Merge pull request #130 from davidgiven/fixing

Fix a nasty firmware memory corruption bug
Don't hang if we hit the end of stream while waiting for a data record.
2025-10-24 11:11:02 -07:00 · 2020-01-27 23:15:20 +01:00 · 2020-01-27 23:09:29 +01:00 · 2020-01-27 23:09:07 +01:00 · 2020-01-27 22:52:25 +01:00 · 2020-01-27 21:40:27 +01:00
36 changed files with 1014 additions and 473 deletions
--- a/FluxEngine.cydsn/CortexM3/ARM_GCC_541/Release/FluxEngine.hex
+++ b/FluxEngine.cydsn/CortexM3/ARM_GCC_541/Release/FluxEngine.hex
@@ -1,244 +1,244 @@
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--- a/FluxEngine.cydsn/FluxEngine.cyprj
+++ b/FluxEngine.cydsn/FluxEngine.cyprj
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 <dependencies>
 <CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="USBFS_ep1_dma.c" persistent="Generated_Source\PSoC5\USBFS_ep1_dma.c">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <build_action v="SOURCE_C;CortexM3;;;" />
 <PropertyDeltas />
 </CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
 <CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="USBFS_ep1_dma.h" persistent="Generated_Source\PSoC5\USBFS_ep1_dma.h">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <build_action v="HEADER;;;;" />
 <PropertyDeltas />
@@ -2555,20 +2555,20 @@
 <CyGuid_ebc4f06d-207f-49c2-a540-72acf4adabc0 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFolderSerialize" version="3">
 <CyGuid_2f73275c-45bf-46ba-b3b1-00a2fe0c8dd8 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtBaseContainerSerialize" version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="CLOCK8" persistent="">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <CyGuid_0820c2e7-528d-4137-9a08-97257b946089 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemListSerialize" version="2">
 <dependencies>
 <CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="CLOCK8.c" persistent="Generated_Source\PSoC5\CLOCK8.c">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <build_action v="SOURCE_C;CortexM3;;;" />
 <PropertyDeltas />
 </CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
 <CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="CLOCK8.h" persistent="Generated_Source\PSoC5\CLOCK8.h">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <build_action v="HEADER;;;;" />
 <PropertyDeltas />
@@ -2614,20 +2614,20 @@
 <CyGuid_ebc4f06d-207f-49c2-a540-72acf4adabc0 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFolderSerialize" version="3">
 <CyGuid_2f73275c-45bf-46ba-b3b1-00a2fe0c8dd8 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtBaseContainerSerialize" version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="RPM300" persistent="">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <CyGuid_0820c2e7-528d-4137-9a08-97257b946089 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemListSerialize" version="2">
 <dependencies>
 <CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="RPM300.c" persistent="Generated_Source\PSoC5\RPM300.c">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <build_action v="SOURCE_C;CortexM3;;;" />
 <PropertyDeltas />
 </CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
 <CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="RPM300.h" persistent="Generated_Source\PSoC5\RPM300.h">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <build_action v="HEADER;;;;" />
 <PropertyDeltas />
@@ -2640,20 +2640,20 @@
 <CyGuid_ebc4f06d-207f-49c2-a540-72acf4adabc0 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFolderSerialize" version="3">
 <CyGuid_2f73275c-45bf-46ba-b3b1-00a2fe0c8dd8 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtBaseContainerSerialize" version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="RPM360" persistent="">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <CyGuid_0820c2e7-528d-4137-9a08-97257b946089 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemListSerialize" version="2">
 <dependencies>
 <CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="RPM360.c" persistent="Generated_Source\PSoC5\RPM360.c">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <build_action v="SOURCE_C;CortexM3;;;" />
 <PropertyDeltas />
 </CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
 <CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
 <CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="RPM360.h" persistent="Generated_Source\PSoC5\RPM360.h">
-<Hidden v="False" />
+<Hidden v="True" />
 </CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
 <build_action v="HEADER;;;;" />
 <PropertyDeltas />
@@ -2696,6 +2696,72 @@
 </CyGuid_2f73275c-45bf-46ba-b3b1-00a2fe0c8dd8>
 <filters />
 </CyGuid_ebc4f06d-207f-49c2-a540-72acf4adabc0>
+<CyGuid_ebc4f06d-207f-49c2-a540-72acf4adabc0 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFolderSerialize" version="3">
+<CyGuid_2f73275c-45bf-46ba-b3b1-00a2fe0c8dd8 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtBaseContainerSerialize" version="1">
+<CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="INDEX_REG" persistent="">
+<Hidden v="False" />
+</CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
+<CyGuid_0820c2e7-528d-4137-9a08-97257b946089 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemListSerialize" version="2">
+<dependencies>
+<CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
+<CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="INDEX_REG.h" persistent="Generated_Source\PSoC5\INDEX_REG.h">
+<Hidden v="False" />
+</CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
+<build_action v="HEADER;;;;" />
+<PropertyDeltas />
+</CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
+<CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
+<CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="INDEX_REG.c" persistent="Generated_Source\PSoC5\INDEX_REG.c">
+<Hidden v="False" />
+</CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
+<build_action v="SOURCE_C;CortexM3;;;" />
+<PropertyDeltas />
+</CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
+<CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
+<CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="INDEX_REG_PM.c" persistent="Generated_Source\PSoC5\INDEX_REG_PM.c">
+<Hidden v="False" />
+</CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
+<build_action v="SOURCE_C;CortexM3;;;" />
+<PropertyDeltas />
+</CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
+</dependencies>
+</CyGuid_0820c2e7-528d-4137-9a08-97257b946089>
+</CyGuid_2f73275c-45bf-46ba-b3b1-00a2fe0c8dd8>
+<filters />
+</CyGuid_ebc4f06d-207f-49c2-a540-72acf4adabc0>
+<CyGuid_ebc4f06d-207f-49c2-a540-72acf4adabc0 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFolderSerialize" version="3">
+<CyGuid_2f73275c-45bf-46ba-b3b1-00a2fe0c8dd8 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtBaseContainerSerialize" version="1">
+<CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="FAKE_INDEX_GENERATOR_REG" persistent="">
+<Hidden v="False" />
+</CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
+<CyGuid_0820c2e7-528d-4137-9a08-97257b946089 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemListSerialize" version="2">
+<dependencies>
+<CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
+<CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="FAKE_INDEX_GENERATOR_REG.h" persistent="Generated_Source\PSoC5\FAKE_INDEX_GENERATOR_REG.h">
+<Hidden v="False" />
+</CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
+<build_action v="HEADER;;;;" />
+<PropertyDeltas />
+</CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
+<CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
+<CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="FAKE_INDEX_GENERATOR_REG.c" persistent="Generated_Source\PSoC5\FAKE_INDEX_GENERATOR_REG.c">
+<Hidden v="False" />
+</CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
+<build_action v="SOURCE_C;CortexM3;;;" />
+<PropertyDeltas />
+</CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
+<CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtFileSerialize" version="3" xml_contents_version="1">
+<CyGuid_31768f72-0253-412b-af77-e7dba74d1330 type_name="CyDesigner.Common.ProjMgmt.Model.CyPrjMgmtItemSerialize" version="2" name="FAKE_INDEX_GENERATOR_REG_PM.c" persistent="Generated_Source\PSoC5\FAKE_INDEX_GENERATOR_REG_PM.c">
+<Hidden v="False" />
+</CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
+<build_action v="SOURCE_C;CortexM3;;;" />
+<PropertyDeltas />
+</CyGuid_8b8ab257-35d3-4473-b57b-36315200b38b>
+</dependencies>
+</CyGuid_0820c2e7-528d-4137-9a08-97257b946089>
+</CyGuid_2f73275c-45bf-46ba-b3b1-00a2fe0c8dd8>
+<filters />
+</CyGuid_ebc4f06d-207f-49c2-a540-72acf4adabc0>
 </dependencies>
 </CyGuid_0820c2e7-528d-4137-9a08-97257b946089>
 </CyGuid_2f73275c-45bf-46ba-b3b1-00a2fe0c8dd8>
@@ -3281,6 +3347,6 @@
 </ignored_deps>
 </CyGuid_495451fe-d201-4d01-b22d-5d3f5609ac37>
 <boot_component v="" />
-<current_generation v="84" />
+<current_generation v="114" />
 </CyGuid_fec8f9e8-2365-4bdb-96d3-a4380222e01b>
 </CyXmlSerializer>
--- a/FluxEngine.cydsn/Sampler/Sampler.v
+++ b/FluxEngine.cydsn/Sampler/Sampler.v
@@ -123,7 +123,7 @@ begin
            STATE_OPCODE: /* opcode byte sent here */
                state <= STATE_WAITING;
                            
-            STATE_COUNTING:
+            STATE_COUNTING: /* counter changes here */
                state <= STATE_WAITING;
        endcase
 end
--- a/FluxEngine.cydsn/TopDesign/TopDesign.cysch
+++ b/FluxEngine.cydsn/TopDesign/TopDesign.cysch
--- a/FluxEngine.cydsn/main.c
+++ b/FluxEngine.cydsn/main.c
@@ -17,14 +17,14 @@
 #define STEP_TOWARDS0 1
 #define STEP_AWAYFROM0 0

-static volatile uint32_t clock = 0;
+static volatile uint32_t clock = 0; /* ms */
 static volatile bool index_irq = false;

 static bool motor_on = false;
 static uint32_t motor_on_time = 0;
 static bool homed = false;
 static int current_track = 0;
-static uint8_t current_drive_flags = 0;
+static struct set_drive_frame current_drive_flags;

 #define BUFFER_COUNT 16
 #define BUFFER_SIZE 64
@@ -45,6 +45,21 @@ static void system_timer_cb(void)
 {
    CyGlobalIntDisable;
    clock++;
+    
+    static int counter300rpm = 0;
+    counter300rpm++;
+    if (counter300rpm == 200)
+        counter300rpm = 0;
+    
+    static int counter360rpm = 0;
+    counter360rpm++;
+    if (counter360rpm == 167)
+        counter360rpm = 0;
+    
+    FAKE_INDEX_GENERATOR_REG_Write(
+        ((counter300rpm == 0) ? 1 : 0)
+        | ((counter360rpm == 0) ? 2 : 0));
+    
    CyGlobalIntEnable;
 }

@@ -85,21 +100,22 @@ static void print(const char* msg, ...)
    UART_PutCRLF();
 }

-static void set_drive_flags(uint8_t flags)
+static void set_drive_flags(struct set_drive_frame* flags)
 {
-    if (current_drive_flags != flags)
+    if (current_drive_flags.drive != flags->drive)
        homed = false;
    
-    current_drive_flags = flags;
-    DRIVESELECT_REG_Write((flags & 1) ? 2 : 1); /* select drive 1 or 0 */
-    DENSITY_REG_Write(flags >> 1); /* density bit */
+    current_drive_flags = *flags;
+    DRIVESELECT_REG_Write(flags->drive ? 2 : 1); /* select drive 1 or 0 */
+    DENSITY_REG_Write(flags->high_density); /* density bit */
+    INDEX_REG_Write(flags->index_mode);
 }

 static void start_motor(void)
 {
    if (!motor_on)
    {
-        set_drive_flags(current_drive_flags);
+        set_drive_flags(&current_drive_flags);
        MOTOR_REG_Write(1);
        CyDelay(1000);
        homed = false;
@@ -236,17 +252,29 @@ static void cmd_measure_speed(struct any_frame* f)
 {
    start_motor();
    
-    index_irq = false;
-    while (!index_irq)
-        ;
    index_irq = false;
    int start_clock = clock;
+    int elapsed = 0;
    while (!index_irq)
-        ;
-    int end_clock = clock;
+    {
+        elapsed = clock - start_clock;
+        if (elapsed > 1000)
+        {
+            elapsed = 0;
+            break;
+        }
+    }
+
+    if (elapsed != 0)
+    {
+        index_irq = false;
+        start_clock = clock;
+        while (!index_irq)
+            elapsed = clock - start_clock;
+    }
    
    DECLARE_REPLY_FRAME(struct speed_frame, F_FRAME_MEASURE_SPEED_REPLY);
-    r.period_ms = end_clock - start_clock;
+    r.period_ms = elapsed;
    send_reply((struct any_frame*) &r);    
 }

@@ -315,12 +343,15 @@ static void cmd_read(struct read_frame* f)
    wait_until_writeable(FLUXENGINE_DATA_IN_EP_NUM);
    init_capture_dma();

-    /* Wait for the beginning of a rotation. */
+    /* Wait for the beginning of a rotation, if requested. */
        
-    index_irq = false;
-    while (!index_irq)
-        ;
-    index_irq = false;
+    if (f->synced)
+    {
+        index_irq = false;
+        while (!index_irq)
+            ;
+        index_irq = false;
+    }
    
    crunch_state_t cs = {};
    cs.outputptr = usb_buffer;
@@ -337,32 +368,27 @@ static void cmd_read(struct read_frame* f)
    /* Wait for the first DMA transfer to complete, after which we can start the
     * USB transfer. */

-    while ((dma_writing_to_td == 0) && !index_irq)
+    while (dma_writing_to_td == 0)
        ;
    dma_reading_from_td = 0;
    
    /* Start transferring. */

-    int revolutions = f->revolutions;
+    uint32_t start_time = clock;
    while (!dma_underrun)
    {
        CyWdtClear();

-        /* Have we reached the index pulse? */
-        if (index_irq)
-        {
-            index_irq = false;
-            revolutions--;
-            if (revolutions == 0)
-                break;
-        }
-        
        /* Wait for the next block to be read. */
        while (dma_reading_from_td == dma_writing_to_td)
        {
            /* On an underrun, give up immediately. */
            if (dma_underrun)
                goto abort;
+            
+            /* Also finish if the sample session is over. */
+            if ((clock - start_time) >= f->milliseconds)
+                goto abort;
        }

        uint8_t dma_buffer_usage = 0;
@@ -373,15 +399,14 @@ static void cmd_read(struct read_frame* f)
            crunch(&cs);
            dma_buffer_usage += BUFFER_SIZE - cs.inputlen;
            count++;
+            
+            /* If there is no available space in the output buffer, flush the buffer via
+             * USB and go again. */
            if (cs.outputlen == 0)
            {
-                while (USBFS_GetEPState(FLUXENGINE_DATA_IN_EP_NUM) != USBFS_IN_BUFFER_EMPTY)
-                {
-                    if (index_irq || dma_underrun)
-                        goto abort;
-                }
-
+                wait_until_writeable(FLUXENGINE_DATA_IN_EP_NUM);
                USBFS_LoadInEP(FLUXENGINE_DATA_IN_EP_NUM, usb_buffer, BUFFER_SIZE);
+                
                cs.outputptr = usb_buffer;
                cs.outputlen = BUFFER_SIZE;
            }
@@ -389,23 +414,33 @@ static void cmd_read(struct read_frame* f)
        dma_reading_from_td = NEXT_BUFFER(dma_reading_from_td);
    }
 abort:;
+    bool saved_dma_underrun = dma_underrun;
    CyDmaChSetRequest(dma_channel, CY_DMA_CPU_TERM_CHAIN);
    while (CyDmaChGetRequest(dma_channel))
        ;

    donecrunch(&cs);
    wait_until_writeable(FLUXENGINE_DATA_IN_EP_NUM);
-    if (!dma_underrun)
+    /* If there's a complete packet waiting, send it. */
+    if (cs.outputlen != BUFFER_SIZE)
    {
-        if (cs.outputlen != BUFFER_SIZE)
-            USBFS_LoadInEP(FLUXENGINE_DATA_IN_EP_NUM, usb_buffer, BUFFER_SIZE-cs.outputlen);
+        USBFS_LoadInEP(FLUXENGINE_DATA_IN_EP_NUM, usb_buffer, BUFFER_SIZE);
        wait_until_writeable(FLUXENGINE_DATA_IN_EP_NUM);
    }
-    if ((cs.outputlen == BUFFER_SIZE) || (cs.outputlen == 0))
+    if ((cs.outputlen != 0) && (cs.outputlen != BUFFER_SIZE))
+    {
+        /* If there's a partial packet waiting, send it; this will also terminate the transfer. */
+        USBFS_LoadInEP(FLUXENGINE_DATA_IN_EP_NUM, usb_buffer, BUFFER_SIZE-cs.outputlen);
+    }
+    else
+    {
+        /* Otherwise just terminate the transfer. */
        USBFS_LoadInEP(FLUXENGINE_DATA_IN_EP_NUM, NULL, 0);
+    }
+    wait_until_writeable(FLUXENGINE_DATA_IN_EP_NUM);
    deinit_dma();

-    if (dma_underrun)
+    if (saved_dma_underrun)
    {
        print("underrun after %d packets");
        send_error(F_ERROR_UNDERRUN);
@@ -479,6 +514,8 @@ static void cmd_write(struct write_frame* f)
    int old_reading_from_td = -1;
    for (;;)
    {
+        CyWdtClear();
+
        /* Read data from USB into the buffers. */
        
        if (NEXT_BUFFER(dma_writing_to_td) != dma_reading_from_td)
@@ -635,7 +672,7 @@ static void cmd_erase(struct erase_frame* f)

 static void cmd_set_drive(struct set_drive_frame* f)
 {
-    set_drive_flags(f->drive_flags);
+    set_drive_flags(f);
    
    DECLARE_REPLY_FRAME(struct any_frame, F_FRAME_SET_DRIVE_REPLY);
    send_reply((struct any_frame*) &r);
@@ -824,7 +861,7 @@ int main(void)
        
        if (USBFS_GetEPState(FLUXENGINE_CMD_OUT_EP_NUM) == USBFS_OUT_BUFFER_FULL)
        {
-            set_drive_flags(current_drive_flags);
+            set_drive_flags(&current_drive_flags);
            handle_command();
            USBFS_EnableOutEP(FLUXENGINE_CMD_OUT_EP_NUM);
            print("idle");
--- a/arch/amiga/amiga.cc
+++ b/arch/amiga/amiga.cc
@@ -0,0 +1,101 @@
+#include "globals.h"
+#include "record.h"
+#include "decoders/decoders.h"
+#include "amiga.h"
+#include "bytes.h"
+#include "fmt/format.h"
+
+uint32_t amigaChecksum(const Bytes& bytes)
+{
+    ByteReader br(bytes);
+    uint32_t checksum = 0;
+
+    assert((bytes.size() & 3) == 0);
+    while (!br.eof())
+        checksum ^= br.read_be32();
+
+    return checksum & 0x55555555;
+}
+
+static uint8_t everyother(uint16_t x)
+{
+	                  /* aabb ccdd eeff gghh */
+	x &= 0x6666;      /* 0ab0 0cd0 0ef0 0gh0 */
+	x >>= 1;          /* 00ab 00cd 00ef 00gh */
+	x |= x << 2;      /* abab cdcd efef ghgh */
+	x &= 0x3c3c;      /* 00ab cd00 00ef gh00 */
+	x >>= 2;          /* 0000 abcd 0000 efgh */
+	x |= x >> 4;      /* 0000 abcd abcd efgh */
+	return x;
+}
+
+Bytes amigaInterleave(const Bytes& input)
+{
+	Bytes output;
+	ByteWriter bw(output);
+
+	/* Write all odd bits. (Numbering starts at 0...) */
+
+	{
+		ByteReader br(input);
+		while (!br.eof())
+		{
+			uint16_t x = br.read_be16();
+			x &= 0xaaaa;       /* a0b0 c0d0 e0f0 g0h0 */
+			x |= x >> 1;       /* aabb ccdd eeff gghh */
+			x = everyother(x); /* 0000 0000 abcd efgh */
+			bw.write_8(x);
+		}
+	}
+
+	/* Write all even bits. */
+
+	{
+		ByteReader br(input);
+		while (!br.eof())
+		{
+			uint16_t x = br.read_be16();
+			x &= 0x5555;       /* 0a0b 0c0d 0e0f 0g0h */
+			x |= x << 1;       /* aabb ccdd eeff gghh */
+			x = everyother(x); /* 0000 0000 abcd efgh */
+			bw.write_8(x);
+		}
+	}
+
+	return output;
+}
+
+Bytes amigaDeinterleave(const uint8_t*& input, size_t len)
+{
+    assert(!(len & 1));
+    const uint8_t* odds = &input[0];
+    const uint8_t* evens = &input[len/2];
+    Bytes output;
+    ByteWriter bw(output);
+
+    for (size_t i=0; i<len/2; i++)
+    {
+        uint8_t o = *odds++;
+        uint8_t e = *evens++;
+
+        /* This is the 'Interleave bits with 64-bit multiply' technique from
+         * http://graphics.stanford.edu/~seander/bithacks.html#InterleaveBMN
+         */
+        uint16_t result =
+            (((e * 0x0101010101010101ULL & 0x8040201008040201ULL)
+                * 0x0102040810204081ULL >> 49) & 0x5555) |
+            (((o * 0x0101010101010101ULL & 0x8040201008040201ULL)
+                * 0x0102040810204081ULL >> 48) & 0xAAAA);
+        
+        bw.write_be16(result);
+    }
+
+    input += len;
+    return output;
+}
+
+Bytes amigaDeinterleave(const Bytes& input)
+{
+	const uint8_t* ptr = input.cbegin();
+	return amigaDeinterleave(ptr, input.size());
+}
--- a/arch/amiga/amiga.h
+++ b/arch/amiga/amiga.h
@@ -1,12 +1,17 @@
 #ifndef AMIGA_H
 #define AMIGA_H

+#include "encoders/encoders.h"
+
 #define AMIGA_SECTOR_RECORD 0xaaaa44894489LL

+#define AMIGA_TRACKS_PER_DISK 80
+#define AMIGA_SECTORS_PER_TRACK 11
 #define AMIGA_RECORD_SIZE 0x21f

 class Sector;
 class Fluxmap;
+class SectorSet;

 class AmigaDecoder : public AbstractDecoder
 {
@@ -17,4 +22,20 @@ public:
    void decodeSectorRecord();
 };

+class AmigaEncoder : public AbstractEncoder
+{
+public:
+	virtual ~AmigaEncoder() {}
+
+public:
+    std::unique_ptr<Fluxmap> encode(int physicalTrack, int physicalSide, const SectorSet& allSectors);
+};
+
+extern FlagGroup amigaEncoderFlags;
+
+extern uint32_t amigaChecksum(const Bytes& bytes);
+extern Bytes amigaInterleave(const Bytes& input);
+extern Bytes amigaDeinterleave(const uint8_t*& input, size_t len);
+extern Bytes amigaDeinterleave(const Bytes& input);
+
 #endif
--- a/arch/amiga/decoder.cc
+++ b/arch/amiga/decoder.cc
@@ -21,47 +21,6 @@
         
 static const FluxPattern SECTOR_PATTERN(48, AMIGA_SECTOR_RECORD);

-static Bytes deinterleave(const uint8_t*& input, size_t len)
-{
-    assert(!(len & 1));
-    const uint8_t* odds = &input[0];
-    const uint8_t* evens = &input[len/2];
-    Bytes output;
-    ByteWriter bw(output);
-
-    for (size_t i=0; i<len/2; i++)
-    {
-        uint8_t o = *odds++;
-        uint8_t e = *evens++;
-
-        /* This is the 'Interleave bits with 64-bit multiply' technique from
-         * http://graphics.stanford.edu/~seander/bithacks.html#InterleaveBMN
-         */
-        uint16_t result =
-            (((e * 0x0101010101010101ULL & 0x8040201008040201ULL)
-                * 0x0102040810204081ULL >> 49) & 0x5555) |
-            (((o * 0x0101010101010101ULL & 0x8040201008040201ULL)
-                * 0x0102040810204081ULL >> 48) & 0xAAAA);
-        
-        bw.write_be16(result);
-    }
-
-    input += len;
-    return output;
-}
-
-static uint32_t checksum(const Bytes& bytes)
-{
-    ByteReader br(bytes);
-    uint32_t checksum = 0;
-
-    assert((bytes.size() & 3) == 0);
-    while (!br.eof())
-        checksum ^= br.read_be32();
-
-    return checksum & 0x55555555;
-}
-
 AbstractDecoder::RecordType AmigaDecoder::advanceToNextRecord()
 {
    _sector->clock = _fmr->seekToPattern(SECTOR_PATTERN);
@@ -78,22 +37,22 @@ void AmigaDecoder::decodeSectorRecord()

    const uint8_t* ptr = bytes.begin() + 3;

-    Bytes header = deinterleave(ptr, 4);
-    Bytes recoveryinfo = deinterleave(ptr, 16);
+    Bytes header = amigaDeinterleave(ptr, 4);
+    Bytes recoveryinfo = amigaDeinterleave(ptr, 16);

    _sector->logicalTrack = header[1] >> 1;
    _sector->logicalSide = header[1] & 1;
    _sector->logicalSector = header[2];

-    uint32_t wantedheaderchecksum = deinterleave(ptr, 4).reader().read_be32();
-    uint32_t gotheaderchecksum = checksum(rawbytes.slice(6, 40));
+    uint32_t wantedheaderchecksum = amigaDeinterleave(ptr, 4).reader().read_be32();
+    uint32_t gotheaderchecksum = amigaChecksum(rawbytes.slice(6, 40));
    if (gotheaderchecksum != wantedheaderchecksum)
        return;

-    uint32_t wanteddatachecksum = deinterleave(ptr, 4).reader().read_be32();
-    uint32_t gotdatachecksum = checksum(rawbytes.slice(62, 1024));
+    uint32_t wanteddatachecksum = amigaDeinterleave(ptr, 4).reader().read_be32();
+    uint32_t gotdatachecksum = amigaChecksum(rawbytes.slice(62, 1024));

    _sector->data.clear();
-    _sector->data.writer().append(deinterleave(ptr, 512)).append(recoveryinfo);
+    _sector->data.writer().append(amigaDeinterleave(ptr, 512)).append(recoveryinfo);
    _sector->status = (gotdatachecksum == wanteddatachecksum) ? Sector::OK : Sector::BAD_CHECKSUM;
 }
--- a/arch/amiga/encoder.cc
+++ b/arch/amiga/encoder.cc
@@ -0,0 +1,126 @@
+#include "globals.h"
+#include "record.h"
+#include "decoders/decoders.h"
+#include "encoders/encoders.h"
+#include "amiga.h"
+#include "crc.h"
+#include "sectorset.h"
+#include "writer.h"
+
+FlagGroup amigaEncoderFlags;
+
+static DoubleFlag clockRateUs(
+	{ "--clock-rate" },
+	"Encoded data clock rate (microseconds).",
+	2.00);
+
+static DoubleFlag postIndexGapMs(
+	{ "--post-index-gap" },
+	"Post-index gap before first sector header (milliseconds).",
+	0.5);
+
+static int charToInt(char c)
+{
+	if (isdigit(c))
+		return c - '0';
+	return 10 + tolower(c) - 'a';
+}
+
+static void write_bits(std::vector<bool>& bits, unsigned& cursor, const std::vector<bool>& src)
+{
+	for (bool bit : src)
+	{
+		if (cursor < bits.size())
+			bits[cursor++] = bit;
+	}
+}
+
+static void write_bits(std::vector<bool>& bits, unsigned& cursor, uint64_t data, int width)
+{
+	cursor += width;
+	for (int i=0; i<width; i++)
+	{
+		unsigned pos = cursor - i - 1;
+		if (pos < bits.size())
+			bits[pos] = data & 1;
+		data >>= 1;
+	}
+}
+
+static void write_interleaved_bytes(std::vector<bool>& bits, unsigned& cursor, const Bytes& bytes)
+{
+	assert(!(bytes.size() & 3));
+	Bytes interleaved = amigaInterleave(bytes);
+	encodeMfm(bits, cursor, interleaved);
+}
+
+static void write_interleaved_bytes(std::vector<bool>& bits, unsigned& cursor, uint32_t data)
+{
+	Bytes b(4);
+	ByteWriter bw(b);
+	bw.write_be32(data);
+	write_interleaved_bytes(bits, cursor, b);
+}
+
+static void write_sector(std::vector<bool>& bits, unsigned& cursor, const Sector* sector)
+{
+	if ((sector->data.size() != 512) && (sector->data.size() != 528))
+		Error() << "unsupported sector size --- you must pick 512 or 528";
+
+    write_bits(bits, cursor, AMIGA_SECTOR_RECORD, 6*8);
+
+	std::vector<bool> headerBits(20*16);
+	unsigned headerCursor = 0;
+
+	Bytes header = 
+		{
+			0xff, /* Amiga 1.0 format byte */
+			(uint8_t) ((sector->logicalTrack<<1) | sector->logicalSide),
+			(uint8_t) sector->logicalSector,
+			(uint8_t) (AMIGA_SECTORS_PER_TRACK - sector->logicalSector)
+		};
+	write_interleaved_bytes(headerBits, headerCursor, header);
+	Bytes recoveryInfo(16);
+	if (sector->data.size() == 528)
+		recoveryInfo = sector->data.slice(512, 16);
+	write_interleaved_bytes(headerBits, headerCursor, recoveryInfo);
+
+	std::vector<bool> dataBits(512*16);
+	unsigned dataCursor = 0;
+	write_interleaved_bytes(dataBits, dataCursor, sector->data);
+
+	write_bits(bits, cursor, headerBits);
+	uint32_t headerChecksum = amigaChecksum(toBytes(headerBits));
+	write_interleaved_bytes(bits, cursor, headerChecksum);
+	uint32_t dataChecksum = amigaChecksum(toBytes(dataBits));
+	write_interleaved_bytes(bits, cursor, dataChecksum);
+	write_bits(bits, cursor, dataBits);
+}
+
+std::unique_ptr<Fluxmap> AmigaEncoder::encode(
+	int physicalTrack, int physicalSide, const SectorSet& allSectors)
+{
+	if ((physicalTrack < 0) || (physicalTrack >= AMIGA_TRACKS_PER_DISK))
+		return std::unique_ptr<Fluxmap>();
+
+	int bitsPerRevolution = 200000.0 / clockRateUs;
+	std::vector<bool> bits(bitsPerRevolution);
+	unsigned cursor = 0;
+
+    fillBitmapTo(bits, cursor, postIndexGapMs * 1000 / clockRateUs, { true, false });
+
+	for (int sectorId=0; sectorId<AMIGA_SECTORS_PER_TRACK; sectorId++)
+	{
+		const auto& sectorData = allSectors.get(physicalTrack, physicalSide, sectorId);
+		write_sector(bits, cursor, sectorData);
+    }
+
+	if (cursor >= bits.size())
+		Error() << "track data overrun";
+	fillBitmapTo(bits, cursor, bits.size(), { true, false });
+
+	std::unique_ptr<Fluxmap> fluxmap(new Fluxmap);
+	fluxmap->appendBits(bits, clockRateUs*1e3);
+	return fluxmap;
+}
+
--- a/arch/brother/encoder.cc
+++ b/arch/brother/encoder.cc
@@ -154,7 +154,7 @@ std::unique_ptr<Fluxmap> BrotherEncoder::encode(
 		write_sector_data(bits, cursor, sectorData->data);
 	}

-	if (cursor > bits.size())
+	if (cursor >= bits.size())
 		Error() << "track data overrun";
 	fillBitmapTo(bits, cursor, bits.size(), { true, false });

--- a/arch/ibm/decoder.cc
+++ b/arch/ibm/decoder.cc
@@ -73,8 +73,10 @@ const FluxPattern FM_TRS80DAM2_PATTERN(16, 0xf56c);
 * encoding (you can't do 10 00). So this can't be spoofed by user data.
 * 
 * shifted: 10 00 10 01 00 01 00 1
+ * 
+ * It's repeated three times.
 */
-const FluxPattern MFM_PATTERN(16, 0x4489);
+const FluxPattern MFM_PATTERN(48, 0x448944894489LL);

 const FluxMatchers ANY_RECORD_PATTERN(
    {
@@ -100,7 +102,8 @@ AbstractDecoder::RecordType IbmDecoder::advanceToNextRecord()
    if (_currentHeaderLength > 0)
        readRawBits(_currentHeaderLength*16);
    auto idbits = readRawBits(16);
-    uint8_t id = decodeFmMfm(idbits).slice(0, 1)[0];
+    const Bytes idbytes = decodeFmMfm(idbits);
+    uint8_t id = idbytes.slice(0, 1)[0];
    seek(here);
    
    switch (id)
--- a/doc/building.md
+++ b/doc/building.md
@@ -182,7 +182,7 @@ install some support packages.

  - For Linux (this is Ubuntu, but this should apply to Debian too):
  `ninja-build`, `libusb-1.0-0-dev`, `libsqlite3-dev`.
-  - For OSX with Homebrew: `ninja`.
+  - For OSX with Homebrew: `ninja`, `libusb`, `pkg-config`, `sqlite`.
  - For Windows with MSYS2: `make`, `ninja`, `mingw-w64-i686-libusb`,
  `mingw-w64-i686-sqlite3`, `mingw-w64-i686-zlib`, `mingw-w64-i686-gcc`.

--- a/doc/disk-amiga.md
+++ b/doc/disk-amiga.md
@@ -10,7 +10,7 @@ Bizarrely, the data in each sector is stored with all the odd bits first, and
 then all the even bits. This is tied into the checksum algorithm, which is
 distinctly subpar and not particularly good at detecting errors.

-Reading discs
+Reading disks
 -------------

 Just do:
@@ -34,6 +34,28 @@ You will end up with a 929280 byte long image which you probably _can't_ use
 in an emulator; each sector will contain the 512 bytes of user payload
 followed by the 16 bytes of metadata.

+Writing disks
+-------------
+
+Just do:
+
+```
+fluxengine write amiga -i amiga.adf
+```
+
+This will rake a normal 901120 byte long ADF file and write it to a DD disk.
+Note that writing to an HD disk will probably not work (this will depend on
+your drive and disk and potential FluxEngine bugs I'm still working on ---
+please [get in touch](https://github.com/davidgiven/fluxengine/issues/new) if
+you have any insight here).
+
+If you want to write the metadata as well, specify a 528 byte sector size for
+the output image and supply a 929280 byte long file as described above.
+
+```
+fluxengine write amiga -i amiga.adf:b=528
+```
+
 Useful references
 -----------------

--- a/doc/faq.md
+++ b/doc/faq.md
@@ -84,6 +84,11 @@ contributed](Index_sensor_mod_FDD_1.1.pdf) on how to do this. I've never done
 it myself; if you try this and it works/doesn't work, as always, [get in
 touch](https://github.com/davidgiven/fluxengine/issues/new).

+Another option is to fake the index signal to the drive completely. The
+FluxEngine emits suitable pulses for a 300RPM drive on pin 3[0] and the
+equivalent pulses for a 360RPM drive on pin 3[1]. Disclaimer: I have never used
+these.
+
 **Q.** Is this like Supercard Pro / KryoFlux / Catweasel / DiskFerret? Do you
 *support KryoFlux
 stream files?
--- a/doc/using.md
+++ b/doc/using.md
@@ -64,6 +64,16 @@ In order to do anything useful, you have to plug it in to a floppy disk drive (o

  9. Profit!

+## Bonus hardware features
+
+For advanced users, the board has a few extra signals which are useful for special purposes.
+
+  - Pin 3[0] produces short pulses every 200ms. This is useful for spoofing
+    index signals to 300 RPM drives; for example, to read flippy disks.
+
+  - Pin 3[1] is the same, but produces the pulses every 166ms; this works with
+    360 RPM drives.
+
 ## The programs

 I'm sorry to say that the client program is very badly documented --- it's
@@ -176,6 +186,23 @@ case, and reading the disk label is much more reliable.
 [Lots more information on high density vs double density disks can be found
 here.](http://www.retrotechnology.com/herbs_stuff/guzis.html)

+### Other important flags
+
+These flags apply to many operations and are useful for modifying the overall
+behaviour.
+
+  - `--revolutions=X`: when reading, spin the disk X times. Many formats
+  require `--revolutions=2` (which should happen automatically); or you can
+  increase the number to sample more data.
+
+  - `--index-source=X`, `--write-index-source=X`: set the source of index
+  pulses when reading or writing respectively. This is for use with drives
+  which don't produce index pulse data. Use 0 to get index pulses from the
+  drive, 1 to fake 300RPM pulses, or 2 to fake 360RPM pulses. Note this has
+  no effect on the _drive_, so it doesn't help with flippy disks, but is
+  useful for using very old drives with FluxEngine itself. If you use this
+  option, then any index marks in the sampled flux are, of course, garbage.
+
 ### The commands

 The FluxEngine client software is a largely undocumented set of small tools.
@@ -189,12 +216,13 @@ directory.
  - `fluxengine inspect`: dumps the raw pulsetrain / bitstream to stdout.
  Mainly useful for debugging.

-  - `fluxengine read*`: reads various formats of disk. See the per-format
+  - `fluxengine read *`: reads various formats of disk. See the per-format
  documentation linked from the table above. These all take an optional
  `--write-flux` option which will cause the raw flux to be written to the
-  specified file.
+  specified file. There are various `--dump` options for showing raw data
+  during the decode process.

-  - `fluxengine write*`: writes various formats of disk. Again, see the
+  - `fluxengine write *`: writes various formats of disk. Again, see the
  per-format documentation above.

  - `fluxengine writeflux`: writes raw flux files. This is much less useful
--- a/lib/decoders/decoders.cc
+++ b/lib/decoders/decoders.cc
@@ -25,7 +25,7 @@ void AbstractDecoder::decodeToSectors(Track& track)
    beginTrack();
    for (;;)
    {
-        Fluxmap::Position recordStart = sector.position = fmr.tell();
+        Fluxmap::Position recordStart = fmr.tell();
        sector.clock = 0;
        sector.status = Sector::MISSING;
        sector.data.clear();
@@ -41,7 +41,7 @@ void AbstractDecoder::decodeToSectors(Track& track)

        /* Read the sector record. */

-        recordStart = fmr.tell();
+        sector.position = recordStart = fmr.tell();
        decodeSectorRecord();
        Fluxmap::Position recordEnd = fmr.tell();
        pushRecord(recordStart, recordEnd);
@@ -51,14 +51,19 @@ void AbstractDecoder::decodeToSectors(Track& track)

            sector.headerStartTime = recordStart.ns();
            sector.headerEndTime = recordEnd.ns();
-            r = advanceToNextRecord();
+			for (;;)
+			{
+				r = advanceToNextRecord();
+				if (r != UNKNOWN_RECORD)
+					break;
+				if (fmr.readNextMatchingOpcode(F_OP_PULSE) == 0)
+                    break;
+			}
+            recordStart = fmr.tell();
            if (r == DATA_RECORD)
-            {
-                recordStart = fmr.tell();
                decodeDataRecord();
-                recordEnd = fmr.tell();
-                pushRecord(recordStart, recordEnd);
-            }
+            recordEnd = fmr.tell();
+            pushRecord(recordStart, recordEnd);
        }
        sector.dataStartTime = recordStart.ns();
        sector.dataEndTime = recordEnd.ns();
--- a/lib/decoders/decoders.h
+++ b/lib/decoders/decoders.h
@@ -20,6 +20,7 @@ extern void setDecoderManualClockRate(double clockrate_us);

 extern Bytes decodeFmMfm(std::vector<bool>::const_iterator start,
    std::vector<bool>::const_iterator end);
+extern void encodeMfm(std::vector<bool>& bits, unsigned& cursor, const Bytes& input);

 static inline Bytes decodeFmMfm(const std::vector<bool> bits)
 { return decodeFmMfm(bits.begin(), bits.end()); }
--- a/lib/decoders/fluxmapreader.cc
+++ b/lib/decoders/fluxmapreader.cc
@@ -18,13 +18,18 @@ DoubleFlag pulseDebounceThreshold(
 static DoubleFlag clockDecodeThreshold(
    { "--bit-error-threshold" },
    "Amount of error to tolerate in pulse timing, in fractions of a clock.",
-    0.20);
+    0.40);

 static DoubleFlag clockIntervalBias(
    { "--clock-interval-bias" },
    "Adjust intervals between pulses by this many clocks before decoding.",
    -0.02);

+static DoubleFlag minimumClockUs(
+    { "--minimum-clock-us" },
+    "Refuse to detect clocks shorter than this, to avoid false positives.",
+    0.75);
+
 int FluxmapReader::readOpcode(unsigned& ticks)
 {
    ticks = 0;
@@ -222,7 +227,9 @@ nanoseconds_t FluxmapReader::seekToPattern(const FluxMatcher& pattern, const Flu
            seek(positions[intervalCount-match.intervals]);
            _pos.zeroes = match.zeroes;
            matching = match.matcher;
-            return match.clock * NS_PER_TICK;
+            nanoseconds_t detectedClock = match.clock * NS_PER_TICK;
+            if (detectedClock > (minimumClockUs*1000))
+                return match.clock * NS_PER_TICK;
        }

        for (unsigned i=0; i<intervalCount; i++)
--- a/lib/decoders/fmmfm.cc
+++ b/lib/decoders/fmmfm.cc
@@ -51,3 +51,25 @@ Bytes decodeFmMfm(

    return bytes;
 }
+
+void encodeMfm(std::vector<bool>& bits, unsigned& cursor, const Bytes& input)
+{
+    bool lastBit = false;
+    unsigned len = bits.size()-1;
+
+    for (uint8_t b : input)
+    {
+        for (int i=0; i<8; i++)
+        {
+            bool bit = b & 0x80;
+            b <<= 1;
+
+            if (cursor >= len)
+                return;
+            
+            bits[cursor++] = !lastBit && !bit;
+            bits[cursor++] = bit;
+            lastBit = bit;
+        }
+    }
+}
--- a/lib/flags.cc
+++ b/lib/flags.cc
@@ -157,6 +157,8 @@ Flag::Flag(const std::vector<std::string>& names, const std::string helptext):
    _names(names),
    _helptext(helptext)
 {
+    if (!currentFlagGroup)
+        Error() << "no flag group defined for " << *names.begin();
    _group.addFlag(this);
 }

--- a/lib/fluxsink/fluxsink.h
+++ b/lib/fluxsink/fluxsink.h
@@ -1,6 +1,10 @@
 #ifndef FLUXSINK_H
 #define FLUXSINK_H

+#include "flags.h"
+
+extern FlagGroup hardwareFluxSinkFlags;
+
 class Fluxmap;
 class FluxSpec;

--- a/lib/fluxsink/hardwarefluxsink.cc
+++ b/lib/fluxsink/hardwarefluxsink.cc
@@ -4,8 +4,15 @@
 #include "usb.h"
 #include "fluxsink/fluxsink.h"

+FlagGroup hardwareFluxSinkFlags;
+
 static bool high_density = false;

+static IntFlag indexMode(
+    { "--write-index-mode" },
+    "index pulse source (0=drive, 1=300 RPM fake source, 2=360 RPM fake source",
+    0);
+
 void setHardwareFluxSinkDensity(bool high_density)
 {
 	::high_density = high_density;
@@ -26,7 +33,7 @@ public:
 public:
    void writeFlux(int track, int side, Fluxmap& fluxmap)
    {
-        usbSetDrive(_drive, high_density);
+        usbSetDrive(_drive, high_density, indexMode);
        usbSeek(track);

        Bytes crunched = fluxmap.rawBytes().crunch();
--- a/lib/fluxsource/fluxsource.h
+++ b/lib/fluxsource/fluxsource.h
@@ -27,8 +27,9 @@ public:
    virtual bool retryable() { return false; }
 };

-extern void setHardwareFluxSourceRevolutions(int revolutions);
+extern void setHardwareFluxSourceRevolutions(double revolutions);
 extern void setHardwareFluxSourceDensity(bool high_density);
+extern void setHardwareFluxSourceSynced(bool synced);

 #endif

--- a/lib/fluxsource/hardwarefluxsource.cc
+++ b/lib/fluxsource/hardwarefluxsource.cc
@@ -3,13 +3,24 @@
 #include "fluxmap.h"
 #include "usb.h"
 #include "fluxsource/fluxsource.h"
+#include "fmt/format.h"

 FlagGroup hardwareFluxSourceFlags;

-static IntFlag revolutions(
+static DoubleFlag revolutions(
    { "--revolutions" },
    "read this many revolutions of the disk",
-    1);
+    1.25);
+
+static BoolFlag synced(
+    { "--sync-with-index" },
+    "whether to wait for an index pulse before started to read",
+    false);
+
+static IntFlag indexMode(
+    { "--index-mode" },
+    "index pulse source (0=drive, 1=300 RPM fake source, 2=360 RPM fake source",
+    0);

 static bool high_density = false;

@@ -24,6 +35,10 @@ public:
    HardwareFluxSource(unsigned drive):
        _drive(drive)
    {
+        usbSetDrive(_drive, high_density, indexMode);
+        std::cerr << "Measuring rotational speed... " << std::flush;
+        _oneRevolution = usbGetRotationalPeriod();
+        std::cerr << fmt::format("{}ms\n", _oneRevolution / 1e6);
    }

    ~HardwareFluxSource()
@@ -33,9 +48,9 @@ public:
 public:
    std::unique_ptr<Fluxmap> readFlux(int track, int side)
    {
-        usbSetDrive(_drive, high_density);
+        usbSetDrive(_drive, high_density, indexMode);
        usbSeek(track);
-        Bytes crunched = usbRead(side, revolutions);
+        Bytes crunched = usbRead(side, synced, revolutions * _oneRevolution);
        auto fluxmap = std::make_unique<Fluxmap>();
        fluxmap->appendBytes(crunched.uncrunch());
        return fluxmap;
@@ -54,13 +69,19 @@ public:
 private:
    unsigned _drive;
    unsigned _revolutions;
+    nanoseconds_t _oneRevolution;
 };

-void setHardwareFluxSourceRevolutions(int revolutions)
+void setHardwareFluxSourceRevolutions(double revolutions)
 {
    ::revolutions.setDefaultValue(revolutions);
 }

+void setHardwareFluxSourceSynced(bool synced)
+{
+    ::synced.setDefaultValue(synced);
+}
+
 std::unique_ptr<FluxSource> FluxSource::createHardwareFluxSource(unsigned drive)
 {
    return std::unique_ptr<FluxSource>(new HardwareFluxSource(drive));
--- a/lib/reader.cc
+++ b/lib/reader.cc
@@ -46,7 +46,11 @@ static SettableFlag justRead(

 static SettableFlag dumpRecords(
 	{ "--dump-records" },
-	"Dump the parsed records.");
+	"Dump the parsed but undecoded records.");
+
+static SettableFlag dumpSectors(
+	{ "--dump-sectors" },
+	"Dump the decoded sectors.");

 static IntFlag retries(
 	{ "--retries" },
@@ -219,10 +223,7 @@ void readDiskCommand(AbstractDecoder& decoder)
                std::cout << "giving up" << std::endl
                          << "       ";
            else
-            {
 				std::cout << retry << " retries remaining" << std::endl;
-                track->fluxsource->recalibrate();
-            }
 		}

 		if (dumpRecords)
@@ -230,13 +231,27 @@ void readDiskCommand(AbstractDecoder& decoder)
 			std::cout << "\nRaw (undecoded) records follow:\n\n";
 			for (auto& record : track->rawrecords)
 			{
-				std::cout << fmt::format("I+{:.2f}us", record.position.ns() / 1000.0)
-						<< std::endl;
+				std::cout << fmt::format("I+{:.2f}us with {:.2f}us clock\n",
+                            record.position.ns() / 1000.0, record.clock / 1000.0);
 				hexdump(std::cout, record.data);
 				std::cout << std::endl;
 			}
 		}

+        if (dumpSectors)
+        {
+            std::cout << "\nDecoded sectors follow:\n\n";
+            for (auto& i : readSectors)
+            {
+                auto& sector = i.second;
+				std::cout << fmt::format("{}.{:02}.{:02}: I+{:.2f}us with {:.2f}us clock\n",
+                            sector->logicalTrack, sector->logicalSide, sector->logicalSector,
+                            sector->position.ns() / 1000.0, sector->clock / 1000.0);
+				hexdump(std::cout, sector->data);
+				std::cout << std::endl;
+            }
+        }
+
        int size = 0;
 		bool printedTrack = false;
        for (auto& i : readSectors)
--- a/lib/usb.cc
+++ b/lib/usb.cc
@@ -149,7 +149,7 @@ nanoseconds_t usbGetRotationalPeriod(void)
    usb_cmd_send(&f, f.f.size);

    auto r = await_reply<struct speed_frame>(F_FRAME_MEASURE_SPEED_REPLY);
-    return r->period_ms * 1000;
+    return r->period_ms * 1000000;
 }

 static int large_bulk_transfer(int ep, Bytes& bytes)
@@ -202,13 +202,16 @@ void usbTestBulkTransport()
    await_reply<struct any_frame>(F_FRAME_BULK_TEST_REPLY);
 }

-Bytes usbRead(int side, int revolutions)
+Bytes usbRead(int side, bool synced, nanoseconds_t readTime)
 {
    struct read_frame f = {
        .f = { .type = F_FRAME_READ_CMD, .size = sizeof(f) },
        .side = (uint8_t) side,
-        .revolutions = (uint8_t) revolutions
+        .synced = (uint8_t) synced
    };
+    uint16_t milliseconds = readTime / 1e6;
+    ((uint8_t*)&f.milliseconds)[0] = milliseconds;
+    ((uint8_t*)&f.milliseconds)[1] = milliseconds >> 8;
    usb_cmd_send(&f, f.f.size);

    auto fluxmap = std::unique_ptr<Fluxmap>(new Fluxmap);
@@ -253,13 +256,15 @@ void usbErase(int side)
    await_reply<struct any_frame>(F_FRAME_ERASE_REPLY);
 }

-void usbSetDrive(int drive, bool high_density)
+void usbSetDrive(int drive, bool high_density, int index_mode)
 {
    usb_init();

    struct set_drive_frame f = {
        { .type = F_FRAME_SET_DRIVE_CMD, .size = sizeof(f) },
-        .drive_flags = (uint8_t)((drive ? DRIVE_1 : DRIVE_0) | (high_density ? DRIVE_HD : DRIVE_DD)),
+        .drive = (uint8_t) drive,
+        .high_density = high_density,
+        .index_mode = (uint8_t) index_mode
    };
    usb_cmd_send(&f, f.f.size);
    await_reply<struct any_frame>(F_FRAME_SET_DRIVE_REPLY);
--- a/lib/usb.h
+++ b/lib/usb.h
@@ -9,10 +9,10 @@ extern void usbRecalibrate();
 extern void usbSeek(int track);
 extern nanoseconds_t usbGetRotationalPeriod();
 extern void usbTestBulkTransport();
-extern Bytes usbRead(int side, int revolutions);
+extern Bytes usbRead(int side, bool synced, nanoseconds_t readTime);
 extern void usbWrite(int side, const Bytes& bytes);
 extern void usbErase(int side);
-extern void usbSetDrive(int drive, bool high_density);
+extern void usbSetDrive(int drive, bool high_density, int index_mode);
 extern void usbMeasureVoltages(struct voltages_frame* voltages);

 #endif
--- a/lib/writer.cc
+++ b/lib/writer.cc
@@ -15,7 +15,7 @@
 #include "sector.h"
 #include "sectorset.h"

-FlagGroup writerFlags { &hardwareFluxSourceFlags };
+FlagGroup writerFlags { &hardwareFluxSourceFlags, &hardwareFluxSinkFlags };

 static DataSpecFlag dest(
    { "--dest", "-d" },
--- a/mkninja.sh
+++ b/mkninja.sh
@@ -145,6 +145,8 @@ buildlibrary libbackend.a \
 	lib/imagewriter/ldbsimagewriter.cc \
    arch/aeslanier/decoder.cc \
    arch/amiga/decoder.cc \
+    arch/amiga/encoder.cc \
+    arch/amiga/amiga.cc \
    arch/apple2/decoder.cc \
    arch/brother/decoder.cc \
    arch/brother/encoder.cc \
@@ -214,6 +216,7 @@ buildlibrary libfrontend.a \
    src/fe-testbulktransport.cc \
    src/fe-testvoltages.cc \
    src/fe-upgradefluxfile.cc \
+    src/fe-writeamiga.cc \
    src/fe-writebrother.cc \
    src/fe-writeflux.cc \
    src/fe-writetestpattern.cc \
@@ -251,3 +254,4 @@ runtest fluxpattern-test    tests/fluxpattern.cc
 runtest fmmfm-test          tests/fmmfm.cc
 runtest kryoflux-test       tests/kryoflux.cc
 runtest ldbs-test           tests/ldbs.cc
+runtest amiga-test          tests/amiga.cc
--- a/protocol.h
+++ b/protocol.h
@@ -3,7 +3,7 @@

 enum 
 {
-    FLUXENGINE_VERSION = 8,
+    FLUXENGINE_VERSION = 11,

    FLUXENGINE_VID = 0x1209,
    FLUXENGINE_PID = 0x6e00,
@@ -75,6 +75,13 @@ enum
    F_ERROR_INTERNAL,
 };

+enum
+{
+    F_INDEX_REAL,
+    F_INDEX_300,
+    F_INDEX_360
+};
+
 enum
 {
    F_OP_PULSE = 0x80,
@@ -126,7 +133,8 @@ struct read_frame
 {
    struct frame_header f;
    uint8_t side;
-    uint8_t revolutions;
+    uint8_t synced;
+    uint16_t milliseconds;
 };

 struct write_frame
@@ -145,7 +153,9 @@ struct erase_frame
 struct set_drive_frame
 {
    struct frame_header f;
-    uint8_t drive_flags;
+    uint8_t drive;
+    uint8_t high_density;
+    uint8_t index_mode;
 };

 struct voltages
--- a/src/fe-readaeslanier.cc
+++ b/src/fe-readaeslanier.cc
@@ -12,11 +12,6 @@

 static FlagGroup flags { &readerFlags };

-static StringFlag outputFilename(
-    { "--output", "-o" },
-    "The output image file to write to.",
-    "aeslanier.img");
-
 int mainReadAESLanier(int argc, const char* argv[])
 {
 	setReaderDefaultSource(":t=0-79:s=0");
--- a/src/fe-rpm.cc
+++ b/src/fe-rpm.cc
@@ -2,6 +2,7 @@
 #include "flags.h"
 #include "usb.h"
 #include "dataspec.h"
+#include "protocol.h"

 static FlagGroup flags;

@@ -15,9 +16,18 @@ int mainRpm(int argc, const char* argv[])
    flags.parseFlags(argc, argv);

    FluxSpec spec(source);
-    usbSetDrive(spec.drive, false);
+    usbSetDrive(spec.drive, false, F_INDEX_REAL);
    nanoseconds_t period = usbGetRotationalPeriod();
-    std::cout << "Rotational period is " << period/1000 << " ms (" << 60e6/period << " rpm)" << std::endl;
+    if (period != 0)
+        std::cout << "Rotational period is " << period/1000000 << " ms (" << 60e3/period << " rpm)" << std::endl;
+    else
+    {
+        std::cout << "No index pulses detected from the disk. Common causes of this are:\n"
+                     "  - no drive is connected\n"
+                     "  - the drive doesn't have an index sensor (e.g. BBC Micro drives)\n"
+                     "  - the disk has no index holes (e.g. reversed flippy disks)\n"
+                     "  - (most common) no disk is inserted in the drive!\n";
+    }

    return 0;
 }
--- a/src/fe-seek.cc
+++ b/src/fe-seek.cc
@@ -1,6 +1,7 @@
 #include "globals.h"
 #include "flags.h"
 #include "usb.h"
+#include "protocol.h"

 static FlagGroup flags;

@@ -18,7 +19,7 @@ int mainSeek(int argc, const char* argv[])
 {
    flags.parseFlags(argc, argv);

-    usbSetDrive(drive, false);
+    usbSetDrive(drive, false, F_INDEX_REAL);
    usbSeek(track);
    return 0;
 }
--- a/src/fe-writeamiga.cc
+++ b/src/fe-writeamiga.cc
@@ -0,0 +1,23 @@
+#include "globals.h"
+#include "flags.h"
+#include "decoders/decoders.h"
+#include "amiga/amiga.h"
+#include "writer.h"
+#include "fmt/format.h"
+#include "image.h"
+#include <fstream>
+
+static FlagGroup flags { &writerFlags, &amigaEncoderFlags };
+
+int mainWriteAmiga(int argc, const char* argv[])
+{
+    setWriterDefaultInput(":c=80:h=2:s=11:b=512");
+    setWriterDefaultDest(":d=0:t=0-79:s=0-1");
+    flags.parseFlags(argc, argv);
+
+	AmigaEncoder encoder;
+	writeDiskCommand(encoder);
+
+    return 0;
+}
+
--- a/src/fluxengine.cc
+++ b/src/fluxengine.cc
@@ -29,6 +29,7 @@ extern command_cb mainSeek;
 extern command_cb mainTestBulkTransport;
 extern command_cb mainTestVoltages;
 extern command_cb mainUpgradeFluxFile;
+extern command_cb mainWriteAmiga;
 extern command_cb mainWriteBrother;
 extern command_cb mainWriteFlux;
 extern command_cb mainWriteTestPattern;
@@ -81,6 +82,7 @@ static std::vector<Command> readables =

 static std::vector<Command> writeables =
 {
+    { "amiga",         mainWriteAmiga,    "Writes Amiga disks.", },
    { "brother",       mainWriteBrother,  "Writes 120kB and 240kB Brother word processor disks.", },
 };

--- a/tests/amiga.cc
+++ b/tests/amiga.cc
@@ -0,0 +1,38 @@
+#include "globals.h"
+#include "bytes.h"
+#include "record.h"
+#include "decoders/decoders.h"
+#include "arch/amiga/amiga.h"
+#include <assert.h>
+
+static const Bytes testData = {
+    0x52, /* 0101 0010 */
+    0xff, /* 1111 1111 */
+    0x4a, /* 0100 1010 */
+    0x22, /* 0010 0010 */
+};
+static const Bytes testDataInterleaved = {
+    0x1f, /* 0001 1111 */
+    0x35, /* 0011 0101 */
+    0xcf, /* 1100 1111 */
+    0x80, /* 1000 0000 */
+};
+
+static void testInterleave(void)
+{
+    Bytes interleaved = amigaInterleave(testData);
+    assert(interleaved == testDataInterleaved);
+}
+
+static void testDeinterleave(void)
+{
+    Bytes deinterleaved = amigaDeinterleave(testDataInterleaved);
+    assert(deinterleaved == testData);
+}
+
+int main(int argc, const char* argv[])
+{
+    testDeinterleave();
+    testInterleave();
+    return 0;
+}
Author	SHA1	Message	Date
David Given	c4ef4882ae	Merge pull request #130 from davidgiven/fixing Fix a nasty firmware memory corruption bug	2020-01-27 23:15:20 +01:00
David Given	a8eca06cf0	Don't hang if we hit the end of stream while waiting for a data record.	2020-01-27 23:09:29 +01:00
David Given	065257b5aa	Remove stray tracing.	2020-01-27 23:09:07 +01:00
David Given	29bdfc043a	Allow fractional revolutions and non-synced reading. Find more things which need fixing in the firmware sampler.	2020-01-27 22:52:25 +01:00
David Given	933ffe7ab4	Find and attempt to fix a memory corruption error when sampling --- if the next fragment arrives from the sampler before usbbuffer has finished being transmitted via USB, it'll get overwritten. I've disabled DMA USB to make the code easier to understand and made sure that we flush things more rigorously. This may help the weird pipe errors, too.	2020-01-27 21:40:27 +01:00
David Given	e517f28563	Merge pull request #129 from davidgiven/fixing Make decoding more robust	2020-01-27 01:21:40 +01:00
David Given	91ffcf59c3	When reading data records, retry if we get an UNKNOWN record to work the occasional false positive (which happens now and again with MFM).	2020-01-27 01:15:14 +01:00
David Given	51c618f325	Merge from trunk.	2020-01-26 23:53:29 +01:00
David Given	9dc1067032	Add --dump-sectors. Sector positions are recorded correctly.	2020-01-26 18:30:35 +01:00
David Given	9e75dc3af1	Merge pull request #127 from davidgiven/fixing Fix an issue where HD IBM disks can't be read	2020-01-26 18:06:15 +01:00
David Given	efa4c933b3	Made the MFM marker byte detection a lot more robust --- prevents false positives; it looks like the new sampler is producing a little bit of wobble which randomly spoofs a marker byte now and again. This prevents this from happening (so far).	2020-01-26 17:58:08 +01:00
David Given	6af80d1e5e	Improve some messaging. A data record is always pushed, even if it's empty (to help debugging).	2020-01-26 17:49:12 +01:00
David Given	0c48897814	Add a minimum clock threshold.	2020-01-26 17:48:33 +01:00
David Given	60e5e35947	Merge pull request #124 from davidgiven/tweaks Several index pulse fixes	2020-01-12 01:42:39 +01:00
David Given	86c4e959ca	Mac error fix.	2020-01-12 01:38:19 +01:00
David Given	b0c675c589	Improved error messages when using fe-rpm and it doesn't work.	2020-01-12 01:34:12 +01:00
David Given	d77841c3b7	Add the ability to fake the index pulse source, allowing old drives to be used with FluxEngine.	2020-01-12 01:23:47 +01:00
David Given	4ed1fb6bac	Document the extra index pulses.	2020-01-10 21:23:33 +01:00
David Given	bcc9e9d9a5	Bump the protocol number (I forgot last time I changed the protocol).	2020-01-10 21:04:33 +01:00
David Given	ec327e25a4	Merge pull request #121 from davidgiven/amiga Add support for writing Amiga disks.	2019-12-14 21:55:00 +01:00
David Given	d0ed5b32f7	Add support for 528-byte sectors. Adjust the post-index gap to (try?) and fit all the data in one revolution. I think my write clock is a bit slow.	2019-12-14 21:49:31 +01:00
David Given	7c66e1b0d4	Don't recalibrate after drive errors --- it's really annoying and I don't think it helps.	2019-12-14 21:43:48 +01:00
David Given	4475e9f085	Increase the default bit-error-threshold to 0.4, because that's the value I almost always end up using.	2019-12-14 21:33:39 +01:00
David Given	5c9639ec5a	Document the Amiga write support.	2019-12-14 21:15:47 +01:00
David Given	792cc88192	The Amiga writer now generates valid flux files --- but it looks like the writer's broken (both the Amiga and the Brother have failed).	2019-12-14 20:44:48 +01:00
David Given	21fe586724	Update OSX build instructions.	2019-12-14 11:37:43 +01:00
David Given	5a0fb2761a	Update OSX build instructions.	2019-12-14 11:37:43 +01:00
David Given	ef4581ed39	Merge from trunk.	2019-12-13 23:59:03 +01:00
David Given	d2f8c27cb6	Add checksum routine.	2019-12-01 09:11:36 +01:00
David Given	eaa3c57425	Non-functional boilerplate of Amiga write support.	2019-12-01 09:07:43 +01:00
David Given	549f12a2ab	Merge from master.	2019-12-01 08:36:44 +01:00
David Given	aea254fbe7	Made the AES Lanier reader work again.	2019-12-01 08:35:25 +01:00