greaseweazle-firmware/scripts/gw.py

# gw.py
#
# Greaseweazle control script.
#
# Written & released by Keir Fraser <keir.xen@gmail.com>
#
# This is free and unencumbered software released into the public domain.
# See the file COPYING for more details, or visit <http://unlicense.org>.

import crcmod.predefined
import sys, struct, argparse, serial
from timeit import default_timer as timer

from greaseweazle import version, USB

# 40MHz
scp_freq = 40000000

# flux_to_scp:
# Converts Greaseweazle flux samples into a Supercard Pro Track.
# Returns the Track Data Header (TDH) and the SCP "bitcell" array.
def flux_to_scp(flux, index_times, track, nr_revs):

    factor = scp_freq / usb.sample_freq

    tdh = struct.pack("<3sB", b"TRK", track)
    dat = bytearray()

    len_at_index = rev = 0
    to_index = index_times[0]
    rem = 0.0

    for x in flux:

        # Are we processing initial samples before the first revolution?
        if rev == 0:
            if to_index >= x:
                # Discard initial samples
                to_index -= x
                continue
            # Now starting the first full revolution
            rev = 1
            to_index += index_times[rev]

        # Does the next flux interval cross the index mark?
        while to_index < x:
            # Append to the Track Data Header for the previous full revolution
            tdh += struct.pack("<III",
                               int(round(index_times[rev]*factor)),
                               (len(dat) - len_at_index) // 2,
                               4 + nr_revs*12 + len_at_index)
            # Set up for the next revolution
            len_at_index = len(dat)
            rev += 1
            if rev > nr_revs:
                # We're done: We simply discard any surplus flux samples
                return tdh, dat
            to_index += index_times[rev]

        # Process the current flux sample into SCP "bitcell" format
        to_index -= x
        y = x * factor + rem
        val = int(round(y))
        if (val & 65535) == 0:
            val += 1
        rem = y - val
        while val >= 65536:
            dat.append(0)
            dat.append(0)
            val -= 65536
        dat.append(val>>8)
        dat.append(val&255)

    # Header for last track(s) in case we ran out of flux timings.
    while rev <= nr_revs:
        tdh += struct.pack("<III",
                           int(round(index_times[rev]*factor)),
                           (len(dat) - len_at_index) // 2,
                           4 + nr_revs*12 + len_at_index)
        len_at_index = len(dat)
        rev += 1

    return tdh, dat


# read_to_scp:
# Reads a floppy disk and dumps it into a new Supercard Pro image file.
def read_to_scp(args):
    trk_dat = bytearray()
    trk_offs = []
    if args.single_sided:
        track_range = range(args.scyl, args.ecyl+1)
        nr_sides = 1
    else:
        track_range = range(args.scyl*2, (args.ecyl+1)*2)
        nr_sides = 2
    for track in track_range:
        cyl = track >> (nr_sides - 1)
        side = track & (nr_sides - 1)
        print("\rReading Track %u.%u..." % (cyl, side), end="")
        trk_offs.append(len(trk_dat))
        usb.seek(cyl, side)
        for retry in range(1, 5):
            ack, index_times, enc_flux = usb.read_track(args.revs+1)
            if ack == USB.Ack.Okay:
                break
            elif ack == USB.Ack.FluxOverflow and retry < 5:
                print("Retry #%u..." % (retry))
            else:
                raise CmdError(ack)
        flux = usb.decode_flux(enc_flux)
        tdh, dat = flux_to_scp(flux, index_times, track, args.revs)
        trk_dat += tdh
        trk_dat += dat
    print()
    csum = 0
    for x in trk_dat:
        csum += x
    trk_offs_dat = bytearray()
    for x in trk_offs:
        trk_offs_dat += struct.pack("<I", 0x2b0 + x)
    trk_offs_dat += bytes(0x2a0 - len(trk_offs_dat))
    for x in trk_offs_dat:
        csum += x
    ds_flag = 0
    if args.single_sided:
        ds_flag = 1
    header_dat = struct.pack("<3s9BI",
                             b"SCP",    # Signature
                             0,         # Version
                             0x80,      # DiskType = Other
                             args.revs, # Nr Revolutions
                             track_range.start, # Start track
                             track_range.stop-1, # End track
                             0x01,      # Flags = Index
                             0,         # 16-bit cell width
                             ds_flag,   # Double Sided
                             0,         # 25ns capture
                             csum & 0xffffffff)
    with open(args.file, "wb") as f:
        f.write(header_dat)
        f.write(trk_offs_dat)
        f.write(trk_dat)


# write_from_scp:
# Writes the specified Supercard Pro image file to floppy disk.
def write_from_scp(args):

    if args.adjust_speed:
        # @drive_ticks is the time in Gresaeweazle ticks between index pulses.
        # We will adjust the flux intervals per track to allow for this.
        for retry in range(1, 5):
            ack, index_times, _ = usb.read_track(3)
            if ack == USB.Ack.Okay:
                break
            elif ack != USB.Ack.FluxOverflow or retry >= 5:
                raise CmdError(ack)
        drive_ticks = (index_times[1] + index_times[2]) / 2
    else:
        # Simple ratio between the Greaseweazle and SCP sample frequencies.
        factor = usb.sample_freq / scp_freq

    # Parse the SCP image header.
    with open(args.file, "rb") as f:
        dat = f.read()
    header = struct.unpack("<3s9BI", dat[0:16])
    assert header[0] == b"SCP"
    trk_offs = struct.unpack("<168I", dat[16:0x2b0])

    if args.single_sided:
        track_range = range(args.scyl, args.ecyl+1)
        nr_sides = 1
    else:
        track_range = range(args.scyl*2, (args.ecyl+1)*2)
        nr_sides = 2

    for i in track_range:
        cyl = i >> (nr_sides - 1)
        side = i & (nr_sides - 1)
        print("\rWriting Track %u.%u..." % (cyl, side), end="")
        if trk_offs[i] == 0:
            continue
        usb.seek(cyl, side)

        # Parse the SCP track header and extract the flux data.
        thdr = struct.unpack("<3sBIII", dat[trk_offs[i]:trk_offs[i]+16])
        sig, _, track_ticks, samples,off = thdr
        assert sig == b"TRK"
        tdat = dat[trk_offs[i]+off:trk_offs[i]+off+samples*2]

        # Decode the SCP flux data into a simple list of flux times.
        flux = []
        rem = 0.0
        if args.adjust_speed:
            # @factor adjusts flux times for speed variations between the
            # read-in and write-out drives.
            factor = drive_ticks / track_ticks
        for i in range(0,len(tdat),2):
            x = tdat[i]*256 + tdat[i+1]
            if x == 0:
                rem += 65536.0
                continue
            y = x * factor + rem
            val = int(round(y))
            rem = y - val
            flux.append(val)

        # Encode the flux times for Greaseweazle, and write them out.
        enc_flux = usb.encode_flux(flux)
        for retry in range(1, 5):
            ack = usb.write_track(enc_flux)
            if ack == USB.Ack.Okay:
                break
            elif ack == USB.Ack.FluxUnderflow and retry < 5:
                print("Retry #%u..." % (retry))
            else:
                raise CmdError(ack)

    print()


# update_firmware:
# Updates the Greaseweazle firmware using the specified Update File.
def update_firmware(args):

    # Check that an update operation was actually requested.
    if args.action != "update":
        print("Greaseweazle is in Firmware Update Mode:")
        print(" The only available action is \"update <update_file>\"")
        if usb.update_jumpered:
            print(" Remove the Update Jumper for normal operation")
        else:
            print(" Main firmware is erased: You *must* perform an update!")
        return

    # Check that the firmware is actually in update mode.
    if not usb.update_mode:
        print("Greaseweazle is in Normal Mode:")
        print(" To \"update\" you must install the Update Jumper")
        return

    # Read and check the update file.
    with open(args.file, "rb") as f:
        dat = f.read()
    sig, maj, min, pad1, pad2, crc = struct.unpack(">2s4BH", dat[-8:])
    if len(dat) & 3 != 0 or sig != b'GW' or pad1 != 0 or pad2 != 0:
        print("%s: Bad update file" % (args.file))
        return
    crc16 = crcmod.predefined.Crc('crc-ccitt-false')
    crc16.update(dat)
    if crc16.crcValue != 0:
        print("%s: Bad CRC" % (args.file))

    # Perform the update.
    print("Updating to v%u.%u..." % (maj, min))
    ack = usb.update_firmware(dat)
    if ack != 0:
        print("** UPDATE FAILED: Please retry!")
        return
    print("Done.")
    print("** Disconnect Greaseweazle and remove the Programming Jumper.")


# _main:
# Argument processing and dispatch.
def _main(argv):

    actions = {
      "read" : read_to_scp,
      "write" : write_from_scp,
      "update" : update_firmware
    }

    parser = argparse.ArgumentParser(
      formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    parser.add_argument("action")
    parser.add_argument("--revs", type=int, default=3,
                        help="number of revolutions to read per track")
    parser.add_argument("--scyl", type=int, default=0,
                        help="first cylinder to read/write")
    parser.add_argument("--ecyl", type=int, default=81,
                        help="last cylinder to read/write")
    parser.add_argument("--single-sided", action="store_true",
                        help="read/write a single-sided image")
    parser.add_argument("--adjust-speed", action="store_true",
                        help="adjust write-flux times for drive speed")
    parser.add_argument("file", help="in/out filename")
    parser.add_argument("device", help="serial device")
    args = parser.parse_args(argv[1:])

    if not args.action in actions:
        print("** Action \"%s\" is not recognised" % args.action)
        print("Valid actions: ", end="")
        print(", ".join(str(key) for key in actions.keys()))
        return

    global usb
    usb = USB.Unit(serial.Serial(args.device))

    print("** %s v%u.%u, Host Tools v%u.%u"
          % (("Greaseweazle","Bootloader")[usb.update_mode],
             usb.major, usb.minor,
             version.major, version.minor))

    if args.action == "update" or usb.update_mode:
        return actions[args.action](args)

    elif usb.update_needed:
        print("Firmware is out of date: Require v%u.%u"
              % (version.major, version.minor))
        print("Install the Update Jumper and \"update <update_file>\"")
        return

    #usb.step_delay = 5000
    #print("Select Delay: %uus" % usb.select_delay)
    #print("Step Delay: %uus" % usb.step_delay)
    #print("Settle Time: %ums" % usb.seek_settle_delay)
    #print("Motor Delay: %ums" % usb.motor_delay)
    #print("Auto Off: %ums" % usb.auto_off_delay)

    try:
        usb.drive_select(True)
        usb.drive_motor(True)
        actions[args.action](args)
    except KeyboardInterrupt:
        print()
        usb.reset()
        usb.ser.close()
        usb.ser.open()
    finally:
        usb.drive_motor(False)
        usb.drive_select(False)


def main(argv):
    try:
        _main(argv)
    except USB.CmdError as error:
        print("Command Failed: %s" % error)


if __name__ == "__main__":
    main(sys.argv)

# Local variables:
# python-indent: 4
# End: