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/*
* ZProbeProgrammer.cpp
*
* Created on: 22 Jul 2017
* Author: David
*/
#include "ZProbeProgrammer.h"
#include "RepRap.h"
#include "Platform.h"
/*static*/ bool ZProbeProgrammer::TimerInterrupt(void *param, uint32_t& when)
{
return static_cast<ZProbeProgrammer*>(param)->Interrupt(when);
}
ZProbeProgrammer::ZProbeProgrammer()
{
}
// Kick off sending some program bytes
void ZProbeProgrammer::SendProgram(const uint32_t zProbeProgram[], size_t len)
{
timer.CancelCallback(); // make quite certain that this timer isn't already pending
for (size_t i = 0; i < len; ++i)
{
progBytes[i] = (uint8_t)zProbeProgram[i];
}
numBytes = len;
bytesSent = 0;
bitsSent = 0;
bitTime = SoftTimer::GetTickRate()/bitsPerSecond;
reprap.GetPlatform().SetZProbeModState(false); // start with 2 bits of zero
startTime = SoftTimer::GetTimerTicksNow();
timer.ScheduleCallback(startTime + 2 * bitTime, ZProbeProgrammer::TimerInterrupt, static_cast<void*>(this));
}
bool ZProbeProgrammer::Interrupt(uint32_t& when)
{
// The data format is:
// [0 0 1 0 b7 b6 b5 b4 /b4 b3 b2 b1 b0 /b0] repeated for each byte, where /b4 = inverse of b4, /b0 = inverse of b0
// After the last byte the line returns to 0
bool nextBit;
switch(bitsSent++)
{
case 0: // We sent 00, now send 1
nextBit = true;
break;
case 1: // We sent 001, now send 0
default:
nextBit = false;
break;
case 2:
case 3:
case 4:
case 5:
nextBit = (((progBytes[bytesSent] >> (10 - bitsSent)) & 1) != 0);
break;
case 6:
nextBit = (((progBytes[bytesSent] >> 4) & 1) == 0);
break;
case 7:
case 8:
case 9:
case 10:
nextBit = (((progBytes[bytesSent] >> (11 - bitsSent)) & 1) != 0);
break;
case 11:
nextBit = ((progBytes[bytesSent] & 1) == 0);
break;
case 12: // We sent 0010 + 10 data bits, now send 0
nextBit = false;
bitsSent = 0;
++bytesSent;
break;
}
reprap.GetPlatform().SetZProbeModState(nextBit);
if (bytesSent < numBytes)
{
when = startTime + ((bytesSent * 14) + bitsSent + 2) * bitTime;
return true;
}
bytesSent = numBytes = 0;
return false;
}
// End
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