Merge pull request #182 from davidgiven/usb

Add support for multiple simultaneously connected FluxEngines.
Show serial number on device connection, and improve the device listing a bit.
2025-10-31 11:17:01 -07:00 · 2020-08-10 23:32:16 +02:00 · 2020-08-10 23:16:04 +02:00 · 2020-08-10 23:12:33 +02:00 · 2020-08-10 22:36:47 +02:00 · 2020-08-09 22:33:54 +02:00
39 changed files with 1204 additions and 765 deletions
--- a/FluxEngine.cydsn/CortexM3/ARM_GCC_541/Release/FluxEngine.hex
+++ b/FluxEngine.cydsn/CortexM3/ARM_GCC_541/Release/FluxEngine.hex
@@ -1,243 +1,243 @@
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+:400A40000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000076
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@@ -4615,12 +4615,12 @@
 :0200000490105A
 :04000000BC90ACAF55
 :0200000490303A
-:0200000043BA01
+:02000000861365
 :0200000490402A
 :4000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000C0
 :400040000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000080
 :400080000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000040
 :4000C0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
 :0200000490501A
-:0C00000000012E16106900002E30542361
+:0C00000000012E16106900002E2F967CC7
 :00000001FF
--- a/FluxEngine.cydsn/Sampler/Sampler.v
+++ b/FluxEngine.cydsn/Sampler/Sampler.v
@@ -1,7 +1,6 @@

 //`#start header` -- edit after this line, do not edit this line
 `include "cypress.v"
-`include "../SuperCounter/SuperCounter.v"

 //`#end` -- edit above this line, do not edit this line
 // Generated on 12/11/2019 at 21:18
@@ -9,7 +8,7 @@
 module Sampler (
 	output [2:0] debug_state,
 	output reg [7:0] opcode,
-	output  req,
+	output  reg       req,
 	input   clock,
 	input   index,
 	input   rdata,
@@ -19,77 +18,62 @@ module Sampler (

 //`#start body` -- edit after this line, do not edit this line

-localparam STATE_WAITING = 0;
-localparam STATE_OPCODE = 1;
+// NOTE: Reset pulse is used in both clock domains, and must be long enough
+// to be detected in both.

-reg [0:0] state;
 reg [5:0] counter;

-reg oldsampleclock;
-reg oldindex;
-reg oldrdata;
+reg index_q;
+reg rdata_q;

-reg sampleclocked;
-reg indexed;
-reg rdataed;
+reg index_edge;
+reg rdata_edge;

-assign req = (state == STATE_OPCODE);
+reg req_toggle;

-always @(posedge clock)
+always @(posedge sampleclock)
 begin
    if (reset)
    begin
-        state <= STATE_WAITING;
-        opcode <= 0;
-        sampleclocked <= 0;
-        indexed <= 0;
-        rdataed <= 0;
-        oldsampleclock <= 0;
-        oldindex <= 0;
-        oldrdata <= 0;
+        index_edge <= 0;
+        rdata_edge <= 0;
+        index_q <= 0;
+        rdata_q <= 0;
        counter <= 0;
+        req_toggle <= 0;
    end
    else
    begin
-        /* Remember positive egdes for sampleclock, index and rdata. */
+        /* Both index and rdata are active high -- positive-going edges
+         * indicate the start of an index pulse and read pulse, respectively.
+         */
+         
+        index_edge <= index && !index_q;
+        index_q <= index;
        
-        if (sampleclock && !oldsampleclock)
-            sampleclocked <= 1;
-        oldsampleclock <= sampleclock;
+        rdata_edge <= rdata && !rdata_q;
+        rdata_q <= rdata;
        
-        if (index && !oldindex)
-            indexed <= 1;
-        oldindex <= index;
-        
-        if (rdata && !oldrdata)
-            rdataed <= 1;
-        oldrdata <= rdata;
-        
-        case (state)
-            STATE_WAITING:
-            begin
-                if (sampleclocked)
-                begin
-                    if (rdataed || indexed || (counter == 6'h3f))
-                    begin
-                        opcode <= {rdataed, indexed, counter};
-                        rdataed <= 0;
-                        indexed <= 0;
-                        counter <= 1; /* remember to count this tick */
-                        state <= STATE_OPCODE;
-                    end
-                    else
-                        counter <= counter + 1;
-                        
-                    sampleclocked <= 0;
-                end
-            end
-            
-            STATE_OPCODE: /* opcode sent here */
-            begin
-                state <= STATE_WAITING;
-            end
-        endcase
+        if (rdata_edge || index_edge || (counter == 6'h3f)) begin
+            opcode <= { rdata_edge, index_edge, counter };
+            req_toggle <= ~req_toggle;
+            counter <= 1;   /* remember to count this tick */
+        end else begin
+            counter <= counter + 1;
+        end
+    end
+end
+
+reg req_toggle_q;
+
+always @(posedge clock)
+begin
+    if (reset) begin
+        req_toggle_q <= 0;
+        req <= 0;
+    end else begin
+        req_toggle_q <= req_toggle;
+        req <= (req_toggle != req_toggle_q);
    end
 end

--- a/FluxEngine.cydsn/TopDesign/TopDesign.cysch
+++ b/FluxEngine.cydsn/TopDesign/TopDesign.cysch
--- a/FluxEngine.cydsn/main.c
+++ b/FluxEngine.cydsn/main.c
@@ -537,14 +537,14 @@ static void cmd_write(struct write_frame* f)

    init_replay_dma();
    bool writing = false; /* to the disk */
-    bool finished = false;
    int packets = f->bytes_to_write / FRAME_SIZE;
+    bool finished = (packets == 0);
    int count_written = 0;
    int count_read = 0;
    dma_writing_to_td = 0;
    dma_reading_from_td = -1;
    dma_underrun = false;
-
+    
    int old_reading_from_td = -1;
    for (;;)
    {
--- a/2
+++ b/2
@@ -39,7 +39,7 @@ CFLAGS += -Ilib -Idep/fmt -Iarch
 export OBJDIR = .obj

 all: .obj/build.ninja
-	@ninja -f .obj/build.ninja -v
+	@ninja -f .obj/build.ninja

 clean:
 	@echo CLEAN
--- a/arch/brother/brother.h
+++ b/arch/brother/brother.h
@@ -9,7 +9,8 @@
 #define BROTHER_DATA_RECORD_CHECKSUM     3
 #define BROTHER_DATA_RECORD_ENCODED_SIZE 415

-#define BROTHER_TRACKS_PER_DISK          78
+#define BROTHER_TRACKS_PER_240KB_DISK    78
+#define BROTHER_TRACKS_PER_120KB_DISK    39
 #define BROTHER_SECTORS_PER_TRACK        12

 class Sector;
@@ -28,8 +29,16 @@ public:
 class BrotherEncoder : public AbstractEncoder
 {
 public:
+	BrotherEncoder(int format, int bias):
+		_format(format),
+		_bias(bias)
+	{}
+
 	virtual ~BrotherEncoder() {}

+private:
+	int _format;
+	int _bias;
 public:
    std::unique_ptr<Fluxmap> encode(int physicalTrack, int physicalSide, const SectorSet& allSectors);
 };
--- a/arch/brother/encoder.cc
+++ b/arch/brother/encoder.cc
@@ -129,9 +129,25 @@ static int charToInt(char c)
 std::unique_ptr<Fluxmap> BrotherEncoder::encode(
 	int physicalTrack, int physicalSide, const SectorSet& allSectors)
 {
-	if ((physicalTrack < 0) || (physicalTrack >= BROTHER_TRACKS_PER_DISK)
-        || (physicalSide != 0))
+	int logicalTrack;
+	if (physicalSide != 0)
 		return std::unique_ptr<Fluxmap>();
+	physicalTrack -= _bias;
+	switch (_format)
+	{
+		case 120:
+			if ((physicalTrack < 0) || (physicalTrack >= (BROTHER_TRACKS_PER_120KB_DISK*2))
+					|| (physicalTrack & 1))
+				return std::unique_ptr<Fluxmap>();
+			logicalTrack = physicalTrack/2;
+			break;
+
+		case 240:
+			if ((physicalTrack < 0) || (physicalTrack >= BROTHER_TRACKS_PER_240KB_DISK))
+				return std::unique_ptr<Fluxmap>();
+			logicalTrack = physicalTrack;
+			break;
+	}

 	int bitsPerRevolution = 200000.0 / clockRateUs;
 	const std::string& skew = sectorSkew.get();
@@ -146,10 +162,10 @@ std::unique_ptr<Fluxmap> BrotherEncoder::encode(
 		double dataMs = headerMs + postHeaderSpacingMs;
 		unsigned dataCursor = dataMs*1e3 / clockRateUs;

-		const auto& sectorData = allSectors.get(physicalTrack, 0, sectorId);
+		const auto& sectorData = allSectors.get(logicalTrack, 0, sectorId);

 		fillBitmapTo(bits, cursor, headerCursor, { true, false });
-		write_sector_header(bits, cursor, physicalTrack, sectorId);
+		write_sector_header(bits, cursor, logicalTrack, sectorId);
 		fillBitmapTo(bits, cursor, dataCursor, { true, false });
 		write_sector_data(bits, cursor, sectorData->data);
 	}
--- a/arch/ibm/decoder.cc
+++ b/arch/ibm/decoder.cc
@@ -57,11 +57,11 @@ const FluxPattern FM_TRS80DAM1_PATTERN(16, 0xf56b);

 /* 
 * TRS80DAM2 record:
- * flux:   XXXX-X-X-XX-XXX- = 0xf56c
+ * flux:   XXXX-X-X-XX-XXX- = 0xf56e
 * clock:  X X - - - X X X  = 0xc7
 * data:    X X X X X - X - = 0xfa
 */
-const FluxPattern FM_TRS80DAM2_PATTERN(16, 0xf56c);
+const FluxPattern FM_TRS80DAM2_PATTERN(16, 0xf56e);

 /* MFM record separator:
 * 0xA1 is:
--- a/arch/ibm/encoder.cc
+++ b/arch/ibm/encoder.cc
@@ -205,6 +205,7 @@ std::unique_ptr<Fluxmap> IbmEncoder::encode(

 			Bytes truncatedData = sectorData->data.slice(0, _parameters.sectorSize);
 			bw += truncatedData;
+			hexdump(std::cout, data.slice(0, 64));
 			uint16_t crc = crc16(CCITT_POLY, data);
 			bw.write_be16(crc);

--- a/arch/macintosh/decoder.cc
+++ b/arch/macintosh/decoder.cc
@@ -121,7 +121,7 @@ uint8_t decode_side(uint8_t side)
     * bit 5) and also whether we're above track 0x3f (in bit 6).
     */

-    return !!(side & 0x40);
+    return !!(side & 0x20);
 }

 AbstractDecoder::RecordType MacintoshDecoder::advanceToNextRecord()
--- a/arch/mx/decoder.cc
+++ b/arch/mx/decoder.cc
@@ -37,7 +37,7 @@ AbstractDecoder::RecordType MxDecoder::advanceToNextRecord()
        const FluxMatcher* matcher = nullptr;
        _sector->clock = _clock = _fmr->seekToPattern(ID_PATTERN, matcher);
        readRawBits(32); /* skip the ID mark */
-        _logicalTrack = decodeFmMfm(readRawBits(32)).reader().read_be16();
+        _logicalTrack = decodeFmMfm(readRawBits(32)).slice(0, 32).reader().read_be16();
    }
    else if (_currentSector == 10)
    {
--- a/doc/disk-macintosh.md
+++ b/doc/disk-macintosh.md
@@ -45,22 +45,20 @@ Reading discs
 Just do:

 ```
-fluxengine read mac
+fluxengine read mac -o mac.diskcopy
 ```

-You should end up with an `mac.img` which is 1001888 bytes long (for a normal
-DD disk). If you want the single-sided variety, use `-s :s=0`.
+You should end up with a `mac.diskcopy` file which is compatible with DiskCopy
+4.2, which most Mac emulators support.

-**Big warning!** The image may not work in an emulator. Mac disk images are
-complicated due to the way the tracks are different sizes and the odd sector
-size. FluxEngine chooses to store them in a simple 524 x 12 x 2 x 80 layout,
-with holes where missing sectors should be. This was easiest. If anyone can
-suggest a better way, please [get in
-touch](https://github.com/davidgiven/fluxengine/issues/new).
-
-The 12 bytes of metadata _follow_ the 512 bytes of user payload in the sector
-image. If you don't want it, specify a geometry in the output file with a
-512-byte sectore size like `-o mac.img:c=80:h=1:s=12:b=512`.
+**Big warning!** Mac disk images are complicated due to the way the tracks are
+different sizes and the odd sector size. If you use a normal `.img` file, then
+FluxEngine will store them in a simple 524 x 12 x 2 x 80 layout, with holes
+where missing sectors should be; this was easiest, but is unlikely to work with
+most Mac emulators and other software. In these files, the The 12 bytes of
+metadata _follow_ the 512 bytes of user payload in the sector image. If you
+don't want it, specify a geometry in the output file with a 512-byte sectore
+size like `-o mac.img:c=80:h=1:s=12:b=512`.

 Useful references
 -----------------
@@ -74,3 +72,7 @@ Useful references

  - [Les Disquettes et le drive Disk II](http://www.hackzapple.com/DISKII/DISKIITECH.HTM), an
    epicly detailed writeup of the Apple II disk format (which is closely related)
+
+  - [The DiskCopy 4.2
+	format](https://www.discferret.com/wiki/Apple_DiskCopy_4.2), described on
+	the DiskFerret website.
--- a/doc/using.md
+++ b/doc/using.md
@@ -34,6 +34,21 @@ interchangeably: you can specify either at (very nearly) any time. A very
 common workflow is to read a disk to a flux file, and then reread from the flux
 file while changing the decoder options, to save disk wear. It's also much faster.

+### Connecting it up
+
+To use, simply plug your FluxEngine into your computer and run the client. If a
+single device is plugged in, it will be automatically detected and used.
+
+If _more_ than one device is plugged in, you need to specify which one to use
+with the `--device` parameter, which takes the device serial number as a
+parameter.  You can find out the serial numbers by running the command without
+the `--device` parameter, and if more than one device is attached they will be
+listed. The serial number is also shown whenever a connection is made.
+
+You _can_ work with more than one FluxEngine at the same time, using different
+invocations of the client; but be careful of USB bandwidth. If the devices are
+connected via the same hub, the bandwidth will be shared.
+
 ### Source and destination specifiers

 When reading from or writing _flux_ (either from or to a real disk, or a flux
@@ -117,6 +132,10 @@ exact format varies according to the extension:
    FluxEngine's D64 support is currently limited to write only. It will work
    with up to 40 logical tracks.

+  - `.diskcopy`: a Macintosh DiskCopy 4.2 file. This is a special-purpose
+	format due to the weird layout of Mac GCR disks, but it can also support
+	720kB and 1440kB IBM disks (although there's no real benefit).
+
 ### High density disks

 High density disks use a different magnetic medium to low and double density
--- a/lib/bytes.h
+++ b/lib/bytes.h
@@ -1,6 +1,8 @@
 #ifndef BYTES_H
 #define BYTES_H

+#include <string.h>
+
 class ByteReader;
 class ByteWriter;

@@ -10,6 +12,7 @@ public:
    Bytes();
    Bytes(unsigned size);
    Bytes(const uint8_t* ptr, size_t len);
+    Bytes(const std::string& data);
    Bytes(std::initializer_list<uint8_t> data);
    Bytes(std::shared_ptr<std::vector<uint8_t>> data);
    Bytes(std::shared_ptr<std::vector<uint8_t>> data, unsigned start, unsigned end);
@@ -271,6 +274,16 @@ public:

    ByteWriter& operator += (std::istream& stream);

+	ByteWriter& append(const char* data)
+	{
+		return *this += Bytes((const uint8_t*)data, strlen(data));
+	}
+
+	ByteWriter& append(const std::string& data)
+	{
+		return *this += Bytes(data);
+	}
+
    ByteWriter& append(const Bytes data)
    {
        return *this += data;
--- a/lib/fluxmap.cc
+++ b/lib/fluxmap.cc
@@ -4,6 +4,9 @@

 Fluxmap& Fluxmap::appendBytes(const Bytes& bytes)
 {
+	if (bytes.size() == 0)
+		return *this;
+
    return appendBytes(&bytes[0], bytes.size());
 }

--- a/lib/fluxsink/hardwarefluxsink.cc
+++ b/lib/fluxsink/hardwarefluxsink.cc
@@ -1,10 +1,12 @@
 #include "globals.h"
 #include "flags.h"
 #include "fluxmap.h"
-#include "usb.h"
+#include "usb/usb.h"
 #include "fluxsink/fluxsink.h"

-FlagGroup hardwareFluxSinkFlags;
+FlagGroup hardwareFluxSinkFlags = {
+	&usbFlags,
+};

 static bool high_density = false;

--- a/lib/fluxsource/hardwarefluxsource.cc
+++ b/lib/fluxsource/hardwarefluxsource.cc
@@ -1,11 +1,13 @@
 #include "globals.h"
 #include "flags.h"
 #include "fluxmap.h"
-#include "usb.h"
+#include "usb/usb.h"
 #include "fluxsource/fluxsource.h"
 #include "fmt/format.h"

-FlagGroup hardwareFluxSourceFlags;
+FlagGroup hardwareFluxSourceFlags = {
+	&usbFlags
+};

 static DoubleFlag revolutions(
    { "--revolutions" },
--- a/lib/globals.h
+++ b/lib/globals.h
@@ -12,7 +12,7 @@
 #include <set>
 #include <cassert>

-typedef int nanoseconds_t;
+typedef double nanoseconds_t;
 class Bytes;

 extern double getCurrentTime();
--- a/lib/imagereader/imagereader.cc
+++ b/lib/imagereader/imagereader.cc
@@ -5,12 +5,15 @@
 #include "sectorset.h"
 #include "imagereader/imagereader.h"
 #include "fmt/format.h"
+#include <algorithm>
+#include <ctype.h>

 std::map<std::string, ImageReader::Constructor> ImageReader::formats =
 {
 	{".adf", ImageReader::createImgImageReader},
 	{".d81", ImageReader::createImgImageReader},
 	{".img", ImageReader::createImgImageReader},
+	{".ima", ImageReader::createImgImageReader},
 };

 static bool ends_with(const std::string& value, const std::string& ending)
--- a/lib/imagewriter/diskcopyimagewriter.cc
+++ b/lib/imagewriter/diskcopyimagewriter.cc
@@ -0,0 +1,169 @@
+#include "globals.h"
+#include "flags.h"
+#include "dataspec.h"
+#include "sector.h"
+#include "sectorset.h"
+#include "imagewriter/imagewriter.h"
+#include "fmt/format.h"
+#include "ldbs.h"
+#include <algorithm>
+#include <iostream>
+#include <fstream>
+
+static const char LABEL[] = "FluxEngine image";
+
+static void write_and_update_checksum(ByteWriter& bw, uint32_t& checksum, const Bytes& data)
+{
+	ByteReader br(data);
+	while (!br.eof())
+	{
+		uint32_t i = br.read_be16();
+		checksum += i;
+		checksum = (checksum >> 1) | (checksum << 31);
+		bw.write_be16(i);
+	}
+}
+
+class DiskCopyImageWriter : public ImageWriter
+{
+public:
+	DiskCopyImageWriter(const SectorSet& sectors, const ImageSpec& spec):
+		ImageWriter(sectors, spec)
+	{}
+
+	void writeImage()
+	{
+		bool mfm = false;
+
+		if (spec.bytes == 524)
+		{
+			/* GCR disk */
+		}
+		else if (spec.bytes == 512)
+		{
+			/* MFM disk */
+			mfm = true;
+		}
+		else
+			Error() << "this image is not compatible with the DiskCopy 4.2 format";
+
+
+		std::cout << "writing DiskCopy 4.2 image\n"
+		          << fmt::format("{} tracks, {} heads, {} sectors, {} bytes per sector; {}\n",
+				  		spec.cylinders, spec.heads, spec.sectors, spec.bytes,
+						mfm ? "MFM" : "GCR");
+
+		auto sectors_per_track = [&](int track) -> int
+		{
+			if (mfm)
+				return spec.sectors;
+
+			if (track < 16)
+				return 12;
+			if (track < 32)
+				return 11;
+			if (track < 48)
+				return 10;
+			if (track < 64)
+				return 9;
+			return 8;
+		};
+
+		Bytes image;
+		ByteWriter bw(image);
+
+		/* Write the actual sectr data. */
+
+		uint32_t dataChecksum = 0;
+		uint32_t tagChecksum = 0;
+		uint32_t offset = 0x54;
+		uint32_t sectorDataStart = offset;
+		for (int track = 0; track < spec.cylinders; track++)
+		{
+			for (int head = 0; head < spec.heads; head++)
+			{
+				int sectorCount = sectors_per_track(track);
+				for (int sectorId = 0; sectorId < sectorCount; sectorId++)
+				{
+					const auto& sector = sectors.get(track, head, sectorId);
+					if (sector)
+					{
+						bw.seek(offset);
+						write_and_update_checksum(bw, dataChecksum, sector->data.slice(0, 512));
+					}
+					offset += 512;
+				}
+			}
+		}
+		uint32_t sectorDataEnd = offset;
+		if (!mfm)
+		{
+			for (int track = 0; track < spec.cylinders; track++)
+			{
+				for (int head = 0; head < spec.heads; head++)
+				{
+					int sectorCount = sectors_per_track(track);
+					for (int sectorId = 0; sectorId < sectorCount; sectorId++)
+					{
+						const auto& sector = sectors.get(track, head, sectorId);
+						if (sector)
+						{
+							bw.seek(offset);
+							write_and_update_checksum(bw, tagChecksum, sector->data.slice(512, 12));
+						}
+						offset += 12;
+					}
+				}
+			}
+		}
+		uint32_t tagDataEnd = offset;
+
+		/* Write the header. */
+
+		uint8_t encoding;
+		uint8_t format;
+		if (mfm)
+		{
+			format = 0x22;
+			if (spec.sectors == 18)
+				encoding = 3;
+			else
+				encoding = 2;
+		}
+		else
+		{
+			if (spec.heads == 2)
+			{
+				encoding = 1;
+				format = 0x22;
+			}
+			else
+			{
+				encoding = 0;
+				format = 0x02;
+			}
+		}
+
+		bw.seek(0);
+		bw.write_8(sizeof(LABEL));
+		bw.append(LABEL);
+		bw.seek(0x40);
+		bw.write_be32(sectorDataEnd - sectorDataStart); /* data size */
+		bw.write_be32(tagDataEnd - sectorDataEnd); /* tag size */
+		bw.write_be32(dataChecksum); /* data checksum */
+		bw.write_be32(tagChecksum); /* tag checksum */
+		bw.write_8(encoding); /* encoding */
+		bw.write_8(format); /* format byte */
+		bw.write_be16(0x0100); /* magic number */
+
+		image.writeToFile(spec.filename);
+    }
+};
+
+std::unique_ptr<ImageWriter> ImageWriter::createDiskCopyImageWriter(
+	const SectorSet& sectors, const ImageSpec& spec)
+{
+    return std::unique_ptr<ImageWriter>(new DiskCopyImageWriter(sectors, spec));
+}
+
+
--- a/lib/imagewriter/imagewriter.cc
+++ b/lib/imagewriter/imagewriter.cc
@@ -13,6 +13,7 @@ std::map<std::string, ImageWriter::Constructor> ImageWriter::formats =
 	{".adf", ImageWriter::createImgImageWriter},
 	{".d64", ImageWriter::createD64ImageWriter},
 	{".d81", ImageWriter::createImgImageWriter},
+	{".diskcopy", ImageWriter::createDiskCopyImageWriter},
 	{".img", ImageWriter::createImgImageWriter},
 	{".ldbs", ImageWriter::createLDBSImageWriter},
 };
--- a/lib/imagewriter/imagewriter.h
+++ b/lib/imagewriter/imagewriter.h
@@ -29,6 +29,8 @@ private:
 		const SectorSet& sectors, const ImageSpec& spec);
    static std::unique_ptr<ImageWriter> createD64ImageWriter(
 		const SectorSet& sectors, const ImageSpec& spec);
+    static std::unique_ptr<ImageWriter> createDiskCopyImageWriter(
+		const SectorSet& sectors, const ImageSpec& spec);

 	static Constructor findConstructor(const ImageSpec& spec);

--- a/lib/reader.cc
+++ b/lib/reader.cc
@@ -1,6 +1,6 @@
 #include "globals.h"
 #include "flags.h"
-#include "usb.h"
+#include "usb/usb.h"
 #include "fluxsource/fluxsource.h"
 #include "fluxsink/fluxsink.h"
 #include "reader.h"
@@ -107,7 +107,7 @@ void Track::readFluxmap()
 	fluxmap = fluxsource->readFlux(physicalTrack, physicalSide);
 	std::cout << fmt::format(
 		"{0} ms in {1} bytes\n",
-            int(fluxmap->duration()/1e6),
+            fluxmap->duration()/1e6,
            fluxmap->bytes());
 	if (outputFluxSink)
 		outputFluxSink->writeFlux(physicalTrack, physicalSide, *fluxmap);
--- a/lib/usb.cc
+++ b/lib/usb.cc
@@ -1,341 +0,0 @@
-#include "globals.h"
-#include "usb.h"
-#include "protocol.h"
-#include "fluxmap.h"
-#include "bytes.h"
-#include <libusb.h>
-#include "fmt/format.h"
-
-#define TIMEOUT 5000
-
-static libusb_device_handle* device;
-
-static uint8_t buffer[FRAME_SIZE];
-
-static std::string usberror(int i)
-{
-    return libusb_strerror((libusb_error) i);
-}
-
-static void usb_init()
-{
-    if (device)
-        return;
-
-    int i = libusb_init(NULL);
-    if (i < 0)
-        Error() << "could not start libusb: " << usberror(i);
-
-    device = libusb_open_device_with_vid_pid(NULL, FLUXENGINE_VID, FLUXENGINE_PID);
-    if (!device)
-		Error() << "cannot find the FluxEngine (is it plugged in?)";
-    
-    int cfg = -1;
-    libusb_get_configuration(device, &cfg);
-    if (cfg != 1)
-    {
-        i = libusb_set_configuration(device, 1);
-        if (i < 0)
-            Error() << "the FluxEngine would not accept configuration: " << usberror(i);
-    }
-
-    i = libusb_claim_interface(device, 0);
-    if (i < 0)
-        Error() << "could not claim interface: " << usberror(i);
-
-    int version = usbGetVersion();
-    if (version != FLUXENGINE_VERSION)
-        Error() << "your FluxEngine firmware is at version " << version
-                << " but the client is for version " << FLUXENGINE_VERSION
-                << "; please upgrade";
-}
-
-static int usb_cmd_send(void* ptr, int len)
-{
-    //std::cerr << "send:\n";
-    //hexdump(std::cerr, Bytes((const uint8_t*)ptr, len));
-    int i = libusb_interrupt_transfer(device, FLUXENGINE_CMD_OUT_EP,
-        (uint8_t*) ptr, len, &len, TIMEOUT);
-    if (i < 0)
-        Error() << "failed to send command: " << usberror(i);
-    return len;
-}
-
-void usb_cmd_recv(void* ptr, int len)
-{
-    int i = libusb_interrupt_transfer(device, FLUXENGINE_CMD_IN_EP,
-       (uint8_t*)  ptr, len, &len, TIMEOUT);
-    if (i < 0)
-        Error() << "failed to receive command reply: " << usberror(i);
-    //std::cerr << "recv:\n";
-    //hexdump(std::cerr, Bytes((const uint8_t*)ptr, len));
-}
-
-static void bad_reply(void)
-{
-    struct error_frame* f = (struct error_frame*) buffer;
-    if (f->f.type != F_FRAME_ERROR)
-        Error() << fmt::format("bad USB reply 0x{:2x}", f->f.type);
-    switch (f->error)
-    {
-        case F_ERROR_BAD_COMMAND:
-            Error() << "device did not understand command";
-
-        case F_ERROR_UNDERRUN:
-            Error() << "USB underrun (not enough bandwidth)";
-            
-        default:
-            Error() << fmt::format("unknown device error {}", f->error);
-    }
-}
-
-template <typename T>
-static T* await_reply(int desired)
-{
-    for (;;)
-    {
-        usb_cmd_recv(buffer, sizeof(buffer));
-        struct any_frame* r = (struct any_frame*) buffer;
-        if (r->f.type == F_FRAME_DEBUG)
-        {
-            std::cout << "dev: " << ((struct debug_frame*)r)->payload << std::endl;
-            continue;
-        }
-        if (r->f.type != desired)
-            bad_reply();
-        return (T*) r;
-    }
-}
-
-int usbGetVersion(void)
-{
-    usb_init();
-
-    struct any_frame f = { .f = {.type = F_FRAME_GET_VERSION_CMD, .size = sizeof(f)} };
-    usb_cmd_send(&f, f.f.size);
-    auto r = await_reply<struct version_frame>(F_FRAME_GET_VERSION_REPLY);
-    return r->version;
-}
-
-void usbSeek(int track)
-{
-    usb_init();
-
-    struct seek_frame f = {
-        { .type = F_FRAME_SEEK_CMD, .size = sizeof(f) },
-        .track = (uint8_t) track
-    };
-    usb_cmd_send(&f, f.f.size);
-    await_reply<struct any_frame>(F_FRAME_SEEK_REPLY);
-}
-
-void usbRecalibrate()
-{
-    usb_init();
-
-    struct any_frame f = {
-        { .type = F_FRAME_RECALIBRATE_CMD, .size = sizeof(f) },
-    };
-    usb_cmd_send(&f, f.f.size);
-    await_reply<struct any_frame>(F_FRAME_RECALIBRATE_REPLY);
-}
-
-nanoseconds_t usbGetRotationalPeriod(void)
-{
-    usb_init();
-
-    struct any_frame f = { .f = {.type = F_FRAME_MEASURE_SPEED_CMD, .size = sizeof(f)} };
-    usb_cmd_send(&f, f.f.size);
-
-    auto r = await_reply<struct speed_frame>(F_FRAME_MEASURE_SPEED_REPLY);
-    return r->period_ms * 1000000;
-}
-
-static int large_bulk_transfer(int ep, Bytes& bytes)
-{
-    int len;
-    int i = libusb_bulk_transfer(device, ep, bytes.begin(), bytes.size(), &len, TIMEOUT);
-    if (i < 0)
-        Error() << fmt::format("data transfer failed at {} bytes: {}", len, usberror(i));
-    return len;
-}
-
-void usbTestBulkWrite()
-{
-    usb_init();
-
-    struct any_frame f = { .f = {.type = F_FRAME_BULK_WRITE_TEST_CMD, .size = sizeof(f)} };
-    usb_cmd_send(&f, f.f.size);
-
-    /* These must match the device. */
-    const int XSIZE = 64;
-    const int YSIZE = 256;
-    const int ZSIZE = 64;
-
-    Bytes bulk_buffer(XSIZE*YSIZE*ZSIZE);
-    double start_time = getCurrentTime();
-    large_bulk_transfer(FLUXENGINE_DATA_IN_EP, bulk_buffer);
-    double elapsed_time = getCurrentTime() - start_time;
-
-    std::cout << "Transferred "
-              << bulk_buffer.size()
-              << " bytes from FluxEngine -> PC in "
-              << int(elapsed_time * 1000.0)
-              << " ms ("
-              << int((bulk_buffer.size() / 1024.0) / elapsed_time)
-              << " kB/s)"
-              << std::endl;
-
-    for (int x=0; x<XSIZE; x++)
-        for (int y=0; y<YSIZE; y++)
-            for (int z=0; z<ZSIZE; z++)
-            {
-                int offset = x*XSIZE*YSIZE + y*ZSIZE + z;
-                if (bulk_buffer[offset] != uint8_t(x+y+z))
-                    Error() << "data transfer corrupted at 0x"
-                            << std::hex << offset << std::dec
-                            << " "
-                            << x << '.' << y << '.' << z << '.';
-            }
-
-    await_reply<struct any_frame>(F_FRAME_BULK_WRITE_TEST_REPLY);
-}
-
-void usbTestBulkRead()
-{
-    usb_init();
-
-    struct any_frame f = { .f = {.type = F_FRAME_BULK_READ_TEST_CMD, .size = sizeof(f)} };
-    usb_cmd_send(&f, f.f.size);
-
-    /* These must match the device. */
-    const int XSIZE = 64;
-    const int YSIZE = 256;
-    const int ZSIZE = 64;
-
-    Bytes bulk_buffer(XSIZE*YSIZE*ZSIZE);
-    for (int x=0; x<XSIZE; x++)
-        for (int y=0; y<YSIZE; y++)
-            for (int z=0; z<ZSIZE; z++)
-            {
-                int offset = x*XSIZE*YSIZE + y*ZSIZE + z;
-                bulk_buffer[offset] = uint8_t(x+y+z);
-            }
-
-    double start_time = getCurrentTime();
-    large_bulk_transfer(FLUXENGINE_DATA_OUT_EP, bulk_buffer);
-    double elapsed_time = getCurrentTime() - start_time;
-
-    std::cout << "Transferred "
-              << bulk_buffer.size()
-              << " bytes from PC -> FluxEngine in "
-              << int(elapsed_time * 1000.0)
-              << " ms ("
-              << int((bulk_buffer.size() / 1024.0) / elapsed_time)
-              << " kB/s)"
-              << std::endl;
-
-    await_reply<struct any_frame>(F_FRAME_BULK_READ_TEST_REPLY);
-}
-
-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,
-        .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);
-
-    Bytes buffer(1024*1024);
-    int len = large_bulk_transfer(FLUXENGINE_DATA_IN_EP, buffer);
-    buffer.resize(len);
-
-    await_reply<struct any_frame>(F_FRAME_READ_REPLY);
-    return buffer;
-}
-
-void usbWrite(int side, const Bytes& bytes)
-{
-    unsigned safelen = bytes.size() & ~(FRAME_SIZE-1);
-    Bytes safeBytes = bytes.slice(0, safelen);
-
-    struct write_frame f = {
-        .f = { .type = F_FRAME_WRITE_CMD, .size = sizeof(f) },
-        .side = (uint8_t) side,
-    };
-    ((uint8_t*)&f.bytes_to_write)[0] = safelen;
-    ((uint8_t*)&f.bytes_to_write)[1] = safelen >> 8;
-    ((uint8_t*)&f.bytes_to_write)[2] = safelen >> 16;
-    ((uint8_t*)&f.bytes_to_write)[3] = safelen >> 24;
-
-    usb_cmd_send(&f, f.f.size);
-    large_bulk_transfer(FLUXENGINE_DATA_OUT_EP, safeBytes);
-    
-    await_reply<struct any_frame>(F_FRAME_WRITE_REPLY);
-}
-
-void usbErase(int side)
-{
-    struct erase_frame f = {
-        .f = { .type = F_FRAME_ERASE_CMD, .size = sizeof(f) },
-        .side = (uint8_t) side,
-    };
-    usb_cmd_send(&f, f.f.size);
-
-    await_reply<struct any_frame>(F_FRAME_ERASE_REPLY);
-}
-
-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 = (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);
-}
-
-/* Hacky: the board always operates in little-endian mode. */
-static uint16_t read_short_from_usb(uint16_t usb)
-{
-    uint8_t* p = (uint8_t*)&usb;
-    return p[0] | (p[1] << 8);
-}
-
-static void convert_voltages_from_usb(const struct voltages& vin, struct voltages& vout)
-{
-    vout.logic0_mv = read_short_from_usb(vin.logic0_mv);
-    vout.logic1_mv = read_short_from_usb(vin.logic1_mv);
-}
-
-void usbMeasureVoltages(struct voltages_frame* voltages)
-{
-    usb_init();
-
-    struct any_frame f = {
-        { .type = F_FRAME_MEASURE_VOLTAGES_CMD, .size = sizeof(f) },
-    };
-    usb_cmd_send(&f, f.f.size);
-
-    struct voltages_frame* r = await_reply<struct voltages_frame>(F_FRAME_MEASURE_VOLTAGES_REPLY);
-    convert_voltages_from_usb(r->input_both_off, voltages->input_both_off);
-    convert_voltages_from_usb(r->input_drive_0_selected, voltages->input_drive_0_selected);
-    convert_voltages_from_usb(r->input_drive_1_selected, voltages->input_drive_1_selected);
-    convert_voltages_from_usb(r->input_drive_0_running, voltages->input_drive_0_running);
-    convert_voltages_from_usb(r->input_drive_1_running, voltages->input_drive_1_running);
-    convert_voltages_from_usb(r->output_both_off, voltages->output_both_off);
-    convert_voltages_from_usb(r->output_drive_0_selected, voltages->output_drive_0_selected);
-    convert_voltages_from_usb(r->output_drive_1_selected, voltages->output_drive_1_selected);
-    convert_voltages_from_usb(r->output_drive_0_running, voltages->output_drive_0_running);
-    convert_voltages_from_usb(r->output_drive_1_running, voltages->output_drive_1_running);
-}
--- a/lib/usb.h
+++ b/lib/usb.h
@@ -1,19 +0,0 @@
-#ifndef USB_H
-#define USB_H
-
-class Fluxmap;
-class Bytes;
-
-extern int usbGetVersion();
-extern void usbRecalibrate();
-extern void usbSeek(int track);
-extern nanoseconds_t usbGetRotationalPeriod();
-extern void usbTestBulkWrite();
-extern void usbTestBulkRead();
-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, int index_mode);
-extern void usbMeasureVoltages(struct voltages_frame* voltages);
-
-#endif
--- a/lib/usb/fluxengineusb.cc
+++ b/lib/usb/fluxengineusb.cc
@@ -0,0 +1,326 @@
+#include "globals.h"
+#include "usb.h"
+#include "protocol.h"
+#include "fluxmap.h"
+#include "bytes.h"
+#include <libusb.h>
+#include "fmt/format.h"
+
+#define TIMEOUT 5000
+
+/* Hacky: the board always operates in little-endian mode. */
+static uint16_t read_short_from_usb(uint16_t usb)
+{
+	uint8_t* p = (uint8_t*)&usb;
+	return p[0] | (p[1] << 8);
+}
+
+class FluxEngineUsb : public USB
+{
+private:
+	uint8_t _buffer[FRAME_SIZE];
+
+	int usb_cmd_send(void* ptr, int len)
+	{
+		//std::cerr << "send:\n";
+		//hexdump(std::cerr, Bytes((const uint8_t*)ptr, len));
+		int i = libusb_interrupt_transfer(_device, FLUXENGINE_CMD_OUT_EP,
+			(uint8_t*) ptr, len, &len, TIMEOUT);
+		if (i < 0)
+			Error() << "failed to send command: " << usberror(i);
+		return len;
+	}
+
+	void usb_cmd_recv(void* ptr, int len)
+	{
+		int i = libusb_interrupt_transfer(_device, FLUXENGINE_CMD_IN_EP,
+		   (uint8_t*)  ptr, len, &len, TIMEOUT);
+		if (i < 0)
+			Error() << "failed to receive command reply: " << usberror(i);
+		//std::cerr << "recv:\n";
+		//hexdump(std::cerr, Bytes((const uint8_t*)ptr, len));
+	}
+
+	int large_bulk_transfer(int ep, Bytes& bytes)
+	{
+		if (bytes.size() == 0)
+			return 0;
+
+		int len;
+		int i = libusb_bulk_transfer(_device, ep, bytes.begin(), bytes.size(), &len, TIMEOUT);
+		if (i < 0)
+			Error() << fmt::format("data transfer failed at {} bytes: {}", len, usberror(i));
+		return len;
+	}
+
+public:
+	FluxEngineUsb(libusb_device_handle* device)
+	{
+		_device = device;
+
+		int i;
+		int cfg = -1;
+		libusb_get_configuration(_device, &cfg);
+		if (cfg != 1)
+		{
+			i = libusb_set_configuration(_device, 1);
+			if (i < 0)
+				Error() << "the FluxEngine would not accept configuration: " << usberror(i);
+		}
+
+		i = libusb_claim_interface(_device, 0);
+		if (i < 0)
+			Error() << "could not claim interface: " << usberror(i);
+
+		int version = getVersion();
+		if (version != FLUXENGINE_VERSION)
+			Error() << "your FluxEngine firmware is at version " << version
+					<< " but the client is for version " << FLUXENGINE_VERSION
+					<< "; please upgrade";
+	}
+
+private:
+	void bad_reply(void)
+	{
+		struct error_frame* f = (struct error_frame*) _buffer;
+		if (f->f.type != F_FRAME_ERROR)
+			Error() << fmt::format("bad USB reply 0x{:2x}", f->f.type);
+		switch (f->error)
+		{
+			case F_ERROR_BAD_COMMAND:
+				Error() << "device did not understand command";
+
+			case F_ERROR_UNDERRUN:
+				Error() << "USB underrun (not enough bandwidth)";
+				
+			default:
+				Error() << fmt::format("unknown device error {}", f->error);
+		}
+	}
+
+	template <typename T>
+	T* await_reply(int desired)
+	{
+		for (;;)
+		{
+			usb_cmd_recv(_buffer, sizeof(_buffer));
+			struct any_frame* r = (struct any_frame*) _buffer;
+			if (r->f.type == F_FRAME_DEBUG)
+			{
+				std::cout << "dev: " << ((struct debug_frame*)r)->payload << std::endl;
+				continue;
+			}
+			if (r->f.type != desired)
+				bad_reply();
+			return (T*) r;
+		}
+	}
+
+public:
+	int getVersion()
+	{
+		struct any_frame f = { .f = {.type = F_FRAME_GET_VERSION_CMD, .size = sizeof(f)} };
+		usb_cmd_send(&f, f.f.size);
+		auto r = await_reply<struct version_frame>(F_FRAME_GET_VERSION_REPLY);
+		return r->version;
+	}
+
+	void seek(int track)
+	{
+		struct seek_frame f = {
+			{ .type = F_FRAME_SEEK_CMD, .size = sizeof(f) },
+			.track = (uint8_t) track
+		};
+		usb_cmd_send(&f, f.f.size);
+		await_reply<struct any_frame>(F_FRAME_SEEK_REPLY);
+	}
+
+	void recalibrate()
+	{
+		struct any_frame f = {
+			{ .type = F_FRAME_RECALIBRATE_CMD, .size = sizeof(f) },
+		};
+		usb_cmd_send(&f, f.f.size);
+		await_reply<struct any_frame>(F_FRAME_RECALIBRATE_REPLY);
+	}
+
+	nanoseconds_t getRotationalPeriod(void)
+	{
+		struct any_frame f = { .f = {.type = F_FRAME_MEASURE_SPEED_CMD, .size = sizeof(f)} };
+		usb_cmd_send(&f, f.f.size);
+
+		auto r = await_reply<struct speed_frame>(F_FRAME_MEASURE_SPEED_REPLY);
+		return r->period_ms * 1000000;
+	}
+
+	void testBulkWrite()
+	{
+		struct any_frame f = { .f = {.type = F_FRAME_BULK_WRITE_TEST_CMD, .size = sizeof(f)} };
+		usb_cmd_send(&f, f.f.size);
+
+		/* These must match the device. */
+		const int XSIZE = 64;
+		const int YSIZE = 256;
+		const int ZSIZE = 64;
+
+		Bytes bulk_buffer(XSIZE*YSIZE*ZSIZE);
+		double start_time = getCurrentTime();
+		large_bulk_transfer(FLUXENGINE_DATA_IN_EP, bulk_buffer);
+		double elapsed_time = getCurrentTime() - start_time;
+
+		std::cout << "Transferred "
+				  << bulk_buffer.size()
+				  << " bytes from FluxEngine -> PC in "
+				  << int(elapsed_time * 1000.0)
+				  << " ms ("
+				  << int((bulk_buffer.size() / 1024.0) / elapsed_time)
+				  << " kB/s)"
+				  << std::endl;
+
+		for (int x=0; x<XSIZE; x++)
+			for (int y=0; y<YSIZE; y++)
+				for (int z=0; z<ZSIZE; z++)
+				{
+					int offset = x*XSIZE*YSIZE + y*ZSIZE + z;
+					if (bulk_buffer[offset] != uint8_t(x+y+z))
+						Error() << "data transfer corrupted at 0x"
+								<< std::hex << offset << std::dec
+								<< " "
+								<< x << '.' << y << '.' << z << '.';
+				}
+
+		await_reply<struct any_frame>(F_FRAME_BULK_WRITE_TEST_REPLY);
+	}
+
+	void testBulkRead()
+	{
+		struct any_frame f = { .f = {.type = F_FRAME_BULK_READ_TEST_CMD, .size = sizeof(f)} };
+		usb_cmd_send(&f, f.f.size);
+
+		/* These must match the device. */
+		const int XSIZE = 64;
+		const int YSIZE = 256;
+		const int ZSIZE = 64;
+
+		Bytes bulk_buffer(XSIZE*YSIZE*ZSIZE);
+		for (int x=0; x<XSIZE; x++)
+			for (int y=0; y<YSIZE; y++)
+				for (int z=0; z<ZSIZE; z++)
+				{
+					int offset = x*XSIZE*YSIZE + y*ZSIZE + z;
+					bulk_buffer[offset] = uint8_t(x+y+z);
+				}
+
+		double start_time = getCurrentTime();
+		large_bulk_transfer(FLUXENGINE_DATA_OUT_EP, bulk_buffer);
+		double elapsed_time = getCurrentTime() - start_time;
+
+		std::cout << "Transferred "
+				  << bulk_buffer.size()
+				  << " bytes from PC -> FluxEngine in "
+				  << int(elapsed_time * 1000.0)
+				  << " ms ("
+				  << int((bulk_buffer.size() / 1024.0) / elapsed_time)
+				  << " kB/s)"
+				  << std::endl;
+
+		await_reply<struct any_frame>(F_FRAME_BULK_READ_TEST_REPLY);
+	}
+
+	Bytes read(int side, bool synced, nanoseconds_t readTime)
+	{
+		struct read_frame f = {
+			.f = { .type = F_FRAME_READ_CMD, .size = sizeof(f) },
+			.side = (uint8_t) side,
+			.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);
+
+		Bytes buffer(1024*1024);
+		int len = large_bulk_transfer(FLUXENGINE_DATA_IN_EP, buffer);
+		buffer.resize(len);
+
+		await_reply<struct any_frame>(F_FRAME_READ_REPLY);
+		return buffer;
+	}
+
+	void write(int side, const Bytes& bytes)
+	{
+		unsigned safelen = bytes.size() & ~(FRAME_SIZE-1);
+		Bytes safeBytes = bytes.slice(0, safelen);
+
+		struct write_frame f = {
+			.f = { .type = F_FRAME_WRITE_CMD, .size = sizeof(f) },
+			.side = (uint8_t) side,
+		};
+		((uint8_t*)&f.bytes_to_write)[0] = safelen;
+		((uint8_t*)&f.bytes_to_write)[1] = safelen >> 8;
+		((uint8_t*)&f.bytes_to_write)[2] = safelen >> 16;
+		((uint8_t*)&f.bytes_to_write)[3] = safelen >> 24;
+
+		usb_cmd_send(&f, f.f.size);
+		large_bulk_transfer(FLUXENGINE_DATA_OUT_EP, safeBytes);
+		
+		await_reply<struct any_frame>(F_FRAME_WRITE_REPLY);
+	}
+
+	void erase(int side)
+	{
+		struct erase_frame f = {
+			.f = { .type = F_FRAME_ERASE_CMD, .size = sizeof(f) },
+			.side = (uint8_t) side,
+		};
+		usb_cmd_send(&f, f.f.size);
+
+		await_reply<struct any_frame>(F_FRAME_ERASE_REPLY);
+	}
+
+	void setDrive(int drive, bool high_density, int index_mode)
+	{
+		struct set_drive_frame f = {
+			{ .type = F_FRAME_SET_DRIVE_CMD, .size = sizeof(f) },
+			.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);
+	}
+
+	void measureVoltages(struct voltages_frame* voltages)
+	{
+		struct any_frame f = {
+			{ .type = F_FRAME_MEASURE_VOLTAGES_CMD, .size = sizeof(f) },
+		};
+		usb_cmd_send(&f, f.f.size);
+
+		auto convert_voltages_from_usb = [&](const struct voltages& vin, struct voltages& vout)
+		{
+			vout.logic0_mv = read_short_from_usb(vin.logic0_mv);
+			vout.logic1_mv = read_short_from_usb(vin.logic1_mv);
+		};
+
+		struct voltages_frame* r = await_reply<struct voltages_frame>(F_FRAME_MEASURE_VOLTAGES_REPLY);
+		convert_voltages_from_usb(r->input_both_off, voltages->input_both_off);
+		convert_voltages_from_usb(r->input_drive_0_selected, voltages->input_drive_0_selected);
+		convert_voltages_from_usb(r->input_drive_1_selected, voltages->input_drive_1_selected);
+		convert_voltages_from_usb(r->input_drive_0_running, voltages->input_drive_0_running);
+		convert_voltages_from_usb(r->input_drive_1_running, voltages->input_drive_1_running);
+		convert_voltages_from_usb(r->output_both_off, voltages->output_both_off);
+		convert_voltages_from_usb(r->output_drive_0_selected, voltages->output_drive_0_selected);
+		convert_voltages_from_usb(r->output_drive_1_selected, voltages->output_drive_1_selected);
+		convert_voltages_from_usb(r->output_drive_0_running, voltages->output_drive_0_running);
+		convert_voltages_from_usb(r->output_drive_1_running, voltages->output_drive_1_running);
+	}
+};
+
+USB* createFluxengineUsb(libusb_device_handle* device)
+{
+	return new FluxEngineUsb(device);
+}
+
--- a/lib/usb/usb.cc
+++ b/lib/usb/usb.cc
@@ -0,0 +1,139 @@
+#include "globals.h"
+#include "flags.h"
+#include "usb.h"
+#include "protocol.h"
+#include "fluxmap.h"
+#include "bytes.h"
+#include <libusb.h>
+#include "fmt/format.h"
+
+FlagGroup usbFlags;
+
+static StringFlag device(
+    { "--device" },
+    "serial number of hardware device to use",
+	"");
+
+static USB* usb = NULL;
+
+enum
+{
+	DEV_FLUXENGINE,
+};
+
+struct CandidateDevice
+{
+	libusb_device* device;
+	libusb_device_descriptor desc;
+	int type;
+	std::string serial;
+};
+
+USB::~USB()
+{}
+
+std::string USB::usberror(int i)
+{
+    return libusb_strerror((libusb_error) i);
+}
+
+static const char* device_type(int i)
+{
+	switch (i)
+	{
+		case DEV_FLUXENGINE: return "FluxEngine";
+		default: assert(false);
+	}
+}
+
+static std::map<std::string, std::unique_ptr<CandidateDevice>> get_candidates(libusb_device** devices, int numdevices)
+{
+	std::map<std::string, std::unique_ptr<CandidateDevice>> candidates;
+	for (int i=0; i<numdevices; i++)
+	{
+		std::unique_ptr<CandidateDevice> candidate(new CandidateDevice());
+		candidate->device = devices[i];
+		(void) libusb_get_device_descriptor(devices[i], &candidate->desc);
+
+		if ((candidate->desc.idVendor == FLUXENGINE_VID) && (candidate->desc.idProduct == FLUXENGINE_PID))
+		{
+			candidate->type = DEV_FLUXENGINE;
+			candidate->serial = "";
+
+			libusb_device_handle* handle;
+			if (libusb_open(candidate->device, &handle) == 0)
+			{
+				unsigned char buffer[64];
+				libusb_get_string_descriptor_ascii(handle,
+					candidate->desc.iSerialNumber, buffer, sizeof(buffer));
+				candidate->serial = (const char*) buffer;
+				libusb_close(handle);
+			}
+
+			candidates[candidate->serial] = std::move(candidate);
+		}
+	}
+
+	return candidates;
+}
+
+static void open_device(CandidateDevice& candidate)
+{
+	libusb_device_handle* handle;
+	int i = libusb_open(candidate.device, &handle);
+	if (i < 0)
+		Error() << "cannot open USB device: " << libusb_strerror((libusb_error) i);
+	
+	std::cout << "Using " << device_type(candidate.type) << " with serial number " << candidate.serial << '\n';
+	usb = createFluxengineUsb(handle);
+}
+
+static CandidateDevice& select_candidate(const std::map<std::string, std::unique_ptr<CandidateDevice>>& devices)
+{
+	if (devices.size() == 0)
+		Error() << "no USB devices found (is one plugged in? Do you have permission to access USB devices?)";
+
+	if (device.get() == "")
+	{
+		if (devices.size() == 1)
+			return *devices.begin()->second;
+
+		std::cout << "More than one USB device detected. Use --device to specify which one to use:\n";
+		for (auto& i : devices)
+			std::cout << "  " << device_type(i.second->type) << ": " << i.first << '\n';
+		Error() << "specify USB device";
+	}
+	else
+	{
+		const auto& i = devices.find(device);
+		if (i != devices.end())
+			return *i->second;
+
+		Error() << "device with serial number '" << device.get() << "' not found";
+	}
+}
+
+USB& getUsb()
+{
+	if (!usb)
+	{
+		int i = libusb_init(NULL);
+		if (i < 0)
+			Error() << "could not start libusb: " << libusb_strerror((libusb_error) i);
+
+		libusb_device** devices;
+		int numdevices = libusb_get_device_list(NULL, &devices);
+		if (numdevices < 0)
+			Error() << "could not enumerate USB bus: " << libusb_strerror((libusb_error) numdevices);
+
+		auto candidates = get_candidates(devices, numdevices);
+		auto candidate = select_candidate(candidates);
+		open_device(candidate);
+
+		libusb_free_device_list(devices, true);
+
+	}
+
+	return *usb;
+}
+
--- a/lib/usb/usb.h
+++ b/lib/usb/usb.h
@@ -0,0 +1,60 @@
+#ifndef USB_H
+#define USB_H
+
+#include "bytes.h"
+#include "flags.h"
+
+class Fluxmap;
+class libusb_device_handle;
+
+class USB
+{
+public:
+	virtual ~USB();
+
+	virtual int getVersion() = 0;
+	virtual void recalibrate() = 0;
+	virtual void seek(int track) = 0;
+	virtual nanoseconds_t getRotationalPeriod() = 0;
+	virtual void testBulkWrite() = 0;
+	virtual void testBulkRead() = 0;
+	virtual Bytes read(int side, bool synced, nanoseconds_t readTime) = 0;
+	virtual void write(int side, const Bytes& bytes) = 0;
+	virtual void erase(int side) = 0;
+	virtual void setDrive(int drive, bool high_density, int index_mode) = 0;
+	virtual void measureVoltages(struct voltages_frame* voltages) = 0;
+
+protected:
+	std::string usberror(int i);
+
+	libusb_device_handle* _device;
+};
+
+extern FlagGroup usbFlags;
+extern USB& getUsb();
+
+extern USB* createFluxengineUsb(libusb_device_handle* device);
+
+static inline int usbGetVersion()     { return getUsb().getVersion(); }
+static inline void usbRecalibrate()   { getUsb().recalibrate(); }
+static inline void usbSeek(int track) { getUsb().seek(track); }
+static inline void usbTestBulkWrite() { getUsb().testBulkWrite(); }
+static inline void usbTestBulkRead()  { getUsb().testBulkRead(); }
+static inline void usbErase(int side) { getUsb().erase(side); }
+
+static inline nanoseconds_t usbGetRotationalPeriod()
+{ return getUsb().getRotationalPeriod(); }
+
+static inline Bytes usbRead(int side, bool synced, nanoseconds_t readTime)
+{ return getUsb().read(side, synced, readTime); }
+
+static inline void usbWrite(int side, const Bytes& bytes)
+{ getUsb().write(side, bytes); }
+
+static inline void usbSetDrive(int drive, bool high_density, int index_mode)
+{ getUsb().setDrive(drive, high_density, index_mode); }
+
+static inline void usbMeasureVoltages(struct voltages_frame* voltages)
+{ getUsb().measureVoltages(voltages); }
+
+#endif
--- a/lib/visualiser.cc
+++ b/lib/visualiser.cc
@@ -47,8 +47,8 @@ void visualiseSectorsToFile(const SectorSet& sectors, const std::string& filenam

            auto drawArc = [&](const std::unique_ptr<Sector>& sector, nanoseconds_t start, nanoseconds_t end, const std::string& colour)
            {
-                start %= period*1000000;
-                end %= period*1000000;
+                start = fmod(start, period*1000000.0);
+                end = fmod(end, period*1000000.0);
                if (end < start)
                    end += period*1000000;
                
--- a/lib/writer.cc
+++ b/lib/writer.cc
@@ -4,7 +4,7 @@
 #include "writer.h"
 #include "sql.h"
 #include "protocol.h"
-#include "usb.h"
+#include "usb/usb.h"
 #include "dataspec.h"
 #include "encoders/encoders.h"
 #include "fluxsource/fluxsource.h"
--- a/mkninja.sh
+++ b/mkninja.sh
@@ -154,6 +154,7 @@ buildlibrary libbackend.a \
 	lib/imagereader/imagereader.cc \
 	lib/imagereader/imgimagereader.cc \
 	lib/imagewriter/d64imagewriter.cc \
+	lib/imagewriter/diskcopyimagewriter.cc \
 	lib/imagewriter/imagewriter.cc \
 	lib/imagewriter/imgimagewriter.cc \
 	lib/imagewriter/ldbsimagewriter.cc \
@@ -190,6 +191,8 @@ buildlibrary libbackend.a \
    lib/fluxsource/kryoflux.cc \
    lib/fluxsource/sqlitefluxsource.cc \
    lib/fluxsource/streamfluxsource.cc \
+    lib/usb/usb.cc \
+    lib/usb/fluxengineusb.cc \
    lib/globals.cc \
    lib/hexdump.cc \
    lib/ldbs.cc \
@@ -197,7 +200,6 @@ buildlibrary libbackend.a \
    lib/sector.cc \
    lib/sectorset.cc \
    lib/sql.cc \
-    lib/usb.cc \
    lib/visualiser.cc \
    lib/writer.cc \

--- a/protocol.h
+++ b/protocol.h
@@ -3,7 +3,7 @@

 enum 
 {
-    FLUXENGINE_VERSION = 13,
+    FLUXENGINE_VERSION = 14,

    FLUXENGINE_VID = 0x1209,
    FLUXENGINE_PID = 0x6e00,
--- a/src/fe-fluxtoscp.cc
+++ b/src/fe-fluxtoscp.cc
@@ -18,6 +18,11 @@ static SettableFlag fortyTrackMode(
    "set 48 tpi mode; only every other physical track is emitted"
 );

+static SettableFlag indexedMode(
+	{ "--indexed", "-i" },
+	"align data to track boundaries"
+);
+
 static SettableFlag singleSided(
    { "--single-sided", "-s" },
    "only emit side 0"
@@ -45,14 +50,18 @@ static void write_le32(uint8_t dest[4], uint32_t v)
    dest[3] = v >> 24;
 }

+static void appendChecksum(uint32_t& checksum, const Bytes& bytes)
+{
+	ByteReader br(bytes);
+	while (!br.eof())
+		checksum += br.read_8();
+}
+
 static int strackno(int track, int side)
 {
    if (fortyTrackMode)
        track /= 2;
-    if (singleSided)
-        return track;
-    else
-        return (track << 1) | side;
+	return (track << 1) | side;
 }

 int mainConvertFluxToScp(int argc, const char* argv[])
@@ -90,7 +99,8 @@ int mainConvertFluxToScp(int argc, const char* argv[])
    fileheader.revolutions = 5;
    fileheader.start_track = 0;
    fileheader.end_track = maxStrack;
-    fileheader.flags = SCP_FLAG_INDEXED | (fortyTrackMode ? 0 : SCP_FLAG_96TPI);
+    fileheader.flags = (indexedMode ? SCP_FLAG_INDEXED : 0)
+			| (fortyTrackMode ? 0 : SCP_FLAG_96TPI);
    fileheader.cell_width = 0;
    fileheader.heads = singleSided ? 1 : 0;

@@ -104,9 +114,15 @@ int mainConvertFluxToScp(int argc, const char* argv[])
        for (int side = 0; side <= maxside; side++)
        {
            int strack = strackno(track, side);
-            std::cout << fmt::format("FE track {}.{}, SCP track {}: ", track, side, strack) << std::flush;
+            std::cout << fmt::format("{}.{}: ", track, side) << std::flush;

            auto fluxmap = sqlReadFlux(inputDb, track, side);
+			if (fluxmap->bytes() == 0)
+			{
+				std::cout << "missing\n";
+				continue;
+			}
+
            ScpTrack trackheader = {0};
            trackheader.track_id[0] = 'T';
            trackheader.track_id[1] = 'R';
@@ -117,6 +133,9 @@ int mainConvertFluxToScp(int argc, const char* argv[])
            Bytes fluxdata;
            ByteWriter fluxdataWriter(fluxdata);

+			if (indexedMode)
+				fmr.findEvent(F_BIT_INDEX);
+
            int revolution = 0;
            unsigned revTicks = 0;
            unsigned totalTicks = 0;
@@ -159,7 +178,7 @@ int mainConvertFluxToScp(int argc, const char* argv[])
            trackdataWriter += Bytes((uint8_t*)&trackheader, sizeof(trackheader));
            trackdataWriter += fluxdata;

-            std::cout << fmt::format("{} ms in {} bytes\n",
+            std::cout << fmt::format("{:.3f} ms in {} bytes\n",
                totalTicks * MS_PER_TICK,
                fluxdata.size());
        }
@@ -167,6 +186,13 @@ int mainConvertFluxToScp(int argc, const char* argv[])

    sqlClose(inputDb);
    
+	uint32_t checksum = 0;
+	appendChecksum(checksum,
+		Bytes((const uint8_t*) &fileheader, sizeof(fileheader))
+			.slice(0x10));
+	appendChecksum(checksum, trackdata);
+	write_le32(fileheader.checksum, checksum);
+
    std::cout << "Writing output file...\n";
    std::ofstream of(filenames[1], std::ios::out | std::ios::binary);
    if (!of.is_open())
--- a/src/fe-rpm.cc
+++ b/src/fe-rpm.cc
@@ -1,10 +1,12 @@
 #include "globals.h"
 #include "flags.h"
-#include "usb.h"
+#include "usb/usb.h"
 #include "dataspec.h"
 #include "protocol.h"

-static FlagGroup flags;
+static FlagGroup flags = {
+	&usbFlags,
+};

 static DataSpecFlag source(
    { "--source", "-s" },
--- a/src/fe-scptoflux.cc
+++ b/src/fe-scptoflux.cc
@@ -16,7 +16,7 @@ static int endSide;

 static void syntax()
 {
-    std::cout << "Syntax: fluxengine convert cwftoflux <cwffile> <fluxfile>\n";
+    std::cout << "Syntax: fluxengine convert scptoflux <scpfile> <fluxfile>\n";
    exit(0);
 }

@@ -28,15 +28,11 @@ static void check_for_error()

 static int trackno(int strack)
 {
-    if (startSide == endSide)
-        return strack;
    return strack >> 1;
 }

 static int headno(int strack)
 {
-    if (startSide == endSide)
-        return startSide;
    return strack & 1;
 }

@@ -65,6 +61,8 @@ static void read_header()
 static void read_track(int strack)
 {
    uint32_t offset = Bytes(header.track[strack], 4).reader().read_le32();
+	if (offset == 0)
+		return;

    ScpTrack trackheader;
    inputFile.seekg(offset, std::ios::beg);
@@ -112,7 +110,7 @@ static void read_track(int strack)
        inputBytes += datalength*2;
    }

-    std::cout << fmt::format(" {} ms in {} input bytes and {} output bytes\n",
+    std::cout << fmt::format(" {:.3f} ms in {} input bytes and {} output bytes\n",
        fluxmap.duration() / 1e6, inputBytes, fluxmap.bytes());
    sqlWriteFlux(outputDb, trackno(strack), headno(strack), fluxmap);
 }
--- a/src/fe-seek.cc
+++ b/src/fe-seek.cc
@@ -1,9 +1,11 @@
 #include "globals.h"
 #include "flags.h"
-#include "usb.h"
+#include "usb/usb.h"
 #include "protocol.h"

-static FlagGroup flags;
+static FlagGroup flags = {
+	&usbFlags,
+};

 static IntFlag drive(
    { "--drive", "-d" },
--- a/src/fe-testbandwidth.cc
+++ b/src/fe-testbandwidth.cc
@@ -1,8 +1,10 @@
 #include "globals.h"
 #include "flags.h"
-#include "usb.h"
+#include "usb/usb.h"

-static FlagGroup flags;
+static FlagGroup flags = {
+	&usbFlags,
+};

 int mainTestBandwidth(int argc, const char* argv[])
 {
--- a/src/fe-testvoltages.cc
+++ b/src/fe-testvoltages.cc
@@ -1,10 +1,12 @@
 #include "globals.h"
 #include "flags.h"
-#include "usb.h"
+#include "usb/usb.h"
 #include "protocol.h"
 #include <fmt/format.h>

-static FlagGroup flags;
+static FlagGroup flags = {
+	&usbFlags,
+};

 static std::string display_voltages(struct voltages& v)
 {
--- a/src/fe-writebrother.cc
+++ b/src/fe-writebrother.cc
@@ -9,13 +9,27 @@

 static FlagGroup flags { &writerFlags, &brotherEncoderFlags };

+static int brotherFormat = 240;
+static ActionFlag preset120(
+	{ "--brother-preset-120" },
+	"Write the Brother 120kB format instead of the 240kB one.",
+	[] {
+		setWriterDefaultInput(":c=39:h=1:s=12:b=256");
+		brotherFormat = 120;
+	});
+
+static IntFlag bias(
+	{ "--brother-track-bias" },
+	"Shift the entire format this many tracks on the disk.",
+	0);
+
 int mainWriteBrother(int argc, const char* argv[])
 {
    setWriterDefaultInput(":c=78:h=1:s=12:b=256");
 	setWriterDefaultDest(":d=0:t=0-77:s=0");
    flags.parseFlags(argc, argv);

-	BrotherEncoder encoder;
+	BrotherEncoder encoder(brotherFormat, bias);
 	writeDiskCommand(encoder);

    return 0;
Author	SHA1	Message	Date
David Given	cbcf457ce3	Merge pull request #182 from davidgiven/usb Add support for multiple simultaneously connected FluxEngines.	2020-08-10 23:32:16 +02:00
David Given	4855f825e2	Show serial number on device connection, and improve the device listing a bit.	2020-08-10 23:16:04 +02:00
David Given	85bc1637f2	Document the use of multiple FluxEngines.	2020-08-10 23:12:33 +02:00
David Given	73398b83a9	Add support for specifying which FluxEngine you want to use with the --devices parameter.	2020-08-10 22:36:47 +02:00
David Given	2727e66d40	Allow multiple USB implementations.	2020-08-09 22:33:54 +02:00
David Given	8b6be5a501	Move usb.{cc,h} into its own directory.	2020-08-09 21:14:09 +02:00
David Given	4fee29307c	Refactor the USB stuff to allow for multiple USB implementations.	2020-08-08 14:52:11 +01:00
David Given	35f8249c67	Merge pull request #178 from davidgiven/mac Add support for exporting to DiskCopy 4.2 Mac disk image	2020-08-02 17:42:48 +01:00
David Given	d1467a14b8	Merge.	2020-08-02 18:24:15 +02:00
David Given	3e6b9eb74d	Document the `.diskcopy` file format.	2020-08-02 18:22:30 +02:00
David Given	ce2e8fb4b5	First draft of the DiskCopy 4.2 image writer.	2020-07-30 20:21:49 +01:00
David Given	7eaa75c05d	Merge pull request #177 from davidgiven/mac Make Mac double-sided disks work.	2020-07-29 00:38:28 +02:00
David Given	e86de4483a	Fix stupid bug where the mac decoder was looking at the wrong bit for the side data.	2020-07-28 01:25:50 +02:00
David Given	203a74713f	Merge pull request #175 from davidgiven/scp Make SCP import and export properly handle single-sided images.	2020-06-30 11:19:48 +02:00
David Given	59ed2a6793	Make SCP import and export properly handle single-sided images.	2020-06-26 20:25:56 +02:00
David Given	a03283ce64	Merge pull request #174 from davidgiven/scp Fix the SCP exporter.	2020-06-26 15:40:41 +02:00
David Given	984cdaeb03	Make nanoseconds_t a double to prevent overflow on very large numbers of revolutions (I've just seen a flux file with 50).	2020-06-26 14:47:25 +02:00
David Given	a1ed4a9171	Fill out the SCP checksum correctly, and add a --indexed mode which causes data prior to the first index mark to be discarded and sets the INDEX bit in the header.	2020-06-26 12:20:49 +02:00
David Given	93caf8e549	Merge pull request #172 from davidgiven/b169 Fix a crash when decoding MX disks if advanceToNextRecord finds no records in a track.	2020-06-25 22:15:00 +02:00
David Given	3841942153	Fix a crash when decoding MX disks if advanceToNextRecord finds no records in a track.	2020-06-25 21:56:33 +02:00
David Given	5706877b67	Merge pull request #171 from davidgiven/newsampler Manually merge in jboone's new sampler from #164	2020-06-25 21:16:11 +02:00
David Given	d60900262b	Remove the pulse converters from the sampler (the new sampler doesn't require them). Update firmware.	2020-06-25 21:07:58 +02:00
David Given	54ea34400b	Merge in jboone's updated sampler branch.	2020-06-25 21:01:35 +02:00
Jared Boone	db2ab8841a	Update Sampler.v, moving clock domain crossing to FIFO interface. Hopefully, I unscrewed the tab/space and line ending mismatches to minimize the diff.	2020-05-30 21:31:17 -07:00
David Given	adba93ae0a	Merge pull request #163 from davidgiven/brother120 Untested Brother 120kB write support.	2020-05-24 01:32:28 +02:00
David Given	98587d04a7	Merge from trunk.	2020-05-24 00:56:17 +02:00
David Given	0051b64648	Merge pull request #167 from vanbogaertetienne/trs80fix Typo fix in FM_TRS80DAM2_PATTERN	2020-05-24 00:47:12 +02:00
vanbogaertetienne	603009ba15	Typo fix in FM_TRS80DAM2_PATTERN	2020-05-22 20:46:48 +02:00
Jared Boone	adb9809692	Simplify Sampler.	2020-05-20 11:34:29 -07:00
David Given	06eb10d2a0	Merge.	2020-05-16 10:38:17 +02:00
David Given	2244299bd9	Add a bias parameter to allow the entire Brother format to be moved around on the disk.	2020-05-16 10:37:48 +02:00
David Given	6ca06ecafb	Fix several embarassingly stupid bugs in the brother 120kB encoder code path.	2020-05-14 10:41:25 +02:00
David Given	9a5958f80b	Prevent OOB when appending no bytes to a fluxmap.	2020-05-14 10:40:49 +02:00
David Given	2b53ac057c	Fix some bugs which allow erasing tracks with F_FRAME_WRITE_CMD to work again. (F_FRAME_ERASE_CMD always worked.)	2020-05-13 23:45:58 +02:00
David Given	5deba8af41	Untested Brother 120kB write support.	2020-05-13 14:49:06 +02:00