void WRITE(pin_t pin, bool s) {
bool old_state = state[pin];
uint64_t nseconds = sim_runtime_ns();
sim_assert(pin < PIN_NB, "WRITE: Pin number out of range");
if (direction[pin] == out) {
state[pin] = s;
}
if (old_state != s) {
record_pin(TRACE_PINS + pin, s, nseconds);
#ifdef TRACE_ALL_PINS
fgreen();
for (int i = 0; i < PIN_NB; i++) {
if (state[i]) bred(); else bblack();
fputc('A' + i, stdout);
}
fbreset();
printf("\n");
#else
bred();
if (s)
sim_tick('A' + pin);
else
sim_tick('a' + pin);
fbreset();
#endif
}
if (s && !old_state) { /* rising edge */
int axis = AXIS_NONE;
int dir;
switch (pin) {
case X_STEP_PIN:
dir = state[X_DIR_PIN] ? 1 : -1;
axis = X_AXIS;
break;
case Y_STEP_PIN:
dir = state[Y_DIR_PIN] ? 1 : -1;
axis = Y_AXIS;
break;
case Z_STEP_PIN:
dir = state[Z_DIR_PIN] ? 1 : -1;
axis = Z_AXIS;
break;
case E_STEP_PIN:
dir = state[E_DIR_PIN] ? 1 : -1;
axis = E_AXIS;
break;
default:
break;
}
if ( axis != AXIS_NONE ) {
pos[axis] += dir;
record_pin(TRACE_POS + axis, pos[axis], nseconds);
print_pos();
}
}
}
/**
Simulate min endstops. "on" at -10, "off" at 0.
*/
static void sim_endstop( int axis ) {
bool on ;
if (axis == AXIS_NONE) return;
else if (pos[axis] <= -20) on = true;
else if (pos[axis] >= 0) on = false;
else return ;
const char * strstate = on ? "ON" : "OFF";
int minpin;
switch (axis) {
case X_AXIS:
#ifdef X_INVERT_MIN
on = ! on;
#endif
minpin = X_MIN_PIN;
break;
case Y_AXIS:
#ifdef Y_INVERT_MIN
on = ! on;
#endif
minpin = Y_MIN_PIN;
break;
case Z_AXIS:
#ifdef Z_INVERT_MIN
on = ! on;
#endif
minpin = Z_MIN_PIN;
break;
default:
return;
}
// No change
if (state[minpin] == on) return;
// Change the endstop state and report it
state[minpin] = on;
record_pin(TRACE_PINS + minpin, on, sim_runtime_ns());
bred();
if (on)
sim_tick('A' + minpin);
else
sim_tick('a' + minpin);
fbreset();
sim_info("%c-Endstop: %s", "XYZE???"[axis], strstate);
}
static void timer1_isr(void) {
const uint8_t tr = timer_reason;
if ( ! sim_interrupts) {
// Interrupts disabled. Schedule another callback in 10us.
schedule_timer(10);
return;
}
timer_reason = 0;
cli();
#ifdef SIM_DEBUG
uint64_t now = now_ns();
static unsigned int cc_1s = 0, prev_1s = 0;
if ( ! clock_counter_1s && prev_1s) ++cc_1s;
prev_1s = clock_counter_1s;
//uint16_t now = sim_tick_counter();
uint64_t real = (now-begin) / 1000;
uint64_t avr = cc_1s * 4 + clock_counter_1s;
avr *= 250;
avr += clock_counter_250ms * 10;
avr += clock_counter_10ms;
avr *= 1000 ;
printf("test: Real: %us %u.%03ums AVR: %us %u.%03ums Real/AVR: %u\n",
real / 1000000 , (real % 1000000)/1000 , real % 1000 ,
avr / 1000000 , (avr % 1000000)/1000 , avr % 1000 ,
real / (avr?avr:1) );
printf("test: 10ms=%u 250ms=%u 1s=%u total=%luns actual=%luns\n",
clock_counter_10ms, clock_counter_250ms, clock_counter_1s,
now - begin, now - then, sim_runtime_ns());
//printf(" timer1_isr tick_time=%04X now=%04X delta=%u total=%u\n",
// TICK_TIME , now, now_us() - then, (now_us() - begin)/1000000 ) ;
then = now;
#endif
if (tr & TIMER_OCR1A) TIMER1_COMPA_vect();
if (tr & TIMER_OCR1B) TIMER1_COMPB_vect();
sei();
// Setup next timer
sim_timer_set();
}
void _WRITE(pin_t pin, bool s) {
bool old_state = state[pin];
uint64_t nseconds = sim_runtime_ns();
sim_assert(pin < PIN_NB, "WRITE: Pin number out of range");
if (direction[pin] == out) {
state[pin] = s;
}
if (old_state != s) {
record_pin(TRACE_PINS + pin, s, nseconds);
#ifdef TRACE_ALL_PINS
fgreen();
for (int i = 0; i < PIN_NB; i++) {
if (state[i]) bred(); else bblack();
fputc('A' + i, stdout);
}
fbreset();
printf("\n");
#else
bred();
if (s)
sim_tick('A' + pin);
else
sim_tick('a' + pin);
fbreset();
#endif
}
if (s && !old_state) { /* rising edge */
int axis = AXIS_NONE;
int dir;
switch (pin) {
case X_STEP_PIN:
dir = state[X_DIR_PIN] ? 1 : -1;
#ifdef X_INVERT_DIR
dir = -dir;
#endif
axis = X_AXIS;
break;
case Y_STEP_PIN:
dir = state[Y_DIR_PIN] ? 1 : -1;
#ifdef Y_INVERT_DIR
dir = -dir;
#endif
axis = Y_AXIS;
break;
case Z_STEP_PIN:
dir = state[Z_DIR_PIN] ? 1 : -1;
#ifdef Z_INVERT_DIR
dir = -dir;
#endif
axis = Z_AXIS;
break;
case E_STEP_PIN:
dir = state[E_DIR_PIN] ? 1 : -1;
#ifdef E_INVERT_DIR
dir = -dir;
#endif
axis = E_AXIS;
break;
default:
break;
}
switch ( axis ) {
#ifdef KINEMATICS_COREXY
case X_AXIS:
pos[X_AXIS] += dir;
pos[Y_AXIS] += dir;
break;
case Y_AXIS:
pos[X_AXIS] += dir;
pos[Y_AXIS] -= dir;
break;
#endif
case Z_AXIS:
case E_AXIS:
default:
pos[axis] += 2 * dir;
break;
case AXIS_NONE:
break;
}
if ( axis != AXIS_NONE ) {
for (int a = X_AXIS; a <= E_AXIS; a++)
record_pin(TRACE_POS + axis, pos[axis] / 2, nseconds);
static uint64_t prev_ns = -1;
if (prev_ns != nseconds)
print_pos();
prev_ns = nseconds;
for (int a = X_AXIS; a < E_AXIS; a++)
sim_endstop(a);
}
}
}
