Prusa-Firmware-MMU/src/registers.cpp

#ifndef UNITTEST
#include <avr/pgmspace.h>
#else
#define PROGMEM /* */
#endif

#include "registers.h"
#include "application.h"
#include "version.h"

#include "modules/finda.h"
#include "modules/fsensor.h"
#include "modules/globals.h"

struct RegisterFlags {
    uint8_t writable : 1;
    uint8_t rwfuncs : 1; // 1: register needs special read and write functions
    uint8_t size : 2; // 0: 1 bit, 1: 1 byte, 2: 2 bytes
    constexpr RegisterFlags(bool writable, uint8_t size)
        : writable(writable)
        , rwfuncs(0)
        , size(size) {}
    constexpr RegisterFlags(bool writable, bool rwfuncs, uint8_t size)
        : writable(writable)
        , rwfuncs(rwfuncs)
        , size(size) {}
};

using TReadFunc = uint16_t (*)();
using TWriteFunc = void (*)(uint16_t);

struct RegisterRec {
    RegisterFlags flags;
    union U1 {
        void *addr;
        TReadFunc readFunc;
        constexpr explicit U1(const TReadFunc &r)
            : readFunc(r) {}
        constexpr explicit U1(void *a)
            : addr(a) {}
    } A1;

    union U2 {
        void *addr;
        TWriteFunc writeFunc;
        constexpr explicit U2(const TWriteFunc &w)
            : writeFunc(w) {}
        constexpr explicit U2(void *a)
            : addr(a) {}
    } A2;

    template <typename T>
    constexpr RegisterRec(bool writable, T *address)
        : flags(RegisterFlags(writable, sizeof(T)))
        , A1((void *)address)
        , A2((void *)nullptr) {}
    constexpr RegisterRec(const TReadFunc &readFunc, uint8_t bytes)
        : flags(RegisterFlags(false, true, bytes))
        , A1(readFunc)
        , A2((void *)nullptr) {}

    constexpr RegisterRec(const TReadFunc &readFunc, const TWriteFunc &writeFunc, uint8_t bytes)
        : flags(RegisterFlags(true, true, bytes))
        , A1(readFunc)
        , A2(writeFunc) {}
};

// @@TODO it is nice to see all the supported registers at one spot,
// however it requires including all bunch of dependencies
// which makes unit testing and separation of modules much harder.
// @@TODO clang complains that we are initializing this array with an uninitialized referenced variables (e.g. mg::globals)
// Imo that should be safe as long as we don't call anything from this array before the FW init is completed (which we don't).
// Otherwise all the addresses of global variables should be known at compile time and the registers array should be consistent.
static const RegisterRec registers[] PROGMEM = {
    RegisterRec(false, &project_major),

    RegisterRec(false, &project_minor),

    RegisterRec(false, &project_build_number),

    RegisterRec( // MMU errors
        []() -> uint16_t { return mg::globals.DriveErrors(); },
        [](uint16_t) {}, // @@TODO think about setting/clearing the error counter from the outside
        2),

    RegisterRec([]() -> uint16_t { return application.CurrentProgressCode(); }, 1),

    RegisterRec([]() -> uint16_t { return application.CurrentErrorCode(); }, 2),

    RegisterRec( // filamentState
        []() -> uint16_t { return mg::globals.FilamentLoaded(); },
        [](uint16_t v) { return mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), static_cast<mg::FilamentLoadState>(v)); },
        1),

    RegisterRec( // FINDA
        []() -> uint16_t { return static_cast<uint16_t>(mf::finda.Pressed()); },
        1),

    RegisterRec( // fsensor
        []() -> uint16_t { return static_cast<uint16_t>(mfs::fsensor.Pressed()); },
        [](uint16_t v) { return mfs::fsensor.ProcessMessage(v != 0); },
        1),

    RegisterRec([]() -> uint16_t { return static_cast<uint16_t>(mg::globals.MotorsStealth()); }, 1), // mode (stealth = 1/normal = 0)

    RegisterRec( // extra load distance after fsensor triggered (30mm default)
        []() -> uint16_t { return mg::globals.FSensorToNozzleMM(); },
        [](uint16_t d) { mg::globals.SetFSensorToNozzleMM(d); },
        1),

    // The lambas seem to be pretty cheap:
    //    void SetFSensorToNozzleFeedrate(uint8_t fs2NozzleFeedrate) { fsensorToNozzleFeedrate = fs2NozzleFeedrate; }
    // compiles to:
    // sts <modules::globals::globals+0x4>, r24
    // ret
    RegisterRec( // extra load distance after fsensor triggered - feedrate (20mm/s default)
        []() -> uint16_t { return mg::globals.FSensorToNozzleFeedrate(); },
        [](uint16_t d) { mg::globals.SetFSensorToNozzleFeedrate(d); },
        1),
};

static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);

bool ReadRegister(uint8_t address, uint16_t &value) {
    if (address >= registersSize) {
        return false;
    }
    value = 0;
    if (!registers[address].flags.rwfuncs) {
        switch (registers[address].flags.size) {
        case 0:
        case 1:
            value = *static_cast<uint8_t *>(registers[address].A1.addr);
            break;
        case 2:
            value = *static_cast<uint16_t *>(registers[address].A1.addr);
            break;
        default:
            return false;
        }
        return true;
    } else {
        switch (registers[address].flags.size) {
        case 0:
        case 1:
        case 2:
            value = registers[address].A1.readFunc();
            break;
        default:
            return false;
        }
        return true;
    }
}

bool WriteRegister(uint8_t address, uint16_t value) {
    if (address >= registersSize) {
        return false;
    }
    if (!registers[address].flags.writable) {
        return false;
    }
    if (!registers[address].flags.rwfuncs) {
        switch (registers[address].flags.size) {
        case 0:
        case 1:
            *static_cast<uint8_t *>(registers[address].A1.addr) = value;
            break;
        case 2:
            *static_cast<uint16_t *>(registers[address].A1.addr) = value;
            break;
        default:
            return false;
        }
        return true;
    } else {
        switch (registers[address].flags.size) {
        case 0:
        case 1:
        case 2:
            registers[address].A2.writeFunc(value);
            break;
        default:
            return false;
        }
        return true;
    }
}