MajenkoProjects/RTmFM
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Trying to fathom SM lockup on seek

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This commit is contained in:
Matt Jenkins
2026-02-12 22:31:01 +00:00
parent 02d1692118
commit 549535523a
1 changed files with 101 additions and 35 deletions
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136
firmware/Test/Test.ino
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@@ -65,6 +65,9 @@ SdFs sd;
FsFile mounted_file;
uint8_t *track_buffer;
volatile bool run_mfm_sm = false;
mutex mfm_sm_running;
struct disk_format {
char *name;
char *comment;
@@ -81,6 +84,7 @@ struct disk_format {
uint32_t flags;
uint32_t header_poly;
uint32_t data_poly;
bool auto_return;
// Calculated data - not to be filled.
@@ -274,25 +278,37 @@ void second_cpu_thread() {
uint32_t cs = current_cyl;
bool running = false;
while (1) {
if (!mounted_file) {
if (!run_mfm_sm) {
phase = 0;
load_sm = LOAD_IDLE;
if (running) {
Serial.println("Stopping state machine");
dma_channel_wait_for_finish_blocking(dma);
mutex_exit(&mfm_sm_running);
Serial.println("State machine stopped");
}
running = false;
continue;
}
if (!running) {
Serial.println("Starting state machine");
running = true;
mutex_enter_blocking(&mfm_sm_running);
Serial.println("State machine started");
}
uint16_t hp = format->header_poly;
uint32_t tcs = 0;
current_head = digitalRead(HSEL0) | (digitalRead(HSEL1) << 1) | (digitalRead(HSEL2) << 2) | (digitalRead(HSEL3) << 3);
switch (phase) {
case PH_INDEX_START: // Start index pulse
tcs = current_cyl;
if (tcs != cs) {
cs = tcs;
}
cs = current_cyl;
ts = micros();
format->idx_period = micros() - format->idx_ts;
format->idx_ts = micros();
@@ -506,11 +522,6 @@ void create_track_store() {
if (cyl_data.track) {
for (int i = 0; i < cyl_data.heads; i++) {
if (cyl_data.track[i].sector) {
for (int j = 0; j < cyl_data.sectors; j++) {
if (cyl_data.track[i].sector[j].data) {
digitalWrite(SEEK_DONE, HIGH); free(cyl_data.track[i].sector[j].data);
}
}
free(cyl_data.track[i].sector);
}
}
@@ -520,9 +531,6 @@ void create_track_store() {
cyl_data.track = (struct track *)malloc(sizeof(struct track) * format->heads);
for (int i = 0; i < format->heads; i++) {
cyl_data.track[i].sector = (struct raw_sector *)malloc(sizeof(struct raw_sector) * format->sectors);
for (int j = 0; j < format->sectors; j++) {
cyl_data.track[i].sector[j].data = (uint8_t *)malloc(0x80 << format->sector_size);
}
}
}
@@ -547,13 +555,17 @@ void load_cyl(FsFile file, uint32_t cyl, uint32_t heads, uint32_t sectors, uint3
uint32_t offset = cyl * heads * (0x80 << sectorsize);
file.seekSet(offset);
file.read(track_buffer, heads * sectors * (0x80 << sectorsize));
uint32_t bufsz = heads * sectors * (0x80 << sectorsize);
Serial.printf("Loading %d bytes\n", bufsz);
file.read(track_buffer, bufsz);
uint32_t rts = micros() - ts;
for (int head = 0; head < format->heads; head++) {
for (int sector = 0; sector < format->sectors; sector++) {
calculate_sector_crc(head, sector, sectorsize);
//calculate_sector_crc(head, sector, sectorsize);
}
}
@@ -648,7 +660,7 @@ CLI_COMMAND(cli_status) {
return 0;
}
dev->print("Mounted image: ");
dev->print("Mounted image: ");
if (mounted_file) {
mounted_file.printName(dev);
dev->println();
@@ -734,6 +746,10 @@ CLI_COMMAND(cli_status) {
dev->print(current_head);
dev->print("/");
dev->println(current_sector);
dev->print("MFM State Machine Run: ");
dev->println(run_mfm_sm ? "Yes" : "No");
dev->println();
dev->print("Known formats: ");
for (struct format_list *scan = formats; scan; scan = scan->next) {
@@ -760,6 +776,7 @@ CLI_COMMAND(cli_set) {
dev->println(" data_crc");
dev->println(" header_poly");
dev->println(" data_poly");
dev->println(" auto_return");
return 10;
}
@@ -840,6 +857,11 @@ CLI_COMMAND(cli_set) {
return 0;
}
if (strcmp(argv[1], "auto_return") == 0) {
format->auto_return = strncasecmp(argv[2], "Y", 1) == 0;
return 0;
}
dev->println("Possible items:");
dev->println(" track_pregap");
@@ -908,6 +930,18 @@ CLI_COMMAND(cli_mount) {
return 10;
}
run_mfm_sm = false;
if (!mutex_enter_timeout_ms(&mfm_sm_running, 1000)) {
dev->println("Timeout waiting for disk idle");
return 10;
}
//while (mfm_sm_running);
if (mounted_file) {
mounted_file.close();
}
format = find_format_by_name(argv[2]);
if (format == NULL) {
dev->println("Format not known");
@@ -922,7 +956,10 @@ CLI_COMMAND(cli_mount) {
uint32_t bps = 0x80 << format->sector_size;
track_buffer = (uint8_t *)malloc(format->heads * format->sectors * bps);
uint32_t bufsz = format->heads * format->sectors * bps;
dev->printf("Track buffer size: %d\n", bufsz);
track_buffer = (uint8_t *)malloc(bufsz);
for (int head = 0; head < format->heads; head++) {
int hoff = head * format->sectors;
@@ -933,13 +970,31 @@ CLI_COMMAND(cli_mount) {
CRC32_init(format->data_poly);
dev->print("cyls="); dev->println(format->cyls);
dev->print("heads="); dev->println(format->heads);
dev->print("sectors="); dev->println(format->sectors);
dev->print("sector_size="); dev->println(0x80 << format->sector_size);
dev->print("track_pregap="); dev->println(format->track_pregap);
dev->print("track_postgap="); dev->println(format->track_postgap);
dev->print("header_postgap="); dev->println(format->header_postgap);
dev->print("data_postgap="); dev->println(format->data_postgap);
dev->print("data_rate="); dev->println(format->data_rate);
dev->print("header_crc="); dev->println((format->flags & OPT_HEADER_CRC16) ? "16" : (format->flags & OPT_HEADER_CRC32) ? "32" : "ERROR");
dev->print("data_crc="); dev->println((format->flags & OPT_DATA_CRC16) ? "16" : (format->flags & OPT_DATA_CRC32) ? "32" : "ERROR");
dev->print("header_poly="); dev->println(format->header_poly, HEX);
dev->print("data_poly="); dev->println(format->data_poly, HEX);
load_cyl(mounted_file, current_cyl, format->heads, format->sectors, format->sector_size);
mutex_exit(&mfm_sm_running);
run_mfm_sm = true;
return 0;
}
void do_step() {
if (format == NULL) return;
//if(!mfm_sm_running) return;
digitalWrite(SEEK_DONE, LOW);
int dir = digitalRead(DIR);
@@ -956,7 +1011,11 @@ void do_step() {
target_cyl ++;
}
if (target_cyl >= format->cyls) {
target_cyl = 0;
if (format->auto_return) {
target_cyl = 0;
} else {
target_cyl = format->cyls - 1;
}
}
}
@@ -1164,6 +1223,7 @@ void factory_formats() {
rd54->flags = OPT_HEADER_CRC16 | OPT_DATA_CRC32;
rd54->header_poly=0x1021;
rd54->data_poly=0xa00805;
rd54->auto_return = true;
append_format(rd54);
}
@@ -1200,13 +1260,13 @@ CLI_COMMAND(cli_seek) {
return 10;
}
current_cyl = track;
target_cyl = track;
load_cyl(mounted_file, current_cyl, format->heads, format->sectors, format->sector_size);
return 0;
}
void setup() {
mutex_init(&mfm_sm_running);
datastreamPgm.prepare(&pio, &sm, &offset);
datastream_program_init(pio, sm, offset, DOUT);
pio_sm_set_enabled(pio, sm, true);
@@ -1266,20 +1326,26 @@ void loop() {
CLI.process();
cli();
uint32_t tmp_target = target_cyl;
sei();
cli();
uint32_t tmp_target = target_cyl;
sei();
if (tmp_target != current_cyl) {
while (tmp_target != current_cyl) {
current_cyl = tmp_target;
load_cyl(mounted_file, current_cyl, format->heads, format->sectors, format->sector_size);
digitalWrite(TRACK0, current_cyl == 0);
cli();
uint32_t tmp_target = target_cyl;
sei();
if (tmp_target != current_cyl) {
while (tmp_target != current_cyl) {
current_cyl = tmp_target;
run_mfm_sm = false;
if (!mutex_enter_timeout_ms(&mfm_sm_running, 1000)) {
Serial.println("Timeout waiting for disk idle");
} else {
load_cyl(mounted_file, current_cyl, format->heads, format->sectors, format->sector_size);
digitalWrite(TRACK0, current_cyl == 0);
cli();
uint32_t tmp_target = target_cyl;
sei();
mutex_exit(&mfm_sm_running);
run_mfm_sm = true;
}
}
digitalWrite(SEEK_DONE, HIGH);
}
digitalWrite(SEEK_DONE, HIGH);
}
}