRap::Beep(unsigned int freq, unsigned int ms) // Send a short message. We send it to both PanelDue and the web interface. void RepRap::SetMessage(const char *msg) { - SafeStrncpy(message, msg, ARRAY_SIZE(message)); + message.copy(msg); + ++messageSequence; if (platform->HaveAux()) { @@ -2158,21 +2183,21 @@ void RepRap::SetMessage(const char *msg) void RepRap::SetAlert(const char *msg, const char *title, int mode, float timeout, AxesBitmap controls) { MutexLocker lock(messageBoxMutex); - boxMessage.copy(msg); - boxTitle.copy(title); - boxMode = mode; - boxTimer = (timeout <= 0.0) ? 0 : millis(); - boxTimeout = round(max<float>(timeout, 0.0) * 1000.0); - boxControls = controls; - displayMessageBox = true; - ++boxSeq; + mbox.message.copy(msg); + mbox.title.copy(title); + mbox.mode = mode; + mbox.timer = (timeout <= 0.0) ? 0 : millis(); + mbox.timeout = round(max<float>(timeout, 0.0) * 1000.0); + mbox.controls = controls; + mbox.active = true; + ++mbox.seq; } // Clear pending message box void RepRap::ClearAlert() { MutexLocker lock(messageBoxMutex); - displayMessageBox = false; + mbox.active = false; } // Get the status character for the new-style status response @@ -2186,12 +2211,10 @@ char RepRap::GetStatusCharacter() const #endif : (gCodes->IsPausing()) ? 'D' // Pausing / Decelerating : (gCodes->IsResuming()) ? 'R' // Resuming - : (gCodes->IsDoingToolChange()) ? 'T' // Changing tool : (gCodes->IsPaused()) ? 'S' // Paused / Stopped - : (printMonitor->IsPrinting()) - ? ((gCodes->IsSimulating()) ? 'M' // Simulating - : 'P' // Printing - ) + : (printMonitor->IsPrinting() && gCodes->IsSimulating()) ? 'M' // Simulating + : (printMonitor->IsPrinting()) ? 'P' // Printing + : (gCodes->IsDoingToolChange()) ? 'T' // Changing tool : (gCodes->DoingFileMacro() || !move->NoLiveMovement()) ? 'B' // Busy : 'I'; // Idle } @@ -2203,7 +2226,7 @@ bool RepRap::NoPasswordSet() const bool RepRap::CheckPassword(const char *pw) const { - String<PASSWORD_LENGTH> copiedPassword; + String<RepRapPasswordLength> copiedPassword; copiedPassword.CopyAndPad(pw); return password.ConstantTimeEquals(copiedPassword); } @@ -2359,10 +2382,32 @@ bool RepRap::WriteToolParameters(FileStore *f) const return a/b; } +// Helper function for diagnostic tests in Platform.cpp, to calculate sine and cosine +/*static*/ float RepRap::SinfCosf(float angle) +{ + return sinf(angle) + cosf(angle); +} + +// Helper function for diagnostic tests in Platform.cpp, to calculate sine and cosine +/*static*/ double RepRap::SinCos(double angle) +{ + return sin(angle) + cos(angle); +} + // Report an internal error void RepRap::ReportInternalError(const char *file, const char *func, int line) const { platform->MessageF(ErrorMessage, "Internal Error in %s at %s(%d)\n", func, file, line); } +#if SUPPORT_12864_LCD + +const char *RepRap::GetLatestMessage(uint16_t& sequence) const +{ + sequence = messageSequence; + return message.c_str(); +} + +#endif + // End diff --git a/src/RepRap.h b/src/RepRap.h index 33d3e6c0..50b140db 100644 --- a/src/RepRap.h +++ b/src/RepRap.h @@ -33,6 +33,20 @@ enum class ResponseSource Generic }; +// Message box data +struct MessageBox +{ + bool active; + String<MaxMessageLength> message; + String<MaxTitleLength> title; + int mode; + uint32_t seq; + uint32_t timer, timeout; + AxesBitmap controls; + + MessageBox() : active(false), seq(0) { } +}; + class RepRap INHERIT_OBJECT_MODEL { public: @@ -90,6 +104,8 @@ public: #endif #if SUPPORT_12864_LCD Display& GetDisplay() const; + const char *GetLatestMessage(uint16_t& sequence) const; + const MessageBox& GetMessageBox() const { return mbox; } #endif #if HAS_LINUX_INTERFACE LinuxComm& GetLinuxComm() const; @@ -120,6 +136,8 @@ public: void ReportInternalError(const char *file, const char *func, int line) const; // Report an internal error static uint32_t DoDivide(uint32_t a, uint32_t b); // helper function for diagnostic tests + static float SinfCosf(float angle); // helper function for diagnostic tests + static double SinCos(double angle); // helper function for diagnostic tests #ifdef RTOS void KickHeatTaskWatchdog() { heatTaskIdleTicks = 0; } @@ -177,19 +195,14 @@ private: bool resetting; bool processingConfig; - String<PASSWORD_LENGTH> password; - String<MACHINE_NAME_LENGTH> myName; + String<RepRapPasswordLength> password; + String<MachineNameLength> myName; unsigned int beepFrequency, beepDuration; - char message[MaxMessageLength + 1]; - - // Message box data - bool displayMessageBox; - String<MaxMessageLength> boxMessage, boxTitle; - int boxMode; - uint32_t boxSeq; - uint32_t boxTimer, boxTimeout; - AxesBitmap boxControls; + String<MaxMessageLength> message; + uint16_t messageSequence; + + MessageBox mbox; // message box data // Deferred diagnostics MessageType diagnosticsDestination; diff --git a/src/RepRapFirmware.cpp b/src/RepRapFirmware.cpp index 3477ec7c..027b11ea 100644 --- a/src/RepRapFirmware.cpp +++ b/src/RepRapFirmware.cpp @@ -229,10 +229,15 @@ bool MillisTimer::CheckAndStop(uint32_t timeoutMillis) // For debug use void debugPrintf(const char* fmt, ...) { - va_list vargs; - va_start(vargs, fmt); - reprap.GetPlatform().MessageF(DebugMessage, fmt, vargs); - va_end(vargs); + // Calls to debugPrintf() from with ISRs are unsafe, both because of timing issues and because the call to Platform::MessageF tries to acquire a mutex. + // So ignore the call if we are coming from within an ISR. + if (!inInterrupt()) + { + va_list vargs; + va_start(vargs, fmt); + reprap.GetPlatform().MessageF(DebugMessage, fmt, vargs); + va_end(vargs); + } } #ifdef RTOS @@ -246,38 +251,38 @@ void delay(uint32_t ms) // String testing -bool StringEndsWith(const char* string, const char* ending) +bool StringEndsWithIgnoreCase(const char* string, const char* ending) { - int j = strlen(string); - int k = strlen(ending); - return k <= j && StringEquals(&string[j - k], ending); + const size_t j = strlen(string); + const size_t k = strlen(ending); + return k <= j && StringEqualsIgnoreCase(&string[j - k], ending); } -bool StringEquals(const char* s1, const char* s2) +bool StringEqualsIgnoreCase(const char* s1, const char* s2) { - int i = 0; - while(s1[i] && s2[i]) + size_t i = 0; + while (s1[i] != 0 && s2[i] != 0) { - if(tolower(s1[i]) != tolower(s2[i])) + if (tolower(s1[i]) != tolower(s2[i])) { return false; } i++; } - return !(s1[i] || s2[i]); + return s1[i] == 0 && s2[i] == 0; } bool StringStartsWith(const char* string, const char* starting) { - int j = strlen(string); - int k = strlen(starting); + const size_t j = strlen(string); + const size_t k = strlen(starting); if (k > j) { return false; } - for(int i = 0; i < k; i++) + for (size_t i = 0; i < k; i++) { if (string[i] != starting[i]) { @@ -288,6 +293,26 @@ bool StringStartsWith(const char* string, const char* starting) return true; } +bool StringStartsWithIgnoreCase(const char* string, const char* starting) +{ + const size_t j = strlen(string); + const size_t k = strlen(starting); + if (k > j) + { + return false; + } + + for (size_t i = 0; i < k; i++) + { + if (tolower(string[i]) != tolower(starting[i])) + { + return false; + } + } + + return true; +} + int StringContains(const char* string, const char* match) { int i = 0; diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h index 4e013c1a..1fcb2190 100644 --- a/src/RepRapFirmware.h +++ b/src/RepRapFirmware.h @@ -40,6 +40,7 @@ typedef uint16_t PwmFrequency; // type used to represent a PWM frequency. 0 som #include "General/StringRef.h" // Module numbers and names, used for diagnostics and debug +// All of these including noModule must be <= 15 because we 'or' the module number into the software reset code enum Module : uint8_t { modulePlatform = 0, @@ -165,9 +166,10 @@ inline void delay(uint32_t ms) #endif -bool StringEndsWith(const char* string, const char* ending); +bool StringEndsWithIgnoreCase(const char* string, const char* ending); bool StringStartsWith(const char* string, const char* starting); -bool StringEquals(const char* s1, const char* s2); +bool StringStartsWithIgnoreCase(const char* string, const char* starting); +bool StringEqualsIgnoreCase(const char* s1, const char* s2); int StringContains(const char* string, const char* match); void SafeStrncpy(char *dst, const char *src, size_t length) pre(length != 0); void SafeStrncat(char *dst, const char *src, size_t length) pre(length != 0); @@ -339,7 +341,7 @@ const uint32_t NvicPrioritySpi = 6; // SPI is used for network transfers on D // We have 16 priority levels // Use priority 4 or lower for interrupts where low latency is critical and FreeRTOS calls are not needed. -# if SAM4E +# if SAM4E || __LPC17xx__ const uint32_t NvicPriorityWatchdog = 0; // the secondary watchdog has the highest priority # endif diff --git a/src/SAME70xpld/Pins_SAME70xpld.h b/src/SAME70xpld/Pins_SAME70xpld.h index fa4dcd2a..3f1025e3 100644 --- a/src/SAME70xpld/Pins_SAME70xpld.h +++ b/src/SAME70xpld/Pins_SAME70xpld.h @@ -39,8 +39,6 @@ constexpr size_t NumThermistorInputs = 4; constexpr size_t MinAxes = 3; // The minimum and default number of axes constexpr size_t MaxAxes = 9; // The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES -// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES -#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f,g,h,i } constexpr size_t MaxExtruders = NumDirectDrivers - MinAxes; // The maximum number of extruders constexpr size_t MaxDriversPerAxis = 5; // The maximum number of stepper drivers assigned to one axis @@ -50,6 +48,8 @@ constexpr size_t NUM_SERIAL_CHANNELS = 2; // The number of serial IO channels #define SERIAL_AUX_DEVICE Serial #define SERIAL_WIFI_DEVICE Serial1 +constexpr Pin UsbVBusPin = NoPin; // Pin used to monitor VBUS on USB port + //TWI is disabled for now on the SAM7E until we rewrite the driver //#define I2C_IFACE Wire // Which TWI interface we use diff --git a/src/Scanner.cpp b/src/Scanner.cpp index 6e762bd7..3f1515b6 100644 --- a/src/Scanner.cpp +++ b/src/Scanner.cpp @@ -282,7 +282,7 @@ void Scanner::ProcessCommand() } // Register request: M751 - if (StringEquals(buffer, "M751")) + if (StringEqualsIgnoreCase(buffer, "M751")) { platform.Message(MessageType::BlockingUsbMessage, "OK\n"); SetState(ScannerState::Idle); @@ -296,7 +296,7 @@ void Scanner::ProcessCommand() } // Switch to post-processing mode: POSTPROCESS - else if (StringEquals(buffer, "POSTPROCESS")) + else if (StringEqualsIgnoreCase(buffer, "POSTPROCESS")) { SetState(ScannerState::PostProcessing); } @@ -342,7 +342,7 @@ void Scanner::ProcessCommand() } // Acknowledgment: OK - else if (StringEquals(buffer, "OK")) + else if (StringEqualsIgnoreCase(buffer, "OK")) { if (state == ScannerState::Scanning) { diff --git a/src/Storage/CRC32.cpp b/src/Storage/CRC32.cpp index 88142ac9..b220721c 100644 --- a/src/Storage/CRC32.cpp +++ b/src/Storage/CRC32.cpp @@ -55,7 +55,7 @@ CRC32::CRC32() Reset(); } -void CRC32::Update(char c) +inline void CRC32::Update(char c) { crc = (CRC_32_TAB[(crc ^ c) & 0xFF] ^ (crc >> 8)); } @@ -71,4 +71,4 @@ void CRC32::Update(const char *c, size_t len) void CRC32::Reset() { crc = 0xffffffff; -}
\ No newline at end of file +} diff --git a/src/Storage/FileInfoParser.cpp b/src/Storage/FileInfoParser.cpp index 0e2d4173..f0e889ac 100644 --- a/src/Storage/FileInfoParser.cpp +++ b/src/Storage/FileInfoParser.cpp @@ -43,7 +43,7 @@ bool FileInfoParser::GetFileInfo(const char *directory, const char *fileName, GC return false; } - if (parseState != notParsing && !StringEquals(fileName, filenameBeingParsed.c_str())) + if (parseState != notParsing && !StringEqualsIgnoreCase(fileName, filenameBeingParsed.c_str())) { // We are already parsing a different file if (millis() - lastFileParseTime < MaxFileParseInterval) @@ -92,8 +92,8 @@ bool FileInfoParser::GetFileInfo(const char *directory, const char *fileName, GC } // If the file is empty or not a G-Code file, we don't need to parse anything - if (fileBeingParsed->Length() == 0 || (!StringEndsWith(fileName, ".gcode") && !StringEndsWith(fileName, ".g") - && !StringEndsWith(fileName, ".gco") && !StringEndsWith(fileName, ".gc"))) + if (fileBeingParsed->Length() == 0 || (!StringEndsWithIgnoreCase(fileName, ".gcode") && !StringEndsWithIgnoreCase(fileName, ".g") + && !StringEndsWithIgnoreCase(fileName, ".gco") && !StringEndsWithIgnoreCase(fileName, ".gc"))) { fileBeingParsed->Close(); parsedFileInfo.incomplete = false; @@ -524,7 +524,7 @@ bool FileInfoParser::FindHeight(const char* buf, size_t len) else if (c == ';') { static const char kisslicerHeightString[] = " END_LAYER_OBJECT z="; - if (len > 31 && StringStartsWith(buf, kisslicerHeightString)) + if (len > 31 && StringStartsWithIgnoreCase(buf, kisslicerHeightString)) { parsedFileInfo.objectHeight = SafeStrtof(buf + sizeof(kisslicerHeightString)/sizeof(char) - 1, nullptr); return true; @@ -765,10 +765,12 @@ bool FileInfoParser::FindPrintTime(const char* buf, size_t len) { static const char* const PrintTimeStrings[] = { - " estimated printing time", // slic3r PE "; estimated printing time = 1h 5m 24s" - ";TIME", // Cura ";TIME:38846" - " Build time" // S3D "; Build time: 0 hours 42 minutes" - // also KISSlicer "; Estimated Build Time: 332.83 minutes" + // Note: if a string in this table is a leading or embedded substring of another, the longer one must come first + " estimated printing time (normal mode)", // slic3r PE later versions "; estimated printing time (normal mode) = 1h 5m 24s" + " estimated printing time", // slic3r PE older versions "; estimated printing time = 1h 5m 24s" + ";TIME", // Cura ";TIME:38846" + " Build time" // S3D "; Build time: 0 hours 42 minutes" + // also KISSlicer "; Estimated Build Time: 332.83 minutes" }; for (const char * ptStr : PrintTimeStrings) @@ -793,7 +795,7 @@ bool FileInfoParser::FindPrintTime(const char* buf, size_t len) if (*pos == 'h') { hours = secs; - if (StringStartsWith(pos, "hours")) + if (StringStartsWithIgnoreCase(pos, "hours")) { pos += 5; } @@ -810,7 +812,7 @@ bool FileInfoParser::FindPrintTime(const char* buf, size_t len) if (*pos == 'm') { minutes = secs; - if (StringStartsWith(pos, "minutes")) + if (StringStartsWithIgnoreCase(pos, "minutes")) { pos += 7; } diff --git a/src/Storage/FileStore.cpp b/src/Storage/FileStore.cpp index 45474d16..b727180e 100644 --- a/src/Storage/FileStore.cpp +++ b/src/Storage/FileStore.cpp @@ -25,7 +25,7 @@ void FileStore::Init() // Invalidate the file if it uses the specified FATFS object bool FileStore::Invalidate(const FATFS *fs, bool doClose) { - if (file.fs == fs) + if (file.obj.fs == fs) { if (doClose) { @@ -33,7 +33,7 @@ bool FileStore::Invalidate(const FATFS *fs, bool doClose) } else { - file.fs = nullptr; + file.obj.fs = nullptr; if (writeBuffer != nullptr) { reprap.GetPlatform().GetMassStorage()->ReleaseWriteBuffer(writeBuffer); @@ -49,16 +49,17 @@ bool FileStore::Invalidate(const FATFS *fs, bool doClose) // Return true if the file is open on the specified file system bool FileStore::IsOpenOn(const FATFS *fs) const { - return openCount != 0 && file.fs == fs; + return openCount != 0 && file.obj.fs == fs; } // Open a local file (for example on an SD card). // This is protected - only Platform can access it. -bool FileStore::Open(const char* directory, const char* fileName, OpenMode mode) +bool FileStore::Open(const char* directory, const char* fileName, OpenMode mode, uint32_t preAllocSize) { String<MaxFilenameLength> location; MassStorage::CombineName(location.GetRef(), directory, fileName); const bool writing = (mode == OpenMode::write || mode == OpenMode::append); + writeBuffer = nullptr; if (writing) { @@ -91,7 +92,10 @@ bool FileStore::Open(const char* directory, const char* fileName, OpenMode mode) // We only do this if the mode is write, not append, because we don't want to use up a large buffer to append messages to the log file, // especially as we need to flush messages to SD card regularly. // Currently, append mode is used for the log file and for appending simulated print times to GCodes files (which required read access too). - writeBuffer = (mode == OpenMode::write) ? reprap.GetPlatform().GetMassStorage()->AllocateWriteBuffer() : nullptr; + if (mode == OpenMode::write) + { + writeBuffer = reprap.GetPlatform().GetMassStorage()->AllocateWriteBuffer(); + } } const FRESULT openReturn = f_open(&file, location.c_str(), @@ -100,6 +104,12 @@ bool FileStore::Open(const char* directory, const char* fileName, OpenMode mode) : FA_OPEN_EXISTING | FA_READ); if (openReturn != FR_OK) { + if (writeBuffer != nullptr) + { + reprap.GetPlatform().GetMassStorage()->ReleaseWriteBuffer(writeBuffer); + writeBuffer = nullptr; + } + // We no longer report an error if opening a file in read mode fails unless debugging is enabled, because sometimes that is quite normal. // It is up to the caller to report an error if necessary. if (reprap.Debug(modulePlatform)) @@ -108,9 +118,18 @@ bool FileStore::Open(const char* directory, const char* fileName, OpenMode mode) } return false; } + crc.Reset(); usageMode = (writing) ? FileUseMode::readWrite : FileUseMode::readOnly; openCount = 1; + if (mode == OpenMode::write && preAllocSize != 0) + { + const FRESULT expandReturn = f_expand(&file, preAllocSize, 1); // try to pre-allocate contiguous space - it doesn't matter if it fails + if (reprap.Debug(moduleStorage)) + { + debugPrintf("Preallocating %" PRIu32 " bytes returned %d\n", preAllocSize, (int)expandReturn); + } + } return true; } @@ -236,7 +255,7 @@ FilePosition FileStore::Position() const uint32_t FileStore::ClusterSize() const { - return (usageMode == FileUseMode::readOnly || usageMode == FileUseMode::readWrite) ? file.fs->csize * 512u : 1; // we divide by the cluster size so return 1 not 0 if there is an error + return (usageMode == FileUseMode::readOnly || usageMode == FileUseMode::readWrite) ? file.obj.fs->csize * 512u : 1; // we divide by the cluster size so return 1 not 0 if there is an error } #if 0 // not currently used @@ -255,10 +274,10 @@ FilePosition FileStore::Length() const return 0; case FileUseMode::readOnly: - return file.fsize; + return f_size(&file); case FileUseMode::readWrite: - return (writeBuffer != nullptr) ? file.fsize + writeBuffer->BytesStored() : file.fsize; + return (writeBuffer != nullptr) ? f_size(&file) + writeBuffer->BytesStored() : f_size(&file); case FileUseMode::invalidated: default: @@ -407,7 +426,7 @@ bool FileStore::Write(const char *s, size_t len) case FileUseMode::invalidated: default: - return 0; + return false; } } diff --git a/src/Storage/FileStore.h b/src/Storage/FileStore.h index 7f723bfc..9935b200 100644 --- a/src/Storage/FileStore.h +++ b/src/Storage/FileStore.h @@ -30,7 +30,7 @@ class FileStore public: FileStore(); - bool Open(const char* directory, const char* fileName, OpenMode mode); + bool Open(const char* directory, const char* fileName, OpenMode mode, uint32_t preAllocSize); bool Read(char& b); // Read 1 byte bool Read(uint8_t& b) { return Read((char&)b); } // Read 1 byte diff --git a/src/Storage/FileWriteBuffer.h b/src/Storage/FileWriteBuffer.h index be6f19fd..b371d101 100644 --- a/src/Storage/FileWriteBuffer.h +++ b/src/Storage/FileWriteBuffer.h @@ -13,6 +13,9 @@ #if SAM4E || SAM4S || SAME70 const size_t NumFileWriteBuffers = 2; // Number of write buffers const size_t FileWriteBufLen = 8192; // Size of each write buffer +#elif __LPC17xx__ +const size_t NumFileWriteBuffers = 1; +const size_t FileWriteBufLen = 2*256; //4096; save some memory on LPC for networking #else const size_t NumFileWriteBuffers = 1; const size_t FileWriteBufLen = 4096; diff --git a/src/Storage/MassStorage.cpp b/src/Storage/MassStorage.cpp index a56a15d9..b8e4ae65 100644 --- a/src/Storage/MassStorage.cpp +++ b/src/Storage/MassStorage.cpp @@ -3,6 +3,9 @@ #include "RepRap.h" #include "sd_mmc.h" +// Check that the LFN configuration in FatFS is sufficient +static_assert(FF_MAX_LFN >= MaxFilenameLength, "FF_MAX_LFN too small"); + // A note on using mutexes: // Each SD card volume has its own mutex. There is also one for the file table, and one for the find first/find next buffer. // The FatFS subsystem locks and releases the appropriate volume mutex when it is called. @@ -110,7 +113,7 @@ void MassStorage::ReleaseWriteBuffer(FileWriteBuffer *buffer) freeWriteBuffers = buffer; } -FileStore* MassStorage::OpenFile(const char* directory, const char* fileName, OpenMode mode) +FileStore* MassStorage::OpenFile(const char* directory, const char* fileName, OpenMode mode, uint32_t preAllocSize) { { MutexLocker lock(fsMutex); @@ -118,7 +121,7 @@ FileStore* MassStorage::OpenFile(const char* directory, const char* fileName, Op { if (files[i].usageMode == FileUseMode::free) { - return (files[i].Open(directory, fileName, mode)) ? &files[i]: nullptr; + return (files[i].Open(directory, fileName, mode, preAllocSize)) ? &files[i]: nullptr; } } } @@ -203,32 +206,25 @@ bool MassStorage::FindFirst(const char *directory, FileInfo &file_info) return false; } - findDir.lfn = nullptr; FRESULT res = f_opendir(&findDir, loc.c_str()); if (res == FR_OK) { FILINFO entry; - entry.lfname = file_info.fileName; - entry.lfsize = ARRAY_SIZE(file_info.fileName); - for(;;) + for (;;) { res = f_readdir(&findDir, &entry); if (res != FR_OK || entry.fname[0] == 0) break; - if (StringEquals(entry.fname, ".") || StringEquals(entry.fname, "..")) continue; - - file_info.isDirectory = (entry.fattrib & AM_DIR); - - if (file_info.fileName[0] == 0) + if (!StringEqualsIgnoreCase(entry.fname, ".") && !StringEqualsIgnoreCase(entry.fname, "..")) { - SafeStrncpy(file_info.fileName, entry.fname, ARRAY_SIZE(file_info.fileName)); + file_info.isDirectory = (entry.fattrib & AM_DIR); + file_info.fileName.copy(entry.fname); + file_info.size = entry.fsize; + file_info.lastModified = ConvertTimeStamp(entry.fdate, entry.ftime); + return true; } - - file_info.size = entry.fsize; - file_info.lastModified = ConvertTimeStamp(entry.fdate, entry.ftime); - - return true; } + f_closedir(&findDir); } dirMutex.Release(); @@ -245,25 +241,17 @@ bool MassStorage::FindNext(FileInfo &file_info) } FILINFO entry; - entry.lfname = file_info.fileName; - entry.lfsize = ARRAY_SIZE(file_info.fileName); - findDir.lfn = nullptr; if (f_readdir(&findDir, &entry) != FR_OK || entry.fname[0] == 0) { - //f_closedir(findDir); + f_closedir(&findDir); dirMutex.Release(); return false; } file_info.isDirectory = (entry.fattrib & AM_DIR); file_info.size = entry.fsize; - - if (file_info.fileName[0] == 0) - { - SafeStrncpy(file_info.fileName, entry.fname, ARRAY_SIZE(file_info.fileName)); - } - + file_info.fileName.copy(entry.fname); file_info.lastModified = ConvertTimeStamp(entry.fdate, entry.ftime); return true; } @@ -287,40 +275,50 @@ const char* MassStorage::GetMonthName(const uint8_t month) } // Delete a file or directory -bool MassStorage::Delete(const char* directory, const char* fileName, bool silent) +bool MassStorage::Delete(const char* directory, const char* fileName) { String<MaxFilenameLength> location; CombineName(location.GetRef(), directory, fileName); FRESULT unlinkReturn; + bool isOpen = false; // Start new scope to lock the filesystem for the minimum time { MutexLocker lock(fsMutex); - // First check whether the file is open - don't allow it to be deleted if it is + // First check whether the file is open - don't allow it to be deleted if it is, because that may corrupt the file system FIL file; const FRESULT openReturn = f_open(&file, location.c_str(), FA_OPEN_EXISTING | FA_READ); if (openReturn == FR_OK) { for (const FileStore& fil : files) { - if (fil.file.fs == file.fs && fil.file.dir_sect == file.dir_sect && fil.file.dir_ptr == file.dir_ptr ) + if (fil.file.obj.fs == file.obj.fs && fil.file.dir_sect == file.dir_sect && fil.file.dir_ptr == file.dir_ptr ) { - reprap.GetPlatform().MessageF(ErrorMessage, "Cannot delete file %s because it is open\n", location.c_str()); - f_close(&file); - return false; + isOpen = true; + break; } } f_close(&file); } - unlinkReturn = f_unlink(location.c_str()); + if (!isOpen) + { + unlinkReturn = f_unlink(location.c_str()); + } + } + + if (isOpen) + { + reprap.GetPlatform().MessageF(ErrorMessage, "Cannot delete file %s because it is open\n", location.c_str()); + return false; } if (unlinkReturn != FR_OK) { - if (!silent) + // If the error was that the file or path doesn't exist, don't generate a global error message, but still return false + if (unlinkReturn != FR_NO_FILE && unlinkReturn != FR_NO_PATH) { reprap.GetPlatform().MessageF(ErrorMessage, "Failed to delete file %s\n", location.c_str()); } @@ -374,7 +372,6 @@ bool MassStorage::Rename(const char *oldFilename, const char *newFilename) bool MassStorage::FileExists(const char *file) const { FILINFO fil; - fil.lfname = nullptr; return (f_stat(file, &fil) == FR_OK); } @@ -393,12 +390,16 @@ bool MassStorage::DirectoryExists(const StringRef& path) const const size_t len = path.strlen(); if (len != 0 && (path[len - 1] == '/' || path[len - 1] == '\\')) { - path[len - 1] = 0; + path.Truncate(len - 1); } DIR dir; - dir.lfn = nullptr; - return (f_opendir(&dir, path.c_str()) == FR_OK); + const bool ok = (f_opendir(&dir, path.c_str()) == FR_OK); + if (ok) + { + f_closedir(&dir); + } + return ok; } // Check if the specified directory exists @@ -423,7 +424,6 @@ time_t MassStorage::GetLastModifiedTime(const char* directory, const char *fileN String<MaxFilenameLength> location; CombineName(location.GetRef(), directory, fileName); FILINFO fil; - fil.lfname = nullptr; if (f_stat(location.c_str(), &fil) == FR_OK) { return ConvertTimeStamp(fil.fdate, fil.ftime); @@ -495,7 +495,6 @@ GCodeResult MassStorage::Mount(size_t card, const StringRef& reply, bool reportS if (err != SD_MMC_OK && millis() - inf.mountStartTime < 5000) { delay(2); - DEBUG_HERE; return GCodeResult::notFinished; } @@ -507,7 +506,8 @@ GCodeResult MassStorage::Mount(size_t card, const StringRef& reply, bool reportS } // Mount the file systems - const FRESULT mounted = f_mount(card, &inf.fileSystem); + const char path[3] = { (char)('0' + card), ':', 0 }; + const FRESULT mounted = f_mount(&inf.fileSystem, path, 1); if (mounted != FR_OK) { reply.printf("Cannot mount SD card %u: code %d", card, mounted); @@ -619,7 +619,8 @@ unsigned int MassStorage::InternalUnmount(size_t card, bool doClose) MutexLocker lock1(fsMutex); MutexLocker lock2(inf.volMutex); const unsigned int invalidated = InvalidateFiles(&inf.fileSystem, doClose); - f_mount(card, nullptr); + const char path[3] = { (char)('0' + card), ':', 0 }; + f_mount(nullptr, path, 0); memset(&inf.fileSystem, 0, sizeof(inf.fileSystem)); sd_mmc_unmount(card); inf.isMounted = false; @@ -706,7 +707,7 @@ void MassStorage::Spin() { if (fil.closeRequested) { - // We cannot do this in ISRs, so do it here + // We could not close this file in an ISR, so do it here fil.Close(); } } @@ -717,7 +718,7 @@ void MassStorage::Spin() void MassStorage::RecordSimulationTime(const char *printingFilename, uint32_t simSeconds) { const char * const GCodeDir = reprap.GetPlatform().GetGCodeDir(); - FileStore * const file = OpenFile(GCodeDir, printingFilename, OpenMode::append); + FileStore * const file = OpenFile(GCodeDir, printingFilename, OpenMode::append, 0); bool ok = (file != nullptr); if (ok) { @@ -807,27 +808,27 @@ MassStorage::InfoResult MassStorage::GetCardInfo(size_t slot, uint64_t& capacity extern "C" { // Create a sync object. We already created it, we just need to copy the handle. - int ff_cre_syncobj (BYTE vol, _SYNC_t* psy) + int ff_cre_syncobj (BYTE vol, FF_SYNC_t* psy) { *psy = &reprap.GetPlatform().GetMassStorage()->GetVolumeMutex(vol); return 1; } // Lock sync object - int ff_req_grant (_SYNC_t sy) + int ff_req_grant (FF_SYNC_t sy) { sy->Take(); return 1; } // Unlock sync object - void ff_rel_grant (_SYNC_t sy) + void ff_rel_grant (FF_SYNC_t sy) { sy->Release(); } // Delete a sync object - int ff_del_syncobj (_SYNC_t sy) + int ff_del_syncobj (FF_SYNC_t sy) { return 1; // nothing to do, we never delete the mutex } diff --git a/src/Storage/MassStorage.h b/src/Storage/MassStorage.h index f168ca0a..cb15c8f5 100644 --- a/src/Storage/MassStorage.h +++ b/src/Storage/MassStorage.h @@ -15,22 +15,22 @@ // Info returned by FindFirst/FindNext calls struct FileInfo { - bool isDirectory; - char fileName[MaxFilenameLength]; - uint32_t size; time_t lastModified; + uint32_t size; + String<MaxFilenameLength> fileName; + bool isDirectory; }; class MassStorage { public: - FileStore* OpenFile(const char* directory, const char* fileName, OpenMode mode); + FileStore* OpenFile(const char* directory, const char* fileName, OpenMode mode, uint32_t preAllocSize); bool FindFirst(const char *directory, FileInfo &file_info); bool FindNext(FileInfo &file_info); void AbandonFindNext(); const char* GetMonthName(const uint8_t month); static void CombineName(const StringRef& out, const char* directory, const char* fileName); - bool Delete(const char* directory, const char* fileName, bool silent = false); + bool Delete(const char* directory, const char* fileName); bool MakeDirectory(const char *parentDir, const char *dirName); bool MakeDirectory(const char *directory); bool Rename(const char *oldFilename, const char *newFilename); diff --git a/src/Tasks.cpp b/src/Tasks.cpp index a16d9468..df1ce1df 100644 --- a/src/Tasks.cpp +++ b/src/Tasks.cpp @@ -27,12 +27,43 @@ extern char _end; #ifdef RTOS // The main task currently runs GCodes, so it needs to be large enough to hold the matrices used for auto calibration. -constexpr unsigned int MainTaskStackWords = 2040; +// The timer and idle tasks currently never do I/O, so they can be much smaller. +#if defined(LPC_NETWORKING) +constexpr unsigned int MainTaskStackWords = 1600-424; +#else +constexpr unsigned int MainTaskStackWords = 1600; +#endif + +constexpr unsigned int IdleTaskStackWords = 60; +static Task<IdleTaskStackWords> idleTask; static Task<MainTaskStackWords> mainTask; + static Mutex spiMutex; +static Mutex i2cMutex; static Mutex mallocMutex; +extern "C" void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) +{ + *ppxIdleTaskTCBBuffer = idleTask.GetTaskMemory(); + *ppxIdleTaskStackBuffer = idleTask.GetStackBase(); + *pulIdleTaskStackSize = idleTask.GetStackSize(); +} + +#if configUSE_TIMERS + +constexpr unsigned int TimerTaskStackWords = 60; +static Task<TimerTaskStackWords> timerTask; + +extern "C" void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize) +{ + *ppxTimerTaskTCBBuffer = timerTask.GetTaskMemory(); + *ppxTimerTaskStackBuffer = timerTask.GetStackBase(); + *pulTimerTaskStackSize = timerTask.GetStackSize(); +} + +#endif + extern "C" void MainTask(void * pvParameters); // We need to make malloc/free thread safe, else sprintf and related I/O functions are liable to crash. @@ -70,14 +101,23 @@ extern "C" void AppMain() // We could also trap unaligned memory access, if we change the gcc options to not generate code that uses unaligned memory access. SCB->CCR |= SCB_CCR_DIV_0_TRP_Msk; +#ifdef __LPC17xx__ + // Setup LEDs, start off + pinMode(LED_PLAY, OUTPUT_LOW); + pinMode(LED1, OUTPUT_LOW); + pinMode(LED2, OUTPUT_LOW); + pinMode(LED3, OUTPUT_LOW); + pinMode(LED4, OUTPUT_LOW); +#else // When doing a software reset, we disable the NRST input (User reset) to prevent the negative-going pulse that gets generated on it // being held in the capacitor and changing the reset reason from Software to User. So enable it again here. We hope that the reset signal // will have gone away by now. -#ifndef RSTC_MR_KEY_PASSWD +# ifndef RSTC_MR_KEY_PASSWD // Definition of RSTC_MR_KEY_PASSWD is missing in the SAM3X ASF files -# define RSTC_MR_KEY_PASSWD (0xA5u << 24) -#endif +# define RSTC_MR_KEY_PASSWD (0xA5u << 24) +# endif RSTC->RSTC_MR = RSTC_MR_KEY_PASSWD | RSTC_MR_URSTEN; // ignore any signal on the NRST pin for now so that the reset reason will show as Software +#endif #if USE_CACHE // Enable the cache @@ -88,6 +128,13 @@ extern "C" void AppMain() #endif #ifdef RTOS + // Add the FreeRTOS internal tasks to the task list + idleTask.AddToList(); + +#if configUSE_TIMERS + timerTask.AddToList(); +#endif + // Create the startup task mainTask.Create(MainTask, "MAIN", nullptr, TaskBase::SpinPriority); vTaskStartScheduler(); // doesn't return @@ -97,6 +144,7 @@ extern "C" void MainTask(void *pvParameters) { mallocMutex.Create("Malloc"); spiMutex.Create("SPI"); + i2cMutex.Create("I2C"); #endif reprap.Init(); for (;;) @@ -107,6 +155,20 @@ extern "C" void MainTask(void *pvParameters) extern "C" uint32_t _estack; // this is defined in the linker script +#if __LPC17xx__ + // These are defined in Linker Scripts for LPC + extern "C" unsigned int __AHB0_block_start; + extern "C" unsigned int __AHB0_dyn_start; + extern "C" unsigned int __AHB0_end; + + extern "C" unsigned long __StackLimit; + extern "C" unsigned long __StackTop; + + extern "C" size_t xPortGetTotalHeapSize( void ); + + volatile uint8_t sysTickLed = 0; +#endif + namespace Tasks { @@ -171,6 +233,8 @@ namespace Tasks (char *) 0x20000000; #elif SAM3XA (char *) 0x20070000; +#elif __LPC17xx__ + (char *) 0x10000000; #else # error Unsupported processor #endif @@ -189,7 +253,47 @@ namespace Tasks p.MessageF(mtype, "Stack ram used: %" PRIu32 " current, %" PRIu32 " maximum\n", currentStack, maxStack); #endif p.MessageF(mtype, "Never used ram: %" PRIu32 "\n", neverUsed); - } + +#ifdef __LPC17xx__ + const uint32_t ahbStaticUsed = (uint32_t)&__AHB0_dyn_start -(uint32_t)&__AHB0_block_start; + const uint32_t totalMainUsage = (uint32_t)((&_end - ramstart) + mi.uordblks + maxStack); + + p.MessageF(mtype, "AHB_RAM Static ram used : %" PRIu32 "\n", ahbStaticUsed); + p.Message(mtype, "=== Ram Totals ===\n"); + p.MessageF(mtype, "Main SRAM : %" PRIu32 "/%" PRIu32 " (%" PRIu32 " free, %" PRIu32 " never used)\n", totalMainUsage, (uint32_t)32*1024, 32*1024-totalMainUsage, neverUsed ); + p.MessageF(mtype, "RTOS Dynamic Heap : %" PRIi32 "/%" PRIu32 " (%d free, %d never used)\n", (uint32_t)(xPortGetTotalHeapSize()-xPortGetFreeHeapSize()),(uint32_t)xPortGetTotalHeapSize(), xPortGetFreeHeapSize(),xPortGetMinimumEverFreeHeapSize() ); + + //Print out the PWM and timers freq + uint16_t freqs[4]; + GetTimerInfo(freqs); + p.MessageF(mtype, "\n=== LPC PWM ===\n"); + p.MessageF(mtype, "Hardware PWM: %d Hz\nPWMTimer1: %d Hz\nPWMTimer2: %d Hz\nPWMTimer3: %d Hz\n", freqs[0], freqs[1], freqs[2], freqs[3]); + + //Print out our Special Pins Available: + p.MessageF(mtype, "\n=== GPIO Special Pins available === (i.e. with M42)\nLogicalPin - PhysicalPin\n"); + for (size_t i=0; i<ARRAY_SIZE(SpecialPinMap); i++) + { + if (SpecialPinMap[i] != NoPin) + { + const uint8_t portNumber = (SpecialPinMap[i]>>5); // Divide the pin number by 32 go get the PORT number + const uint8_t pinNumber = SpecialPinMap[i] & 0x1f; // lower 5-bits contains the bit number of a 32bit port + + p.MessageF(mtype, " %d - P%d_%d ", (60+i), portNumber, pinNumber); + if (TimerPWMPinsArray[SpecialPinMap[i]]) + { + const uint8_t tim = TimerPWMPinsArray[SpecialPinMap[i]] & 0x0F; + p.MessageF(mtype, "[Timer %s]", (tim&TimerPWM_1)?"1":(tim&TimerPWM_2)?"2":"3" ); + } + else if ((g_APinDescription[SpecialPinMap[i]].ulPinAttribute & PIN_ATTR_PWM)==PIN_ATTR_PWM) + { + p.MessageF(mtype, "[HW PWM]"); + } + p.MessageF(mtype, "\n"); + } + } +#endif //end __LPC17xx__ + + } // end memory stats scope #ifdef RTOS p.Message(mtype, "Tasks:"); @@ -227,66 +331,47 @@ namespace Tasks return nullptr; #endif } -} + const Mutex *GetI2CMutex() + { #ifdef RTOS - -static StaticTask_t xIdleTaskTCB; -static StackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE]; - -extern "C" void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, - StackType_t **ppxIdleTaskStackBuffer, - uint32_t *pulIdleTaskStackSize ) -{ - /* Pass out a pointer to the StaticTask_t structure in which the Idle task's state will be stored. */ - *ppxIdleTaskTCBBuffer = &xIdleTaskTCB; - - /* Pass out the array that will be used as the Idle task's stack. */ - *ppxIdleTaskStackBuffer = uxIdleTaskStack; - - /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer. */ - *pulIdleTaskStackSize = ARRAY_SIZE(uxIdleTaskStack); -} - -static StaticTask_t xTimerTaskTCB; -static StackType_t uxTimerTaskStack[configTIMER_TASK_STACK_DEPTH]; - -extern "C" void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, - StackType_t **ppxTimerTaskStackBuffer, - uint32_t *pulTimerTaskStackSize ) -{ - /* Pass out a pointer to the StaticTask_t structure in which the Timer task's state will be stored. */ - *ppxTimerTaskTCBBuffer = &xTimerTaskTCB; - - /* Pass out the array that will be used as the Timer task's stack. */ - *ppxTimerTaskStackBuffer = uxTimerTaskStack; - - /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer. */ - *pulTimerTaskStackSize = ARRAY_SIZE(uxTimerTaskStack); -} - + return &i2cMutex; +#else + return nullptr; #endif + } +} // Exception handlers extern "C" { - // This intercepts the 1ms system tick. It must return 'false', otherwise the Arduino core tick handler will be bypassed. - int sysTickHook() + // This intercepts the 1ms system tick + void sysTickHook() { reprap.Tick(); - return 0; + +#ifdef __LPC17xx__ + //blink the PLAY_LED to indicate systick is running + sysTickLed++; //uint8_t let it wrap around + if (sysTickLed == 255) + { + const bool state = GPIO_PinRead(LED_PLAY); + GPIO_PinWrite(LED_PLAY, !state); + } +#endif } // Exception handlers // By default the Usage Fault, Bus Fault and Memory Management fault handlers are not enabled, // so they escalate to a Hard Fault and we don't need to provide separate exception handlers for them. + void hardFaultDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn)); void hardFaultDispatcher(const uint32_t *pulFaultStackAddress) { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 5); } // The fault handler implementation calls a function called hardFaultDispatcher() - void HardFault_Handler() __attribute__((naked)); + void HardFault_Handler() __attribute__((naked, noreturn)); void HardFault_Handler() { __asm volatile @@ -301,14 +386,22 @@ extern "C" ); } + void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn)); void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress) { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::wdtFault, pulFaultStackAddress + 5); } - void WDT_Handler() __attribute__((naked)); +#if __LPC17xx__ + void WDT_IRQHandler() __attribute__((naked, noreturn)); + void WDT_IRQHandler(void) + { + LPC_WDT->WDMOD &=~((uint32_t)(1<<2)); //SD::clear timout flag before resetting to prevent the Smoothie bootloader going into DFU mode +#else + void WDT_Handler() __attribute__((naked, noreturn)); void WDT_Handler() { +#endif __asm volatile ( " tst lr, #4 \n" /* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */ @@ -321,6 +414,7 @@ extern "C" ); } + void otherFaultDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn)); void otherFaultDispatcher(const uint32_t *pulFaultStackAddress) { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::otherFault, pulFaultStackAddress + 5); @@ -328,7 +422,7 @@ extern "C" // 2017-05-25: A user is getting 'otherFault' reports, so now we do a stack dump for those too. // The fault handler implementation calls a function called otherFaultDispatcher() - void OtherFault_Handler() __attribute__((naked)); + void OtherFault_Handler() __attribute__((naked, noreturn)); void OtherFault_Handler() { __asm volatile @@ -348,16 +442,17 @@ extern "C" void NMI_Handler () { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::NMI); } void UsageFault_Handler () { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::usageFault); } - void DebugMon_Handler () __attribute__ ((alias("OtherFault_Handler"))); + void DebugMon_Handler () __attribute__ ((noreturn,alias("OtherFault_Handler"))); #ifdef RTOS // FreeRTOS hooks that we need to provide + void stackOverflowDispatcher(const uint32_t *pulFaultStackAddress, char* pcTaskName) __attribute((noreturn)); void stackOverflowDispatcher(const uint32_t *pulFaultStackAddress, char* pcTaskName) { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::stackOverflow, pulFaultStackAddress); } - void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) __attribute((naked)); + void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) __attribute((naked, noreturn)); void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) { // r0 = pxTask, r1 = pxTaskName @@ -370,13 +465,15 @@ extern "C" " handler_sovf_address_const: .word stackOverflowDispatcher \n" ); } +#endif + void assertCalledDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn)); void assertCalledDispatcher(const uint32_t *pulFaultStackAddress) { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::assertCalled, pulFaultStackAddress); } - void vAssertCalled(uint32_t line, const char *file) __attribute((naked)); + void vAssertCalled(uint32_t line, const char *file) __attribute((naked, noreturn)); void vAssertCalled(uint32_t line, const char *file) { #if false @@ -392,8 +489,33 @@ extern "C" " handler_asrt_address_const: .word assertCalledDispatcher \n" ); } + +#if __LPC17xx__ + void applicationMallocFailedCalledDispatcher(const uint32_t *pulFaultStackAddress) + { + reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::assertCalled, pulFaultStackAddress); + } + + void vApplicationMallocFailedHook( void ) __attribute((naked)); + void vApplicationMallocFailedHook( void ) + { + __asm volatile + ( + " push {r0, r1, lr} \n" /* save parameters and call address */ + " mov r0, sp \n" + " ldr r2, handler_amf_address_const \n" + " bx r2 \n" + " handler_amf_address_const: .word applicationMallocFailedCalledDispatcher \n" + ); + } #endif +} // end extern "C" + +namespace std +{ + // We need to define this function in order to use lambda functions with captures + void __throw_bad_function_call() { vAssertCalled(__LINE__, __FILE__); } } // End diff --git a/src/Tasks.h b/src/Tasks.h index 57474f82..596c2f4a 100644 --- a/src/Tasks.h +++ b/src/Tasks.h @@ -40,6 +40,7 @@ namespace Tasks void Diagnostics(MessageType mtype); uint32_t GetNeverUsedRam(); const Mutex *GetSpiMutex(); + const Mutex *GetI2CMutex(); } #endif /* SRC_TASKS_H_ */ diff --git a/src/Tools/Filament.cpp b/src/Tools/Filament.cpp index faf1358a..e70ea9f0 100644 --- a/src/Tools/Filament.cpp +++ b/src/Tools/Filament.cpp @@ -95,7 +95,7 @@ void Filament::LoadAssignment() time_t timeNow = reprap.GetPlatform().GetDateTime(); const struct tm * const timeInfo = gmtime(&timeNow); buf.catf(" generated at %04u-%02u-%02u %02u:%02u", - timeInfo->tm_year + 1900, timeInfo->tm_mon, timeInfo->tm_mday, timeInfo->tm_hour, timeInfo->tm_min); + timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday, timeInfo->tm_hour, timeInfo->tm_min); } buf.cat('\n'); file->Write(buf.c_str()); @@ -118,7 +118,7 @@ void Filament::LoadAssignment() { for (Filament *f = filamentList; f != nullptr; f = f->next) { - if (StringEquals(f->name, filamentName)) + if (StringEqualsIgnoreCase(f->name, filamentName)) { return true; } diff --git a/src/Tools/Tool.cpp b/src/Tools/Tool.cpp index 4c746765..48876924 100644 --- a/src/Tools/Tool.cpp +++ b/src/Tools/Tool.cpp @@ -482,4 +482,20 @@ void Tool::SetToolHeaterStandbyTemperature(size_t heaterNumber, float temp) } } +void Tool::IterateExtruders(std::function<void(unsigned int)> f) const +{ + for (size_t i = 0; i < driveCount; ++i) + { + f(drives[i]); + } +} + +void Tool::IterateHeaters(std::function<void(int)> f) const +{ + for (size_t i = 0; i < heaterCount; ++i) + { + f(heaters[i]); + } +} + // End diff --git a/src/Tools/Tool.h b/src/Tools/Tool.h index 039d75d3..268d0ab3 100644 --- a/src/Tools/Tool.h +++ b/src/Tools/Tool.h @@ -28,6 +28,10 @@ Licence: GPL #include "RepRapFirmware.h" +#undef array +#include <functional> +#define array _ecv_array + constexpr size_t ToolNameLength = 32; // maximum allowed length for tool names constexpr AxesBitmap DefaultXAxisMapping = 1u << X_AXIS; // by default, X is mapped to X constexpr AxesBitmap DefaultYAxisMapping = 1u << Y_AXIS; // by default, Y is mapped to Y @@ -77,6 +81,9 @@ public: bool HasTemperatureFault() const { return heaterFault; } + void IterateExtruders(std::function<void(unsigned int)> f) const; + void IterateHeaters(std::function<void(int)> f) const; + friend class RepRap; protected: diff --git a/src/Version.h b/src/Version.h index eb8554c1..e72f6bfb 100644 --- a/src/Version.h +++ b/src/Version.h @@ -11,18 +11,16 @@ #ifndef VERSION #ifdef RTOS -# define RTOSVER "(RTOS)" -# define MAIN_VERSION "2.02RC3" +# define MAIN_VERSION "2.03beta1" #else -# define MAIN_VERSION "1.22" -# define RTOSVER +# define MAIN_VERSION "1.24beta1" #endif -# define VERSION MAIN_VERSION RTOSVER +# define VERSION MAIN_VERSION #endif #ifndef DATE -# define DATE "2018-10-17b2" +# define DATE "2019-02-03b3" #endif #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d" diff --git a/src/ZProbe.cpp b/src/ZProbe.cpp index f5ce9b86..6b81607c 100644 --- a/src/ZProbe.cpp +++ b/src/ZProbe.cpp @@ -24,7 +24,7 @@ void ZProbe::Init(float h) tolerance = DefaultZProbeTolerance; maxTaps = DefaultZProbeTaps; inputChannel = 0; - invertReading = turnHeatersOff = false; + invertReading = turnHeatersOff = saveToConfigOverride = false; } float ZProbe::GetStopHeight(float temperature) const @@ -35,7 +35,7 @@ float ZProbe::GetStopHeight(float temperature) const bool ZProbe::WriteParameters(FileStore *f, unsigned int probeType) const { String<ScratchStringLength> scratchString; - scratchString.printf("G31 T%u P%" PRIu32 " X%.1f Y%.1f Z%.2f\n", probeType, adcValue, (double)xOffset, (double)yOffset, (double)triggerHeight); + scratchString.printf("G31 T%u P%d X%.1f Y%.1f Z%.2f\n", probeType, adcValue, (double)xOffset, (double)yOffset, (double)triggerHeight); return f->Write(scratchString.c_str()); } diff --git a/src/ZProbe.h b/src/ZProbe.h index 9f3c3091..d19810e9 100644 --- a/src/ZProbe.h +++ b/src/ZProbe.h @@ -29,7 +29,6 @@ enum class ZProbeType : uint8_t class ZProbe { public: - int32_t adcValue; // the target ADC value, after inversion if enabled float xOffset, yOffset; // the offset of the probe relative to the print head float triggerHeight; // the nozzle height at which the target ADC value is returned float calibTemperature; // the temperature at which we did the calibration @@ -39,10 +38,14 @@ public: float travelSpeed; // the speed at which we travel to the probe point float recoveryTime; // Z probe recovery time float tolerance; // maximum difference between probe heights when doing >1 taps - uint8_t maxTaps; // maximum probes at each point - uint8_t inputChannel; // input channel, use when the selected Z probe type is a switch - bool invertReading; // true if we need to invert the reading - bool turnHeatersOff; // true to turn heaters off while probing + int16_t adcValue; // the target ADC value, after inversion if enabled + uint16_t maxTaps : 5, // maximum probes at each point + invertReading : 1, // true if we need to invert the reading + turnHeatersOff : 1, // true to turn heaters off while probing + saveToConfigOverride : 1, // true if the trigger height should be saved to config-override.g + inputChannel : 4; // input channel, use when the selected Z probe type is a switch + + static constexpr unsigned int MaxTapsLimit = 31; // must be low enough to fit in the maxTaps field void Init(float h); float GetStopHeight(float temperature) const; |