Welcome to mirror list, hosted at ThFree Co, Russian Federation.

github.com/Klipper3d/klipper.git - Unnamed repository; edit this file 'description' to name the repository.
summaryrefslogtreecommitdiff
path: root/src/basecmd.c
diff options
context:
space:
mode:
Diffstat (limited to 'src/basecmd.c')
-rw-r--r--src/basecmd.c301
1 files changed, 301 insertions, 0 deletions
diff --git a/src/basecmd.c b/src/basecmd.c
new file mode 100644
index 000000000..b94c820a5
--- /dev/null
+++ b/src/basecmd.c
@@ -0,0 +1,301 @@
+// Basic infrastructure commands.
+//
+// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <stdlib.h> // malloc
+#include <string.h> // memcpy
+#include "basecmd.h" // lookup_oid
+#include "board/irq.h" // irq_save
+#include "board/misc.h" // alloc_maxsize
+#include "command.h" // DECL_COMMAND
+#include "sched.h" // sched_clear_shutdown
+
+
+/****************************************************************
+ * Move queue
+ ****************************************************************/
+
+static struct move *move_list, *move_free_list;
+static uint16_t move_count;
+
+void
+move_free(struct move *m)
+{
+ m->next = move_free_list;
+ move_free_list = m;
+}
+
+struct move *
+move_alloc(void)
+{
+ uint8_t flag = irq_save();
+ struct move *m = move_free_list;
+ if (!m)
+ shutdown("Move queue empty");
+ move_free_list = m->next;
+ irq_restore(flag);
+ return m;
+}
+
+static void
+move_reset(void)
+{
+ if (!move_count)
+ return;
+ // Add everything in move_list to the free list.
+ uint32_t i;
+ for (i=0; i<move_count-1; i++)
+ move_list[i].next = &move_list[i+1];
+ move_list[move_count-1].next = NULL;
+ move_free_list = &move_list[0];
+}
+DECL_SHUTDOWN(move_reset);
+
+
+/****************************************************************
+ * Generic object ids (oid)
+ ****************************************************************/
+
+struct oid_s {
+ void *type, *data;
+};
+
+static struct oid_s *oids;
+static uint8_t num_oid;
+static uint32_t config_crc;
+static uint8_t config_finalized;
+
+void *
+lookup_oid(uint8_t oid, void *type)
+{
+ if (oid >= num_oid || type != oids[oid].type)
+ shutdown("Invalid oid type");
+ return oids[oid].data;
+}
+
+static void
+assign_oid(uint8_t oid, void *type, void *data)
+{
+ if (oid >= num_oid || oids[oid].type || config_finalized)
+ shutdown("Can't assign oid");
+ oids[oid].type = type;
+ oids[oid].data = data;
+}
+
+void *
+alloc_oid(uint8_t oid, void *type, uint16_t size)
+{
+ void *data = malloc(size);
+ if (!data)
+ shutdown("malloc failed");
+ memset(data, 0, size);
+ assign_oid(oid, type, data);
+ return data;
+}
+
+void *
+next_oid(uint8_t *i, void *type)
+{
+ uint8_t oid = *i;
+ for (;;) {
+ oid++;
+ if (oid >= num_oid)
+ return NULL;
+ if (oids[oid].type == type) {
+ *i = oid;
+ return oids[oid].data;
+ }
+ }
+}
+
+void
+command_allocate_oids(uint32_t *args)
+{
+ if (oids)
+ shutdown("oids already allocated");
+ uint8_t count = args[0];
+ oids = malloc(sizeof(oids[0]) * count);
+ if (!oids)
+ shutdown("malloc failed");
+ memset(oids, 0, sizeof(oids[0]) * count);
+ num_oid = count;
+}
+DECL_COMMAND(command_allocate_oids, "allocate_oids count=%c");
+
+void
+command_get_config(uint32_t *args)
+{
+ sendf("config is_config=%c crc=%u move_count=%hu"
+ , config_finalized, config_crc, move_count);
+}
+DECL_COMMAND_FLAGS(command_get_config, HF_IN_SHUTDOWN, "get_config");
+
+void
+command_finalize_config(uint32_t *args)
+{
+ if (!oids || config_finalized)
+ shutdown("Can't finalize");
+ uint16_t count = alloc_maxsize(sizeof(*move_list)*1024) / sizeof(*move_list);
+ move_list = malloc(count * sizeof(*move_list));
+ if (!count || !move_list)
+ shutdown("malloc failed");
+ move_count = count;
+ move_reset();
+ config_crc = args[0];
+ config_finalized = 1;
+ command_get_config(NULL);
+}
+DECL_COMMAND(command_finalize_config, "finalize_config crc=%u");
+
+
+/****************************************************************
+ * Group commands
+ ****************************************************************/
+
+static struct timer group_timer;
+
+static uint8_t
+group_end_event(struct timer *timer)
+{
+ shutdown("Missed scheduling of next event");
+}
+
+void
+command_start_group(uint32_t *args)
+{
+ sched_del_timer(&group_timer);
+ group_timer.func = group_end_event;
+ group_timer.waketime = args[0];
+ sched_timer(&group_timer);
+}
+DECL_COMMAND(command_start_group, "start_group clock=%u");
+
+void
+command_end_group(uint32_t *args)
+{
+ sched_del_timer(&group_timer);
+}
+DECL_COMMAND(command_end_group, "end_group");
+
+
+/****************************************************************
+ * Timing and load stats
+ ****************************************************************/
+
+void
+command_get_status(uint32_t *args)
+{
+ sendf("status clock=%u status=%c", sched_read_time(), sched_is_shutdown());
+}
+DECL_COMMAND_FLAGS(command_get_status, HF_IN_SHUTDOWN, "get_status");
+
+static void
+stats_task(void)
+{
+ static uint32_t last, count, sumsq;
+ uint32_t cur = sched_read_time();
+ uint32_t diff = (cur - last) >> 8;
+ last = cur;
+ count++;
+ uint32_t nextsumsq = sumsq + diff*diff;
+ if (nextsumsq < sumsq)
+ nextsumsq = 0xffffffff;
+ sumsq = nextsumsq;
+
+ static uint32_t prev;
+ if (sched_is_before(cur, prev + sched_from_ms(5000)))
+ return;
+ sendf("stats count=%u sum=%u sumsq=%u", count, cur - prev, sumsq);
+ prev = cur;
+ count = sumsq = 0;
+}
+DECL_TASK(stats_task);
+
+
+/****************************************************************
+ * Register debug commands
+ ****************************************************************/
+
+void
+command_debug_read8(uint32_t *args)
+{
+ uint8_t *ptr = (void*)(size_t)args[0];
+ uint16_t v = *ptr;
+ sendf("debug_result val=%hu", v);
+}
+DECL_COMMAND_FLAGS(command_debug_read8, HF_IN_SHUTDOWN, "debug_read8 addr=%u");
+
+void
+command_debug_read16(uint32_t *args)
+{
+ uint16_t *ptr = (void*)(size_t)args[0];
+ uint8_t flag = irq_save();
+ uint16_t v = *ptr;
+ irq_restore(flag);
+ sendf("debug_result val=%hu", v);
+}
+DECL_COMMAND_FLAGS(command_debug_read16, HF_IN_SHUTDOWN, "debug_read16 addr=%u");
+
+void
+command_debug_write8(uint32_t *args)
+{
+ uint8_t *ptr = (void*)(size_t)args[0];
+ *ptr = args[1];
+}
+DECL_COMMAND_FLAGS(command_debug_write8, HF_IN_SHUTDOWN,
+ "debug_write8 addr=%u val=%u");
+
+void
+command_debug_write16(uint32_t *args)
+{
+ uint16_t *ptr = (void*)(size_t)args[0];
+ uint8_t flag = irq_save();
+ *ptr = args[1];
+ irq_restore(flag);
+}
+DECL_COMMAND_FLAGS(command_debug_write16, HF_IN_SHUTDOWN,
+ "debug_write16 addr=%u val=%u");
+
+
+/****************************************************************
+ * Misc commands
+ ****************************************************************/
+
+void
+command_reset(uint32_t *args)
+{
+ // XXX - implement reset
+}
+DECL_COMMAND_FLAGS(command_reset, HF_IN_SHUTDOWN, "msg_reset");
+
+void
+command_emergency_stop(uint32_t *args)
+{
+ shutdown("command request");
+}
+DECL_COMMAND_FLAGS(command_emergency_stop, HF_IN_SHUTDOWN, "emergency_stop");
+
+void
+command_clear_shutdown(uint32_t *args)
+{
+ sched_clear_shutdown();
+}
+DECL_COMMAND_FLAGS(command_clear_shutdown, HF_IN_SHUTDOWN, "clear_shutdown");
+
+void
+command_identify(uint32_t *args)
+{
+ uint32_t offset = args[0];
+ uint8_t count = args[1];
+ uint32_t isize = READP(command_identify_size);
+ if (offset >= isize)
+ count = 0;
+ else if (offset + count > isize)
+ count = isize - offset;
+ sendf("identify_response offset=%u data=%.*s"
+ , offset, count, &command_identify_data[offset]);
+}
+DECL_COMMAND_FLAGS(command_identify, HF_IN_SHUTDOWN,
+ "identify offset=%u count=%c");
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-31 16:32:55 +0300