simulator: Make time-scale=0 a cmdline option

Teach the simulator to run with no delays when time-scale=0.

Let the user specify the time-scale on the command line.

clock.c

@@ -80,6 +80,9 @@ void clock() {
 	ifclock(clock_flag_10ms) {
 		clock_10ms();
 	}
+#ifdef SIMULATOR
+  sim_time_warp();
+#endif
 }
 
 

simulator.h

@@ -156,11 +156,18 @@ void sim_assert(bool cond, const char msg[]);
 void sim_gcode_ch(char ch);
 void sim_gcode(const char msg[]);
 
-void sim_timer_init(void);
+/**
+ * Initialize simulator timer and set time scale.
+ *
+ * @param scale time slow-down factor; 0=warp-speed, 1=real-time, 2-half-time, etc.
+ */
+void sim_timer_init(uint8_t scale);
+
 void sim_timer_stop(void);
 void sim_setTimer(void);
 uint16_t sim_tick_counter(void);
 uint64_t sim_runtime_ns(void); ///< Simulated run-time in nanoseconds
+void sim_time_warp(void); ///< skip ahead to next timer interrupt, when time_scale==0
 
 #define DIO0_PIN "proof of life"
 

simulator/data_recorder.c

@@ -74,10 +74,7 @@ void record_pin(int pin, int32_t state, uint64_t t) {
 
   sim_assert(pin < MAX_PINS, "pin number invalid");
 
-  // Record previous state when new state value appears
+  emit_log_data();
-  if ( t != prev_t ) {
-    emit_log_data();
-  }
   prev_t = t;
   values[pin] = state;
 }
@@ -87,3 +84,9 @@ void record_comment(const char * msg) {
   fprintf(file, "# %s\n", msg);
   fflush(file);
 }
+
+void record_raw(const char * msg) {
+  if (!file) return;
+  fprintf(file, "%s", msg);
+  fflush(file);
+}

simulator/data_recorder.h

@@ -9,6 +9,7 @@ void recorder_init(const char* filename);
 void record_pin(int pin, int32_t state, uint64_t time);
 void add_trace_var(const char* name, int pin);
 void record_comment(const char * msg);
+void record_raw(const char * msg);
 void record_comment_stream(char ch);
 
 #endif /* DATA_RECORDER_H_ */

simulator/simulator.c

@@ -4,6 +4,9 @@
 #include <ctype.h>
 #include <getopt.h>
 
+// If no time scale specified, use 1/10th real-time for simulator
+#define DEFAULT_TIME_SCALE 10
+
 #include "simulator.h"
 #include "data_recorder.h"
 
@@ -40,21 +43,25 @@ int verbose = 1;                ///< 0=quiet, 1=normal, 2=noisy, 3=debug, etc.
 int trace_gcode = 0;            ///< show gcode on the console
 int trace_pos = 0;              ///< show print head position on the console
 
-const char * shortopts = "qvo::";
+const char * shortopts = "qgpvt:o::";
 struct option opts[] = {
   { "quiet", no_argument, &verbose , 0 },
   { "verbose", no_argument, NULL, 'v' },
   { "gcode", no_argument, NULL, 'g' },
   { "pos", no_argument, NULL, 'p' },
+  { "time-scale", required_argument, NULL, 't' },
   { "tracefile", optional_argument, NULL, 'o' }
 };
 
 static void usage(const char *name) {
-  printf("Usage:  %s [-q || --quiet] [-v [-v] || --verbose[=n]] [-g || --gcode]  [-p || --pos] [-o[outfile] || --tracefile[=outfile]] gcode-file || UART-tty\n", name);
+  printf("Usage:  %s [options] [gcode_file || uart_device_name]\n", name);
   printf("\n\n");
-  printf("   -g || --gcode        show gcode on console as it is processed\n");
+  printf("   -q || --quiet                 show less output\n");
-  printf("   -p || --pos          show head position on console\n");
+  printf("   -v || --verbose               show more output\n");
-  printf("   -o || --tracefile    write simulator pin trace to 'outfile' (default filename=datalog.out)\n");
+  printf("   -g || --gcode                 show gcode on console as it is processed\n");
+  printf("   -p || --pos                   show head position on console\n");
+  printf("   -t || --time-scale=n          set time-scale; 0=warp-speed, 1=real-time, 2=half-time, etc.\n");
+  printf("   -o || --tracefile[=filename]  write simulator pin trace to 'outfile' (default filename=datalog.out)\n");
   printf("\n");
   exit(1);
 }
@@ -64,8 +71,9 @@ char** g_argv;
 void sim_start(int argc, char** argv) {
   int c;
   int index;
+  uint8_t time_scale = DEFAULT_TIME_SCALE;
 
-  while ((c = getopt_long (argc, argv, "qgpvo::", opts, &index)) != -1)
+  while ((c = getopt_long (argc, argv, shortopts, opts, &index)) != -1)
     switch (c) {
     case 'q':
       verbose = 0;
@@ -79,6 +87,9 @@ void sim_start(int argc, char** argv) {
     case 'v':
       verbose += 1;
       break;
+    case 't':
+      time_scale = (uint8_t) atoi(optarg);
+      break;
     case 'o':
       recorder_init(optarg ? optarg : "datalog.out");
       break;
@@ -86,12 +97,23 @@ void sim_start(int argc, char** argv) {
       sim_error("Unexpected result in getopt_long handler");
     }
 
+  // Record the command line arguments to the datalog, if active
+  record_raw("# commandline:   ");
+  for (index = 0; index < argc; index++) {
+    record_raw(argv[index]);
+    record_raw(" ") ;
+  }
+  record_raw("\n");
+
   // Store remaining arguments list for serial sim
   g_argc = argc - optind + 1;
   g_argv = argv + optind - 1;
 
   if (argc < 2) usage(argv[0]);
 
+  // Initialize timer
+  sim_timer_init(time_scale);
+
   // Record pin names in datalog
 #define NAME_PIN_AXES(x) \
   add_trace_var(#x "_X" , TRACE_##x + 0); \

simulator/timer_ext.c

@@ -9,9 +9,12 @@
 #include <stdio.h> // printf
 #include <unistd.h> // usleep
 
-#define TIME_SLOW_FACTOR 10
+#define TICKS_TO_US(t) (t / (F_CPU / 1000000))
+
+static uint16_t time_scale = 1;
 
 static void schedule_timer(uint32_t useconds);
+static void timer1_isr(void);
 
 static bool timer_initialised = false;
 
@@ -22,6 +25,8 @@ enum {
 };
 
 static volatile uint8_t timer_reason;  // Who scheduled this timer
+static uint64_t ticks;
+static uint32_t warpTarget;
 
 static uint64_t now_ns(void) {
   struct timespec tv;
@@ -41,20 +46,40 @@ static uint64_t now_us(void) {
   return now_ns() / 1000;
 }
 
-uint16_t sim_tick_counter(void) {
+void sim_time_warp(void) {
-  // microseconds to 16-bit clock ticks
+  if (time_scale || timer_reason == 0)
-  return (now_us() / TIME_SLOW_FACTOR) US;
+    return;
+
+  ticks += warpTarget;
+  warpTarget = 0;
+
+  timer1_isr();
 }
 
+uint16_t sim_tick_counter(void) {
+  if (time_scale) {
+    // microseconds to 16-bit clock ticks
+    return (now_us() / time_scale) US;
+  }
+  return (uint16_t)(ticks % 0xFFFF);
+}
+
+#ifdef SIM_DEBUG
 extern uint8_t clock_counter_10ms, clock_counter_250ms, clock_counter_1s;
+#endif
+
 static uint64_t begin;
 static uint64_t then;
-void sim_timer_init(void) {
+void sim_timer_init(uint8_t scale) {
+  time_scale = scale;
   then = begin = now_ns();
-  sim_info("timer_init");
+  if (scale==0)
+    sim_info("timer_init: warp-speed");
+  else if (scale==1)
+    sim_info("timer_init: real-time");
+  else
+    sim_info("timer_init: 1/%u time", scale);
   timer_initialised = true;
-
-  sim_setTimer();
 }
 
 void sim_timer_stop(void) {
@@ -63,15 +88,23 @@ void sim_timer_stop(void) {
 }
 
 uint64_t sim_runtime_ns(void) {
-  return (now_ns() - begin) / TIME_SLOW_FACTOR;
+  if (time_scale)
+    return (now_ns() - begin) / time_scale;
+  return TICKS_TO_US(ticks) * 1000 ;
 }
 
-static void timer1_isr(int cause, siginfo_t *HowCome, void *ucontext) {
+static void timer1_callback(int cause, siginfo_t *HowCome, void *ucontext) {
+  timer1_isr();
+}
+
+static void timer1_isr(void) {
+  const uint8_t tr = timer_reason;
   if ( ! sim_interrupts) {
     // Interrupts disabled. Schedule another callback in 10us.
     schedule_timer(10);
     return;
   }
+  timer_reason = 0;
 
   cli();
 
@@ -101,9 +134,8 @@ static void timer1_isr(int cause, siginfo_t *HowCome, void *ucontext) {
     then = now;
   #endif
 
-  if (timer_reason & TIMER_OCR1A) TIMER1_COMPA_vect();
+  if (tr & TIMER_OCR1A) TIMER1_COMPA_vect();
-  if (timer_reason & TIMER_OCR1B) TIMER1_COMPB_vect();
+  if (tr & TIMER_OCR1B) TIMER1_COMPB_vect();
-  timer_reason = 0;
 
   sei();
 
@@ -125,6 +157,7 @@ void sim_setTimer() {
     // 0 = No timer;  1-0x10000 = time until next occurrence
     if ( ! nextA) nextA = 0x10000;
   }
+
   if (TIMSK1 & MASK(OCIE1B)) {
     sim_debug("Timer1 Interrupt B: Enabled");
     nextB = (OCR1B - now) & 0xFFFF;
@@ -134,37 +167,40 @@ void sim_setTimer() {
 
   //-- Find the nearest event
   uint32_t next = nextA;
-  if (nextB && ( ! next || (nextB < next))) {
+  if (nextB && ( ! next || (nextB < next)))
     next = nextB;
-    timer_reason = TIMER_OCR1B;
-  }
 
   //-- Flag the reasons for the next event
   timer_reason = 0;
-  if (next == nextA) timer_reason |= TIMER_OCR1A;
+  if (next && next == nextA) timer_reason |= TIMER_OCR1A;
-  if (next == nextB) timer_reason |= TIMER_OCR1B;
+  if (next && next == nextB) timer_reason |= TIMER_OCR1B;
 
-  // FIXME: We will miss events if they occur like this:
+  warpTarget = next ;
-  //    nextA = 0x1000
-  //    nextB = 0x1001
-  //    timer_reason = TIMER_OCR1A
-  //    ISR is triggered and finishes at 0x1002
-  //      => Next trigger for B will not occur until NEXT 0x1001 comes around
-  //    Need some way to notice a missed trigger.
-  //    Maybe store 32-bit tick value for next trigger time for each timer.
 
-  //-- Convert ticks to microseconds
+  if (time_scale) {
-  long actual = ((unsigned long)next) * TIME_SLOW_FACTOR / (1 US);
+    // FIXME: We will miss events if they occur like this:
-  if ( next && !actual)
+    //    nextA = 0x1000
-    actual++;
+    //    nextB = 0x1001
+    //    timer_reason = TIMER_OCR1A
+    //    ISR is triggered and finishes at 0x1002
+    //      => Next trigger for B will not occur until NEXT 0x1001 comes around
+    //    Need some way to notice a missed trigger.
+    //    Maybe store 32-bit tick value for next trigger time for each timer.
 
-  if (next) {
+    //-- Convert ticks to microseconds
-    sim_debug("OCR1A:%04X   OCR1B:%04X    now=%04X", OCR1A, OCR1B, now );
+    long actual = ((unsigned long)next) * time_scale / (1 US);
-    sim_debug("              next=%u   real=%u", next, actual);
+    if ( next && !actual)
+      actual++;
+
+
+    if (next) {
+      sim_debug("OCR1A:%04X   OCR1B:%04X    now=%04X", OCR1A, OCR1B, now );
+      sim_debug("              next=%u   real=%u", next, actual);
+    }
+
+    //-- Schedule the event
+    schedule_timer(actual);
   }
-
-  //-- Schedule the event
-  schedule_timer(actual);
 }
 
 // Schedule Timer1 callback useconds from now.
@@ -173,15 +209,17 @@ static void schedule_timer(uint32_t useconds) {
   struct itimerval itimer;
   struct sigaction sa;
 
-  sa.sa_sigaction = timer1_isr;
+  if (time_scale) {
-  sigemptyset(&sa.sa_mask);
+    sa.sa_sigaction = timer1_callback;
-  sa.sa_flags = SA_SIGINFO;
+    sigemptyset(&sa.sa_mask);
-  if (sigaction(SIGALRM, &sa, 0)) {
+    sa.sa_flags = SA_SIGINFO;
-    sim_error("sigaction");
+    if (sigaction(SIGALRM, &sa, 0)) {
+      sim_error("sigaction");
+    }
+    itimer.it_interval.tv_sec = 0;
+    itimer.it_interval.tv_usec = 0;  // If signal occurs , trigger again in 10us
+    itimer.it_value.tv_sec = useconds / 1000000;
+    itimer.it_value.tv_usec = useconds % 1000000;
+    setitimer(ITIMER_REAL, &itimer, NULL);
   }
-  itimer.it_interval.tv_sec = 0;
-  itimer.it_interval.tv_usec = 0;  // If signal occurs , trigger again in 10us
-  itimer.it_value.tv_sec = useconds / 1000000;
-  itimer.it_value.tv_usec = useconds % 1000000;
-  setitimer(ITIMER_REAL, &itimer, NULL);
 }

timer.c

@@ -121,10 +121,10 @@ void timer_init()
 	OCR1B = TICK_TIME & 0xFFFF;
 	// enable interrupt
 	TIMSK1 = MASK(OCIE1B);
-  #ifdef SIMULATOR
+#ifdef SIMULATOR
-    // Tell simulator
+  // Tell simulator
-    sim_timer_init();
+  sim_setTimer();
-  #endif
+#endif
 }
 
 #ifdef	MOTHERBOARD