Add sideband control PTY for FS and reset lines (#374)

* Add sideband control PTY for FS and reset lines

* Add sideband test coverage for MMU2

parts/Board.h

@@ -81,9 +81,11 @@ namespace Boards
 			inline std::string GetSDCardFile(){return m_strSDFile.empty()?GetStorageFileName("SDcard"):m_strSDFile;}
 
 			inline void SetResetFlag(){m_bReset = true;}
+			inline bool GetResetFlag(){return m_bReset;}
 			inline void SetQuitFlag(){m_bQuit = true; m_bPaused = false;}
 			inline bool GetQuitFlag(){return m_bQuit;}
 
+			inline bool IsStarted(){ return m_thread!=0; }
 			inline bool IsStopped(){ return m_pAVR->state == cpu_Stopped;}
 			inline bool IsPaused(){ return m_bPaused;}
 

parts/boards/MM_Control_01.cpp

@@ -39,6 +39,22 @@ namespace Boards
 		#endif
 	}
 
+	void MM_Control_01::OnAVRReset()
+	{
+		if (m_bSidebandInit)
+		{
+			std::cout << "Sideband reset complete\n";
+			m_USideband.BypassXON();
+		}
+	}
+
+	void MM_Control_01::SetupSideband()
+	{
+		m_USideband.Init(m_pAVR);
+		m_USideband.ConnectPTYOnly("/tmp/MK404-MMU-sideband");
+		m_bSidebandInit = true;
+	}
+
 	void MM_Control_01::SetupHardware()
 	{
 		DisableInterruptLevelPoll(5);

parts/boards/MM_Control_01.h

@@ -47,14 +47,18 @@ namespace Boards
 			void Draw(float fY);
 
 		protected:
+
+			void OnAVRReset() override;
+
 			void SetupHardware() override;
 
+			void SetupSideband();
 
 		//	void CustomAVRInit() override;
 
 		//	void CustomAVRDeinit() override;
 
-			uart_pty m_UART;
+			uart_pty m_UART, m_USideband;
 			HC595 m_shift;
 			TMC2130 m_Sel {'S'},
 					m_Idl {'I'},
@@ -73,5 +77,7 @@ namespace Boards
 			const Wirings::MM_Control_01 m_wiring = Wirings::MM_Control_01();
 
 			std::string m_strTitle = "Missing Material Unit 2";
+
+			bool m_bSidebandInit = false;
 	};
 }; // namespace Boards

parts/components/MMU2.cpp

@@ -25,6 +25,7 @@
 #include "IKeyClient.h"
 #include "LED.h"              // for LED
 #include "MM_Control_01.h"    // for MM_Control_01
+#include "MMUSideband.h"
 #include "PinNames.h"         // for Pin::FINDA_PIN
 #include "TMC2130.h"          // for TMC2130
 #include "gsl-lite.hpp"
@@ -40,7 +41,7 @@ MMU2 *MMU2::g_pMMU = nullptr;
 
 using Boards::MM_Control_01;
 
-MMU2::MMU2(bool bCreate):IKeyClient(),MM_Control_01()
+MMU2::MMU2(bool bCreate, bool bSetupSB):IKeyClient(),MM_Control_01(),m_bSidebandEnabled(bSetupSB)
 {
 	if (g_pMMU)
 	{
@@ -128,18 +129,23 @@ void MMU2::SetupHardware()
 	m_Idl.ConnectTo(TMC2130::POSITION_OUT,GetIRQ(IDLER_OUT));
 	m_Extr.ConnectTo(TMC2130::POSITION_OUT,GetIRQ(PULLEY_IN));
 	m_shift.ConnectTo(HC595::SHIFT_OUT, GetIRQ(SHIFT_IN));
+
+	if (m_bSidebandEnabled)
+	{
+		SetupSidebandControl();
+	}
 }
 
 
 void MMU2::OnResetIn(struct avr_irq_t *irq, uint32_t value)
 {
-	if (!value && !m_bStarted)
+	if (!value && !IsStarted())
 	{
 		StartAVR();
 	}
     else if (irq->value && !value)
 	{
-        m_bReset = true;
+        SetResetFlag();
 	}
 }
 
@@ -151,17 +157,53 @@ void MMU2::ToggleFINDA()
 		RaiseIRQ(FINDA_OUT,m_bFINDAManual? 1 : 0);
 }
 
+void MMU2::SetupSidebandControl()
+{
+	MM_Control_01::SetupSideband();
+	RegisterNotify(SB_BYTE_IN, MAKE_C_CALLBACK(MMU2, OnSidebandByteIn), this);
+	ConnectTo(SB_FS, m_USideband.GetIRQ(uart_pty::BYTE_IN));
+	ConnectFrom(m_USideband.GetIRQ(uart_pty::BYTE_OUT), SB_BYTE_IN);
+}
+
+void MMU2::OnSidebandByteIn(struct avr_irq_t * ,uint32_t value)
+{
+	switch (value)
+	{
+		case MMUSideband::RESET:
+			std::cout << "MMU Received sideband RESET signal\n";
+			RaiseIRQ(RESET,1);
+			RaiseIRQ(RESET,0);
+			break;
+		default:
+			std::cerr << "Unrecognized sideband control character:" << (char)value << "\n";
+			break;
+	}
+}
+
 void MMU2::OnPulleyFeedIn(struct avr_irq_t * ,uint32_t value)
 {
 	float posOut;
 	std::memcpy(&posOut, &value,4);
 
 	if (m_bAutoFINDA)
 	{
-   		SetPin(FINDA_PIN,posOut>33.0f);
+   		SetPin(FINDA_PIN, posOut > FINDA_TRIGGER_DISTANCE);
 		// Reflect the distance out for IR sensor triggering.
 		RaiseIRQ(FEED_DISTANCE, value);
-		RaiseIRQ(FINDA_OUT,posOut>33.f);
+		RaiseIRQ(FINDA_OUT, posOut > FINDA_TRIGGER_DISTANCE);
+
+		if (m_bSidebandEnabled)
+		{
+			if (m_fLastPosOut < FSENSOR_TRIGGER_DISTANCE && posOut >= FSENSOR_TRIGGER_DISTANCE)
+			{
+				RaiseIRQ(SB_FS, MMUSideband::FS_AUTO_SET);
+			}
+			else if (m_fLastPosOut >= FSENSOR_TRIGGER_DISTANCE && posOut < FSENSOR_TRIGGER_DISTANCE)
+			{
+				RaiseIRQ(SB_FS, MMUSideband::FS_AUTO_CLEAR);
+			}
+			m_fLastPosOut = posOut;
+		}
 	}
 	else
 	{

parts/components/MMU2.h

@@ -39,11 +39,11 @@ class MMU2: public BasePeripheral, public Boards::MM_Control_01, virtual private
     public:
         #define IRQPAIRS _IRQ(FEED_DISTANCE,"<mmu.feed_distance") _IRQ(RESET,"<mmu.reset") _IRQ(PULLEY_IN,"<mmu.pulley_in") \
                         _IRQ(SELECTOR_OUT,">sel_pos.out") _IRQ(IDLER_OUT,">idler_pos.out") _IRQ(LEDS_OUT,">leds.out") _IRQ(FINDA_OUT,">finda.out") \
-						_IRQ(SHIFT_IN,"<32shift.in")
+						_IRQ(SHIFT_IN,"<32shift.in") _IRQ(SB_FS, ">sideband_fs.out") _IRQ(SB_BYTE_IN, "sideband_byte.in")
         #include "IRQHelper.h"
 
         // Creates a new MMU2. Creates board and starts it if bCreate = true
-        explicit MMU2(bool bCreate = true);
+        explicit MMU2(bool bCreate = true, bool bSetupSideband = false);
 
 		~MMU2() override {StopAVR();}
 
@@ -53,7 +53,16 @@ class MMU2: public BasePeripheral, public Boards::MM_Control_01, virtual private
 		inline void SetFINDAState(bool bVal) {m_bFINDAManual = bVal;}
 		void ToggleFINDA();
 
+
     protected:
+
+		static constexpr float FINDA_TRIGGER_DISTANCE = 33.f;
+		static constexpr float FSENSOR_TRIGGER_DISTANCE = 400.f;
+
+	#ifdef TEST_MODE
+		friend void Test_MMU2_internal();
+	#endif
+
 		enum Actions
 		{
 			// We have to extend board rather than being our own IScriptable due
@@ -71,19 +80,21 @@ class MMU2: public BasePeripheral, public Boards::MM_Control_01, virtual private
 
     private:
 
-        void* Run();
+		void SetupSidebandControl();
 
         void OnResetIn(avr_irq_t *irq, uint32_t value);
 
         void OnPulleyFeedIn(avr_irq_t *irq, uint32_t value);
 
         void LEDHandler(avr_irq_t *irq, uint32_t value);
 
+        void OnSidebandByteIn(avr_irq_t *irq, uint32_t value);
+
         std::atomic_bool m_bAutoFINDA = {true};
 		std::atomic_bool m_bFINDAManual = {false};
-        std::atomic_bool m_bStarted = {false};
-        std::atomic_bool m_bReset ={false};
-        pthread_t m_tRun = 0;
+
+		bool m_bSidebandEnabled = false;
+		float m_fLastPosOut = 0;
 
         static MMU2 *g_pMMU; // Needed for GL
 };

parts/components/uart_pty.cpp

@@ -57,6 +57,8 @@ int
 //#define TRACE(_w) _w
 #ifndef TRACE
 #define TRACE(_w)
+#else
+#include "sim_hex.h"
 #endif
 
 using std::cout;
@@ -91,7 +93,7 @@ void uart_pty::FlushData()
 {
 	std::lock_guard<std::mutex> lock(m_lock);
 	while (m_bXOn && !uart_pty_fifo_isempty(&pty.out)) {
-		TRACE(int r = p->pty.out.read;)
+		TRACE(int r = pty.out.read;)
 		uint8_t byte = uart_pty_fifo_read(&pty.out);
 		TRACE(printf("uart_pty_flush_incoming send r %03d:%02x\n", r, byte);)
 		if (m_chrLast == '\n' && byte == '\n')
@@ -278,14 +280,8 @@ void* uart_pty::Run()
 	return nullptr;
 }
 
-void uart_pty::Init(struct avr_t * avr, char uart)
+void uart_pty::InitPrivate()
 {
-	_Init(avr,this);
-	uint32_t f = 0;
-	avr_ioctl(m_pAVR, AVR_IOCTL_UART_GET_FLAGS(uart), &f); //NOLINT - complaint in external macro
-	f &= ~AVR_UART_FLAG_POLL_SLEEP; // Issue #356
-	avr_ioctl(m_pAVR, AVR_IOCTL_UART_SET_FLAGS(uart), &f); //NOLINT - complaint in external macro
-
 	RegisterNotify(BYTE_IN, MAKE_C_CALLBACK(uart_pty,OnByteIn), this);
 
 	int hastap = (getenv("SIMAVR_UART_TAP") && stoi(getenv("SIMAVR_UART_TAP"))) ||
@@ -313,6 +309,30 @@ void uart_pty::Init(struct avr_t * avr, char uart)
 
 }
 
+void uart_pty::BypassXON()
+{
+	OnXOnIn(nullptr, 0);
+}
+
+void uart_pty::Init(struct avr_t * avr)
+{
+	_Init(avr,this);
+	InitPrivate();
+	BypassXON();
+}
+
+void uart_pty::Init(struct avr_t * avr, char uart)
+{
+	_Init(avr,this);
+	uint32_t f = 0;
+	avr_ioctl(m_pAVR, AVR_IOCTL_UART_GET_FLAGS(uart), &f); //NOLINT - complaint in external macro
+	f &= ~AVR_UART_FLAG_POLL_SLEEP; // Issue #356
+	avr_ioctl(m_pAVR, AVR_IOCTL_UART_SET_FLAGS(uart), &f); //NOLINT - complaint in external macro
+
+	InitPrivate();
+
+}
+
 // Shuts down the thread on destruction.
 uart_pty::~uart_pty()
 {
@@ -352,24 +372,23 @@ void uart_pty::Connect(char uart)
 	if (xon) avr_irq_register_notify(xon, MAKE_C_CALLBACK(uart_pty,OnXOnIn), this);
 	if (xoff) avr_irq_register_notify(xoff, MAKE_C_CALLBACK(uart_pty,OnXOffIn),this);
 
-	//for (int ti = 0; ti < 1; ti++)
-		if (port[0].s) {
-			std::string strLnk("/tmp/simavr-uart");
-			// if (ti==1)
-			// {
-			// 	strLnk +="tap";
-			// }
-			strLnk+=uart;
-			unlink(strLnk.c_str());
-			if (symlink(static_cast<char*>(port[0].slavename), strLnk.c_str()) != 0)
-			{
-				std::cerr << "WARN: Can't create " << strLnk << " " << strerror(errno);
-			}
-			else
-			{
-				std::cout << strLnk << " now points to: " << static_cast<char*>(port[0].slavename) << '\n';
-			}
+	if (port[0].s) {
+		std::string strLnk("/tmp/simavr-uart");
+		// if (ti==1)
+		// {
+		// 	strLnk +="tap";
+		// }
+		strLnk+=uart;
+		unlink(strLnk.c_str());
+		if (symlink(static_cast<char*>(port[0].slavename), strLnk.c_str()) != 0)
+		{
+			std::cerr << "WARN: Can't create " << strLnk << " " << strerror(errno);
+		}
+		else
+		{
+			std::cout << strLnk << " now points to: " << static_cast<char*>(port[0].slavename) << '\n';
 		}
+	}
 	if (getenv("SIMAVR_UART_XTERM") && stoi(getenv("SIMAVR_UART_XTERM")))
 	{
 		std::string strCmd("xterm -e picocom -b 115200 ");
@@ -385,3 +404,18 @@ void uart_pty::Connect(char uart)
 		std::cout << "note: export SIMAVR_UART_XTERM=1 and install picocom to get a terminal\n";
 	}
 }
+
+void uart_pty::ConnectPTYOnly(const std::string& strLnk)
+{
+	if (port[0].s) {
+		unlink(strLnk.c_str());
+		if (symlink(static_cast<char*>(port[0].slavename), strLnk.c_str()) != 0)
+		{
+			std::cerr << "WARN: Can't create " << strLnk << " " << strerror(errno);
+		}
+		else
+		{
+			std::cout << strLnk << " now points to: " << static_cast<char*>(port[0].slavename) << '\n';
+		}
+	}
+}

parts/components/uart_pty.h

@@ -59,9 +59,18 @@ class uart_pty: public BasePeripheral
 		// Registers with SimAVR
 		void Init(avr_t *avr, char uart);
 
+		// Registers a dummy UART PTY that isn't connected to the AVR.
+		void Init(avr_t *avr);
+
 		// Actually connects to the UART.
 		void Connect(char chrUART);
 
+		// Sets up a PTY but does nothing else.
+		void ConnectPTYOnly(const std::string& strLnk);
+
+		// Used to disable XON for PTY-only connections.
+		void BypassXON();
+
 		// Resets the newline trap after a printer reset.
 		inline void Reset() { m_chrLast = '\n';}
 
@@ -70,6 +79,9 @@ class uart_pty: public BasePeripheral
 
 	private:
 
+		// Registers a dummy UART PTY that isn't connected to the AVR.
+		void InitPrivate();
+
 		void* Run();
 		void OnByteIn(avr_irq_t * irq, uint32_t value);
 		void OnXOnIn(avr_irq_t * irq, uint32_t value);

parts/printers/Prusa_MMU2.h

@@ -29,7 +29,7 @@ class Prusa_MMU2 : public Printer, public MMU2
 {
 	public:
 
-		Prusa_MMU2():MMU2(false){};
+		Prusa_MMU2():MMU2(false, true){};
 
 
 		inline std::pair<int,int> GetWindowSize() override;