mirror of
https://github.com/Klipper3d/klipper.git
synced 2025-10-31 10:25:57 +01:00
246 lines
8.3 KiB
Python
Executable File
246 lines
8.3 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
# Script to interact with simulavr by simulating a serial port.
|
|
#
|
|
# Copyright (C) 2015-2018 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import sys, optparse, time, os, pty, fcntl, termios, errno
|
|
import pysimulavr
|
|
|
|
SERIALBITS = 10 # 8N1 = 1 start, 8 data, 1 stop
|
|
SIMULAVR_FREQ = 10**9
|
|
|
|
# Class to read serial data from AVR serial transmit pin.
|
|
class SerialRxPin(pysimulavr.PySimulationMember, pysimulavr.Pin):
|
|
def __init__(self, baud, terminal):
|
|
pysimulavr.Pin.__init__(self)
|
|
pysimulavr.PySimulationMember.__init__(self)
|
|
self.terminal = terminal
|
|
self.sc = pysimulavr.SystemClock.Instance()
|
|
self.delay = SIMULAVR_FREQ // baud
|
|
self.current = 0
|
|
self.pos = -1
|
|
def SetInState(self, pin):
|
|
pysimulavr.Pin.SetInState(self, pin)
|
|
self.state = pin.outState
|
|
if self.pos < 0 and pin.outState == pin.LOW:
|
|
self.pos = 0
|
|
self.sc.Add(self)
|
|
def DoStep(self, trueHwStep):
|
|
ishigh = self.state == self.HIGH
|
|
self.current |= ishigh << self.pos
|
|
self.pos += 1
|
|
if self.pos == 1:
|
|
return int(self.delay * 1.5)
|
|
if self.pos >= SERIALBITS:
|
|
data = bytearray([(self.current >> 1) & 0xff])
|
|
self.terminal.write(data)
|
|
self.pos = -1
|
|
self.current = 0
|
|
return -1
|
|
return self.delay
|
|
|
|
# Class to send serial data to AVR serial receive pin.
|
|
class SerialTxPin(pysimulavr.PySimulationMember, pysimulavr.Pin):
|
|
def __init__(self, baud, terminal):
|
|
pysimulavr.Pin.__init__(self)
|
|
pysimulavr.PySimulationMember.__init__(self)
|
|
self.terminal = terminal
|
|
self.SetPin('H')
|
|
self.sc = pysimulavr.SystemClock.Instance()
|
|
self.delay = SIMULAVR_FREQ // baud
|
|
self.current = 0
|
|
self.pos = 0
|
|
self.queue = bytearray()
|
|
self.sc.Add(self)
|
|
def DoStep(self, trueHwStep):
|
|
if not self.pos:
|
|
if not self.queue:
|
|
data = self.terminal.read()
|
|
if not data:
|
|
return self.delay * 100
|
|
self.queue.extend(data)
|
|
self.current = (self.queue.pop(0) << 1) | 0x200
|
|
newstate = 'L'
|
|
if self.current & (1 << self.pos):
|
|
newstate = 'H'
|
|
self.SetPin(newstate)
|
|
self.pos += 1
|
|
if self.pos >= SERIALBITS:
|
|
self.pos = 0
|
|
return self.delay
|
|
|
|
# Support for creating VCD trace files
|
|
class Tracing:
|
|
def __init__(self, filename, signals):
|
|
self.filename = filename
|
|
self.signals = signals
|
|
if not signals:
|
|
self.dman = None
|
|
return
|
|
self.dman = pysimulavr.DumpManager.Instance()
|
|
self.dman.SetSingleDeviceApp()
|
|
def show_help(self):
|
|
ostr = pysimulavr.ostringstream()
|
|
self.dman.save(ostr)
|
|
sys.stdout.write(ostr.str())
|
|
sys.exit(1)
|
|
def load_options(self):
|
|
if self.dman is None:
|
|
return
|
|
if self.signals.strip() == '?':
|
|
self.show_help()
|
|
sigs = "\n".join(["+ " + s for s in self.signals.split(',')])
|
|
self.dman.addDumpVCD(self.filename, sigs, "ns", False, False)
|
|
def start(self):
|
|
if self.dman is not None:
|
|
self.dman.start()
|
|
def finish(self):
|
|
if self.dman is not None:
|
|
self.dman.stopApplication()
|
|
|
|
# Pace the simulation scaled to real time
|
|
class Pacing(pysimulavr.PySimulationMember):
|
|
def __init__(self, rate):
|
|
pysimulavr.PySimulationMember.__init__(self)
|
|
self.sc = pysimulavr.SystemClock.Instance()
|
|
self.pacing_rate = 1. / (rate * SIMULAVR_FREQ)
|
|
self.next_check_clock = 0
|
|
self.rel_time = time.time()
|
|
self.best_offset = 0.
|
|
self.delay = SIMULAVR_FREQ // 10000
|
|
self.sc.Add(self)
|
|
def DoStep(self, trueHwStep):
|
|
curtime = time.time()
|
|
clock = self.sc.GetCurrentTime()
|
|
offset = clock * self.pacing_rate - (curtime - self.rel_time)
|
|
self.best_offset = max(self.best_offset, offset)
|
|
if offset > 0.000050:
|
|
time.sleep(offset - 0.000040)
|
|
if clock >= self.next_check_clock:
|
|
self.rel_time -= min(self.best_offset, 0.)
|
|
self.next_check_clock = clock + self.delay * 500
|
|
self.best_offset = -999999999.
|
|
return self.delay
|
|
|
|
# Forward data from a terminal device to the serial port pins
|
|
class TerminalIO:
|
|
def __init__(self):
|
|
self.fd = -1
|
|
def run(self, fd):
|
|
self.fd = fd
|
|
def write(self, data):
|
|
os.write(self.fd, data)
|
|
def read(self):
|
|
try:
|
|
return os.read(self.fd, 64)
|
|
except os.error as e:
|
|
if e.errno not in (errno.EAGAIN, errno.EWOULDBLOCK):
|
|
pysimulavr.SystemClock.Instance().stop()
|
|
return ""
|
|
|
|
# Support for creating a pseudo-tty for emulating a serial port
|
|
def create_pty(ptyname):
|
|
mfd, sfd = pty.openpty()
|
|
try:
|
|
os.unlink(ptyname)
|
|
except os.error:
|
|
pass
|
|
os.symlink(os.ttyname(sfd), ptyname)
|
|
fcntl.fcntl(mfd, fcntl.F_SETFL
|
|
, fcntl.fcntl(mfd, fcntl.F_GETFL) | os.O_NONBLOCK)
|
|
tcattr = termios.tcgetattr(mfd)
|
|
tcattr[0] &= ~(
|
|
termios.IGNBRK | termios.BRKINT | termios.PARMRK | termios.ISTRIP |
|
|
termios.INLCR | termios.IGNCR | termios.ICRNL | termios.IXON)
|
|
tcattr[1] &= ~termios.OPOST
|
|
tcattr[3] &= ~(
|
|
termios.ECHO | termios.ECHONL | termios.ICANON | termios.ISIG |
|
|
termios.IEXTEN)
|
|
tcattr[2] &= ~(termios.CSIZE | termios.PARENB)
|
|
tcattr[2] |= termios.CS8
|
|
tcattr[6][termios.VMIN] = 0
|
|
tcattr[6][termios.VTIME] = 0
|
|
termios.tcsetattr(mfd, termios.TCSAFLUSH, tcattr)
|
|
return mfd
|
|
|
|
def main():
|
|
usage = "%prog [options] <program.elf>"
|
|
opts = optparse.OptionParser(usage)
|
|
opts.add_option("-m", "--machine", type="string", dest="machine",
|
|
default="atmega644", help="type of AVR machine to simulate")
|
|
opts.add_option("-s", "--speed", type="int", dest="speed", default=8000000,
|
|
help="machine speed")
|
|
opts.add_option("-r", "--rate", type="float", dest="pacing_rate",
|
|
default=0., help="real-time pacing rate")
|
|
opts.add_option("-b", "--baud", type="int", dest="baud", default=38400,
|
|
help="baud rate of the emulated serial port")
|
|
opts.add_option("-t", "--trace", type="string", dest="trace",
|
|
help="signals to trace (? for help)")
|
|
opts.add_option("-p", "--port", type="string", dest="port",
|
|
default="/tmp/pseudoserial",
|
|
help="pseudo-tty device to create for serial port")
|
|
deffile = os.path.splitext(os.path.basename(sys.argv[0]))[0] + ".vcd"
|
|
opts.add_option("-f", "--tracefile", type="string", dest="tracefile",
|
|
default=deffile, help="filename to write signal trace to")
|
|
options, args = opts.parse_args()
|
|
if len(args) != 1:
|
|
opts.error("Incorrect number of arguments")
|
|
elffile = args[0]
|
|
proc = options.machine
|
|
ptyname = options.port
|
|
speed = options.speed
|
|
baud = options.baud
|
|
|
|
# launch simulator
|
|
sc = pysimulavr.SystemClock.Instance()
|
|
trace = Tracing(options.tracefile, options.trace)
|
|
dev = pysimulavr.AvrFactory.instance().makeDevice(proc)
|
|
dev.Load(elffile)
|
|
dev.SetClockFreq(SIMULAVR_FREQ // speed)
|
|
sc.Add(dev)
|
|
pysimulavr.cvar.sysConHandler.SetUseExit(False)
|
|
trace.load_options()
|
|
|
|
# Do optional real-time pacing
|
|
if options.pacing_rate:
|
|
pacing = Pacing(options.pacing_rate)
|
|
|
|
# Setup terminal
|
|
io = TerminalIO()
|
|
|
|
# Setup rx pin
|
|
rxpin = SerialRxPin(baud, io)
|
|
net = pysimulavr.Net()
|
|
net.Add(rxpin)
|
|
net.Add(dev.GetPin("D1"))
|
|
|
|
# Setup tx pin
|
|
txpin = SerialTxPin(baud, io)
|
|
net2 = pysimulavr.Net()
|
|
net2.Add(dev.GetPin("D0"))
|
|
net2.Add(txpin)
|
|
|
|
# Display start banner
|
|
msg = "Starting AVR simulation: machine=%s speed=%d\n" % (proc, speed)
|
|
msg += "Serial: port=%s baud=%d\n" % (ptyname, baud)
|
|
if options.trace:
|
|
msg += "Trace file: %s\n" % (options.tracefile,)
|
|
sys.stdout.write(msg)
|
|
sys.stdout.flush()
|
|
|
|
# Create terminal device
|
|
fd = create_pty(ptyname)
|
|
|
|
# Run loop
|
|
try:
|
|
io.run(fd)
|
|
trace.start()
|
|
sc.RunTimeRange(0x7fff0000ffff0000)
|
|
trace.finish()
|
|
finally:
|
|
os.unlink(ptyname)
|
|
|
|
if __name__ == '__main__':
|
|
main()
|