klipper/src/basecmd.c

368 lines
8.7 KiB
C

// Basic infrastructure commands.
//
// Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <string.h> // memset
#include "basecmd.h" // oid_lookup
#include "board/irq.h" // irq_save
#include "board/misc.h" // alloc_maxsize
#include "board/pgm.h" // READP
#include "command.h" // DECL_COMMAND
#include "sched.h" // sched_clear_shutdown
/****************************************************************
* Low level allocation
****************************************************************/
static void *alloc_end;
void
alloc_init(void)
{
alloc_end = (void*)ALIGN((size_t)dynmem_start(), __alignof__(void*));
}
DECL_INIT(alloc_init);
// Allocate an area of memory
void *
alloc_chunk(size_t size)
{
if (alloc_end + size > dynmem_end())
shutdown("alloc_chunk failed");
void *data = alloc_end;
alloc_end += ALIGN(size, __alignof__(void*));
memset(data, 0, size);
return data;
}
// Allocate an array of chunks
static void *
alloc_chunks(size_t size, size_t count, uint16_t *avail)
{
size_t can_alloc = 0;
void *p = alloc_end, *end = dynmem_end();
while (can_alloc < count && p + size <= end)
can_alloc++, p += size;
if (!can_alloc)
shutdown("alloc_chunks failed");
void *data = alloc_chunk(p - alloc_end);
*avail = can_alloc;
return data;
}
/****************************************************************
* Move queue
****************************************************************/
static struct move_node *move_free_list;
static void *move_list;
static uint16_t move_count;
static uint8_t move_item_size;
// Is the config and move queue finalized?
static int
is_finalized(void)
{
return !!move_count;
}
// Free previously allocated storage from move_alloc(). Caller must
// disable irqs.
void
move_free(void *m)
{
struct move_node *mf = m;
mf->next = move_free_list;
move_free_list = mf;
}
// Allocate runtime storage
void *
move_alloc(void)
{
irqstatus_t flag = irq_save();
struct move_node *mf = move_free_list;
if (!mf)
shutdown("Move queue overflow");
move_free_list = mf->next;
irq_restore(flag);
return mf;
}
// Check if a move_queue is empty
int
move_queue_empty(struct move_queue_head *mh)
{
return mh->first == NULL;
}
// Return first node in a move queue
struct move_node *
move_queue_first(struct move_queue_head *mh)
{
return mh->first;
}
// Add move to queue
int
move_queue_push(struct move_node *m, struct move_queue_head *mh)
{
m->next = NULL;
if (mh->first) {
mh->last->next = m;
mh->last = m;
return 0;
}
mh->first = mh->last = m;
return 1;
}
// Remove first item from queue (caller must ensure queue not empty)
struct move_node *
move_queue_pop(struct move_queue_head *mh)
{
struct move_node *mn = mh->first;
mh->first = mn->next;
return mn;
}
// Completely clear move queue (used in shutdown handlers)
void
move_queue_clear(struct move_queue_head *mh)
{
mh->first = NULL;
}
// Initialize a move_queue with nodes of the give size
void
move_queue_setup(struct move_queue_head *mh, int size)
{
mh->first = mh->last = NULL;
if (size > UINT8_MAX || is_finalized())
shutdown("Invalid move request size");
if (size > move_item_size)
move_item_size = size;
}
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++) {
struct move_node *mf = move_list + i*move_item_size;
mf->next = move_list + (i + 1)*move_item_size;
}
struct move_node *mf = move_list + (move_count - 1)*move_item_size;
mf->next = NULL;
move_free_list = move_list;
}
DECL_SHUTDOWN(move_reset);
static void
move_finalize(void)
{
if (is_finalized())
shutdown("Already finalized");
struct move_queue_head dummy;
move_queue_setup(&dummy, sizeof(*move_free_list));
move_list = alloc_chunks(move_item_size, 1024, &move_count);
move_reset();
}
/****************************************************************
* Generic object ids (oid)
****************************************************************/
struct oid_s {
void *type, *data;
};
static struct oid_s *oids;
static uint8_t oid_count;
void *
oid_lookup(uint8_t oid, void *type)
{
if (oid >= oid_count || type != oids[oid].type)
shutdown("Invalid oid type");
return oids[oid].data;
}
void *
oid_alloc(uint8_t oid, void *type, uint16_t size)
{
if (oid >= oid_count || oids[oid].type || is_finalized())
shutdown("Can't assign oid");
oids[oid].type = type;
void *data = alloc_chunk(size);
oids[oid].data = data;
return data;
}
void *
oid_next(uint8_t *i, void *type)
{
uint8_t oid = *i;
for (;;) {
oid++;
if (oid >= oid_count)
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 = alloc_chunk(sizeof(oids[0]) * count);
oid_count = count;
}
DECL_COMMAND(command_allocate_oids, "allocate_oids count=%c");
/****************************************************************
* Config CRC
****************************************************************/
static uint32_t config_crc;
void
command_get_config(uint32_t *args)
{
sendf("config is_config=%c crc=%u move_count=%hu is_shutdown=%c"
, is_finalized(), config_crc, move_count, sched_is_shutdown());
}
DECL_COMMAND_FLAGS(command_get_config, HF_IN_SHUTDOWN, "get_config");
void
command_finalize_config(uint32_t *args)
{
move_finalize();
config_crc = args[0];
}
DECL_COMMAND(command_finalize_config, "finalize_config crc=%u");
// Attempt a full manual reset of the config
void
config_reset(uint32_t *args)
{
if (! sched_is_shutdown())
shutdown("config_reset only available when shutdown");
irq_disable();
config_crc = 0;
oid_count = 0;
oids = NULL;
move_free_list = NULL;
move_list = NULL;
move_count = move_item_size = 0;
alloc_init();
sched_timer_reset();
sched_clear_shutdown();
irq_enable();
}
/****************************************************************
* Timing and load stats
****************************************************************/
void
command_get_clock(uint32_t *args)
{
sendf("clock clock=%u", timer_read_time());
}
DECL_COMMAND_FLAGS(command_get_clock, HF_IN_SHUTDOWN, "get_clock");
static uint32_t stats_send_time, stats_send_time_high;
void
command_get_uptime(uint32_t *args)
{
uint32_t cur = timer_read_time();
uint32_t high = stats_send_time_high + (cur < stats_send_time);
sendf("uptime high=%u clock=%u", high, cur);
}
DECL_COMMAND_FLAGS(command_get_uptime, HF_IN_SHUTDOWN, "get_uptime");
#define SUMSQ_BASE 256
DECL_CONSTANT("STATS_SUMSQ_BASE", SUMSQ_BASE);
void
stats_update(uint32_t start, uint32_t cur)
{
static uint32_t count, sum, sumsq;
uint32_t diff = cur - start;
count++;
sum += diff;
// Calculate sum of diff^2 - be careful of integer overflow
uint32_t nextsumsq;
if (diff <= 0xffff) {
nextsumsq = sumsq + DIV_ROUND_UP(diff * diff, SUMSQ_BASE);
} else if (diff <= 0xfffff) {
nextsumsq = sumsq + DIV_ROUND_UP(diff, SUMSQ_BASE) * diff;
} else {
nextsumsq = 0xffffffff;
}
if (nextsumsq < sumsq)
nextsumsq = 0xffffffff;
sumsq = nextsumsq;
if (timer_is_before(cur, stats_send_time + timer_from_us(5000000)))
return;
sendf("stats count=%u sum=%u sumsq=%u", count, sum, sumsq);
if (cur < stats_send_time)
stats_send_time_high++;
stats_send_time = cur;
count = sum = sumsq = 0;
}
/****************************************************************
* Misc commands
****************************************************************/
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");