Implement special commands and fix some bugs

Note: Special commands are currently broken in backwards mode!
Do not use them when the buffer is not empty!

ioc/kernel-driver/lw35ioc.c

@@ -61,7 +61,7 @@ static int keycode_map[] = {
 	KEY_SYSRQ
 };
 
-enum lw35ioc_state {PASSIVE = 0, PROG_KBD, PROG_PRI, BYPASS, ACTIVE, STATE_COUNT};
+enum lw35ioc_state {PASSIVE = 0, INIT, PROG_KBD, PROG_PRI, BYPASS, ACTIVE, STATE_COUNT};
 
 enum lw35ioc_packet_state {SYNC, TYPE, KEYBOARD, PRINTER};
 
@@ -290,12 +290,15 @@ static int lw35ioc_chardev_open(struct inode *inodep, struct file *filep) {
 			serdev_device_write(serdev, "XX", 2, 0);
 			dev_info(&serdev->dev, "Put ioc into bypass mode.\n");
 			break;
+		case INIT:
 		case PASSIVE:
 			lw35ioc_reset_ioc_hw(serdev);
 			usleep_range(2100000, 2210000);
 			dev_info(&serdev->dev, "Put ioc into active mode.\n");
+			if (priv->state == INIT) {
 				serdev_device_write(serdev, "\xFF", 1, 0);
 				priv->state = ACTIVE;
+			}
 			break;
 		case ACTIVE:
 			/* Don't do anything when active */
@@ -480,15 +483,12 @@ void pbuf_work_handler(struct work_struct *work)
 	int i;
 	int locked = 0;
 
-	dev_info(&serdev->dev,
-		 "pbuf_work_handler\n");
-
 	while (1) {
 		// TODO: We are the only consumer, so we should be fine without a spinlock, right?
 		head = smp_load_acquire(&priv->pbuf_head);
 		tail = priv->pbuf_tail;
 		bsize = CIRC_CNT(head, tail, PBUF_SIZE);
-		dev_info(&serdev->dev, "CIRC CNT=%d\n", bsize);
+		//dev_info(&serdev->dev, "CIRC CNT=%d\n", bsize);
 		if (bsize == 0)
 			break;
 
@@ -519,11 +519,13 @@ void pbuf_work_handler(struct work_struct *work)
 		serdev_device_write_buf(serdev,
 					priv->pbuf + tail,
 					bsize);
+#ifdef ENABLE_DEBUG
 		for (i=0; i<bsize; ++i) {
 			dev_info(&serdev->dev,
 				 "UART TX: %c\n",
 				 priv->pbuf[tail + i]);
 		}
+#endif
 		smp_store_release(&priv->pbuf_tail,
 				  (tail + bsize) & (PBUF_SIZE - 1));
 	}
@@ -604,7 +606,7 @@ static int lw35ioc_probe(struct serdev_device *serdev)
 		return -ENOMEM;
 	}
 
-	priv->state = PASSIVE;
+	priv->state = ACTIVE; // TODO: This should be passive
 	priv->uart_buf_rx_rd = priv->uart_buf_rx;
 	priv->uart_buf_rx_wr = priv->uart_buf_rx;
 
@@ -701,6 +703,7 @@ static void lw35ioc_remove(struct serdev_device *serdev)
 	dev_info(&serdev->dev, "  serdev: %p\n", priv->serdev);
 	dev_info(&serdev->dev, "  input dev: %p\n", priv->input_dev);
 	lw35ioc_set_hw_reset(serdev, 1);
+	usleep_range(90000, 100000); // Make sure the reset actually happens
 	gpiod_put(priv->gpio_rst);
 	serdev_device_close(priv->serdev);
 	input_unregister_device(priv->input_dev);

ioc/lw35-tool/main.c

@@ -5,7 +5,7 @@
 #include <fcntl.h>
 
 #define IOCTL_SET_MODE 42
-enum lw35ioc_state {PASSIVE = 0, PROG_KBD, PROG_PRI, BYPASS, ACTIVE, STATE_COUNT};
+enum lw35ioc_state {PASSIVE = 0, INIT, PROG_KBD, PROG_PRI, BYPASS, ACTIVE, STATE_COUNT};
 
 int f;
 
@@ -37,6 +37,8 @@ static int set_mode(int argc, char *argv[])
 		mode = BYPASS;
 	else if (!strcmp(argv[2], "active"))
 		mode = ACTIVE;
+	else if (!strcmp(argv[2], "init"))
+		mode = INIT;
 		
 	if (mode == -1) {
 		fprintf(stderr, "Error: Invalid mode.\n");

printer/avr/main.c

@@ -100,6 +100,7 @@ void hardfault() {
 	uart_putc(0xFF);
 	uart_putc(0xFF);
 	uart_putc(0xFF);
+	uart_putc(0xAA);
 	uart_putc(0x00);
 	uart_putc(0x00);
 	uart_putc(0x00);
@@ -576,11 +577,14 @@ void arm_correction()
 #define DCMOTOR_ISACTIVE (!!(MOTLIM(PORT) & PIN_DCMOTOR))
 #define LIMITSWITCH (!(MOTLIM(PIN) & PIN_LIMITSWITCH))
 
+#define BACKLIGHT_ON MISCIO(PORT) |= PIN_BACKLIGHT
+#define BACKLIGHT_OFF MISCIO(PORT) &= ~PIN_BACKLIGHT
+
 /* Communication Functions */
 #define RINGBUF_CNT(wr,rd) ((wr) - (rd))
 #define RINGBUF_FREE(wr,rd,sz) ((RINGBUF_CNT(rd,wr+1))) // TODO: 255 is actually not correct...
 #define PRINT_BUFFER_SIZE 256 // Important: must be 256 atm, when changed, you need to change code handling print_buffer_*.
-volatile char print_buffer[PRINT_BUFFER_SIZE];
+volatile uint8_t print_buffer[PRINT_BUFFER_SIZE];
 volatile uint8_t print_buffer_wr = 0;
 volatile uint8_t print_buffer_rd = 0;
 
@@ -675,7 +679,7 @@ void move_carriage_to_far_left(uint8_t reset)
 	if (LIMITSWITCH) {
 		debug_write("[car] Clearing switch area...\r\n");
 		cnt = 32;
-		while (LIMITSWITCH && (cnt> 0)) {
+		while (LIMITSWITCH && (cnt > 0)) {
 			if (block_for(TIM_CARRIAGE, STEPPER_CFG_CARRIAGE.delay)) {
 				STEPPER_NEXT(CARRIAGE, 1);
 				cnt--;
@@ -840,7 +844,7 @@ void move_carriage_to_left_margin()
 /* It's only called once, so inline is good. */
 inline int8_t simulate_print_run(uint8_t *start_end_index, uint8_t *recovery_index)
 {
-	char current_char;
+	uint8_t current_char;
 	uint8_t index;
 	uint16_t carriage_position;
 	uint8_t translated;
@@ -907,7 +911,101 @@ inline int8_t simulate_print_run(uint8_t *start_end_index, uint8_t *recovery_ind
 	}
 }
 
-enum printer_state {INIT, IDLE, HAMMER, PAUSED};
+#define PRINT_COMMAND_RESET_ALL 0xFF
+#define PRINT_COMMAND_HARDFAULLT 0xFE
+#define PRINT_COMMAND_RESET_WHEEL 0xF0
+#define PRINT_COMMAND_BACKLIGHT_ON 0xFD
+#define PRINT_COMMAND_BACKLIGHT_OFF 0xFC
+#define PRINT_COMMAND_SET_MARGIN_LEFT 0xE0
+#define PRINT_COMMAND_SET_MARGIN_RIGHT 0xE1
+#define PRINT_COMMAND_MOVE_CARRIAGE 0xE2
+#define PRINT_COMMAND_MOVE_PAPERFEED 0xE3
+
+enum printer_state {INIT, IDLE, HAMMER, PAUSED, SPECIAL_COMMAND};
+
+// TODO: Special commands must currently not be used in reverse (auto) print mode
+enum printer_state process_special_command(uint8_t command)
+{
+	uint16_t temp;
+	uint8_t arg;
+
+	switch (command) {
+	case PRINT_COMMAND_RESET_ALL:
+		return INIT;
+
+	case PRINT_COMMAND_HARDFAULLT:
+		hardfault();
+		return INIT;
+
+	case PRINT_COMMAND_BACKLIGHT_ON:
+		BACKLIGHT_ON;
+		return IDLE;
+
+	case PRINT_COMMAND_BACKLIGHT_OFF:
+		BACKLIGHT_OFF;
+		return IDLE;
+
+	case PRINT_COMMAND_RESET_WHEEL:
+		stepper_status_CARRIAGE.target_pos = 0; // Go to far left to lock the daisy wheel
+		DCMOTOR_STOP; // TODO: We only need to issue this and the line before once
+		if (POSITION_REACHED(WHEEL) && POSITION_REACHED(CARRIAGE) && POSITION_REACHED(LINEFEED)) {
+				align_daisy_wheel();
+				return INIT;
+		}
+		break;
+
+	case PRINT_COMMAND_SET_MARGIN_LEFT:
+	case PRINT_COMMAND_SET_MARGIN_RIGHT:
+		if (print_buffer_rd != print_buffer_wr) {
+			temp = (uint16_t) print_buffer[print_buffer_rd];
+			print_buffer_rd++;
+			temp *= PRINT_CHARACTER_WIDTH;
+			switch (command) {
+			case PRINT_COMMAND_SET_MARGIN_LEFT:
+				print_margin_left = temp;
+				break;
+			case PRINT_COMMAND_SET_MARGIN_RIGHT:
+				print_margin_right = temp;
+				break;
+			}
+			return INIT;
+		}
+		break;
+
+	case PRINT_COMMAND_MOVE_CARRIAGE:
+		if (print_buffer_rd != print_buffer_wr) {
+			temp = (uint16_t) print_buffer[print_buffer_rd];
+			print_buffer_rd++;
+			temp *= PRINT_CHARACTER_WIDTH;
+			stepper_status_CARRIAGE.target_pos = temp;
+			return IDLE;
+		}
+		break;
+
+	case PRINT_COMMAND_MOVE_PAPERFEED: // [line mult] [+/-] [6b abs amount]
+		if (print_buffer_rd != print_buffer_wr) {
+			arg = print_buffer[print_buffer_rd];
+			print_buffer_rd++;
+			temp = (uint16_t) (arg & 0x3F);
+			if (arg & 0x40) {
+				temp = -temp;
+			}
+			if (arg & 0x80) {
+				temp *= PRINT_LINE_HEIGHT;
+			}
+			stepper_status_LINEFEED.target_pos += temp;
+			return IDLE;
+		}
+		break;
+
+	default:
+		return IDLE;
+	}
+
+	return SPECIAL_COMMAND;
+}
+
+
 void printer_process()
 {
 	static enum printer_state state = INIT;
@@ -916,21 +1014,17 @@ void printer_process()
 	static uint8_t print_buffer_recovery = 0;
 
 	static uint8_t current_is_linebreak = 0;
-	char current_char;
+	uint8_t current_char;
+	static uint8_t special_command;
 	uint8_t translated;
 
 	uint8_t end_of_next_line = 0;
 	int8_t temp;
-	static char debug_character = 0;
+	static uint8_t debug_character = 0;
 
 	switch (state) {
 	case IDLE:
 		if (print_buffer_rd != print_buffer_wr) { // TODO: maybe add "|| current_is_linebreak"
-			if (!DCMOTOR_ISACTIVE) {
-				DCMOTOR_EN;
-				_delay_ms(100); /* Let the motor get up to speed */
-			}
-
 			/* Fetch new character from buffer */
 			if (!current_is_linebreak) {
 				if (backward) {
@@ -997,10 +1091,22 @@ void printer_process()
 					state = HAMMER;
 					break;
 				}
-			} else {
+			} else { /* TODO: Special commands */
-				// TODO: Handle special commands
+				special_command = current_char;
+				state = SPECIAL_COMMAND;
+
+				/* TODO: below are just notes */
+				// process_command_forward(&modifier_state);
+				// After this call, wait until a "return to normal op command".
+				// I can also call this in simulate_print_run and return to end-of-line modifiers
+				//   to allow BOLD en/dis using the toggle command if en/dis is split over multiple lines.
+				// TODO: But how do I handle margin changes etc?
 			}
 
+			if (!DCMOTOR_ISACTIVE && state != SPECIAL_COMMAND) {
+				DCMOTOR_EN;
+				_delay_ms(100); /* Let the motor get up to speed */
+			}
 		} else {
 			DCMOTOR_STOP;
 		}
@@ -1016,6 +1122,10 @@ void printer_process()
 		}
 		break;
 
+	case SPECIAL_COMMAND:
+		state = process_special_command(special_command);
+		break;
+
 	case INIT:
 		move_carriage_to_left_margin();
 		state = IDLE;
@@ -1291,7 +1401,7 @@ int main()
 
 	/* Set up miscellaneous I/O */
 	MISCIO(DDR) |= PIN_BACKLIGHT;
-	MISCIO(PORT) |= PIN_BACKLIGHT; /* Permanently enable backlight */
+	BACKLIGHT_ON;
 
 	/* Set up SysTick Timer */
 	TCCR1B = (1 << WGM12) | (1 << CS11); // f_tim = 8 MHz / 8
@@ -1303,7 +1413,10 @@ int main()
 	update_status(0);
 	debug_write("\n\n\r[sys] STARTING IO CONTROLLER...\r\n");
 #ifndef DEBUG_BUILD
-	while (!((UCSRA & (1 << RXC)) && (UDR == 0xFF))); /* Wait for init command from driver */
+	while (!((UCSRA & (1 << RXC)))) {
+		if (process_special_command(UDR) == INIT)
+			break;
+	}
 	update_status(0);
 	_delay_ms(250);
 #endif