Merge pull request #266 from davidgiven/hharte-northstar

Merge in hharte's Northstar changes
2025-10-24 11:11:02 -07:00 · 2021-05-25 20:25:27 +02:00
parent fbfde604e7 5f4f2f10d7
commit c30482af66
30 changed files with 1096 additions and 271 deletions
--- a/FluxEngine.cydsn/CortexM3/ARM_GCC_541/Release/FluxEngine.hex
+++ b/FluxEngine.cydsn/CortexM3/ARM_GCC_541/Release/FluxEngine.hex
@@ -1,246 +1,246 @@
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+:403A800000000000000157494E5553420000303030303100000000000000000012034D005300460054003100300030000100000001000000B83A000001000000873B0000A5
+:403AC000000000000000000001000000D03A000001000000593B000004000000F23A0000000000000000000000000000F03A0000FF00000001024000FF00000082024000C7
+:403B0000FF00000003034000FF00000084034000FF00020304030904160346006C007500780045006E00670069006E0065002A0343006F0077006C00610072006B00200034
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+:403B80000705840340000A12010002FF0001080912006E0100020180014300232D302B2000686C4C0065666745464700303132333435363738396162636465660000000069
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+:403C0000FF000000675000400C00000007000000FFFFFFFF7F8000003F0000000000007D00FA0000400000000090D003FF0000000000000000000000000000000000000028
+:403C400000000000000000000000000000000000993B0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000070
+:403C8000000000000000000000000000000000000081FF1F000000000000000000000000000000000000000000000000000000000000000000000000000000000000000065
 :403CC00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000C4
 :403D00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000083
 :403D40000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000043
@@ -4615,12 +4615,12 @@
 :0200000490105A
 :04000000BC90ACAF55
 :0200000490303A
-:02000000F830D6
+:02000000FEBF41
 :0200000490402A
 :4000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000C0
 :400040000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000080
 :400080000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000040
 :4000C0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
 :0200000490501A
-:0C00000000012E16106900002E30089937
+:0C00000000012E16106900002E300F28A1
 :00000001FF
--- a/FluxEngine.cydsn/FluxEngine.cydwr
+++ b/FluxEngine.cydsn/FluxEngine.cydwr
@@ -814,7 +814,7 @@
  </Group>
  <Group key="Component">
    <Group key="v1">
-      <Data key="cy_boot" value="cy_boot_v5_81" />
+      <Data key="cy_boot" value="cy_boot_v6_10" />
      <Data key="Em_EEPROM_Dynamic" value="Em_EEPROM_Dynamic_v2_20" />
      <Data key="LIN_Dynamic" value="LIN_Dynamic_v5_0" />
    </Group>
--- a/FluxEngine.cydsn/FluxEngine.cyprj
+++ b/FluxEngine.cydsn/FluxEngine.cyprj
@@ -3480,8 +3480,8 @@
 </platforms>
 <project_current_platform v="c9323d49-d323-40b8-9b59-cc008d68a989" />
 <last_selected_tab v="Cypress" />
-<WriteAppVersionLastSavedWith v="4.2.0.641" />
-<WriteAppMarketingVersionLastSavedWith v=" 4.2" />
+<WriteAppVersionLastSavedWith v="4.4.0.80" />
+<WriteAppMarketingVersionLastSavedWith v=" 4.4" />
 <project_id v="ff3eb327-f593-4eb3-a00f-72497469e963" />
 <GenerateDescriptionFiles v="False" />
 </CyGuid_49cfd574-032a-4a64-b7be-d4eeeaf25e43>
@@ -3493,9 +3493,7 @@
 <library_dep persistent="${CyRoot}\psoc\content\default\CyAnnotationLibrary\CyAnnotationLibrary.cylib\CyAnnotationLibrary.cyprj" />
 </library_deps>
 <CyGuid_b0d670ad-d48f-47cb-9d0b-b1642bab195c type_name="CyDesigner.Common.Base.CyExprTypeMgr" version="1" />
-<ignored_deps>
-<library_dep persistent="C:\Users\dg\Documents\PSoC Creator\4.1\Downloads ( 4.1).cylib\Downloads ( 4.1).cyprj" />
-</ignored_deps>
+<ignored_deps />
 </CyGuid_495451fe-d201-4d01-b22d-5d3f5609ac37>
 <boot_component v="" />
 <current_generation v="150" />
--- a/FluxEngine.cydsn/TopDesign/TopDesign.cysch
+++ b/FluxEngine.cydsn/TopDesign/TopDesign.cysch
--- a/FluxEngine.cydsn/main.c
+++ b/FluxEngine.cydsn/main.c
@@ -79,6 +79,7 @@ CY_ISR(index_irq_cb)
     * the track. */
    static bool hardsec_index_irq_primed = false;
    static uint32_t hardsec_last_pulse_time = 0;
+    uint32_t index_pulse_duration = clock - hardsec_last_pulse_time;

    if (!hardsec_index_threshold)
    {
@@ -87,12 +88,18 @@ CY_ISR(index_irq_cb)
    }
    else
    {
-        index_irq = hardsec_index_irq_primed;
+        /* It's only an index pulse if the previous pulse is less than
+         * the threshold.
+         */
+        index_irq = (index_pulse_duration <= hardsec_index_threshold) ?
+            hardsec_index_irq_primed : false;
+
        if (index_irq)
            hardsec_index_irq_primed = false;
        else
            hardsec_index_irq_primed =
-                clock - hardsec_last_pulse_time <= hardsec_index_threshold;
+                index_pulse_duration <= hardsec_index_threshold;
+
        hardsec_last_pulse_time = clock;
    }
    
@@ -275,7 +282,6 @@ static void seek_to(int track)
        CyWdtClear();
    }
    CyDelay(STEP_SETTLING_TIME);
-    
    TK43_REG_Write(track < 43); /* high if 0..42, low if 43 or up */
    print("finished seek");
 }
@@ -305,7 +311,7 @@ static void cmd_measure_speed(struct measurespeed_frame* f)
    while (!index_irq)
    {
        elapsed = clock - start_clock;
-        if (elapsed > 1000)
+        if (elapsed > 1500)
        {
            elapsed = 0;
            break;
@@ -416,7 +422,6 @@ static void cmd_read(struct read_frame* f)
    seek_to(current_track);
    SIDE_REG_Write(f->side);
    STEP_REG_Write(f->side); /* for drives which multiplex SIDE and DIR */
-    
    /* Do slow setup *before* we go into the real-time bit. */
    
    {
@@ -562,7 +567,6 @@ static void cmd_write(struct write_frame* f)
    seek_to(current_track);    
    SIDE_REG_Write(f->side);
    STEP_REG_Write(f->side); /* for drives which multiplex SIDE and DIR */
-    
    SEQUENCER_CONTROL_Write(1); /* put the sequencer into reset */
    {
        uint8_t i = CyEnterCriticalSection();        
@@ -627,7 +631,6 @@ static void cmd_write(struct write_frame* f)

                /* Wait for the index marker. While this happens, the DMA engine
                 * will prime the FIFO. */
-
                hardsec_index_threshold = f->hardsec_threshold_ms;
                index_irq = false;
                while (!index_irq)
@@ -693,7 +696,7 @@ abort:
 static void cmd_erase(struct erase_frame* f)
 {
    SIDE_REG_Write(f->side);
-    seek_to(current_track);    
+    seek_to(current_track);
    /* Disk is now spinning. */
    
    print("start erasing");
--- a/README.md
+++ b/README.md
@@ -125,6 +125,7 @@ at least, check the CRC so what data's there is probably good.
 | [DVK MX](doc/disk-mx.md)                 |  🦖   |        | Soviet PDP-11 clone |
 | [VDS Eco1](doc/disk-eco1.md)             |  🦖   |        | 8" mixed format |
 | [Micropolis](doc/disk-micropolis.md)     |  🦄   |        | Micropolis 100tpi drives |
+| [Northstar(doc/disk-northstar.md)        |  🦖   |   🦖   | 5.25" hard sectors |
 | [TI DS990 FD1000](doc/disk-tids990.md)   |  🦄   |  🦄    | 8" |
 | [Victor 9000](doc/disk-victor9k.md)      |  🦖   |        | 8" |
 | [Zilog MCZ](doc/disk-zilogmcz.md)        |  🦖   |        | 8" _and_ hard sectors |
--- a/arch/northstar/decoder.cc
+++ b/arch/northstar/decoder.cc
@@ -0,0 +1,175 @@
+/* Decoder for North Star 10-sector hard-sectored disks.
+ *
+ * Supports both single- and double-density.  For the sector format and
+ * checksum algorithm, see pp. 33 of the North Star Double Density Controller
+ * manual:
+ *
+ * http://bitsavers.org/pdf/northstar/boards/Northstar_MDS-A-D_1978.pdf
+ *
+ * North Star disks do not contain any track/head/sector information
+ * encoded in the sector record.  For this reason, we have to be absolutely
+ * sure that the hardSectorId is correct.
+ */
+
+#include "globals.h"
+#include "fluxmap.h"
+#include "decoders/fluxmapreader.h"
+#include "decoders/decoders.h"
+#include "sector.h"
+#include "northstar.h"
+#include "bytes.h"
+#include "fmt/format.h"
+
+/*
+ * MFM sectors have 32 bytes of 00's followed by two sync characters,
+ * specified in the North Star MDS manual as 0xFBFB.
+ *
+ * This is true for most disks; however, I found a few disks, including an
+ * original North Star DOS/BASIC v2.2.1 DQ disk) that uses 0xFBnn, where
+ * nn is an incrementing pattern.
+ *
+ * 00        00        00        F         B
+ * 0000 0000 0000 0000 0000 0000 0101 0101 0100 0101
+ * A    A    A    A    A    A    5    5    4    5
+ */
+static const FluxPattern MFM_PATTERN(64, 0xAAAAAAAAAAAA5545LL);
+
+/* FM sectors have 16 bytes of 00's followed by 0xFB.
+ * 00        FB
+ * 0000 0000 1111 1111 1110 1111
+ * A    A    F    F    E    F
+ */
+static const FluxPattern FM_PATTERN(64, 0xAAAAAAAAAAAAFFEFLL);
+
+const FluxMatchers ANY_SECTOR_PATTERN(
+	{
+		&MFM_PATTERN,
+		&FM_PATTERN,
+	}
+);
+
+/* Search for FM or MFM sector record */
+AbstractDecoder::RecordType NorthstarDecoder::advanceToNextRecord()
+{
+	nanoseconds_t now = _fmr->tell().ns();
+
+	/* For all but the first sector, seek to the next sector pulse.
+	 * The first sector does not contain the sector pulse in the fluxmap.
+	 */
+	if (now != 0) {
+		_fmr->seekToIndexMark();
+		now = _fmr->tell().ns();
+	}
+
+	/* Discard a possible partial sector at the end of the track.
+	 * This partial sector could be mistaken for a conflicted sector, if
+	 * whatever data read happens to match the checksum of 0, which is
+	 * rare, but has been observed on some disks.
+	 */
+	if (now > (_fmr->getDuration() - 21e6)) {
+		_fmr->seekToIndexMark();
+		return(UNKNOWN_RECORD);
+	}
+
+	int msSinceIndex = std::round(now / 1e6);
+
+	const FluxMatcher* matcher = nullptr;
+
+	/* Note that the seekToPattern ignores the sector pulses, so if
+	 * a sector is not found for some reason, the seek will advance
+	 * past one or more sector pulses.  For this reason, calculate
+	 * _hardSectorId after the sector header is found.
+	 */
+	_sector->clock = _fmr->seekToPattern(ANY_SECTOR_PATTERN, matcher);
+
+	int sectorFoundTimeRaw = std::round((_fmr->tell().ns()) / 1e6);
+	int sectorFoundTime;
+
+	/* Round time to the nearest 20ms */
+	if ((sectorFoundTimeRaw % 20) < 10) {
+		sectorFoundTime = (sectorFoundTimeRaw / 20) * 20;
+	}
+	else {
+		sectorFoundTime = ((sectorFoundTimeRaw + 20) / 20) * 20;
+	}
+
+	/* Calculate the sector ID based on time since the index */
+	_hardSectorId = (sectorFoundTime / 20) % 10;
+
+//	std::cout << fmt::format(
+//		"Sector ID {}: hole at {}ms, sector start at {}ms",
+//		_hardSectorId, msSinceIndex, sectorFoundTimeRaw) << std::endl;
+
+	if (matcher == &MFM_PATTERN) {
+		_sectorType = SECTOR_TYPE_MFM;
+		readRawBits(48);
+		return SECTOR_RECORD;
+	}
+
+	if (matcher == &FM_PATTERN) {
+		_sectorType = SECTOR_TYPE_FM;
+		readRawBits(48);
+		return SECTOR_RECORD;
+	}
+
+	return UNKNOWN_RECORD;
+}
+
+/* Checksum is initially 0.
+ * For each data byte, XOR with the current checksum.
+ * Rotate checksum left, carrying bit 7 to bit 0.
+ */
+uint8_t northstarChecksum(const Bytes& bytes) {
+	ByteReader br(bytes);
+	uint8_t checksum = 0;
+
+	while (!br.eof()) {
+		checksum ^= br.read_8();
+		checksum = ((checksum << 1) | ((checksum >> 7)));
+	}
+
+	return checksum;
+}
+
+void NorthstarDecoder::decodeSectorRecord()
+{
+	unsigned recordSize, payloadSize, headerSize;
+
+	if (_sectorType == SECTOR_TYPE_MFM) {
+		recordSize = NORTHSTAR_ENCODED_SECTOR_SIZE_DD;
+		payloadSize = NORTHSTAR_PAYLOAD_SIZE_DD;
+		headerSize = NORTHSTAR_HEADER_SIZE_DD;
+	}
+	else {
+		recordSize = NORTHSTAR_ENCODED_SECTOR_SIZE_SD;
+		payloadSize = NORTHSTAR_PAYLOAD_SIZE_SD;
+		headerSize = NORTHSTAR_HEADER_SIZE_SD;
+	}
+
+	auto rawbits = readRawBits(recordSize * 16);
+	auto bytes = decodeFmMfm(rawbits).slice(0, recordSize);
+	ByteReader br(bytes);
+	uint8_t sync_char;
+
+	_sector->logicalSide = _sector->physicalSide;
+	_sector->logicalSector = _hardSectorId;
+	_sector->logicalTrack = _sector->physicalTrack;
+
+	sync_char = br.read_8();	/* Sync char: 0xFB */
+	if (_sectorType == SECTOR_TYPE_MFM) {
+		sync_char = br.read_8();/* MFM second Sync char, usually 0xFB */
+	}
+
+	_sector->data = br.read(payloadSize);
+
+	uint8_t wantChecksum = br.read_8();
+	uint8_t gotChecksum = northstarChecksum(bytes.slice(headerSize, payloadSize));
+
+	_sector->status = (wantChecksum == gotChecksum) ? Sector::OK : Sector::BAD_CHECKSUM;
+}
+
+std::set<unsigned> NorthstarDecoder::requiredSectors(Track& track) const
+{
+	static std::set<unsigned> sectors = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 };
+	return sectors;
+}
--- a/arch/northstar/encoder.cc
+++ b/arch/northstar/encoder.cc
@@ -0,0 +1,130 @@
+#include "globals.h"
+#include "northstar.h"
+#include "sectorset.h"
+
+#define GAP_FILL_SIZE_SD 30
+#define PRE_HEADER_GAP_FILL_SIZE_SD 9
+#define GAP_FILL_SIZE_DD 62
+#define PRE_HEADER_GAP_FILL_SIZE_DD 16
+
+#define GAP1_FILL_BYTE	(0x4F)
+#define GAP2_FILL_BYTE	(0x4F)
+
+#define TOTAL_SECTOR_BYTES ()
+
+static void write_sector(std::vector<bool>& bits, unsigned& cursor, const Sector* sector)
+{
+	int preambleSize = 0;
+	int encodedSectorSize = 0;
+	int gapFillSize = 0;
+	int preHeaderGapFillSize = 0;
+
+	bool doubleDensity;
+
+	switch (sector->data.size()) {
+	case NORTHSTAR_PAYLOAD_SIZE_SD:
+		preambleSize = NORTHSTAR_PREAMBLE_SIZE_SD;
+		encodedSectorSize = PRE_HEADER_GAP_FILL_SIZE_SD + NORTHSTAR_ENCODED_SECTOR_SIZE_SD + GAP_FILL_SIZE_SD;
+		gapFillSize = GAP_FILL_SIZE_SD;
+		preHeaderGapFillSize = PRE_HEADER_GAP_FILL_SIZE_SD;
+		doubleDensity = false;
+		break;
+	case NORTHSTAR_PAYLOAD_SIZE_DD:
+		preambleSize = NORTHSTAR_PREAMBLE_SIZE_DD;
+		encodedSectorSize = PRE_HEADER_GAP_FILL_SIZE_DD + NORTHSTAR_ENCODED_SECTOR_SIZE_DD + GAP_FILL_SIZE_DD;
+		gapFillSize = GAP_FILL_SIZE_DD;
+		preHeaderGapFillSize = PRE_HEADER_GAP_FILL_SIZE_DD;
+		doubleDensity = true;
+		break;
+	default:
+		Error() << "unsupported sector size --- you must pick 256 or 512";
+		break;
+	}
+
+	int fullSectorSize = preambleSize + encodedSectorSize;
+	auto fullSector = std::make_shared<std::vector<uint8_t>>();
+	fullSector->reserve(fullSectorSize);
+
+	/* sector gap after index pulse */
+	for (int i = 0; i < preHeaderGapFillSize; i++)
+		fullSector->push_back(GAP1_FILL_BYTE);
+
+	/* sector preamble */
+	for (int i = 0; i < preambleSize; i++)
+		fullSector->push_back(0);
+
+	Bytes sectorData;
+	if (sector->data.size() == encodedSectorSize)
+		sectorData = sector->data;
+	else {
+		ByteWriter writer(sectorData);
+		writer.write_8(0xFB);     /* sync character */
+		if (doubleDensity == true) {
+			writer.write_8(0xFB); /* Double-density has two sync characters */
+		}
+		writer += sector->data;
+		if (doubleDensity == true) {
+			writer.write_8(northstarChecksum(sectorData.slice(2)));
+		} else {
+			writer.write_8(northstarChecksum(sectorData.slice(1)));
+		}
+	}
+	for (uint8_t b : sectorData)
+		fullSector->push_back(b);
+
+	if (sector->logicalSector != 9) {
+		/* sector postamble */
+		for (int i = 0; i < gapFillSize; i++)
+			fullSector->push_back(GAP2_FILL_BYTE);
+
+		if (fullSector->size() != fullSectorSize)
+			Error() << "sector mismatched length (" << sector->data.size() << ") expected: " << fullSector->size() << " got " << fullSectorSize;
+	} else {
+		/* sector postamble */
+		for (int i = 0; i < gapFillSize; i++)
+			fullSector->push_back(GAP2_FILL_BYTE);
+	}
+
+	bool lastBit = false;
+
+	if (doubleDensity == true) {
+		encodeMfm(bits, cursor, fullSector, lastBit);
+	}
+	else {
+		encodeFm(bits, cursor, fullSector);
+	}
+}
+
+std::unique_ptr<Fluxmap> NorthstarEncoder::encode(
+	int physicalTrack, int physicalSide, const SectorSet& allSectors)
+{
+	int bitsPerRevolution = 100000;
+	double clockRateUs = 4.00;
+
+	if ((physicalTrack < 0) || (physicalTrack >= 35))
+		return std::unique_ptr<Fluxmap>();
+
+	const auto& sector = allSectors.get(physicalTrack, physicalSide, 0);
+
+	if (sector->data.size() == NORTHSTAR_PAYLOAD_SIZE_SD) {
+		bitsPerRevolution /= 2;		// FM
+	} else {
+		clockRateUs /= 2.00;
+	}
+
+	std::vector<bool> bits(bitsPerRevolution);
+	unsigned cursor = 0;
+
+	for (int sectorId = 0; sectorId < 10; sectorId++)
+	{
+		const auto& sectorData = allSectors.get(physicalTrack, physicalSide, sectorId);
+		write_sector(bits, cursor, sectorData);
+	}
+
+	if (cursor > bits.size())
+		Error() << "track data overrun";
+
+	std::unique_ptr<Fluxmap> fluxmap(new Fluxmap);
+	fluxmap->appendBits(bits, clockRateUs * 1e3);
+	return fluxmap;
+}
--- a/arch/northstar/northstar.h
+++ b/arch/northstar/northstar.h
@@ -0,0 +1,72 @@
+#ifndef NORTHSTAR_H
+#define NORTHSTAR_H
+
+/* Northstar floppies are 10-hard sectored disks with a sector format as follows:
+ *
+ * |----------------------------------|
+ * | SYNC Byte  | Payload  | Checksum |
+ * |------------+----------+----------|
+ * | 1 (0xFB)   | 256 (SD) |    1     |
+ * | 2 (0xFBFB) | 512 (DD) |          |
+ * |----------------------------------|
+ *
+ */
+
+#include "decoders/decoders.h"
+#include "encoders/encoders.h"
+
+#define NORTHSTAR_PREAMBLE_SIZE_SD		(16)
+#define NORTHSTAR_PREAMBLE_SIZE_DD		(32)
+#define NORTHSTAR_HEADER_SIZE_SD		(1)
+#define NORTHSTAR_HEADER_SIZE_DD		(2)
+#define NORTHSTAR_PAYLOAD_SIZE_SD		(256)
+#define NORTHSTAR_PAYLOAD_SIZE_DD		(512)
+#define NORTHSTAR_CHECKSUM_SIZE		(1)
+#define NORTHSTAR_ENCODED_SECTOR_SIZE_SD	(NORTHSTAR_HEADER_SIZE_SD + NORTHSTAR_PAYLOAD_SIZE_SD + NORTHSTAR_CHECKSUM_SIZE)
+#define NORTHSTAR_ENCODED_SECTOR_SIZE_DD	(NORTHSTAR_HEADER_SIZE_DD + NORTHSTAR_PAYLOAD_SIZE_DD + NORTHSTAR_CHECKSUM_SIZE)
+
+#define SECTOR_TYPE_MFM			(0)
+#define SECTOR_TYPE_FM				(1)
+
+class NorthstarEncoderProto;
+class NorthstarDecoderProto;
+
+class NorthstarDecoder : public AbstractDecoder
+{
+public:
+	NorthstarDecoder(const NorthstarDecoderProto& config):
+		_config(config)
+	{
+		_sectorType = SECTOR_TYPE_MFM;
+	}
+
+	virtual ~NorthstarDecoder() {}
+
+	RecordType advanceToNextRecord();
+	void decodeSectorRecord();
+	std::set<unsigned> requiredSectors(Track& track) const;
+
+private:
+	const NorthstarDecoderProto& _config;
+	uint8_t _sectorType;
+	uint8_t _hardSectorId;
+};
+
+class NorthstarEncoder : public AbstractEncoder
+{
+public:
+	NorthstarEncoder(const NorthstarEncoderProto& config):
+		_config(config)
+	{}
+
+	virtual ~NorthstarEncoder() {}
+	std::unique_ptr<Fluxmap> encode(int physicalTrack, int physicalSide, const SectorSet& allSectors);
+
+private:
+	const NorthstarEncoderProto& _config;
+};
+
+extern FlagGroup northstarEncoderFlags;
+extern uint8_t northstarChecksum(const Bytes& bytes);
+
+#endif /* NORTHSTAR */
--- a/arch/northstar/northstar.proto
+++ b/arch/northstar/northstar.proto
@@ -0,0 +1,5 @@
+syntax = "proto2";
+
+message NorthstarDecoderProto {}
+message NorthstarEncoderProto {}
+
--- a/doc/disk-northstar.md
+++ b/doc/disk-northstar.md
@@ -0,0 +1,68 @@
+Disk: Northstar
+================
+
+Northstar Floppy disks use 10-sector hard sectored disks with either FM or MFM
+encoding.  They may be single- or double-sided.  Each of the 10 sectors contains
+256 (FM) or 512 (MFM) bytes of data.  The disk has 35 cylinders, with tracks 0-
+34 on side 0, and tracks 35-69 on side 1.  Tracks on side 1 are numbered "back-
+wards" in that track 35 corresponds to cylinder 34, side 1, and track 69
+corresponds to cylinder 0, side 1.
+
+The Northstar sector format does not include any head positioning information.
+As such, reads from Northstar floppies need to by synchronized with the index
+pulse, in order to properly identify the sector being read.  This is handled
+automatically by FluxEngine.
+
+Due to the nature of the track ordering on side 1, an .nsi image reader and
+writer are provided for double-sided disks.  The .nsi image writer supports
+both single- and double-sided disks; however single-sided .nsi images are
+equivalent to .img images.
+
+Reading disks
+-------------
+
+You must use a 48-TPI (40-track) 300RPM 5.25" floppy drive.
+
+To read a double-sided North Star floppy, run:
+
+```
+fluxengine read northstar
+```
+
+To read a single-sided North Star floppy, run:
+
+```
+fluxengine read northstar -heads 0
+```
+
+You should end up with a `northstar.nsi` with a file size dependent on the floppy
+disk type:
+
+| Disk Type                           | File Size (bytes) |
+| ----------------------------------- | ------- |
+| Single-Sided, Single-Density (SSSD) | 89,600  |
+| Single-Sided, Double-Density (SSDD) | 179,200 |
+| Double-Sided, Double-Density (DSDD) | 358,400 |
+
+Writing disks
+-------------
+
+You must use a 48-TPI (40-track) 300RPM 5.25" floppy drive and make
+sure that the drive's spindle speed is adjusted to exactly 300RPM.
+
+To write a double-sided North Star floppy, run:
+
+```
+fluxengine write <format> -i image_to_write.nsi
+```
+
+...where `<format>` is `northstar87`, `northstar175` or `northstar350`
+depending on the format you want to write.
+
+Useful references
+-----------------
+
+  - [MICRO-DISK SYSTEM MDS-A-D DOUBLE DENSITY Manual][northstar_mds].
+    Page 33 documents sector format for single- and double-density.
+
+[northstar_mds]: http://bitsavers.org/pdf/northstar/boards/Northstar_MDS-A-D_1978.pdf
--- a/lib/decoders/decoders.cc
+++ b/lib/decoders/decoders.cc
@@ -13,6 +13,7 @@
 #include "arch/macintosh/macintosh.h"
 #include "arch/micropolis/micropolis.h"
 #include "arch/mx/mx.h"
+#include "arch/northstar/northstar.h"
 #include "arch/tids990/tids990.h"
 #include "arch/victor9k/victor9k.h"
 #include "arch/zilogmcz/zilogmcz.h"
@@ -69,6 +70,9 @@ std::unique_ptr<AbstractDecoder> AbstractDecoder::create(const DecoderProto& con
 		case DecoderProto::kZilogmcz:
 			return std::unique_ptr<AbstractDecoder>(new ZilogMczDecoder(config.zilogmcz()));

+		case DecoderProto::kNorthstar:
+			return std::unique_ptr<AbstractDecoder>(new NorthstarDecoder(config.northstar()));
+
 		default:
 			Error() << "no input disk format specified";
 	}
--- a/lib/decoders/decoders.proto
+++ b/lib/decoders/decoders.proto
@@ -11,6 +11,7 @@ import "arch/ibm/ibm.proto";
 import "arch/macintosh/macintosh.proto";
 import "arch/micropolis/micropolis.proto";
 import "arch/mx/mx.proto";
+import "arch/northstar/northstar.proto";
 import "arch/tids990/tids990.proto";
 import "arch/victor9k/victor9k.proto";
 import "arch/zilogmcz/zilogmcz.proto";
@@ -42,6 +43,7 @@ message DecoderProto {
 		Tids990DecoderProto tids990 = 16;
 		Victor9kDecoderProto victor9k = 17;
 		ZilogMczDecoderProto zilogmcz = 18;
+		NorthstarDecoderProto northstar = 24;
 	}

 	optional FluxSinkProto copy_flux_to = 19
--- a/lib/decoders/fluxmapreader.h
+++ b/lib/decoders/fluxmapreader.h
@@ -88,6 +88,11 @@ public:
        _pos = pos;
    }

+    int getDuration(void)
+    {
+        return (_fluxmap.duration());
+    }
+
    uint8_t getNextEvent(unsigned& ticks);
    unsigned findEvent(uint8_t bits);
    unsigned readInterval(nanoseconds_t clock); /* with debounce support */
--- a/lib/encoders/encoders.cc
+++ b/lib/encoders/encoders.cc
@@ -7,6 +7,7 @@
 #include "arch/c64/c64.h"
 #include "arch/ibm/ibm.h"
 #include "arch/macintosh/macintosh.h"
+#include "arch/northstar/northstar.h"
 #include "arch/tids990/tids990.h"
 #include "lib/encoders/encoders.pb.h"
 #include "protocol.h"
@@ -30,6 +31,9 @@ std::unique_ptr<AbstractEncoder> AbstractEncoder::create(const EncoderProto& con
 		case EncoderProto::kC64:
 			return std::unique_ptr<AbstractEncoder>(new Commodore64Encoder(config.c64()));

+		case EncoderProto::kNorthstar:
+			return std::unique_ptr<AbstractEncoder>(new NorthstarEncoder(config.northstar()));
+
 		default:
 			Error() << "no input disk format specified";
 	}
--- a/lib/encoders/encoders.proto
+++ b/lib/encoders/encoders.proto
@@ -5,6 +5,7 @@ import "arch/brother/brother.proto";
 import "arch/c64/c64.proto";
 import "arch/ibm/ibm.proto";
 import "arch/macintosh/macintosh.proto";
+import "arch/northstar/northstar.proto";
 import "arch/tids990/tids990.proto";
 //import "lib/common.proto";

@@ -16,5 +17,6 @@ message EncoderProto {
 		MacintoshEncoderProto macintosh = 6;
 		Tids990EncoderProto tids990 = 7;
 		Commodore64EncoderProto c64 = 8;
+		NorthstarEncoderProto northstar = 9;
 	}
 }
--- a/lib/imagereader/imagereader.cc
+++ b/lib/imagereader/imagereader.cc
@@ -29,6 +29,9 @@ std::unique_ptr<ImageReader> ImageReader::create(const ImageReaderProto& config)
 		case ImageReaderProto::kD64:
 			return ImageReader::createD64ImageReader(config);

+		case ImageReaderProto::kNsi:
+			return ImageReader::createNsiImageReader(config);
+
 		default:
 			Error() << "bad input file config";
 			return std::unique_ptr<ImageReader>();
@@ -46,6 +49,7 @@ void ImageReader::updateConfigForFilename(ImageReaderProto* proto, const std::st
 		{".diskcopy", [&]() { proto->mutable_diskcopy(); }},
 		{".img",      [&]() { proto->mutable_img(); }},
 		{".st",       [&]() { proto->mutable_img(); }},
+		{".nsi",      [&]() { proto->mutable_nsi(); }},
 	};

 	for (const auto& it : formats)
--- a/lib/imagereader/imagereader.h
+++ b/lib/imagereader/imagereader.h
@@ -21,6 +21,7 @@ public:
    static std::unique_ptr<ImageReader> createImgImageReader(const ImageReaderProto& config);
    static std::unique_ptr<ImageReader> createJv3ImageReader(const ImageReaderProto& config);
    static std::unique_ptr<ImageReader> createIMDImageReader(const ImageReaderProto& config);
+    static std::unique_ptr<ImageReader> createNsiImageReader(const ImageReaderProto& config);

 public:
 	virtual SectorSet readImage() = 0;
--- a/lib/imagereader/imagereader.proto
+++ b/lib/imagereader/imagereader.proto
@@ -22,6 +22,7 @@ message DiskCopyInputProto {}
 message ImdInputProto {}
 message Jv3InputProto {}
 message D64InputProto {}
+message NsiInputProto {}

 message ImageReaderProto {
 	optional string filename = 1 [(help) = "filename of input sector image"];
@@ -31,6 +32,7 @@ message ImageReaderProto {
 		ImdInputProto imd = 4;
 		Jv3InputProto jv3 = 5;
 		D64InputProto d64 = 6;
+		NsiInputProto nsi = 7;
 	}
 }

--- a/lib/imagereader/nsiimagereader.cc
+++ b/lib/imagereader/nsiimagereader.cc
@@ -0,0 +1,109 @@
+/* Image reader for Northstar floppy disk images */
+
+#include "globals.h"
+#include "flags.h"
+#include "sector.h"
+#include "sectorset.h"
+#include "imagereader/imagereader.h"
+#include "fmt/format.h"
+#include "lib/imagereader/imagereader.pb.h"
+#include <algorithm>
+#include <iostream>
+#include <fstream>
+
+class NsiImageReader : public ImageReader
+{
+public:
+	NsiImageReader(const ImageReaderProto& config):
+		ImageReader(config)
+	{}
+
+	SectorSet readImage()
+	{
+        std::ifstream inputFile(_config.filename(), std::ios::in | std::ios::binary);
+        if (!inputFile.is_open())
+            Error() << "cannot open input file";
+
+		const auto begin = inputFile.tellg();
+		inputFile.seekg(0, std::ios::end);
+		const auto end = inputFile.tellg();
+		const auto fsize = (end - begin);
+
+		std::cout << "NSI: Autodetecting geometry based on file size: " << fsize << std::endl;
+
+		int numCylinders = 35;
+		int numSectors = 10;
+		int numHeads = 2;
+		int sectorSize = 512;
+
+		switch (fsize) {
+			case 358400:
+				numHeads = 2;
+				sectorSize = 512;
+				break;
+
+			case 179200:
+				numHeads = 1;
+				sectorSize = 512;
+				break;
+				
+			case 89600:
+				numHeads = 1;
+				sectorSize = 256;
+				break;
+
+			default:
+				Error() << "NSI: unknown file size";
+		}
+
+        size_t trackSize = numSectors * sectorSize;
+
+        std::cout << fmt::format("reading {} tracks, {} heads, {} sectors, {} bytes per sector, {} kB total",
+                        numCylinders, numHeads,
+                        numSectors, sectorSize,
+                        numCylinders * numHeads * trackSize / 1024)
+                << std::endl;
+
+        SectorSet sectors;
+        unsigned sectorFileOffset;
+
+        for (int head = 0; head < numHeads; head++)
+        {
+            for (int track = 0; track < numCylinders; track++)
+            {
+                for (int sectorId = 0; sectorId < numSectors; sectorId++)
+                {
+                    if (head == 0) { /* Head 0 is from track 0-34 */
+                        sectorFileOffset = track * trackSize + sectorId * sectorSize;
+                    }
+                    else { /* Head 1 is from track 70-35 */
+                        sectorFileOffset = (trackSize * numCylinders) + /* Skip over side 0 */
+                            ((numCylinders - track - 1) * trackSize) +
+                            (sectorId * sectorSize); /* Sector offset from beginning of track. */
+                    }
+
+                    inputFile.seekg(sectorFileOffset, std::ios::beg);
+
+                    Bytes data(sectorSize);
+                    inputFile.read((char*) data.begin(), sectorSize);
+
+                    std::unique_ptr<Sector>& sector = sectors.get(track, head, sectorId);
+                    sector.reset(new Sector);
+                    sector->status = Sector::OK;
+                    sector->logicalTrack = sector->physicalTrack = track;
+                    sector->logicalSide = sector->physicalSide = head;
+                    sector->logicalSector = sectorId;
+                    sector->data = data;
+                }
+            }
+        }
+        return sectors;
+	}
+};
+
+std::unique_ptr<ImageReader> ImageReader::createNsiImageReader(
+	const ImageReaderProto& config)
+{
+    return std::unique_ptr<ImageReader>(new NsiImageReader(config));
+}
+
--- a/lib/imagewriter/imagewriter.cc
+++ b/lib/imagewriter/imagewriter.cc
@@ -26,6 +26,9 @@ std::unique_ptr<ImageWriter> ImageWriter::create(const ImageWriterProto& config)
 		case ImageWriterProto::kDiskcopy:
 			return ImageWriter::createDiskCopyImageWriter(config);

+		case ImageWriterProto::kNsi:
+			return ImageWriter::createNsiImageWriter(config);
+
 		default:
 			Error() << "bad output image config";
 			return std::unique_ptr<ImageWriter>();
@@ -43,6 +46,7 @@ void ImageWriter::updateConfigForFilename(ImageWriterProto* proto, const std::st
 		{".img",      [&]() { proto->mutable_img(); }},
 		{".ldbs",     [&]() { proto->mutable_ldbs(); }},
 		{".st",       [&]() { proto->mutable_img(); }},
+		{".nsi",      [&]() { proto->mutable_nsi(); }},
 	};

 	for (const auto& it : formats)
--- a/lib/imagewriter/imagewriter.h
+++ b/lib/imagewriter/imagewriter.h
@@ -22,6 +22,8 @@ public:
 		const ImageWriterProto& config);
    static std::unique_ptr<ImageWriter> createDiskCopyImageWriter(
 		const ImageWriterProto& config);
+    static std::unique_ptr<ImageWriter> createNsiImageWriter(
+		const ImageWriterProto& config);

 public:
 	void printMap(const SectorSet& sectors);
--- a/lib/imagewriter/imagewriter.proto
+++ b/lib/imagewriter/imagewriter.proto
@@ -6,6 +6,7 @@ import "lib/common.proto";
 message D64OutputProto {}
 message LDBSOutputProto {}
 message DiskCopyOutputProto {}
+message NsiOutputProto {}

 message ImageWriterProto {
 	optional string filename = 1 [(help) = "filename of output sector image"];
@@ -14,6 +15,7 @@ message ImageWriterProto {
 		D64OutputProto d64 = 3;
 		LDBSOutputProto ldbs = 4;
 		DiskCopyOutputProto diskcopy = 5;
+		NsiOutputProto nsi = 6;
 	}
 }

--- a/lib/imagewriter/nsiimagewriter.cc
+++ b/lib/imagewriter/nsiimagewriter.cc
@@ -0,0 +1,70 @@
+#include "globals.h"
+#include "flags.h"
+#include "sector.h"
+#include "sectorset.h"
+#include "imagewriter/imagewriter.h"
+#include "fmt/format.h"
+#include "decoders/decoders.h"
+#include "arch/northstar/northstar.h"
+#include "lib/imagewriter/imagewriter.pb.h"
+#include <algorithm>
+#include <iostream>
+#include <fstream>
+
+class NsiImageWriter : public ImageWriter
+{
+public:
+	NsiImageWriter(const ImageWriterProto& config):
+		ImageWriter(config)
+	{}
+
+	void writeImage(const SectorSet& sectors)
+	{
+		unsigned autoTracks;
+		unsigned autoSides;
+		unsigned autoSectors;
+		unsigned autoBytes;
+		sectors.calculateSize(autoTracks, autoSides, autoSectors, autoBytes);
+
+		size_t trackSize = autoSectors * autoBytes;
+
+		std::cout << fmt::format("Writing {} cylinders, {} heads, {} sectors, {} ({} bytes/sector), {} kB total",
+				autoTracks, autoSides,
+				autoSectors, autoBytes == 256 ? "SD" : "DD", autoBytes,
+				autoTracks * trackSize / 1024)
+				<< std::endl;
+
+		std::ofstream outputFile(_config.filename(), std::ios::out | std::ios::binary);
+		if (!outputFile.is_open())
+			Error() << "cannot open output file";
+
+		unsigned sectorFileOffset;
+		for (int track = 0; track < autoTracks * autoSides; track++)
+		{
+			int head = (track < autoTracks) ? 0 : 1;
+			for (int sectorId = 0; sectorId < autoSectors; sectorId++)
+			{
+				const auto& sector = sectors.get(track % autoTracks, head, sectorId);
+				if (sector)
+				{
+					if (head == 0) { /* Side 0 is from track 0-34 */
+						sectorFileOffset = track * trackSize + sectorId * autoBytes;
+					}
+					else { /* Side 1 is from track 70-35 */
+						sectorFileOffset = (autoBytes * autoSectors * autoTracks) + /* Skip over side 0 */
+							((autoTracks - 1) - (track % autoTracks)) * (autoBytes * autoSectors) +
+							(sectorId * autoBytes); /* Sector offset from beginning of track. */
+					}
+					outputFile.seekp(sectorFileOffset, std::ios::beg);
+					sector->data.slice(0, autoBytes).writeTo(outputFile);
+				}
+			}
+		}
+	}
+};
+
+std::unique_ptr<ImageWriter> ImageWriter::createNsiImageWriter(
+	const ImageWriterProto& config)
+{
+    return std::unique_ptr<ImageWriter>(new NsiImageWriter(config));
+}
--- a/mkninja.sh
+++ b/mkninja.sh
@@ -272,6 +272,7 @@ buildproto libproto.a \
    arch/macintosh/macintosh.proto \
    arch/micropolis/micropolis.proto \
    arch/mx/mx.proto \
+    arch/northstar/northstar.proto \
    arch/tids990/tids990.proto \
    arch/victor9k/victor9k.proto \
    arch/zilogmcz/zilogmcz.proto \
@@ -305,6 +306,8 @@ buildlibrary libbackend.a \
    arch/macintosh/encoder.cc \
    arch/micropolis/decoder.cc \
    arch/mx/decoder.cc \
+    arch/northstar/decoder.cc \
+    arch/northstar/encoder.cc \
    arch/tids990/decoder.cc \
    arch/tids990/encoder.cc \
    arch/victor9k/decoder.cc \
@@ -342,11 +345,13 @@ buildlibrary libbackend.a \
    lib/imagereader/imdimagereader.cc \
    lib/imagereader/imgimagereader.cc \
    lib/imagereader/jv3imagereader.cc \
+    lib/imagereader/nsiimagereader.cc \
    lib/imagewriter/d64imagewriter.cc \
    lib/imagewriter/diskcopyimagewriter.cc \
    lib/imagewriter/imagewriter.cc \
    lib/imagewriter/imgimagewriter.cc \
    lib/imagewriter/ldbsimagewriter.cc \
+    lib/imagewriter/nsiimagewriter.cc \
    lib/ldbs.cc \
    lib/proto.cc \
    lib/reader.cc \
@@ -365,8 +370,8 @@ READABLES="\
    acornadfs \
    acorndfs \
    aeslanier \
-    ampro \
    amiga \
+    ampro \
    apple2 \
    atarist \
    brother \
@@ -379,6 +384,7 @@ READABLES="\
    macintosh \
    micropolis \
    mx \
+    northstar \
    tids990 \
    victor9k \
    zilogmcz \
@@ -386,17 +392,6 @@ READABLES="\

 WRITABLES="\
    amiga \
-    brother120 \
-    brother240 \
-    ibm1440 \
-    ibm720 \
-    ibm180_525 \
-    ibm360_525 \
-    ibm720_525 \
-    ibm1200_525 \
-    commodore1541 \
-    commodore1581 \
-    hplif770 \
    atarist360 \
    atarist370 \
    atarist400 \
@@ -405,7 +400,21 @@ WRITABLES="\
    atarist740 \
    atarist800 \
    atarist820 \
+    brother120 \
+    brother240 \
+    commodore1541 \
+    commodore1581 \
+    hplif770 \
+    ibm1200_525 \
+    ibm1440 \
+    ibm180_525 \
+    ibm360_525 \
+    ibm720 \
+    ibm720_525 \
    macintosh \
+    northstar87 \
+    northstar175 \
+    northstar350 \
    tids990 \
    "

--- a/src/fe-readnorthstar.cc
+++ b/src/fe-readnorthstar.cc
@@ -0,0 +1,27 @@
+#include "globals.h"
+#include "flags.h"
+#include "reader.h"
+#include "fluxmap.h"
+#include "encoders/encoders.h"
+#include "decoders/decoders.h"
+#include "sector.h"
+#include "sectorset.h"
+#include "record.h"
+#include "northstar/northstar.h"
+#include "fmt/format.h"
+
+static FlagGroup flags { &readerFlags };
+
+int mainReadNorthstar(int argc, const char* argv[])
+{
+	setReaderDefaultSource(":t=0-34");
+	setReaderDefaultOutput("northstar.nsi");
+	setReaderHardSectorCount(10);
+	setReaderFluxSourceSynced(true);
+	flags.parseFlags(argc, argv);
+
+	NorthstarDecoder decoder;
+	readDiskCommand(decoder);
+	return 0;
+}
+
--- a/src/readables/northstar.textpb
+++ b/src/readables/northstar.textpb
@@ -0,0 +1,32 @@
+comment: 'Northstar 87kB/175kB/350kB 5.25" 35-track 10-sector hard sectored'
+
+input {
+	flux {
+		drive {
+			hard_sector_count: 10
+			sync_with_index: 1
+		}
+	}
+}
+
+output {
+	image {
+		filename: "northstar.nsi"
+		nsi {}
+	}
+}
+
+decoder {
+	northstar {}
+}
+
+cylinders {
+	start: 0
+	end: 34
+}
+
+heads {
+	start: 0
+	end: 1
+}
+
--- a/src/writables/northstar175.textpb
+++ b/src/writables/northstar175.textpb
@@ -0,0 +1,32 @@
+comment: 'Northstar 175kB 5.25" 35-track single-sided double-density hard-sectored'
+
+input {
+	image {
+		filename: "northstar.nsi"
+		nsi {}
+	}
+}
+
+output {
+	flux {
+		drive {
+			hard_sector_count: 10
+		}
+	}
+}
+
+encoder {
+	northstar {}
+}
+
+cylinders {
+	start: 0
+	end: 39
+}
+
+heads {
+	start: 0
+	end: 0
+}
+
+
--- a/src/writables/northstar350.textpb
+++ b/src/writables/northstar350.textpb
@@ -0,0 +1,31 @@
+comment: 'Northstar 350kB 5.25" 35-track double-sided double-density hard-sectored'
+
+input {
+	image {
+		filename: "northstar.nsi"
+		nsi {}
+	}
+}
+
+output {
+	flux {
+		drive {
+			hard_sector_count: 10
+		}
+	}
+}
+
+encoder {
+	northstar {}
+}
+
+cylinders {
+	start: 0
+	end: 39
+}
+
+heads {
+	start: 0
+	end: 1
+}
+
--- a/src/writables/northstar87.textpb
+++ b/src/writables/northstar87.textpb
@@ -0,0 +1,31 @@
+comment: 'Northstar 87.5kB 5.25" 35-track single-sided single-density hard-sectored'
+
+input {
+	image {
+		filename: "northstar.nsi"
+		nsi {}
+	}
+}
+
+output {
+	flux {
+		drive {
+			hard_sector_count: 10
+		}
+	}
+}
+
+encoder {
+	northstar {}
+}
+
+cylinders {
+	start: 0
+	end: 39
+}
+
+heads {
+	start: 0
+	end: 0
+}
+