Flash memory

grbl-lpc/flash.cpp

@@ -0,0 +1,94 @@
+// Copyright 2017 Todd Fleming
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#include "grbl.h"
+
+static constexpr unsigned flash_sector = 15;                      // Last 4k sector
+static constexpr unsigned flash_addr = 0xF000;                    // Last 4k sector
+static constexpr unsigned flash_size = 1024;                      // Only using 1k of a 4k sector
+static char *flash_memory = (char *)flash_addr;                   // Flash memory
+static char flash_buffer[flash_size] __attribute__((aligned(4))); // Copy of flash memory
+using Iap = void(unsigned[], unsigned[]);                         // IAP entry point
+static const Iap *iap = (Iap *)0x1FFF1FF1;                        // IAP entry point
+
+void eeprom_init()
+{
+    memcpy(flash_buffer, flash_memory, flash_size);
+}
+
+void eeprom_commit()
+{
+    unsigned prepCommand[5] = {
+        50,
+        flash_sector,
+        flash_sector,
+    };
+    unsigned eraseCommand[5] = {
+        52,
+        flash_sector,
+        flash_sector,
+        SystemCoreClock / 1000,
+    };
+    unsigned writeCommand[5] = {
+        51,
+        flash_addr,
+        (unsigned)flash_buffer,
+        flash_size,
+        SystemCoreClock / 1000,
+    };
+    unsigned output[5];
+    iap(prepCommand, output);
+    iap(eraseCommand, output);
+    iap(prepCommand, output);
+    iap(writeCommand, output);
+}
+
+unsigned char eeprom_get_char(unsigned int addr)
+{
+    return flash_buffer[addr];
+}
+
+void eeprom_put_char(unsigned int addr, unsigned char new_value)
+{
+    flash_buffer[addr] = new_value;
+}
+
+static unsigned char memcpy_with_checksum(char *dest, char *src, unsigned size)
+{
+    unsigned char checksum = 0;
+    while (size--)
+    {
+        checksum = ((checksum << 1) || (checksum >> 7)) + *src;
+        *dest++ = *src++;
+    }
+    return checksum;
+}
+
+void memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsigned int size)
+{
+    auto checksum = memcpy_with_checksum(flash_buffer + destination, source, size);
+    flash_buffer[destination + size] = checksum;
+}
+
+int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, unsigned int size)
+{
+    auto checksum = memcpy_with_checksum(destination, flash_buffer + source, size);
+    return checksum == flash_buffer[source + size];
+}

grbl/config.h

@@ -555,6 +555,10 @@
 // job. At this time, this option only forces a planner buffer sync with these g-code commands.
 #define FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE // Default enabled. Comment to disable.
 
+// LPC176x flash blocks have a rating of 10,000 write cycles. To prevent excess wear, we don't
+// write G10, G28.1, and G30.1. Uncomment to enable these writes.
+// #define STORE_COORD_DATA // Default disabled. Uncomment to enable.
+
 // In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported
 // may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which
 // can be several motions behind. This option forces the planner buffer to empty, sync, and stop

grbl/eeprom.c

@@ -24,6 +24,8 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
 
+#ifdef xxxxx // replaced by flash.cpp
+
 /* These EEPROM bits have different names on different devices. */
 #ifndef EEPE
 		#define EEPE  EEWE  //!< EEPROM program/write enable.
@@ -148,4 +150,6 @@ int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, uns
   return(checksum == eeprom_get_char(source));
 }
 
+#endif // xxxxx
+
 // end of file

grbl/eeprom.h

@@ -25,5 +25,7 @@ unsigned char eeprom_get_char(unsigned int addr);
 void eeprom_put_char(unsigned int addr, unsigned char new_value);
 void memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsigned int size);
 int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, unsigned int size);
+void eeprom_init();
+void eeprom_commit();
 
 #endif

grbl/gcode.c

@@ -992,7 +992,7 @@ uint8_t gc_execute_line(char *line)
   // [19. Go to predefined position, Set G10, or Set axis offsets ]:
   switch(gc_block.non_modal_command) {
     case NON_MODAL_SET_COORDINATE_DATA:
-      settings_write_coord_data(coord_select,gc_block.values.ijk);
+      settings_write_coord_data(coord_select,gc_block.values.ijk,false,true);
       // Update system coordinate system if currently active.
       if (gc_state.modal.coord_select == coord_select) {
         memcpy(gc_state.coord_system,gc_block.values.ijk,N_AXIS*sizeof(float));
@@ -1008,10 +1008,10 @@ uint8_t gc_execute_line(char *line)
       memcpy(gc_state.position, gc_block.values.ijk, N_AXIS*sizeof(float));
       break;
     case NON_MODAL_SET_HOME_0:
-      settings_write_coord_data(SETTING_INDEX_G28,gc_state.position);
+      settings_write_coord_data(SETTING_INDEX_G28,gc_state.position,false,true);
       break;
     case NON_MODAL_SET_HOME_1:
-      settings_write_coord_data(SETTING_INDEX_G30,gc_state.position);
+      settings_write_coord_data(SETTING_INDEX_G30,gc_state.position,false,true);
       break;
     case NON_MODAL_SET_COORDINATE_OFFSET:
       memcpy(gc_state.coord_offset,gc_block.values.xyz,sizeof(gc_block.values.xyz));

grbl/main.c

@@ -80,6 +80,7 @@ int main(void)
   isr_init();      // Set ISR priorities
   delay_init();    // Setup delay timer
   serial_init();   // Setup serial baud rate and interrupts
+  eeprom_init();   // Init EEPROM or FLASH
   settings_init(); // Load Grbl settings from EEPROM
   current_init();  // Configure stepper driver current
   stepper_init();  // Configure stepper pins and interrupt timers

grbl/settings.c

@@ -32,6 +32,7 @@ void settings_store_startup_line(uint8_t n, char *line)
   #endif
   uint32_t addr = n*(LINE_BUFFER_SIZE+1)+EEPROM_ADDR_STARTUP_BLOCK;
   memcpy_to_eeprom_with_checksum(addr,(char*)line, LINE_BUFFER_SIZE);
+  eeprom_commit();
 }
 
 
@@ -41,26 +42,36 @@ void settings_store_build_info(char *line)
 {
   // Build info can only be stored when state is IDLE.
   memcpy_to_eeprom_with_checksum(EEPROM_ADDR_BUILD_INFO,(char*)line, LINE_BUFFER_SIZE);
+  eeprom_commit();
 }
 
 
 // Method to store coord data parameters into EEPROM
-void settings_write_coord_data(uint8_t coord_select, float *coord_data)
+void settings_write_coord_data(uint8_t coord_select, float *coord_data, bool force, bool commit)
 {
   #ifdef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE
     protocol_buffer_synchronize();
   #endif
-  uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
+  #ifdef STORE_COORD_DATA
-  memcpy_to_eeprom_with_checksum(addr,(char*)coord_data, sizeof(float)*N_AXIS);
+    force = true;
+  #endif
+  if(force) {
+    uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
+    memcpy_to_eeprom_with_checksum(addr,(char*)coord_data, sizeof(float)*N_AXIS);
+    if(commit)
+      eeprom_commit();
+  }
 }
 
 
 // Method to store Grbl global settings struct and version number into EEPROM
 // NOTE: This function can only be called in IDLE state.
-void write_global_settings()
+void write_global_settings(bool commit)
 {
   eeprom_put_char(0, SETTINGS_VERSION);
   memcpy_to_eeprom_with_checksum(EEPROM_ADDR_GLOBAL, (char*)&settings, sizeof(settings_t));
+  if(commit)
+    eeprom_commit();
 }
 
 
@@ -107,14 +118,14 @@ void settings_restore(uint8_t restore_flag) {
     settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
     settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
 
-    write_global_settings();
+    write_global_settings(false);
   }
 
   if (restore_flag & SETTINGS_RESTORE_PARAMETERS) {
     uint8_t idx;
     float coord_data[N_AXIS];
     memset(&coord_data, 0, sizeof(coord_data));
-    for (idx=0; idx <= SETTING_INDEX_NCOORD; idx++) { settings_write_coord_data(idx, coord_data); }
+    for (idx=0; idx <= SETTING_INDEX_NCOORD; idx++) { settings_write_coord_data(idx, coord_data, true, false); }
   }
 
   if (restore_flag & SETTINGS_RESTORE_STARTUP_LINES) {
@@ -132,6 +143,8 @@ void settings_restore(uint8_t restore_flag) {
     eeprom_put_char(EEPROM_ADDR_BUILD_INFO , 0);
     eeprom_put_char(EEPROM_ADDR_BUILD_INFO+1 , 0); // Checksum
   }
+
+  eeprom_commit();
 }
 
 
@@ -169,7 +182,7 @@ uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data)
   if (!(memcpy_from_eeprom_with_checksum((char*)coord_data, addr, sizeof(float)*N_AXIS))) {
     // Reset with default zero vector
     clear_vector_float(coord_data);
-    settings_write_coord_data(coord_select,coord_data);
+    settings_write_coord_data(coord_select,coord_data,true,true);
     return(false);
   }
   return(true);
@@ -301,7 +314,7 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
         return(STATUS_INVALID_STATEMENT);
     }
   }
-  write_global_settings();
+  write_global_settings(true);
   return(STATUS_OK);
 }
 
@@ -309,9 +322,9 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
 // Initialize the config subsystem
 void settings_init() {
   if(!read_global_settings()) {
-    //report_status_message(STATUS_SETTING_READ_FAIL);
+    report_status_message(STATUS_SETTING_READ_FAIL);
     settings_restore(SETTINGS_RESTORE_ALL); // Force restore all EEPROM data.
-    //report_grbl_settings();
+    report_grbl_settings();
   }
 }
 

grbl/settings.h

@@ -126,7 +126,7 @@ void settings_store_build_info(char *line);
 uint8_t settings_read_build_info(char *line);
 
 // Writes selected coordinate data to EEPROM
-void settings_write_coord_data(uint8_t coord_select, float *coord_data);
+void settings_write_coord_data(uint8_t coord_select, float *coord_data, bool force, bool commit);
 
 // Reads selected coordinate data from EEPROM
 uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data);

lpc17xx/lpc1769.ld

@@ -13,15 +13,18 @@ MEMORY
 	/* On-chip SRAM is a readable (r), writable (w) and */
 	/* executable region (x) */
 
-	/* Main ROM region - 512k for LPC1768 */
+	/* vector table */
-	IROM (rx) : ORIGIN = 0x00000000, LENGTH = 512k
+	VECT (rx) : ORIGIN = 0x00000000, LENGTH = 4k
 
-        /* local static RAM - 32k for LPC1756 */
+	/* ROM. Skips the remaining 4k flash sectors so they can be used for persistent data */
-        IRAM0 (rwx) : ORIGIN = 0x10000000, LENGTH = 32k
+	IROM (rx) : ORIGIN = 0x00010000, LENGTH = 0x70000 /* 512k - 0x10000 */
 
-        /* AHB SRAM - 16k for LPC1756 - often used for USB */
+	/* local static RAM - 32k for LPC1756 */
-        IRAM1 (rwx) : ORIGIN = 0x2007C000, LENGTH = 16k
+	IRAM0 (rwx) : ORIGIN = 0x10000000, LENGTH = 32736 /* 32k-32: 32 bytes at top reserved by IAP */
-		IRAM2 (rwx) : ORIGIN = 0x20080000, LENGTH = 16k
+
+	/* AHB SRAM - 16k for LPC1756 - often used for USB */
+	IRAM1 (rwx) : ORIGIN = 0x2007C000, LENGTH = 16k
+	IRAM2 (rwx) : ORIGIN = 0x20080000, LENGTH = 16k
 }
 
 /* SECTION command : Define mapping of input sections */
@@ -32,11 +35,14 @@ SECTIONS
 	/******************************************/
 	/* code section */
 
-        /* "normal" code */
+	.isr_vector_section :
-	
-	.text :
 	{
 		KEEP(*(.isr_vector .isr_vector.*))
+	} >VECT
+
+	/* "normal" code */
+	.text :
+	{
 		*(.text .text.*)
 		*(.gnu.linkonce.t.*)
 		*(.glue_7)