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Added UIT and slice-4 CRC code

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This commit is contained in:
Matt Jenkins
2026-02-22 12:14:53 +00:00
parent e99a3ea903
commit 9cb4c54999
2 changed files with 360 additions and 80 deletions
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5
firmware/Test/Makefile
View File

@@ -2,6 +2,7 @@ BOARD=rp2040:rp2040:rpipico2
#OPTS=PSRAM=enabled,FlashSize=4M,PartitionScheme=min_spiffs,CPUFreq=240
SKETCH=Test
PORT?=/dev/ttyACM0
SPEED=300
PIOASM=~/.arduino15/packages/rp2040/tools/pqt-pioasm/4.0.1-8ec9d6f/pioasm
@@ -12,8 +13,8 @@ BIN=bin/$(SKETCH).ino.bin
#IP=$(shell avahi-resolve -n $(HOST).local | cut -f2 -d' ')
$(BIN): $(SKETCH).ino datastream.h
#arduino-cli compile --fqbn $(BOARD) --board-options "freq=300,arch=riscv" --output-dir bin --build-path build
arduino-cli compile --fqbn $(BOARD) --board-options "freq=300,opt=Fast" --output-dir bin --build-path build
#arduino-cli compile --fqbn $(BOARD) --board-options "freq=${SPEED},arch=riscv" --output-dir bin --build-path build
arduino-cli compile --fqbn $(BOARD) --board-options "freq=${SPEED},opt=Fast" --output-dir bin --build-path build
upload: $(BIN)
arduino-cli upload --fqbn $(BOARD) -p $(PORT) --input-dir bin

405
firmware/Test/Test.ino
View File

@@ -4,9 +4,10 @@
#include <errno.h>
#include <pico/platform.h>
CLIClient *console;
#define SLICE4 1
#define SDIO_CLK 16
#define SDIO_CMD 17
#define SDIO_DAT0 18
@@ -28,10 +29,10 @@ CLIClient *console;
#define SEEK_DONE 9
#define TRACK0 10
#define HSEL0 4
#define HSEL1 5
#define HSEL2 6
#define HSEL3 7
#define HSEL0 2
#define HSEL1 3
#define HSEL2 4
#define HSEL3 5
static PIOProgram datastreamPgm(&datastream_program);
@@ -40,6 +41,41 @@ int sm;
int offset;
int dma;
const uint8_t rd54_vs2k_uit[] = {
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x36,0x00,0x00,0x00,0xc9,0x00,
0x00,0x00,0xd8,0xbf,0x04,0x00,0x61,0x02,0x00,0x00,0x11,0x00,0x0f,0x00,0xc9,0x04,
0xc9,0x04,0xc9,0x04,0x00,0x00,0x01,0x00,0x07,0x00,0x08,0x00,0x36,0x40,0x64,0x25,
0x01,0x00,0x07,0x00,0x0e,0x00,0x10,0x00,0x10,0x00,0x05,0x00,0x28,0x00,0x0d,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x15,0x03,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xe6,0x70,
};
uint32_t loadtime;
volatile uint32_t current_head = 0;
@@ -62,7 +98,6 @@ volatile uint32_t target_cyl = 0;
#define OPT_DATA_CRC_MASK 0xFFFFFFF3
SdFs sd;
FsFile mounted_file;
uint8_t *track_buffer;
volatile bool run_mfm_sm = false;
@@ -71,6 +106,13 @@ mutex mfm_sm_running;
struct disk_format {
char *name;
char *comment;
char *uit_file;
const uint8_t *uit_blob;
uint32_t uit_bloblen;
uint32_t uit_start;
uint32_t uit_cyls;
uint32_t uit_repeats;
uint32_t image_start;
uint16_t cyls;
uint8_t heads;
uint8_t sectors;
@@ -80,6 +122,7 @@ struct disk_format {
uint32_t track_postgap;
uint32_t header_postgap;
uint32_t data_postgap;
uint32_t sync_count;
float data_rate;
uint32_t flags;
uint32_t header_poly;
@@ -95,6 +138,157 @@ struct disk_format {
float clock_div;
};
class more {
public:
constexpr bool operator()(uint32_t lhs, uint32_t rhs) const {
return lhs > rhs; // assumes that the implementation handles pointer total order
}
};
class slice {
public:
virtual void load_track(uint32_t track, uint8_t *buffer, size_t track_len) = 0;
};
class blob_slice : public slice {
private:
const uint8_t *_ptr;
uint32_t _len;
uint8_t _repeats;
public:
blob_slice(const uint8_t *ptr, uint32_t len, uint8_t repeats) {
_ptr = ptr;
_len = len;
_repeats = repeats;
}
void load_track(uint32_t track, uint8_t *buffer, size_t track_len) {
memset(buffer, 0, track_len);
for (int i = 0; i < _repeats; i++) {
memcpy(buffer + _len * i, _ptr, _len);
}
}
};
class file_slice : public slice {
private:
FsFile _file;
uint32_t _repeats;
public:
file_slice(const char *filename, uint32_t repeats) {
_file.open(filename);
_repeats = repeats;
}
~file_slice() {
_file.close();
}
// TODO
void load_track(uint32_t track, uint8_t *buffer, size_t track_len) {
memset(buffer, 0, track_len);
size_t nr_read = 0;
for (int i = 0; (i < _repeats) && (nr_read < track_len); i++) {
_file.seek(track * track_len);
nr_read += _file.read(buffer + nr_read, track_len - nr_read);
}
}
};
struct slice_list {
uint32_t start;
slice *slice_ptr;
struct slice_list *next;
};
class image {
private:
struct slice_list *slices;
uint32_t _bps, _spt, _tpc;
slice *find_slice(uint32_t track, uint32_t *offset) {
slice *sl = NULL;
for (struct slice_list *scan = slices; scan; scan = scan->next) {
if (scan->start <= track) {
sl = scan->slice_ptr;
if (offset != NULL) {
*offset = scan->start;
}
} else {
break;
}
}
return sl;
}
void purge_slices() {
struct slice_list *ptr;
struct slice_list *scan = slices;
while (scan) {
Serial.println("Deleted a slice"); delay(10);
ptr = scan->next;
delete(scan);
scan = ptr;
}
}
public:
image(uint32_t bytes_per_sector, uint32_t sectors_per_track, uint32_t tracks_per_cyl) {
_bps = bytes_per_sector;
_spt = sectors_per_track;
_tpc = tracks_per_cyl;
slices = NULL;
}
~image() {
purge_slices();
}
void load_track(uint32_t track, uint8_t *buffer) {
uint32_t offset;
slice *image = find_slice(track, &offset);
if (image != NULL) {
image->load_track(track - offset, buffer, _bps * _spt * _tpc);
}
}
void add_slice(uint32_t start, slice *slice_ptr) {
struct slice_list *newslice = (struct slice_list *)malloc(sizeof(struct slice_list));
newslice->start = start;
newslice->slice_ptr = slice_ptr;
newslice->next = NULL;
if (slices == NULL) {
slices = newslice;
return;
}
for (struct slice_list *scan = slices; scan; scan = scan->next) {
if (scan->next == NULL) {
scan->next = newslice;
break;
}
}
}
};
image *current_image;
struct format_list {
struct disk_format *fmt;
struct format_list *next;
@@ -164,6 +358,9 @@ uint16_t crc16(uint8_t val, uint16_t crc, uint16_t poly)
return crc;
}
#if !defined(SLICE4)
static uint32_t CRCTable[256];
static void CRC32_init(uint32_t poly) {
@@ -187,6 +384,65 @@ static inline uint32_t crc32(uint8_t val, uint32_t crc, uint32_t poly) {
crc = ((crc << 8) ^ CRCTable[idx]);
return crc;
}
#else
static uint32_t CRCTable[4][256];
void CRC32_init(uint32_t poly) {
const uint32_t topbit = 0x80000000u;
for (int i = 0; i < 256; i++) {
uint32_t c = (uint32_t)i << 24;
for (int j = 0; j < 8; j++) {
if (c & topbit)
c = (c << 1) ^ poly;
else
c <<= 1;
}
CRCTable[0][i] = c;
}
// Generate slicing tables 1–3
for (int t = 1; t < 4; t++) {
for (int i = 0; i < 256; i++) {
uint32_t c = CRCTable[t - 1][i];
CRCTable[t][i] =
CRCTable[0][(c >> 24) & 0xFF] ^ (c << 8);
}
}
}
__attribute__((section(".time_critical")))
uint32_t crc32_fast(const uint8_t *data, size_t len, uint32_t crc) {
while (len >= 4) {
uint32_t word =
((uint32_t)data[0] << 24) |
((uint32_t)data[1] << 16) |
((uint32_t)data[2] << 8) |
((uint32_t)data[3]);
crc ^= word;
crc =
CRCTable[3][(crc >> 24) & 0xFF] ^
CRCTable[2][(crc >> 16) & 0xFF] ^
CRCTable[1][(crc >> 8) & 0xFF] ^
CRCTable[0][ crc & 0xFF];
data += 4;
len -= 4;
}
// Remaining bytes
while (len--) {
uint8_t idx = (crc >> 24) ^ *data++;
crc = (crc << 8) ^ CRCTable[0][idx];
}
return crc;
}
#endif
uint8_t last_bit = 0;
@@ -539,26 +795,38 @@ void calculate_sector_crc(int head, int sector, int sectorsize) {
uint32_t crc = 0xFFFFFFFF;
uint32_t poly = format->data_poly;
#if defined(SLICE4)
uint8_t hdr[2] = { 0xA1, 0xFB };
crc = crc32_fast(hdr, 2, crc);
uint8_t *data = cyl_data.head[head].sector[sector].data;
crc = crc32_fast(data, (0x80 << sectorsize), crc);
/*
uint8_t *buf = (uint8_t *)alloca((0x80 << sectorsize) + 2);
buf[0] = 0xA1;
buf[1] = 0xFB;
uint8_t *data = cyl_data.head[head].sector[sector].data;
memcpy(buf + 2, data, 0x80 << sectorsize);
crc = crc32_fast(buf, (0x80 << sectorsize) + 2, crc);
*/
#else
crc = crc32(0xA1, crc, poly);
crc = crc32(0xFB, crc, poly);
uint8_t *data = cyl_data.head[head].sector[sector].data;
for (int i = 0; i < (0x80 << sectorsize); i++) {
crc = crc32(data[i], crc, poly);
}
#endif
cyl_data.head[head].sector[sector].data_crc = crc;
}
void load_cyl(FsFile file, uint32_t cyl, uint32_t heads, uint32_t sectors, uint32_t sectorsize) {
void load_cyl(uint32_t cyl, uint32_t heads, uint32_t sectors, uint32_t sectorsize) {
uint32_t ts = micros();
uint32_t offset = cyl * heads * (0x80 << sectorsize);
file.seekSet(offset);
uint32_t bufsz = heads * sectors * (0x80 << sectorsize);
file.read(track_buffer, bufsz);
current_image->load_track(cyl, track_buffer);
uint32_t rts = micros() - ts;
@@ -659,14 +927,6 @@ CLI_COMMAND(cli_status) {
return 0;
}
dev->print("Mounted image: ");
if (mounted_file) {
mounted_file.printName(dev);
dev->println();
} else {
dev->println("none");
}
float rpm = (format->data_rate / total_clocks) * 60.0;
dev->print("Cylinders: ");
@@ -937,8 +1197,9 @@ CLI_COMMAND(cli_mount) {
//while (mfm_sm_running);
if (mounted_file) {
mounted_file.close();
if (current_image) {
delete(current_image);
current_image = NULL;
}
format = find_format_by_name(argv[2]);
@@ -949,7 +1210,6 @@ CLI_COMMAND(cli_mount) {
create_track_store();
mounted_file = sd.open(argv[1], O_RDWR);
current_cyl = 0;
current_head = 0;
@@ -969,29 +1229,41 @@ CLI_COMMAND(cli_mount) {
int hoff = head * format->sectors;
for (int sector = 0; sector < format->sectors; sector++) {
uint8_t *doff = track_buffer + ((hoff + sector) * bps);
dev->printf("Offset %p < %p < %p\n", track_buffer, doff, track_buffer + bufsz);
cyl_data.head[head].sector[sector].data = doff;
}
}
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);
dev->println("Creating image"); delay(10);
load_cyl(mounted_file, current_cyl, format->heads, format->sectors, format->sector_size);
current_image = new image(0x80 << format->sector_size, format->sectors, format->heads);
dev->println("Adding UIT"); delay(10);
if (format->uit_blob) {
dev->println(" ... blob"); delay(10);
blob_slice *blob = new blob_slice(format->uit_blob, format->uit_bloblen, format->uit_repeats);
current_image->add_slice(format->uit_start, blob);
dev->println("ok"); delay(10);
} else if (format->uit_file) {
dev->println(" ... file"); delay(10);
file_slice *uit_file = new file_slice(format->uit_file, format->uit_repeats);
current_image->add_slice(format->uit_start, uit_file);
dev->println("ok"); delay(10);
}
dev->println("Adding main image slice"); delay(10);
file_slice *file = new file_slice(argv[1], 1);
current_image->add_slice(format->image_start, file);
dev->println("Loading first track"); delay(10);
load_cyl(current_cyl, format->heads, format->sectors, format->sector_size);
dev->println("Completed"); delay(10);
mutex_exit(&mfm_sm_running);
run_mfm_sm = true;
return 0;
@@ -1214,8 +1486,15 @@ void factory_formats() {
struct disk_format *rd54 = (struct disk_format *)malloc(sizeof(struct disk_format));
rd54->name = strdup("RD54");
rd54->comment = strdup("DEC RD54 Hard Drive");
rd54->name = strdup("RD54-VS2K");
rd54->comment = strdup("DEC RD54 Hard Drive on VAXstation 2000");
rd54->uit_file = NULL;
rd54->uit_blob = rd54_vs2k_uit;
rd54->uit_bloblen = 512;
rd54->uit_start = 0;
rd54->uit_cyls = 1;
rd54->uit_repeats = 3;
rd54->image_start = 1;
rd54->cyls=1225;
rd54->heads=15;
rd54->sectors=17;
@@ -1225,6 +1504,7 @@ void factory_formats() {
rd54->track_postgap=1100;
rd54->header_postgap=41;
rd54->data_postgap=911;
rd54->sync_count=13;
rd54->data_rate=5000000;
rd54->flags = OPT_HEADER_CRC16 | OPT_DATA_CRC32;
rd54->header_poly=0x1021;
@@ -1235,12 +1515,8 @@ void factory_formats() {
}
CLI_COMMAND(cli_eject) {
if (mounted_file) {
mounted_file.close();
if (track_buffer) {
free(track_buffer);
track_buffer = NULL;
}
if (current_image) {
delete(current_image);
}
sd.end();
_sd_is_open = false;
@@ -1279,8 +1555,8 @@ void setup() {
pio->txf[sm] = mfm_encode(0x00);
pinMode(13, OUTPUT);
digitalWrite(13, HIGH);
pinMode(INDEX, OUTPUT);
digitalWrite(INDEX, HIGH);
Serial.begin(115200);
//format = &RD54;
@@ -1321,11 +1597,11 @@ void setup() {
attachInterrupt(STEP, do_step, FALLING);
if (open_sd_if_needed()) {
if (sd.exists("autoexec.bat")) {
execute_file("autoexec.bat", console);
}
}
// if (open_sd_if_needed()) {
// if (sd.exists("autoexec.bat")) {
// execute_file("autoexec.bat", console);
// }
// }
}
void loop() {
@@ -1336,23 +1612,26 @@ void loop() {
uint32_t tmp_target = target_cyl;
sei();
if (current_image) {
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)) {
// run_mfm_sm = true;
// Serial.println("Timeout waiting for disk idle");
// } else {
load_cyl(mounted_file, current_cyl, format->heads, format->sectors, format->sector_size);
// run_mfm_sm = false;
// if (!mutex_enter_timeout_ms(&mfm_sm_running, 1000)) {
// run_mfm_sm = true;
// Serial.println("Timeout waiting for disk idle");
// } else {
load_cyl(current_cyl, format->heads, format->sectors, format->sector_size);
digitalWrite(TRACK0, current_cyl == 0);
cli();
tmp_target = target_cyl;
sei();
// mutex_exit(&mfm_sm_running);
// run_mfm_sm = true;
// }
// mutex_exit(&mfm_sm_running);
// run_mfm_sm = true;
// }
}
digitalWrite(SEEK_DONE, HIGH);
}
}
}