void sim_timer_init(uint8_t scale) {
time_scale = scale;
then = begin = now_ns();
if (scale==0)
sim_info("timer_init: warp-speed");
else if (scale==1)
sim_info("timer_init: real-time");
else
sim_info("timer_init: 1/%u time", scale);
timer_initialised = true;
}
/**
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
gdbsim_files_info (struct target_ops *target)
{
char *file = "nothing";
if (exec_bfd)
file = bfd_get_filename (exec_bfd);
if (sr_get_debug ())
printf_filtered ("gdbsim_files_info: file \"%s\"\n", file);
if (exec_bfd)
{
printf_filtered ("\tAttached to %s running program %s\n",
target_shortname, file);
sim_info (gdbsim_desc, 0);
}
}
// return number of characters in the receive buffer
uint8_t serial_rxchars(void) {
sim_assert(serial_initialised, "serial interface not initialised");
if (serial_fd) {
int rx_chars_nb;
ioctl(serial_fd, FIONREAD, &rx_chars_nb);
return rx_chars_nb;
}
// An open file always has more data
if (gcode_fd) return 1;
// No more gcode data; wait for DDA queue to drain
if (mb_tail_dda == NULL) {
sim_info("Gcode processing completed.");
exit(0);
}
// Nothing to read from
return 0;
}
static void open_file() {
struct stat st;
static int i=1;
const char * filename = g_argv[i++];
// Close previous file
if (gcode_fd) close(gcode_fd);
gcode_fd = 0;
// No more files
if (i > g_argc) return;
sim_info("Opening G-code source %s.", filename);
sim_assert(!stat(filename, &st), "Could not stat G-code source.");
if (!st.st_rdev) {
// Normal file
gcode_fd = open(filename, O_RDONLY );
sim_assert(gcode_fd, "Could not open G-code file.");
} else {
// Some kind of device (treat as TTY)
open_tty(filename);
}
}
int
main (int argc, char **argv)
{
char *name;
char **prog_argv = NULL;
struct bfd *prog_bfd;
enum sim_stop reason;
int sigrc = 0;
int single_step = 0;
RETSIGTYPE (*prev_sigint) ();
myname = argv[0] + strlen (argv[0]);
while (myname > argv[0] && myname[-1] != '/')
--myname;
/* INTERNAL: When MYNAME is `step', single step the simulator
instead of allowing it to run free. The sole purpose of this
HACK is to allow the sim_resume interface's step argument to be
tested without having to build/run gdb. */
if (strlen (myname) > 4 && strcmp (myname - 4, "step") == 0)
{
single_step = 1;
}
/* Create an instance of the simulator. */
default_callback.init (&default_callback);
sd = sim_open (SIM_OPEN_STANDALONE, &default_callback, NULL, argv);
if (sd == 0)
exit (1);
if (STATE_MAGIC (sd) != SIM_MAGIC_NUMBER)
{
fprintf (stderr, "Internal error - bad magic number in simulator struct\n");
abort ();
}
/* We can't set the endianness in the callback structure until
sim_config is called, which happens in sim_open. */
default_callback.target_endian
= (CURRENT_TARGET_BYTE_ORDER == BIG_ENDIAN
? BFD_ENDIAN_BIG : BFD_ENDIAN_LITTLE);
/* Was there a program to run? */
prog_argv = STATE_PROG_ARGV (sd);
prog_bfd = STATE_PROG_BFD (sd);
if (prog_argv == NULL || *prog_argv == NULL)
usage ();
name = *prog_argv;
/* For simulators that don't open prog during sim_open() */
if (prog_bfd == NULL)
{
prog_bfd = bfd_openr (name, 0);
if (prog_bfd == NULL)
{
fprintf (stderr, "%s: can't open \"%s\": %s\n",
myname, name, bfd_errmsg (bfd_get_error ()));
exit (1);
}
if (!bfd_check_format (prog_bfd, bfd_object))
{
fprintf (stderr, "%s: \"%s\" is not an object file: %s\n",
myname, name, bfd_errmsg (bfd_get_error ()));
exit (1);
}
}
if (STATE_VERBOSE_P (sd))
printf ("%s %s\n", myname, name);
/* Load the program into the simulator. */
if (sim_load (sd, name, prog_bfd, 0) == SIM_RC_FAIL)
exit (1);
/* Prepare the program for execution. */
#ifdef HAVE_ENVIRON
sim_create_inferior (sd, prog_bfd, prog_argv, environ);
#else
sim_create_inferior (sd, prog_bfd, prog_argv, NULL);
#endif
/* To accommodate relative file paths, chdir to sysroot now. We
mustn't do this until BFD has opened the program, else we wouldn't
find the executable if it has a relative file path. */
if (simulator_sysroot[0] != '\0' && chdir (simulator_sysroot) < 0)
{
fprintf (stderr, "%s: can't change directory to \"%s\"\n",
myname, simulator_sysroot);
exit (1);
}
/* Run/Step the program. */
if (single_step)
{
do
{
prev_sigint = signal (SIGINT, cntrl_c);
sim_resume (sd, 1/*step*/, 0);
signal (SIGINT, prev_sigint);
sim_stop_reason (sd, &reason, &sigrc);
if ((reason == sim_stopped) &&
(sigrc == sim_signal_to_host (sd, SIM_SIGINT)))
break; /* exit on control-C */
}
/* remain on breakpoint or signals in oe mode*/
while (((reason == sim_signalled) &&
(sigrc == sim_signal_to_host (sd, SIM_SIGTRAP))) ||
((reason == sim_stopped) &&
(STATE_ENVIRONMENT (sd) == OPERATING_ENVIRONMENT)));
}
else
{
do
{
#if defined (HAVE_SIGACTION) && defined (SA_RESTART)
struct sigaction sa, osa;
sa.sa_handler = cntrl_c;
sigemptyset (&sa.sa_mask);
sa.sa_flags = 0;
sigaction (SIGINT, &sa, &osa);
prev_sigint = osa.sa_handler;
#else
prev_sigint = signal (SIGINT, cntrl_c);
#endif
sim_resume (sd, 0, sigrc);
signal (SIGINT, prev_sigint);
sim_stop_reason (sd, &reason, &sigrc);
if ((reason == sim_stopped) &&
(sigrc == sim_signal_to_host (sd, SIM_SIGINT)))
break; /* exit on control-C */
/* remain on signals in oe mode */
} while ((reason == sim_stopped) &&
(STATE_ENVIRONMENT (sd) == OPERATING_ENVIRONMENT));
}
/* Print any stats the simulator collected. */
if (STATE_VERBOSE_P (sd))
sim_info (sd, 0);
/* Shutdown the simulator. */
sim_close (sd, 0);
/* If reason is sim_exited, then sigrc holds the exit code which we want
to return. If reason is sim_stopped or sim_signalled, then sigrc holds
the signal that the simulator received; we want to return that to
indicate failure. */
/* Why did we stop? */
switch (reason)
{
case sim_signalled:
case sim_stopped:
if (sigrc != 0)
fprintf (stderr, "program stopped with signal %d.\n", sigrc);
break;
case sim_exited:
break;
default:
fprintf (stderr, "program in undefined state (%d:%d)\n", reason, sigrc);
break;
}
return sigrc;
}
void sim_timer_stop(void) {
sim_info("timer_stop");
timer_reason = 0; // Cancel pending timer;
}
void setupTimerInterrupt(void)
{
disableTimerInterrupt();
sim_info("setupTimerInterrupt");
timer_initialised = true;
}
static void print_pos(void)
{
sim_info("x:%5d y:%5d z:%5d e:%5d", x, y, z, e);
}
