MajenkoProjects/RTmFM
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Found the seek bug at last (thanks ben)

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This commit is contained in:
Matt Jenkins
2026-02-12 23:10:57 +00:00
parent 549535523a
commit e99a3ea903
1 changed files with 45 additions and 38 deletions
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83
firmware/Test/Test.ino
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@@ -113,14 +113,14 @@ struct raw_sector {
uint8_t *data; uint8_t *data;
}; };
struct track { struct head {
struct raw_sector *sector; struct raw_sector *sector;
}; };
struct cylinder { struct cylinder {
uint32_t heads; uint32_t heads;
uint32_t sectors; uint32_t sectors;
struct track *track; struct head *head;
}; };
@@ -286,20 +286,16 @@ void second_cpu_thread() {
phase = 0; phase = 0;
load_sm = LOAD_IDLE; load_sm = LOAD_IDLE;
if (running) { if (running) {
Serial.println("Stopping state machine");
dma_channel_wait_for_finish_blocking(dma); dma_channel_wait_for_finish_blocking(dma);
mutex_exit(&mfm_sm_running); mutex_exit(&mfm_sm_running);
Serial.println("State machine stopped");
} }
running = false; running = false;
continue; continue;
} }
if (!running) { if (!running) {
Serial.println("Starting state machine");
running = true; running = true;
mutex_enter_blocking(&mfm_sm_running); mutex_enter_blocking(&mfm_sm_running);
Serial.println("State machine started");
} }
uint16_t hp = format->header_poly; uint16_t hp = format->header_poly;
@@ -391,10 +387,12 @@ void second_cpu_thread() {
phase = PH_INDEX_START; phase = PH_INDEX_START;
} }
break; break;
default:
Serial.println("ERROR: BAD STATE MACHINE STATE");
phase = PH_INDEX_START;
break;
} }
// Sector loading state machine // Sector loading state machine
switch (load_sm) { switch (load_sm) {
@@ -421,10 +419,10 @@ void second_cpu_thread() {
load->data[0] = 0; load->data[0] = 0;
load->data[1] = 0xA1; load->data[1] = 0xA1;
load->data[2] = 0xFB; load->data[2] = 0xFB;
load->data[515] = ((cyl_data.track[cs].sector[next_sector].data_crc >> 24) & 0xFF); load->data[515] = ((cyl_data.head[current_head].sector[next_sector].data_crc >> 24) & 0xFF);
load->data[516] = ((cyl_data.track[cs].sector[next_sector].data_crc >> 16) & 0xFF); load->data[516] = ((cyl_data.head[current_head].sector[next_sector].data_crc >> 16) & 0xFF);
load->data[517] = ((cyl_data.track[cs].sector[next_sector].data_crc >> 8) & 0xFF); load->data[517] = ((cyl_data.head[current_head].sector[next_sector].data_crc >> 8) & 0xFF);
load->data[518] = (cyl_data.track[cs].sector[next_sector].data_crc & 0xFF); load->data[518] = (cyl_data.head[current_head].sector[next_sector].data_crc & 0xFF);
load->data[519] = 0; load->data[519] = 0;
load_iter = 0; load_iter = 0;
load_sm = LOAD_HEADER_CS; load_sm = LOAD_HEADER_CS;
@@ -460,9 +458,8 @@ void second_cpu_thread() {
break; break;
case LOAD_DATA_MFM: case LOAD_DATA_MFM:
if ((load_iter >= 3) && (load_iter < 515)) { if ((load_iter >= 3) && (load_iter < 515)) {
load->data[load_iter] = mfm_encode(cyl_data.track[cs].sector[next_sector].data[load_iter - 3]); load->data[load_iter] = mfm_encode(cyl_data.head[current_head].sector[next_sector].data[load_iter - 3]);
} else { } else {
load->data[load_iter] = mfm_encode(load->data[load_iter]); load->data[load_iter] = mfm_encode(load->data[load_iter]);
} }
@@ -470,7 +467,7 @@ void second_cpu_thread() {
load_iter++; load_iter++;
if ((load_iter >= 3) && (load_iter < 515)) { if ((load_iter >= 3) && (load_iter < 515)) {
load->data[load_iter] = mfm_encode(cyl_data.track[cs].sector[next_sector].data[load_iter - 3]); load->data[load_iter] = mfm_encode(cyl_data.head[current_head].sector[next_sector].data[load_iter - 3]);
} else { } else {
load->data[load_iter] = mfm_encode(load->data[load_iter]); load->data[load_iter] = mfm_encode(load->data[load_iter]);
} }
@@ -478,7 +475,7 @@ void second_cpu_thread() {
load_iter++; load_iter++;
if ((load_iter >= 3) && (load_iter < 515)) { if ((load_iter >= 3) && (load_iter < 515)) {
load->data[load_iter] = mfm_encode(cyl_data.track[cs].sector[next_sector].data[load_iter - 3]); load->data[load_iter] = mfm_encode(cyl_data.head[current_head].sector[next_sector].data[load_iter - 3]);
} else { } else {
load->data[load_iter] = mfm_encode(load->data[load_iter]); load->data[load_iter] = mfm_encode(load->data[load_iter]);
} }
@@ -486,7 +483,7 @@ void second_cpu_thread() {
load_iter++; load_iter++;
if ((load_iter >= 3) && (load_iter < 515)) { if ((load_iter >= 3) && (load_iter < 515)) {
load->data[load_iter] = mfm_encode(cyl_data.track[cs].sector[next_sector].data[load_iter - 3]); load->data[load_iter] = mfm_encode(cyl_data.head[current_head].sector[next_sector].data[load_iter - 3]);
} else { } else {
load->data[load_iter] = mfm_encode(load->data[load_iter]); load->data[load_iter] = mfm_encode(load->data[load_iter]);
} }
@@ -494,7 +491,7 @@ void second_cpu_thread() {
load_iter++; load_iter++;
if ((load_iter >= 3) && (load_iter < 515)) { if ((load_iter >= 3) && (load_iter < 515)) {
load->data[load_iter] = mfm_encode(cyl_data.track[cs].sector[next_sector].data[load_iter - 3]); load->data[load_iter] = mfm_encode(cyl_data.head[current_head].sector[next_sector].data[load_iter - 3]);
} else { } else {
load->data[load_iter] = mfm_encode(load->data[load_iter]); load->data[load_iter] = mfm_encode(load->data[load_iter]);
} }
@@ -514,23 +511,27 @@ void second_cpu_thread() {
load->data[1] &= 0b1111111111011111; load->data[1] &= 0b1111111111011111;
load_sm = LOAD_IDLE; load_sm = LOAD_IDLE;
break; break;
default:
Serial.println("ERROR: BAD LOADING SM STATUS");
load_sm = LOAD_IDLE;
break;
} }
} }
} }
void create_track_store() { void create_track_store() {
if (cyl_data.track) { if (cyl_data.head) {
for (int i = 0; i < cyl_data.heads; i++) { for (int i = 0; i < cyl_data.heads; i++) {
if (cyl_data.track[i].sector) { if (cyl_data.head[i].sector) {
free(cyl_data.track[i].sector); free(cyl_data.head[i].sector);
} }
} }
free(cyl_data.track); free(cyl_data.head);
} }
cyl_data.track = (struct track *)malloc(sizeof(struct track) * format->heads); cyl_data.head = (struct head *)malloc(sizeof(struct head) * format->heads);
for (int i = 0; i < format->heads; i++) { for (int i = 0; i < format->heads; i++) {
cyl_data.track[i].sector = (struct raw_sector *)malloc(sizeof(struct raw_sector) * format->sectors); cyl_data.head[i].sector = (struct raw_sector *)malloc(sizeof(struct raw_sector) * format->sectors);
} }
} }
@@ -540,12 +541,12 @@ void calculate_sector_crc(int head, int sector, int sectorsize) {
crc = crc32(0xA1, crc, poly); crc = crc32(0xA1, crc, poly);
crc = crc32(0xFB, crc, poly); crc = crc32(0xFB, crc, poly);
uint8_t *data = cyl_data.track[head].sector[sector].data; uint8_t *data = cyl_data.head[head].sector[sector].data;
for (int i = 0; i < (0x80 << sectorsize); i++) { for (int i = 0; i < (0x80 << sectorsize); i++) {
crc = crc32(data[i], crc, poly); crc = crc32(data[i], crc, poly);
} }
cyl_data.track[head].sector[sector].data_crc = crc; 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(FsFile file, uint32_t cyl, uint32_t heads, uint32_t sectors, uint32_t sectorsize) {
@@ -557,15 +558,13 @@ void load_cyl(FsFile file, uint32_t cyl, uint32_t heads, uint32_t sectors, uint3
uint32_t bufsz = heads * sectors * (0x80 << sectorsize); uint32_t bufsz = heads * sectors * (0x80 << sectorsize);
Serial.printf("Loading %d bytes\n", bufsz);
file.read(track_buffer, bufsz); file.read(track_buffer, bufsz);
uint32_t rts = micros() - ts; uint32_t rts = micros() - ts;
for (int head = 0; head < format->heads; head++) { for (int head = 0; head < format->heads; head++) {
for (int sector = 0; sector < format->sectors; sector++) { for (int sector = 0; sector < format->sectors; sector++) {
//calculate_sector_crc(head, sector, sectorsize); calculate_sector_crc(head, sector, sectorsize);
} }
} }
@@ -961,10 +960,17 @@ CLI_COMMAND(cli_mount) {
track_buffer = (uint8_t *)malloc(bufsz); track_buffer = (uint8_t *)malloc(bufsz);
if (!track_buffer) {
dev->println("Unable to allocate track buffer");
return 10;
}
for (int head = 0; head < format->heads; head++) { for (int head = 0; head < format->heads; head++) {
int hoff = head * format->sectors; int hoff = head * format->sectors;
for (int sector = 0; sector < format->sectors; sector++) { for (int sector = 0; sector < format->sectors; sector++) {
cyl_data.track[head].sector[sector].data = track_buffer + ((hoff + sector) * bps); 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;
} }
} }
@@ -1333,18 +1339,19 @@ void loop() {
if (tmp_target != current_cyl) { if (tmp_target != current_cyl) {
while (tmp_target != current_cyl) { while (tmp_target != current_cyl) {
current_cyl = tmp_target; current_cyl = tmp_target;
run_mfm_sm = false; // run_mfm_sm = false;
if (!mutex_enter_timeout_ms(&mfm_sm_running, 1000)) { // if (!mutex_enter_timeout_ms(&mfm_sm_running, 1000)) {
Serial.println("Timeout waiting for disk idle"); // run_mfm_sm = true;
} else { // Serial.println("Timeout waiting for disk idle");
// } else {
load_cyl(mounted_file, current_cyl, format->heads, format->sectors, format->sector_size); load_cyl(mounted_file, current_cyl, format->heads, format->sectors, format->sector_size);
digitalWrite(TRACK0, current_cyl == 0); digitalWrite(TRACK0, current_cyl == 0);
cli(); cli();
uint32_t tmp_target = target_cyl; tmp_target = target_cyl;
sei(); sei();
mutex_exit(&mfm_sm_running); // mutex_exit(&mfm_sm_running);
run_mfm_sm = true; // run_mfm_sm = true;
} // }
} }
digitalWrite(SEEK_DONE, HIGH); digitalWrite(SEEK_DONE, HIGH);
} }