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Remove RegisterFlags

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D.R.racer 2025-11-05 13:24:25 +01:00 committed by DRracer
parent 3d32c300a3
commit 9c23658445
1 changed files with 58 additions and 114 deletions
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166
src/registers.cpp
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@ -169,33 +169,6 @@
| 0x23h 35 | uint8 | Cut length | 0-255 | 8 | unit mm | Read / Write | M707 A0x23 | M708 A0x23 Xn
*/
struct __attribute__((packed)) RegisterFlags {
struct __attribute__((packed)) A {
uint8_t size : 2; // 0: 1 bit, 1: 1 byte, 2: 2 bytes - keeping size as the lowest 2 bits avoids costly shifts when accessing them
uint8_t writable : 1;
constexpr A(uint8_t size, bool writable)
: size(size)
, writable(writable) {}
};
union __attribute__((packed)) U {
A bits;
uint8_t b;
constexpr U(uint8_t size, bool writable)
: bits(size, writable) {}
constexpr U(uint8_t b)
: b(b) {}
} u;
constexpr RegisterFlags(uint8_t size, bool writable)
: u(size, writable) {}
explicit constexpr RegisterFlags(uint8_t b)
: u(b) {}
constexpr bool Writable() const { return u.bits.writable; }
constexpr uint8_t Size() const { return u.bits.size; }
};
static_assert(sizeof(RegisterFlags) == 1);
using TReadFunc = uint16_t (*)();
using TWriteFunc = void (*)(uint16_t);
@ -203,7 +176,6 @@ using TWriteFunc = void (*)(uint16_t);
static constexpr uint16_t dummyZero = 0;
struct __attribute__((packed)) RegisterRec {
RegisterFlags flags;
union __attribute__((packed)) U1 {
void *addr;
TReadFunc readFunc;
@ -222,24 +194,22 @@ struct __attribute__((packed)) RegisterRec {
: addr(a) {}
} A2;
constexpr RegisterRec(const TReadFunc &readFunc, uint8_t bytes)
: flags(RegisterFlags(bytes, false))
, A1(readFunc)
constexpr RegisterRec(const TReadFunc &readFunc)
: A1(readFunc)
, A2((void *)nullptr) {}
constexpr RegisterRec(const TReadFunc &readFunc, const TWriteFunc &writeFunc, uint8_t bytes)
: flags(RegisterFlags(bytes, true))
, A1(readFunc)
constexpr RegisterRec(const TReadFunc &readFunc, const TWriteFunc &writeFunc)
: A1(readFunc)
, A2(writeFunc) {}
constexpr RegisterRec()
: flags(RegisterFlags(1, false))
, A1((void *)&dummyZero)
: A1((void *)&dummyZero)
, A2((void *)nullptr) {}
};
// Make sure the structure is tightly packed - necessary for unit tests.
static_assert(sizeof(RegisterRec) == sizeof(uint8_t) + sizeof(void *) + sizeof(void *));
static_assert(sizeof(RegisterRec) == /*sizeof(uint8_t) +*/ sizeof(void *) + sizeof(void *));
// Beware: the size is expected to be 17B on an x86_64 and it requires the platform to be able to do unaligned reads.
// That might be a problem when running unit tests on non-x86 platforms.
// So far, no countermeasures have been taken to tackle this potential issue.
@ -258,56 +228,54 @@ static_assert(sizeof(RegisterRec) == sizeof(uint8_t) + sizeof(void *) + sizeof(v
// sts <modules::globals::globals+0x4>, r24
// ret
//
// @@TODO
// The "ret" instruction actually is a serious overhead since it is present in every lambda function.
// The only way around is a giant C-style switch which screws up the beauty of this array of registers.
// But it will save a few bytes.
static const RegisterRec registers[] PROGMEM = {
// 0x00
RegisterRec([]() -> uint16_t { return project_major; }, 1),
RegisterRec([]() -> uint16_t { return project_major; }),
// 0x01
RegisterRec([]() -> uint16_t { return project_minor; }, 1),
RegisterRec([]() -> uint16_t { return project_minor; }),
// 0x02
RegisterRec([]() -> uint16_t { return project_revision; }, 2),
RegisterRec([]() -> uint16_t { return project_revision; }),
// 0x03
RegisterRec([]() -> uint16_t { return project_build_number; }, 2),
RegisterRec([]() -> uint16_t { return project_build_number; }),
// 0x04
RegisterRec( // MMU errors
[]() -> uint16_t { return mg::globals.DriveErrors(); }, // compiles to: <{lambda()#1}::_FUN()>: jmp <modules::permanent_storage::DriveError::get()>
[]() -> uint16_t { return mg::globals.DriveErrors(); } // compiles to: <{lambda()#1}::_FUN()>: jmp <modules::permanent_storage::DriveError::get()>
// [](uint16_t) {}, // @@TODO think about setting/clearing the error counter from the outside
2),
),
// 0x05
RegisterRec([]() -> uint16_t { return application.CurrentProgressCode(); }, 1),
RegisterRec([]() -> uint16_t { return application.CurrentProgressCode(); }),
// 0x06
RegisterRec([]() -> uint16_t { return application.CurrentErrorCode(); }, 2),
RegisterRec([]() -> uint16_t { return application.CurrentErrorCode(); }),
// 0x07 filamentState
RegisterRec(
[]() -> uint16_t { return mg::globals.FilamentLoaded(); },
[](uint16_t v) { return mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), static_cast<mg::FilamentLoadState>(v)); },
1),
[](uint16_t v) { return mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), static_cast<mg::FilamentLoadState>(v)); }),
// 0x08 FINDA
RegisterRec(
[]() -> uint16_t { return static_cast<uint16_t>(mf::finda.Pressed()); },
1),
[]() -> uint16_t { return static_cast<uint16_t>(mf::finda.Pressed()); }),
// 09 fsensor
RegisterRec(
[]() -> uint16_t { return static_cast<uint16_t>(mfs::fsensor.Pressed()); },
[](uint16_t v) { return mfs::fsensor.ProcessMessage(v != 0); },
1),
[](uint16_t v) { return mfs::fsensor.ProcessMessage(v != 0); }),
// 0xa motor mode (stealth = 1/normal = 0)
RegisterRec([]() -> uint16_t { return static_cast<uint16_t>(mg::globals.MotorsStealth()); }, 1),
RegisterRec([]() -> uint16_t { return static_cast<uint16_t>(mg::globals.MotorsStealth()); }),
// 0xb extra load distance after fsensor triggered (30mm default) [mm] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.FSensorToNozzle_mm().v; },
[](uint16_t d) { mg::globals.SetFSensorToNozzle_mm(d); },
1),
[](uint16_t d) { mg::globals.SetFSensorToNozzle_mm(d); }),
// 0x0c fsensor unload check distance (40mm default) [mm] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.FSensorUnloadCheck_mm().v; },
[](uint16_t d) { mg::globals.SetFSensorUnloadCheck_mm(d); },
1),
[](uint16_t d) { mg::globals.SetFSensorUnloadCheck_mm(d); }),
// 0xd 2 Pulley unload feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.PulleyUnloadFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetPulleyUnloadFeedrate_mm_s(d); },
2),
[](uint16_t d) { mg::globals.SetPulleyUnloadFeedrate_mm_s(d); }),
// 0xe Pulley acceleration [mm/s2] RW
RegisterRec(
@ -315,124 +283,102 @@ static const RegisterRec registers[] PROGMEM = {
mm::steps_t val = mm::motion.Acceleration(config::Pulley);
return mm::axisUnitToTruncatedUnit<config::U_mm_s2>(mm::P_accel_t({ val }));
},
[](uint16_t d) { mm::motion.SetAcceleration(config::Pulley, mm::unitToSteps<mm::P_accel_t>(config::U_mm_s2({ (long double)d }))); },
2),
[](uint16_t d) { mm::motion.SetAcceleration(config::Pulley, mm::unitToSteps<mm::P_accel_t>(config::U_mm_s2({ (long double)d }))); }),
// 0xf Selector acceleration [mm/s2] RW
RegisterRec(
[]() -> uint16_t {
mm::steps_t val = mm::motion.Acceleration(config::Selector);
return mm::axisUnitToTruncatedUnit<config::U_mm_s2>(mm::S_accel_t({ val }));
},
[](uint16_t d) { (mm::motion.SetAcceleration(config::Selector, mm::unitToSteps<mm::S_accel_t>(config::U_mm_s2({ (long double)d })))); },
2),
[](uint16_t d) { (mm::motion.SetAcceleration(config::Selector, mm::unitToSteps<mm::S_accel_t>(config::U_mm_s2({ (long double)d })))); }),
// 0x10 Idler acceleration [deg/s2] RW
RegisterRec(
[]() -> uint16_t {
mm::steps_t val = mm::motion.Acceleration(config::Idler);
return mm::axisUnitToTruncatedUnit<config::U_deg_s2>(mm::I_accel_t({ val }));
},
[](uint16_t d) { mm::motion.SetAcceleration(config::Idler, mm::unitToSteps<mm::I_accel_t>(config::U_deg_s2({ (long double)d }))); },
2),
[](uint16_t d) { mm::motion.SetAcceleration(config::Idler, mm::unitToSteps<mm::I_accel_t>(config::U_deg_s2({ (long double)d }))); }),
// 0x11 Pulley load feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.PulleyLoadFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetPulleyLoadFeedrate_mm_s(d); },
2),
[](uint16_t d) { mg::globals.SetPulleyLoadFeedrate_mm_s(d); }),
// 0x12 Selector nominal feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.SelectorFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetSelectorFeedrate_mm_s(d); },
2),
[](uint16_t d) { mg::globals.SetSelectorFeedrate_mm_s(d); }),
// 0x13 Idler nominal feedrate [deg/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.IdlerFeedrate_deg_s().v; },
[](uint16_t d) { mg::globals.SetIdlerFeedrate_deg_s(d); },
2),
[](uint16_t d) { mg::globals.SetIdlerFeedrate_deg_s(d); }),
// 0x14 Pulley slow load to fsensor feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.PulleySlowFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetPulleySlowFeedrate_mm_s(d); },
2),
[](uint16_t d) { mg::globals.SetPulleySlowFeedrate_mm_s(d); }),
// 0x15 Selector homing feedrate [mm/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.SelectorHomingFeedrate_mm_s().v; },
[](uint16_t d) { mg::globals.SetSelectorHomingFeedrate_mm_s(d); },
2),
[](uint16_t d) { mg::globals.SetSelectorHomingFeedrate_mm_s(d); }),
// 0x16 Idler homing feedrate [deg/s] RW
RegisterRec(
[]() -> uint16_t { return mg::globals.IdlerHomingFeedrate_deg_s().v; },
[](uint16_t d) { mg::globals.SetIdlerHomingFeedrate_deg_s(d); },
2),
[](uint16_t d) { mg::globals.SetIdlerHomingFeedrate_deg_s(d); }),
// 0x17 Pulley sg_thrs threshold RW
RegisterRec(
[]() -> uint16_t { return mg::globals.StallGuardThreshold(config::Pulley); },
[](uint16_t d) { mg::globals.SetStallGuardThreshold(config::Pulley, d); },
1),
[](uint16_t d) { mg::globals.SetStallGuardThreshold(config::Pulley, d); }),
// 0x18 Selector sg_thrs RW
RegisterRec(
[]() -> uint16_t { return mg::globals.StallGuardThreshold(mm::Axis::Selector); },
[](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Selector, d); },
1),
[](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Selector, d); }),
// 0x19 Idler sg_thrs RW
RegisterRec(
[]() -> uint16_t { return mg::globals.StallGuardThreshold(mm::Axis::Idler); },
[](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Idler, d); },
1),
[](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Idler, d); }),
// 0x1a Get Pulley position [mm] R
RegisterRec(
[]() -> uint16_t { return mpu::pulley.CurrentPosition_mm(); },
2),
[]() -> uint16_t { return mpu::pulley.CurrentPosition_mm(); }),
// 0x1b Set/Get Selector slot RW
RegisterRec(
[]() -> uint16_t { return ms::selector.Slot(); },
[](uint16_t d) { ms::selector.MoveToSlot(d); },
1),
[](uint16_t d) { ms::selector.MoveToSlot(d); }),
// 0x1c Set/Get Idler slot RW
RegisterRec(
[]() -> uint16_t { return mi::idler.Slot(); },
[](uint16_t d) { d >= config::toolCount ? mi::idler.Disengage() : mi::idler.Engage(d); },
1),
[](uint16_t d) { d >= config::toolCount ? mi::idler.Disengage() : mi::idler.Engage(d); }),
// 0x1d Set/Get Selector cut iRun current level RW
RegisterRec(
[]() -> uint16_t { return mg::globals.CutIRunCurrent(); },
[](uint16_t d) { mg::globals.SetCutIRunCurrent(d); },
1),
[](uint16_t d) { mg::globals.SetCutIRunCurrent(d); }),
// 0x1e Get/Set Pulley iRun current RW
RegisterRec(
[]() -> uint16_t { return mm::motion.CurrentsForAxis(config::Pulley).iRun; },
[](uint16_t d) { mm::motion.SetIRunForAxis(config::Pulley, d); },
1),
[](uint16_t d) { mm::motion.SetIRunForAxis(config::Pulley, d); }),
// 0x1f Set/Get Selector iRun current RW
RegisterRec(
[]() -> uint16_t { return mm::motion.CurrentsForAxis(config::Selector).iRun; },
[](uint16_t d) { mm::motion.SetIRunForAxis(config::Selector, d); },
1),
[](uint16_t d) { mm::motion.SetIRunForAxis(config::Selector, d); }),
// 0x20 Set/Get Idler iRun current RW
RegisterRec(
[]() -> uint16_t { return mm::motion.CurrentsForAxis(config::Idler).iRun; },
[](uint16_t d) { mm::motion.SetIRunForAxis(config::Idler, d); },
1),
[](uint16_t d) { mm::motion.SetIRunForAxis(config::Idler, d); }),
// 0x21 Current VCC voltage level R
RegisterRec(
[]() -> uint16_t { return 225; /*mv::vcc.CurrentBandgapVoltage();*/ },
2),
[]() -> uint16_t { return 225; /*mv::vcc.CurrentBandgapVoltage();*/ }),
// 0x22 Detected bowden length R
RegisterRec(
[]() -> uint16_t { return mps::BowdenLength::Get(); },
[](uint16_t d) { mps::BowdenLength::Set(d); },
2),
[](uint16_t d) { mps::BowdenLength::Set(d); }),
// 0x23 Cut length
RegisterRec(
[]() -> uint16_t { return mg::globals.CutLength().v; },
[](uint16_t d) { mg::globals.SetCutLength(d); },
2),
[](uint16_t d) { mg::globals.SetCutLength(d); }),
};
static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);
@ -446,9 +392,9 @@ bool ReadRegister(uint8_t address, uint16_t &value) {
// Get pointer to register at address
const uint8_t *addr = reinterpret_cast<const uint8_t *>(registers + address);
const RegisterFlags rf(hal::progmem::read_byte(addr));
// beware - abusing the knowledge of RegisterRec memory layout to do lpm_reads
const void *varAddr = addr + sizeof(RegisterFlags);
const void *varAddr = addr;
auto readFunc = hal::progmem::read_ptr<const TReadFunc>(varAddr);
value = readFunc();
return true;
@ -458,17 +404,15 @@ bool WriteRegister(uint8_t address, uint16_t value) {
if (address >= registersSize) {
return false;
}
const uint8_t *addr = reinterpret_cast<const uint8_t *>(registers + address);
const RegisterFlags rf(hal::progmem::read_byte(addr));
if (!rf.Writable()) {
// beware - abusing the knowledge of RegisterRec memory layout to do lpm_reads
// addr offset should be 2 on AVR, but 8 on x86_64, therefore "sizeof(void*)"
const void *varAddr = addr + sizeof(RegisterRec::A1);
auto writeFunc = hal::progmem::read_ptr<const TWriteFunc>(varAddr);
if (writeFunc == nullptr) {
return false;
}
// beware - abusing the knowledge of RegisterRec memory layout to do lpm_reads
// addr offset should be 3 on AVR, but 9 on x86_64, therefore "1 + sizeof(void*)"
const void *varAddr = addr + sizeof(RegisterFlags) + sizeof(RegisterRec::A1);
auto writeFunc = hal::progmem::read_ptr<const TWriteFunc>(varAddr);
writeFunc(value);
return true;
}