Merge pull request #208 from davidgiven/greaseweazel

Add client support for the GreaseWeazle.

.appveyor.yml

@@ -1,6 +1,7 @@
 version: '{branch}.{build}'
 clone_depth: 1
 skip_tags: true
+image: Visual Studio 2019
 
 environment:
   MSYSTEM: MINGW32

FluxEngine.cydsn/CortexM3/ARM_GCC_541/Release/FluxEngine.hex

@@ -1,246 +1,246 @@
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+:40088000C20FE00425808004871089808B04912097249880A004A720AB02AE40AF80C820E6C0EED0511054045880700477809008912098809B80A004AB80AF20D4E0DC8000
+:4008C000DE20EA80EE1005200A400C100F201C0852225620610186029641A220A404A710AA41AC08AF40C001C20DC601D407D80270018001852086018810960198109920A0
+:40090000AA20B501DC01E204EC0201010D010F0111011D0100FF01AB02021105BF0000A09F001F000000000000000000100000004000000000000000C0000000FF0000B88D
+:4009400047004700000100008000000282008200000000000007070007000000270018012700180100040000000500000000000000000000000000000000000000000000C4
+:400980000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000037
 :4009C00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000F7
 :400A000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000B6
 :400A40000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000076
@@ -4615,12 +4615,12 @@
 :0200000490105A
 :04000000BC90ACAF55
 :0200000490303A
-:02000000861365
+:02000000CEC56B
 :0200000490402A
 :4000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000C0
 :400040000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000080
 :400080000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000040
 :4000C0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
 :0200000490501A
-:0C00000000012E16106900002E2F967CC7
+:0C00000000012E16106900002E2FDF2ECC
 :00000001FF

FluxEngine.cydsn/FluxEngine.cydwr

@@ -814,7 +814,7 @@
   </Group>
   <Group key="Component">
     <Group key="v1">
-      <Data key="cy_boot" value="cy_boot_v5_80" />
+      <Data key="cy_boot" value="cy_boot_v5_81" />
       <Data key="Em_EEPROM_Dynamic" value="Em_EEPROM_Dynamic_v2_20" />
       <Data key="LIN_Dynamic" value="LIN_Dynamic_v5_0" />
     </Group>
@@ -871,6 +871,7 @@
       <Data key="c5367cde-21d5-4866-9a32-d16abfea0c61" value="WPT" />
       <Data key="d19368c5-6855-41bb-a9ff-808938abef00" value="INDEX" />
       <Data key="e9f14b5a-b2bf-49b8-98f3-d7b5a43ace8d" value="DRVSB" />
+      <Data key="e16b5ef8-00d3-40a4-bc1c-194983c8eb3d" value="LOW_CURRENT" />
       <Data key="e851a3b9-efb8-48be-bbb8-b303b216c393" value="INDEX300" />
       <Data key="e51063a9-4fad-40c7-a06b-7cc4b137dc18" value="DSKCHG" />
       <Data key="ea7ee228-8b3f-426c-8bb8-cd7a81937769" value="DIR" />
@@ -4161,6 +4162,11 @@
         <Data key="Port Format" value="12,3" />
       </Group>
     </Group>
+    <Group key="e16b5ef8-00d3-40a4-bc1c-194983c8eb3d">
+      <Group key="0">
+        <Data key="Port Format" value="3,2" />
+      </Group>
+    </Group>
     <Group key="e851a3b9-efb8-48be-bbb8-b303b216c393">
       <Group key="0">
         <Data key="Port Format" value="3,0" />

FluxEngine.cydsn/FluxEngine.cyprj

@@ -2847,6 +2847,72 @@
 </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="TK43_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="TK43_REG.h" persistent="Generated_Source\PSoC5\TK43_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="TK43_REG.c" persistent="Generated_Source\PSoC5\TK43_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="TK43_REG_PM.c" persistent="Generated_Source\PSoC5\TK43_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="TK43" 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="TK43_aliases.h" persistent="Generated_Source\PSoC5\TK43_aliases.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="TK43.c" persistent="Generated_Source\PSoC5\TK43.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="TK43.h" persistent="Generated_Source\PSoC5\TK43.h">
+<Hidden v="False" />
+</CyGuid_31768f72-0253-412b-af77-e7dba74d1330>
+<build_action v="HEADER;;;;" />
+<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>

FluxEngine.cydsn/Sequencer/Sequencer.v

@@ -65,7 +65,8 @@ begin
                 if (dataclocked)
                 begin
                     pulsepending <= opcode[7];
-                    countdown <= opcode[5:0] - 1; /* compensate for delay in last tick */
+                    countdown <= opcode[5:0];
+                    
                     state <= STATE_WRITING;
                 end
             end

FluxEngine.cydsn/main.c

@@ -13,14 +13,18 @@
 #define DISKSTATUS_WPT    1
 #define DISKSTATUS_DSKCHG 2
 
-#define STEP_TOWARDS0 1
-#define STEP_AWAYFROM0 0
+#define STEP_TOWARDS0 0
+#define STEP_AWAYFROM0 1
 
 static bool drive0_present;
 static bool drive1_present;
 
 static volatile uint32_t clock = 0; /* ms */
 static volatile bool index_irq = false;
+/* Duration in ms. 0 causes every pulse to be an index pulse. Durations since
+ * last pulse greater than this value imply sector pulse. Otherwise is an index
+ * pulse. */
+static volatile uint32_t hardsec_index_threshold = 0;
 
 static bool motor_on = false;
 static uint32_t motor_on_time = 0;
@@ -69,12 +73,34 @@ static void system_timer_cb(void)
 
 CY_ISR(index_irq_cb)
 {
-    index_irq = true;
+    /* Hard sectored media has sector pulses at the beginning of every sector
+     * and the index pulse is an extra pulse in the middle of the last sector.
+     * When the extra pulse is seen, the next sector pulse is also the start of
+     * the track. */
+    static bool hardsec_index_irq_primed = false;
+    static uint32_t hardsec_last_pulse_time = 0;
+
+    if (!hardsec_index_threshold)
+    {
+        index_irq = true;
+        hardsec_index_irq_primed = false;
+    }
+    else
+    {
+        index_irq = hardsec_index_irq_primed;
+        if (index_irq)
+            hardsec_index_irq_primed = false;
+        else
+            hardsec_index_irq_primed =
+                clock - hardsec_last_pulse_time <= hardsec_index_threshold;
+        hardsec_last_pulse_time = clock;
+    }
     
     /* Stop writing the instant the index pulse comes along; it may take a few
      * moments for the main code to notice the pulse, and we don't want to overwrite
      * the beginning of the track. */
-    ERASE_REG_Write(0);
+    if (index_irq)
+        ERASE_REG_Write(0);
 }
 
 CY_ISR(capture_dma_finished_irq_cb)
@@ -249,6 +275,8 @@ static void seek_to(int track)
         CyWdtClear();
     }
     CyDelay(STEP_SETTLING_TIME);
+    
+    TK43_REG_Write(track < 43); /* high if 0..42, low if 43 or up */
     print("finished seek");
 }
 
@@ -267,7 +295,7 @@ static void cmd_recalibrate(void)
     send_reply(&r);    
 }
     
-static void cmd_measure_speed(struct any_frame* f)
+static void cmd_measure_speed(struct measurespeed_frame* f)
 {
     start_motor();
     
@@ -286,10 +314,14 @@ static void cmd_measure_speed(struct any_frame* f)
 
     if (elapsed != 0)
     {
-        index_irq = false;
+        int target_pulse_count = f->hard_sector_count + 1;
         start_clock = clock;
-        while (!index_irq)
-            elapsed = clock - start_clock;
+        for (int x=0; x<target_pulse_count; x++)
+        {
+            index_irq = false;
+            while (!index_irq)
+                elapsed = clock - start_clock;
+        }
     }
     
     DECLARE_REPLY_FRAME(struct speed_frame, F_FRAME_MEASURE_SPEED_REPLY);
@@ -381,8 +413,9 @@ static void init_capture_dma(void)
 
 static void cmd_read(struct read_frame* f)
 {
-    SIDE_REG_Write(f->side);
     seek_to(current_track);
+    SIDE_REG_Write(f->side);
+    STEP_REG_Write(f->side); /* for drives which multiplex SIDE and DIR */
     
     /* Do slow setup *before* we go into the real-time bit. */
     
@@ -401,10 +434,12 @@ static void cmd_read(struct read_frame* f)
         
     if (f->synced)
     {
+        hardsec_index_threshold = f->hardsec_threshold_ms;
         index_irq = false;
         while (!index_irq)
             ;
         index_irq = false;
+        hardsec_index_threshold = 0;
     }
     
     dma_writing_to_td = 0;
@@ -478,6 +513,7 @@ abort:;
     wait_until_writeable(FLUXENGINE_DATA_IN_EP_NUM);
     deinit_dma();
 
+    STEP_REG_Write(0);
     if (saved_dma_underrun)
     {
         print("underrun after %d packets");
@@ -523,9 +559,11 @@ static void cmd_write(struct write_frame* f)
         return;
     }
     
-    SEQUENCER_CONTROL_Write(1); /* put the sequencer into reset */
-
+    seek_to(current_track);    
     SIDE_REG_Write(f->side);
+    STEP_REG_Write(f->side); /* for drives which multiplex SIDE and DIR */
+    
+    SEQUENCER_CONTROL_Write(1); /* put the sequencer into reset */
     {
         uint8_t i = CyEnterCriticalSection();        
         REPLAY_FIFO_SET_LEVEL_MID;
@@ -533,7 +571,6 @@ static void cmd_write(struct write_frame* f)
         REPLAY_FIFO_SINGLE_BUFFER_UNSET;
         CyExitCriticalSection(i);
     }
-    seek_to(current_track);    
 
     init_replay_dma();
     bool writing = false; /* to the disk */
@@ -591,6 +628,7 @@ static void cmd_write(struct write_frame* f)
                 /* Wait for the index marker. While this happens, the DMA engine
                  * will prime the FIFO. */
 
+                hardsec_index_threshold = f->hardsec_threshold_ms;
                 index_irq = false;
                 while (!index_irq)
                     ;
@@ -625,6 +663,7 @@ abort:
     }
     
     print("p=%d cr=%d cw=%d f=%d w=%d index=%d underrun=%d", packets, count_read, count_written, finished, writing, index_irq, dma_underrun);
+    hardsec_index_threshold = 0;
     if (!finished)
     {
         /* There's still some data to read, so just read and blackhole it ---
@@ -638,6 +677,7 @@ abort:
     
     deinit_dma();
     
+    STEP_REG_Write(0);
     if (dma_underrun)
     {
         print("underrun!");
@@ -657,6 +697,7 @@ static void cmd_erase(struct erase_frame* f)
     /* Disk is now spinning. */
     
     print("start erasing");
+    hardsec_index_threshold = f->hardsec_threshold_ms;
     index_irq = false;
     while (!index_irq)
         ;
@@ -665,6 +706,7 @@ static void cmd_erase(struct erase_frame* f)
     while (!index_irq)
         ;
     ERASE_REG_Write(0);
+    hardsec_index_threshold = 0;
     print("stop erasing");
 
     DECLARE_REPLY_FRAME(struct any_frame, F_FRAME_ERASE_REPLY);
@@ -790,7 +832,7 @@ static void handle_command(void)
             break;
         
         case F_FRAME_MEASURE_SPEED_CMD:
-            cmd_measure_speed(f);
+            cmd_measure_speed((struct measurespeed_frame*) f);
             break;
             
         case F_FRAME_BULK_WRITE_TEST_CMD:

README.md

@@ -24,6 +24,14 @@ Don't believe me? Watch the demo reel!
 <iframe width="373" height="210" src="https://www.youtube.com/embed/m_s1iw8eW7o" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
 </div>
 
+**New!** The FluxEngine client software now works with
+[GreaseWeazle](https://github.com/keirf/Greaseweazle/wiki) hardware. So, if you
+can't find a PSoC5 development kit, or don't want to use the Cypress Windows
+tools for programming it, you can use one of these instead. Very nearly all
+FluxEngine features are available with the GreaseWeazle and it works out-of-the
+box. See the [dedicated GreaseWeazle documentation page](doc/greaseweazle.md)
+for more information.
+
 **Important note.** On 2020-04-02 I changed the bytecode format (and firmware).
 Flux files will need to be upgraded with `fluxengine upgradefluxfile`. The new
 format should be more reliable and use way, way less bandwidth. Sorry for the
@@ -52,6 +60,11 @@ following friendly articles:
   - [Using a FluxEngine](doc/using.md) ∾ what to do with your new hardware ∾
     flux files and image files ∾ knowing what you're doing
 
+  - [Using GreaseWeazle hardware with the FluxEngine client
+	software](doc/greaseweazle.md) ∾ what works ∾ what doesn't work ∾ where to
+	go for help
+
+
   - [Troubleshooting dubious disks](doc/problems.md) ∾ it's not an exact science ∾
     the sector map ∾ clock detection and the histogram
 
@@ -82,7 +95,7 @@ people who've had it work).
 | [Brother 120kB](doc/disk-brother.md)     |  🦄   |        |                                     |
 | [Brother 240kB](doc/disk-brother.md)     |  🦄   |   🦄   |                                     |
 | [Brother FB-100](doc/disk-fb100.md)      |  🦖   |        | Tandy Model 100, Husky Hunter, knitting machines |
-| [Macintosh 800kB](doc/disk-macintosh.md) |  🦖   |        | and probably the 400kB too          |
+| [Macintosh 800kB](doc/disk-macintosh.md) |  🦄   |   🦄   | and probably the 400kB too          |
 | [TRS-80](doc/disk-trs80.md)              |  🦖   |   🦖*  | a minor variation of the IBM scheme |
 {: .datatable }
 
@@ -103,8 +116,10 @@ at least, check the CRC so what data's there is probably good.
 | [AES Superplus / No Problem](doc/disk-aeslanier.md) |  🦖   | | hard sectors! |
 | [Durango F85](doc/disk-durangof85.md)    |  🦖   |        | 5.25" |
 | [DVK MX](doc/disk-mx.md)                 |  🦖   |        | Soviet PDP-11 clone |
-| [Victor 9000](doc/disk-victor9k.md)      |  🦖   |        | 8-inch        |
-| [Zilog MCZ](doc/disk-zilogmcz.md)        |  🦖   |        | 8-inch _and_ hard sectors |
+| [Micropolis](doc/disk-micropolis.md)     |  🦄   |        | Micropolis 100tpi drives |
+| [TI DS990 FD1000](doc/disk-tids990.md)   |  🦄   |  🦄    | 8" |
+| [Victor 9000](doc/disk-victor9k.md)      |  🦖   |        | 8" |
+| [Zilog MCZ](doc/disk-zilogmcz.md)        |  🦖   |        | 8" _and_ hard sectors |
 {: .datatable }
 
 ### Notes

arch/macintosh/decoder.cc

@@ -118,10 +118,10 @@ static Bytes decode_crazy_data(const Bytes& input, Sector::Status& status)
 uint8_t decode_side(uint8_t side)
 {
     /* Mac disks, being weird, use the side byte to encode both the side (in
-     * bit 5) and also whether we're above track 0x3f (in bit 6).
+     * bit 5) and also whether we're above track 0x3f (in bit 0).
      */
 
-    return !!(side & 0x40);
+    return !!(side & 0x20);
 }
 
 AbstractDecoder::RecordType MacintoshDecoder::advanceToNextRecord()

arch/macintosh/encoder.cc

@@ -0,0 +1,242 @@
+#include "globals.h"
+#include "record.h"
+#include "decoders/decoders.h"
+#include "encoders/encoders.h"
+#include "macintosh.h"
+#include "crc.h"
+#include "sectorset.h"
+#include "writer.h"
+#include "fmt/format.h"
+#include <ctype.h>
+
+FlagGroup macintoshEncoderFlags;
+
+static DoubleFlag postIndexGapUs(
+	{ "--post-index-gap-us" },
+	"Post-index gap before first sector header (microseconds).",
+	0);
+
+static DoubleFlag clockCompensation(
+	{ "--clock-compensation-factor" },
+	"Scale the output clock by this much.",
+	1.0);
+
+static bool lastBit;
+
+static double clockRateUsForTrack(unsigned track)
+{
+	if (track < 16)
+		return 2.623;
+	if (track < 32)
+		return 2.861;
+	if (track < 48)
+		return 3.148;
+	if (track < 64)
+		return 3.497;
+	return 3.934;
+}
+
+static unsigned sectorsForTrack(unsigned track)
+{
+	if (track < 16)
+		return 12;
+	if (track < 32)
+		return 11;
+	if (track < 48)
+		return 10;
+	if (track < 64)
+		return 9;
+	return 8;
+}
+
+static int encode_data_gcr(uint8_t gcr)
+{
+    switch (gcr)
+    {
+		#define GCR_ENTRY(gcr, data) \
+			case data: return gcr;
+		#include "data_gcr.h"
+		#undef GCR_ENTRY
+    }
+    return -1;
+};
+
+/* This is extremely inspired by the MESS implementation, written by Nathan Woods
+ * and R. Belmont: https://github.com/mamedev/mame/blob/4263a71e64377db11392c458b580c5ae83556bc7/src/lib/formats/ap_dsk35.cpp
+ */
+static Bytes encode_crazy_data(const Bytes& input)
+{
+    Bytes output;
+    ByteWriter bw(output);
+    ByteReader br(input);
+
+	uint8_t w1, w2, w3, w4;
+
+    static const int LOOKUP_LEN = MAC_SECTOR_LENGTH / 3;
+
+    uint8_t b1[LOOKUP_LEN + 1];
+    uint8_t b2[LOOKUP_LEN + 1];
+    uint8_t b3[LOOKUP_LEN + 1];
+
+	uint32_t c1 = 0;
+	uint32_t c2 = 0;
+	uint32_t c3 = 0;
+	for (int j=0;; j++)
+	{
+		c1 = (c1 & 0xff) << 1;
+		if (c1 & 0x0100)
+			c1++;
+
+		uint8_t val = br.read_8();
+		c3 += val;
+		if (c1 & 0x0100)
+		{
+			c3++;
+			c1 &= 0xff;
+		}
+		b1[j] = (val ^ c1) & 0xff;
+
+		val = br.read_8();
+		c2 += val;
+		if (c3 > 0xff)
+		{
+			c2++;
+			c3 &= 0xff;
+		}
+		b2[j] = (val ^ c3) & 0xff;
+
+		if (br.pos == 524)
+			break;
+
+		val = br.read_8();
+		c1 += val;
+		if (c2 > 0xff)
+		{
+			c1++;
+			c2 &= 0xff;
+		}
+		b3[j] = (val ^ c2) & 0xff;
+	}
+	uint32_t c4 = ((c1 & 0xc0) >> 6) | ((c2 & 0xc0) >> 4) | ((c3 & 0xc0) >> 2);
+	b3[LOOKUP_LEN] = 0;
+
+	for (int i = 0; i <= LOOKUP_LEN; i++)
+	{
+		w1 = b1[i] & 0x3f;
+		w2 = b2[i] & 0x3f;
+		w3 = b3[i] & 0x3f;
+		w4 =  ((b1[i] & 0xc0) >> 2);
+		w4 |= ((b2[i] & 0xc0) >> 4);
+		w4 |= ((b3[i] & 0xc0) >> 6);
+
+		bw.write_8(w4);
+		bw.write_8(w1);
+		bw.write_8(w2);
+
+		if (i != LOOKUP_LEN)
+			bw.write_8(w3);
+	}
+
+	bw.write_8(c4 & 0x3f);
+	bw.write_8(c3 & 0x3f);
+	bw.write_8(c2 & 0x3f);
+	bw.write_8(c1 & 0x3f);
+
+	return output;
+}
+
+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 uint8_t encode_side(uint8_t track, uint8_t side)
+{
+    /* Mac disks, being weird, use the side byte to encode both the side (in
+     * bit 5) and also whether we're above track 0x3f (in bit 0).
+     */
+
+	return (side ? 0x20 : 0x00) | ((track>0x3f) ? 0x01 : 0x00);
+}
+
+static void write_sector(std::vector<bool>& bits, unsigned& cursor, const Sector* sector)
+{
+	if ((sector->data.size() != 512) && (sector->data.size() != 524))
+		Error() << "unsupported sector size --- you must pick 512 or 524";
+
+	write_bits(bits, cursor, 0xff, 1*8); /* pad byte */
+	for (int i=0; i<7; i++)
+		write_bits(bits, cursor, 0xff3fcff3fcffLL, 6*8); /* sync */
+	write_bits(bits, cursor, MAC_SECTOR_RECORD, 3*8);
+
+    uint8_t encodedTrack = sector->physicalTrack & 0x3f;
+	uint8_t encodedSector = sector->logicalSector;
+	uint8_t encodedSide = encode_side(sector->physicalTrack, sector->logicalSide);
+	uint8_t formatByte = MAC_FORMAT_BYTE;
+	uint8_t headerChecksum = (encodedTrack ^ encodedSector ^ encodedSide ^ formatByte) & 0x3f;
+
+	write_bits(bits, cursor, encode_data_gcr(encodedTrack), 1*8);
+	write_bits(bits, cursor, encode_data_gcr(encodedSector), 1*8);
+	write_bits(bits, cursor, encode_data_gcr(encodedSide), 1*8);
+	write_bits(bits, cursor, encode_data_gcr(formatByte), 1*8);
+	write_bits(bits, cursor, encode_data_gcr(headerChecksum), 1*8);
+
+	write_bits(bits, cursor, 0xdeaaff, 3*8);
+	write_bits(bits, cursor, 0xff3fcff3fcffLL, 6*8); /* sync */
+	write_bits(bits, cursor, MAC_DATA_RECORD, 3*8);
+	write_bits(bits, cursor, encode_data_gcr(sector->logicalSector), 1*8);
+
+	Bytes wireData;
+	wireData.writer().append(sector->data.slice(512, 12)).append(sector->data.slice(0, 512));
+	for (uint8_t b : encode_crazy_data(wireData))
+		write_bits(bits, cursor, encode_data_gcr(b), 1*8);
+
+	write_bits(bits, cursor, 0xdeaaff, 3*8);
+}
+
+std::unique_ptr<Fluxmap> MacintoshEncoder::encode(
+	int physicalTrack, int physicalSide, const SectorSet& allSectors)
+{
+	if ((physicalTrack < 0) || (physicalTrack >= MAC_TRACKS_PER_DISK))
+		return std::unique_ptr<Fluxmap>();
+
+	double clockRateUs = clockRateUsForTrack(physicalTrack) * clockCompensation;
+	int bitsPerRevolution = 200000.0 / clockRateUs;
+	std::vector<bool> bits(bitsPerRevolution);
+	unsigned cursor = 0;
+
+    fillBitmapTo(bits, cursor, postIndexGapUs / clockRateUs, { true, false });
+	lastBit = false;
+
+	unsigned numSectors = sectorsForTrack(physicalTrack);
+	for (int sectorId=0; sectorId<numSectors; sectorId++)
+	{
+		const auto& sectorData = allSectors.get(physicalTrack, physicalSide, sectorId);
+		write_sector(bits, cursor, sectorData);
+    }
+
+	if (cursor >= bits.size())
+		Error() << fmt::format("track data overrun by {} bits", cursor - bits.size());
+	fillBitmapTo(bits, cursor, bits.size(), { true, false });
+
+	std::unique_ptr<Fluxmap> fluxmap(new Fluxmap);
+	fluxmap->appendBits(bits, clockRateUs*1e3);
+	return fluxmap;
+}
+

arch/macintosh/macintosh.h

@@ -1,11 +1,17 @@
 #ifndef MACINTOSH_H
 #define MACINTOSH_H
 
+#include "decoders/decoders.h"
+#include "encoders/encoders.h"
+
 #define MAC_SECTOR_RECORD   0xd5aa96 /* 1101 0101 1010 1010 1001 0110 */
 #define MAC_DATA_RECORD     0xd5aaad /* 1101 0101 1010 1010 1010 1101 */
 
 #define MAC_SECTOR_LENGTH   524 /* yes, really */
 #define MAC_ENCODED_SECTOR_LENGTH 703
+#define MAC_FORMAT_BYTE     0x22
+
+#define MAC_TRACKS_PER_DISK 80
 
 class Sector;
 class Fluxmap;
@@ -22,5 +28,17 @@ public:
 	std::set<unsigned> requiredSectors(Track& track) const;
 };
 
+class MacintoshEncoder : public AbstractEncoder
+{
+public:
+	virtual ~MacintoshEncoder() {}
+
+public:
+    std::unique_ptr<Fluxmap> encode(int physicalTrack, int physicalSide, const SectorSet& allSectors);
+};
+
+extern FlagGroup macintoshEncoderFlags;
+
+
 #endif
 

arch/micropolis/decoder.cc

@@ -0,0 +1,61 @@
+#include "globals.h"
+#include "fluxmap.h"
+#include "decoders/fluxmapreader.h"
+#include "decoders/decoders.h"
+#include "sector.h"
+#include "micropolis.h"
+#include "bytes.h"
+#include "fmt/format.h"
+
+/* The sector has a preamble of MFM 0x00s and uses 0xFF as a sync pattern. */
+static const FluxPattern SECTOR_SYNC_PATTERN(32, 0xaaaa5555);
+
+AbstractDecoder::RecordType MicropolisDecoder::advanceToNextRecord()
+{
+	_fmr->seekToIndexMark();
+	const FluxMatcher* matcher = nullptr;
+	_sector->clock = _fmr->seekToPattern(SECTOR_SYNC_PATTERN, matcher);
+	if (matcher == &SECTOR_SYNC_PATTERN) {
+		readRawBits(16);
+		return SECTOR_RECORD;
+	}
+	return UNKNOWN_RECORD;
+}
+
+/* Adds all bytes, with carry. */
+static uint8_t checksum(const Bytes& bytes) {
+	ByteReader br(bytes);
+	uint16_t sum = 0;
+	while (!br.eof()) {
+		if (sum > 0xFF) {
+			sum -= 0x100 - 1;
+		}
+		sum += br.read_8();
+	}
+	/* The last carry is ignored */
+	return sum & 0xFF;
+}
+
+void MicropolisDecoder::decodeSectorRecord()
+{
+	auto rawbits = readRawBits(MICROPOLIS_ENCODED_SECTOR_SIZE*16);
+	auto bytes = decodeFmMfm(rawbits).slice(0, MICROPOLIS_ENCODED_SECTOR_SIZE);
+	ByteReader br(bytes);
+
+	br.read_8();  /* sync */
+	_sector->logicalTrack = br.read_8();
+	_sector->logicalSide = _sector->physicalSide;
+	_sector->logicalSector = br.read_8();
+	if (_sector->logicalSector > 15)
+		return;
+	if (_sector->logicalTrack > 77)
+		return;
+
+	br.read(10);  /* OS data or padding */
+	_sector->data = br.read(256);
+	uint8_t wantChecksum = br.read_8();
+	uint8_t gotChecksum = checksum(bytes.slice(1, 2+266));
+	br.read(5);  /* 4 byte ECC and ECC-present flag */
+
+	_sector->status = (wantChecksum == gotChecksum) ? Sector::OK : Sector::BAD_CHECKSUM;
+}

arch/micropolis/micropolis.h

@@ -0,0 +1,18 @@
+#ifndef ZILOGMCZ_H
+#define ZILOGMCZ_H
+
+#define MICROPOLIS_ENCODED_SECTOR_SIZE (1+2+266+6)
+
+class Sector;
+class Fluxmap;
+
+class MicropolisDecoder : public AbstractDecoder
+{
+public:
+	virtual ~MicropolisDecoder() {}
+
+	RecordType advanceToNextRecord();
+	void decodeSectorRecord();
+};
+
+#endif

arch/tids990/decoder.cc

@@ -0,0 +1,87 @@
+#include "globals.h"
+#include "decoders/decoders.h"
+#include "encoders/encoders.h"
+#include "tids990/tids990.h"
+#include "crc.h"
+#include "fluxmap.h"
+#include "decoders/fluxmapreader.h"
+#include "sector.h"
+#include "record.h"
+#include "track.h"
+#include <string.h>
+#include <fmt/format.h>
+
+/* The Texas Instruments DS990 uses MFM with a scheme similar to a simplified
+ * version of the IBM record scheme (it's actually easier to parse than IBM).
+ * There are 26 sectors per track, each holding a rather weird 288 bytes.
+ */
+
+/*
+ * Sector record:
+ * data:    0  1  0  1  0  1  0  1 .0  0  0  0  1  0  1  0  = 0x550a
+ * mfm:     00 01 00 01 00 01 00 01.00 10 10 10 01 00 01 00 = 0x11112a44
+ * special: 00 01 00 01 00 01 00 01.00 10 00 10 01 00 01 00 = 0x11112244
+ *                                        ^^
+ * When shifted out of phase, the special 0xa1 byte becomes an illegal
+ * encoding (you can't do 10 00). So this can't be spoofed by user data.
+ */
+const FluxPattern SECTOR_RECORD_PATTERN(32, 0x11112244);
+
+/*
+ * Data record:
+ * data:    0  1  0  1  0  1  0  1 .0  0  0  0  1  0  1  1  = 0x550c
+ * mfm:     00 01 00 01 00 01 00 01.00 10 10 10 01 00 01 01 = 0x11112a45
+ * special: 00 01 00 01 00 01 00 01.00 10 00 10 01 00 01 01 = 0x11112245
+ *                                        ^^
+ * When shifted out of phase, the special 0xa1 byte becomes an illegal
+ * encoding (you can't do 10 00). So this can't be spoofed by user data.
+ */
+const FluxPattern DATA_RECORD_PATTERN(32, 0x11112245);
+
+const FluxMatchers ANY_RECORD_PATTERN({ &SECTOR_RECORD_PATTERN, &DATA_RECORD_PATTERN });
+
+AbstractDecoder::RecordType TiDs990Decoder::advanceToNextRecord()
+{
+	const FluxMatcher* matcher = nullptr;
+	_sector->clock = _fmr->seekToPattern(ANY_RECORD_PATTERN, matcher);
+	if (matcher == &SECTOR_RECORD_PATTERN)
+		return RecordType::SECTOR_RECORD;
+	if (matcher == &DATA_RECORD_PATTERN)
+		return RecordType::DATA_RECORD;
+	return RecordType::UNKNOWN_RECORD;
+}
+
+void TiDs990Decoder::decodeSectorRecord()
+{
+    auto bits = readRawBits(TIDS990_SECTOR_RECORD_SIZE*16);
+    auto bytes = decodeFmMfm(bits).slice(0, TIDS990_SECTOR_RECORD_SIZE);
+
+    ByteReader br(bytes);
+	uint16_t gotChecksum = crc16(CCITT_POLY, bytes.slice(1, TIDS990_SECTOR_RECORD_SIZE-3));
+
+	br.seek(2);
+	_sector->logicalSide = br.read_8() >> 3;
+	_sector->logicalTrack = br.read_8();
+	br.read_8(); /* number of sectors per track */
+	_sector->logicalSector = br.read_8();
+	br.read_be16(); /* sector size */
+    uint16_t wantChecksum = br.read_be16();
+
+    if (wantChecksum == gotChecksum)
+        _sector->status = Sector::DATA_MISSING; /* correct but unintuitive */
+}
+
+void TiDs990Decoder::decodeDataRecord()
+{
+	auto bits = readRawBits(TIDS990_DATA_RECORD_SIZE*16);
+	auto bytes = decodeFmMfm(bits).slice(0, TIDS990_DATA_RECORD_SIZE);
+
+	ByteReader br(bytes);
+	uint16_t gotChecksum = crc16(CCITT_POLY, bytes.slice(1, TIDS990_DATA_RECORD_SIZE-3));
+
+	br.seek(2);
+	_sector->data = br.read(TIDS990_PAYLOAD_SIZE);
+	uint16_t wantChecksum = br.read_be16();
+    _sector->status = (wantChecksum == gotChecksum) ? Sector::OK : Sector::BAD_CHECKSUM;
+}
+

arch/tids990/encoder.cc

@@ -0,0 +1,176 @@
+#include "globals.h"
+#include "record.h"
+#include "decoders/decoders.h"
+#include "encoders/encoders.h"
+#include "tids990.h"
+#include "crc.h"
+#include "sectorset.h"
+#include "writer.h"
+#include <fmt/format.h>
+
+FlagGroup tids990EncoderFlags;
+
+static IntFlag trackLengthMs(
+	{ "--tids990-track-length-ms" },
+	"Length of a track in milliseconds.",
+	166);
+
+static IntFlag sectorCount(
+	{ "--tids990-sector-count" },
+	"Number of sectors per track.",
+	26);
+
+static IntFlag clockRateKhz(
+	{ "--tids990-clock-rate-khz" },
+	"Clock rate of data to write.",
+	500);
+
+static HexIntFlag am1Byte(
+	{ "--tids990-am1-byte" },
+	"16-bit RAW bit pattern to use for the AM1 ID byte",
+	0x2244);
+
+static HexIntFlag am2Byte(
+	{ "--tids990-am2-byte" },
+	"16-bit RAW bit pattern to use for the AM2 ID byte",
+	0x2245);
+
+static IntFlag gap1(
+	{ "--tids990-gap1-bytes" },
+	"Size of gap 1 (the post-index gap).",
+	80);
+
+static IntFlag gap2(
+	{ "--tids990-gap2-bytes" },
+	"Size of gap 2 (the post-ID gap).",
+	21);
+
+static IntFlag gap3(
+	{ "--tids990-gap3-bytes" },
+	"Size of gap 3 (the post-data or format gap).",
+	51);
+
+static StringFlag sectorSkew(
+	{ "--tids990-sector-skew" },
+	"Order to emit sectors.",
+	"1mhc72nid83oje94pkfa50lgb6");
+
+static int charToInt(char c)
+{
+	if (isdigit(c))
+		return c - '0';
+	return 10 + tolower(c) - 'a';
+}
+
+void TiDs990Encoder::writeRawBits(uint32_t data, int width)
+{
+	_cursor += width;
+	_lastBit = data & 1;
+	for (int i=0; i<width; i++)
+	{
+		unsigned pos = _cursor - i - 1;
+		if (pos < _bits.size())
+			_bits[pos] = data & 1;
+		data >>= 1;
+	}
+}
+
+void TiDs990Encoder::writeBytes(const Bytes& bytes)
+{
+	encodeMfm(_bits, _cursor, bytes, _lastBit);
+}
+
+void TiDs990Encoder::writeBytes(int count, uint8_t byte)
+{
+	Bytes bytes = { byte };
+	for (int i=0; i<count; i++)
+		writeBytes(bytes);
+}
+
+static uint8_t decodeUint16(uint16_t raw)
+{
+	Bytes b;
+	ByteWriter bw(b);
+	bw.write_be16(raw);
+	return decodeFmMfm(b.toBits())[0];
+}
+
+std::unique_ptr<Fluxmap> TiDs990Encoder::encode(
+	int physicalTrack, int physicalSide, const SectorSet& allSectors)
+{
+	double clockRateUs = 1e3 / clockRateKhz / 2.0;
+	int bitsPerRevolution = (trackLengthMs * 1000.0) / clockRateUs;
+	_bits.resize(bitsPerRevolution);
+	_cursor = 0;
+
+	uint8_t am1Unencoded = decodeUint16(am1Byte);
+	uint8_t am2Unencoded = decodeUint16(am2Byte);
+
+	writeBytes(gap1, 0x55);
+
+	bool first = true;
+	for (char sectorChar : sectorSkew.get())
+	{
+		int sectorId = charToInt(sectorChar);
+		if (!first)
+			writeBytes(gap3, 0x55);
+		first = false;
+
+		const auto& sectorData = allSectors.get(physicalTrack, physicalSide, sectorId);
+		if (!sectorData)
+			Error() << fmt::format("format tried to find sector {} which wasn't in the input file", sectorId);
+
+		/* Writing the sector and data records are fantastically annoying.
+		 * The CRC is calculated from the *very start* of the record, and
+		 * include the malformed marker bytes. Our encoder doesn't know
+		 * about this, of course, with the result that we have to construct
+		 * the unencoded header, calculate the checksum, and then use the
+		 * same logic to emit the bytes which require special encoding
+		 * before encoding the rest of the header normally. */
+
+		{
+			Bytes header;
+			ByteWriter bw(header);
+
+			writeBytes(12, 0x55);
+			bw.write_8(am1Unencoded);
+			bw.write_8(sectorData->logicalSide << 3);
+			bw.write_8(sectorData->logicalTrack);
+			bw.write_8(sectorCount);
+			bw.write_8(sectorData->logicalSector);
+			bw.write_be16(sectorData->data.size());
+			uint16_t crc = crc16(CCITT_POLY, header);
+			bw.write_be16(crc);
+
+			writeRawBits(am1Byte, 16);
+			writeBytes(header.slice(1));
+		}
+
+		writeBytes(gap2, 0x55);
+
+		{
+			Bytes data;
+			ByteWriter bw(data);
+
+			writeBytes(12, 0x55);
+			bw.write_8(am2Unencoded);
+
+			bw += sectorData->data;
+			uint16_t crc = crc16(CCITT_POLY, data);
+			bw.write_be16(crc);
+
+			writeRawBits(am2Byte, 16);
+			writeBytes(data.slice(1));
+		}
+    }
+
+	if (_cursor >= _bits.size())
+		Error() << "track data overrun";
+	while (_cursor < _bits.size())
+		writeBytes(1, 0x55);
+	
+	std::unique_ptr<Fluxmap> fluxmap(new Fluxmap);
+	fluxmap->appendBits(_bits, clockRateUs*1e3);
+	return fluxmap;
+}
+

arch/tids990/tids990.h

@@ -0,0 +1,47 @@
+#ifndef TIDS990_H
+#define TIDS990_H
+
+#define TIDS990_PAYLOAD_SIZE       288 /* bytes */
+#define TIDS990_SECTOR_RECORD_SIZE 10 /* bytes */
+#define TIDS990_DATA_RECORD_SIZE   (TIDS990_PAYLOAD_SIZE + 4) /* bytes */
+
+class Sector;
+class SectorSet;
+class Fluxmap;
+class Track;
+
+class TiDs990Decoder : public AbstractDecoder
+{
+public:
+    virtual ~TiDs990Decoder() {}
+
+    RecordType advanceToNextRecord();
+    void decodeSectorRecord();
+	void decodeDataRecord();
+};
+
+class TiDs990Encoder : public AbstractEncoder
+{
+public:
+	virtual ~TiDs990Encoder() {}
+
+private:
+	void writeRawBits(uint32_t data, int width);
+	void writeBytes(const Bytes& bytes);
+	void writeBytes(int count, uint8_t value);
+	void writeSync();
+
+public:
+    std::unique_ptr<Fluxmap> encode(int physicalTrack, int physicalSide, const SectorSet& allSectors);
+
+private:
+	std::vector<bool> _bits;
+	unsigned _cursor;
+	bool _lastBit;
+};
+
+extern FlagGroup tids990EncoderFlags;
+
+#endif
+
+

doc/building.md

@@ -292,7 +292,7 @@ INDEX300 ---+ 3.0|     | GND+--------------------------+
             +----+     +----+                 +--+--+  |
 INDEX360 ---+ 3.1|     | 1.7+------ DISKCHG --+34+33+--+
             +----+     +----+                 +--+--+
-            + 3.2|     | 1.6+------- SIDE1 ---+32+31+
+    TK43 ---+ 3.2|     | 1.6+------- SIDE1 ---+32+31+
             +----+     +----+                 +--+--+
             + 3.3|     | 1.5+------- RDATA ---+30+29+
             +----+     +----+                 +--+--+
@@ -306,7 +306,7 @@ INDEX360 ---+ 3.1|     | 1.7+------ DISKCHG --+34+33+--+
             +----+     +----+                 +--+--+
             +15.0|     | 1.0+------- STEP ----+20+19+
             +----+     +----+                 +--+--+
-            +15.1|     |12.0+-------- DIR ----+18+17+
+            +15.1|     |12.0+--- DIR/SIDE1 ---+18+17+
             +----+     +----+                 +--+--+
             +15.2|     |12.1+------- MOTEB ---+16+15+
             +----+     +----+                 +--+--+
@@ -343,6 +343,10 @@ INDEX360 ---+ 3.1|     | 1.7+------ DISKCHG --+34+33+--+
 
 Notes:
 
+  - `DIR/SIDE1` is the step direction pin. During reads or writes, `SIDE1` is
+  also multiplexed onto it, because some drives expect this. This is harmless
+  on other drives because the `DIR` pin is ignored during reads or writes.
+
   - `TX` is the debug UART port. It's on pin 12.7 because the board routes it
   to the USB serial port on the programmer, so you can get debug information
   from the FluxEngine by just plugging the programming end into a USB port
@@ -365,6 +369,10 @@ Notes:
   rather exotic things. See the section on flippy disks [in the FAQ](faq.md)
   for more details; you can normally ignore these.
 
+  - `TK43` is an optional output pin which goes low when the drive is seeking
+  to track 43 or above. This is useful when using 8" floppy drives, which
+  require reduced write current when writing to these tracks.
+
 ## Next steps
 
 You should now be ready to go. You'll want to read [the client

doc/disk-macintosh.md

@@ -45,22 +45,34 @@ 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).
+**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 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`.
 
-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`.
+Writing discs
+-------------
+
+Just do:
+
+```
+fluxengine write mac -i mac.diskcopy
+```
+
+It'll read the DiskCopy 4.2 file and write it out.
+
+The same warning as above applies --- you can use normal `.img` files but it's
+problematic. Use DiskCopy 4.2 files instead.
 
 Useful references
 -----------------
@@ -74,3 +86,7 @@ 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.

doc/disk-micropolis.md

@@ -0,0 +1,55 @@
+Disk: Micropolis
+================
+
+Micropolis MetaFloppy disks use MFM and hard sectors. They were 100 TPI and
+stored 315k per side. Each of the 16 sectors contains 266 bytes of "user data,"
+allowing 10 bytes of metadata for use by the operating system. Micropolis DOS
+(MDOS) used the metadata bytes, but CP/M did not.
+
+Some later systems were Micropolis-compatible and so were also 100 TPI, like
+the Vector Graphic Dual-Mode Disk Controller which was paired with a Tandon
+drive.
+
+**Important note:** You _cannot_ read these disks with a normal PC drive, as
+these drives are 96tpi.The track spacing is determined by the physical geometry
+of the drive and can't be changed in software. You'll need to get hold of a
+100tpi Micropolis drive. Luckily these seem to use the same connector and
+pinout as a 96tpi PC 5.25" drive. In use they should be identical.
+
+Reading disks
+-------------
+
+Just do:
+
+```
+fluxengine read micropolis
+```
+
+You should end up with a `micropolis.img` which is 630784 bytes long (for a
+normal DD disk). The image is written in CHS order, but HCS is generally used
+by CP/M tools so the image needs to be post-processed. For only half-full disks
+or single-sided disks, you can use `-s :s=0` to read only one side of the disk
+which works around the problem.
+
+The [CP/M BIOS](https://www.seasip.info/Cpm/bios.html) defined SELDSK, SETTRK,
+and SETSEC, but no function to select the head/side. Double-sided floppies
+could be represented as having either twice the number of sectors, for CHS, or
+twice the number of tracks, HCS; the second side's tracks logically followed
+the first side (e.g., tracks 77-153). Micropolis disks tended to be the latter.
+
+Useful references
+-----------------
+
+  - [Micropolis 1040/1050 S-100 Floppy Disk Subsystems User's Manual][micropolis1040/1050].
+    Section 6, pages 261-266. Documents pre-ECC sector format. Note that the
+    entire record, starting at the sync byte, is controlled by software
+
+  - [Vector Graphic Dual-Mode Disk Controller Board Engineering Documentation][vectordualmode].
+    Section 1.6.2. Documents ECC sector format
+
+  - [AltairZ80 Simulator Usage Manual][altairz80]. Section 10.6. Documents ECC
+    sector format and VGI file format
+
+[micropolis1040/1050]: http://www.bitsavers.org/pdf/micropolis/metafloppy/1084-01_1040_1050_Users_Manual_Apr79.pdf
+[vectordualmode]: http://bitsavers.org/pdf/vectorGraphic/hardware/7200-1200-02-1_Dual-Mode_Disk_Controller_Board_Engineering_Documentation_Feb81.pdf
+[altairz80]: http://www.bitsavers.org/simh.trailing-edge.com_201206/pdf/altairz80_doc.pdf

doc/disk-tids990.md

@@ -0,0 +1,46 @@
+Disk: TI DS990 FD1000
+=====================
+
+The Texas Instruments DS990 was a multiuser modular computing system from 1998,
+based around the TMS-9900 processor (as used by the TI-99). It had an 8" floppy
+drive module, the FD1000, which was a 77-track, 288-byte sector FM/MFM system
+with 26 sectors per track. The encoding scheme was very similar to a simplified
+version of the IBM scheme, but of course not compatible. A double-sided disk
+would store a very satisfactory 1126kB of data; here's one at <a
+href="https://www.old-computers.com/museum/computer.asp?st=1&c=1025">old-computers.com</a>:
+
+<div style="text-align: center">
+<a href="https://www.old-computers.com/museum/computer.asp?st=1&c=1025">
+<img src="tids990.jpg" style="max-width: 60%" alt="A DS990 at old-computers.com"></a>
+</div>
+
+FluxEngine will read and write these (but only the DSDD MFM variant).
+
+Reading discs
+-------------
+
+Just do:
+
+```
+fluxengine read tids990
+```
+
+You should end up with an `tids990.img` which is 1153152 bytes long.
+
+Writing discs
+-------------
+
+Just do:
+
+```
+fluxengine write tids990 -i tids990.img
+```
+
+
+Useful references
+-----------------
+
+  - [The FD1000 Depot Maintenance
+	Manual](http://www.bitsavers.org/pdf/ti/990/disk/2261885-9701_FD1000depotVo1_Jan81.pdf)
+
+

doc/disk-trs80.md

@@ -32,3 +32,11 @@ If you've got a 40-track disk, use `-s :t=0-79x2`.
 
 If you've got a single density disk, use `--read-fm=true`. (Double density is
 the default.)
+
+
+Useful references
+-----------------
+
+  - [The JV3 file format](https://www.tim-mann.org/trs80/dskspec.html):
+	documents the most popular emulator disk image.
+

doc/greaseweazle.md

@@ -0,0 +1,71 @@
+Using the FluxEngine client software with GreaseWeazle hardware
+===============================================================
+
+The FluxEngine isn't the only project which does this; another one is the
+[GreaseWeazle](https://github.com/keirf/Greaseweazle/wiki), a Blue Pill based
+completely open source solution. This requires more work to set up (or you can
+buy a prebuilt GreaseWeazle board), but provides completely open source
+hardware which doesn't require the use of the Cypress Windows-based tools that
+the FluxEngine does. Luckily, the FluxEngine software supports it
+out-of-the-box --- just plug it in and nearly everything should work.
+
+I am aware that having _software_ called FluxEngine and _hardware_ called
+FluxEngine makes things complicated when you're not using the FluxEngine client
+software with a FluxEngine board, but I'm afraid it's too late to change that
+now. Sorry.
+
+If you're using Windows
+-----------------------
+
+In order to access the GreaseWeazle from Windows, you need to install a WinUSB
+driver for it. You can do this with the [Zadig](https://zadig.akeo.ie/)
+program. Download it, plug in the GreaseWeazle, and run it; select Options,
+List All Devices, and then open the big dropdown box and select the
+GreaseWeazle. You should see something like this.
+
+<div style="text-align: center">
+<img src="zadig.png" style="width:80%" alt="Zadig screenshot"></a>
+</div>
+
+Ensure that the Driver boxes say `usbser` and `WinUSB`. Then press 'Replace
+Driver'. Once done, the GreaseWeazle will be visible to the FluxEngine client.
+
+**Important note!** Unfortunately, now, the original GreaseWeazle client won't
+work --- you can't use both drivers at once. I'm working on this. To switch
+back to the original driver, for using the GreaseWeazle client software
+instead, open up Zadig again, go through the same process, but make sure the left Driver box says `WinUSB` and the right one says `USB Serial (CDC)`. Now, when you press 'Replace Driver' the original driver will be restored.
+
+What works
+----------
+
+Supported features with the GreaseWeazle include:
+
+  - simple reading and writing of disks, seeking etc
+  - erasing disks
+  - determining disk rotation speed
+
+What doesn't work
+-----------------
+
+(I'm still working on this. If you have an urgent need for anything, please
+[file an issue](https://github.com/davidgiven/fluxengine/issues/new) and I'll
+see what I can do.)
+
+  - voltage measurement
+  - hard sectored disks (you can still read these, but you can't use
+	`--hard-sector-count`).
+
+Who to contact
+--------------
+
+I want to make it clear that the FluxEngine code is _not_ supported by the
+GreaseWeazle team. If you have any problems, please [contact
+me](https://github.com/davidgiven/fluxengine/issues/new) and not them.
+
+In addition, the GreaseWeazle release cycle is not synchronised to the
+FluxEngine release cycle, so it's possible you'll have a version of the
+GreaseWeazle firmware which is not supported by FluxEngine. Hopefully, it'll
+detect this and complain. Again, [file an
+issue](https://github.com/davidgiven/fluxengine/issues/new) and I'll look into
+it.
+

doc/technical.md

@@ -82,16 +82,10 @@ FluxEngine hardware on a $2 Blue Pill.
 I am _not_ planning on replacing the PSoC5 with a Blue Pill, because someone
 already has: [the GreaseWeazle](https://github.com/keirf/Greaseweazle/wiki) is
 a completely open source firmware package which will read and write Supercard
-Pro files via a standard Blue Pill. The GreaseWeazle's USB protocol is
-different from the FluxEngine's so they're not directly interchangeable. You
-can, however, read a Supercard Pro file with a GreaseWeazle and then use the
-FluxEngine client to decode it. It should work the other way around, too, but
-FluxEngine's SCP export [is curently
-broken](https://github.com/davidgiven/fluxengine/issues/134).
-
-I _am_ considering adding direct support for the GreaseWeazle to the FluxEngine
-client, which will let you just plug one in and make it go as a direct
-replacement to the FluxEngine hardware.
+Pro files via a standard Blue Pill or via a prebuilt board. It's supported by
+the FluxEngine client software, and you should, mostly, be able to use
+GreaseWeazle hardware interchangeably with FluxEngine hardware. See the
+[dedicated page](greaseweazle.md) for more information.
 
 
 ### Some useful links

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 +132,14 @@ 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).
+
+  - `.jv3`: a disk image format mainly used by the TRS-80. These images can be
+	read, but not yet written. You only get the data; the density and DAM bits
+	are ignored.
+
 ### High density disks
 
 High density disks use a different magnetic medium to low and double density
@@ -209,21 +232,16 @@ directory.
 	format in a non-backwards-compatible way; this tool will upgrade flux files
 	to the new format.
 
-  - `fluxengine convert`: converts flux files from various formats to various
-	other formats. You can use this to convert Catweasel flux files to
+  - `fluxengine convert`: converts files from various formats to various other
+	formats. The main use of this is probably `fluxengine convert image`, which
+	will convert a disk image from one format to another.
+
+	There are also subcommands for converting Catweasel flux files to
 	FluxEngine's native format, FluxEngine flux files to various other formats
 	useful for debugging (including VCD which can be loaded into
 	[sigrok](http://sigrok.org)), and bidirectional conversion to and from
 	Supercard Pro `.scp` format.
 
-	**Important SCP note:** import (`fluxengine convert scptoflux`) should be
-	fairly robust, but export (`fluxengine convert fluxtoscp`) should only be
-	done with great caution as FluxEngine files contain features which can't be
-	represented very well in `.scp` format and they're probably pretty dubious.
-	As ever, please [get in
-	touch](https://github.com/davidgiven/fluxengine/issues/new) with any
-	reports.
-
 Commands which normally take `--source` or `--dest` get a sensible default if
 left unspecified. `fluxengine read ibm` on its own will read drive 0 and
 write an `ibm.img` file.

lib/bytes.cc

@@ -41,6 +41,12 @@ Bytes::Bytes(const uint8_t* ptr, size_t len):
     _high(len)
 {}
 
+Bytes::Bytes(const std::string& s):
+	_data(createVector((const uint8_t*)&s[0], s.size())),
+	_low(0),
+	_high(s.size())
+{}
+
 Bytes::Bytes(std::initializer_list<uint8_t> data):
     _data(createVector(data)),
     _low(0),

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);
@@ -38,6 +41,8 @@ public:
     uint8_t* begin()              { checkWritable(); return &(*_data)[_low]; }
     uint8_t* end()                { checkWritable(); return &(*_data)[_high]; }
 
+	operator const std::string () const { return std::string(cbegin(), cend()); }
+
     void boundsCheck(unsigned pos) const;
     void checkWritable();
     void adjustBounds(unsigned pos);
@@ -271,6 +276,16 @@ 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;

lib/fluxsink/fluxsink.h

@@ -24,6 +24,7 @@ public:
 };
 
 extern void setHardwareFluxSinkDensity(bool high_density);
+extern void setHardwareFluxSinkHardSectorCount(int sectorCount);
 
 #endif
 

lib/fluxsink/hardwarefluxsink.cc

@@ -1,10 +1,13 @@
 #include "globals.h"
 #include "flags.h"
 #include "fluxmap.h"
-#include "usb.h"
+#include "usb/usb.h"
 #include "fluxsink/fluxsink.h"
+#include "fmt/format.h"
 
-FlagGroup hardwareFluxSinkFlags;
+FlagGroup hardwareFluxSinkFlags = {
+	&usbFlags,
+};
 
 static bool high_density = false;
 
@@ -13,17 +16,37 @@ static IntFlag indexMode(
     "index pulse source (0=drive, 1=300 RPM fake source, 2=360 RPM fake source",
     0);
 
+static IntFlag hardSectorCount(
+    { "--write-hard-sector-count" },
+    "number of hard sectors on the disk (0=soft sectors)",
+    0);
+
 void setHardwareFluxSinkDensity(bool high_density)
 {
 	::high_density = high_density;
 }
 
+void setHardwareFluxSinkHardSectorCount(int sectorCount)
+{
+	::hardSectorCount.setDefaultValue(sectorCount);
+}
+
 class HardwareFluxSink : public FluxSink
 {
 public:
     HardwareFluxSink(unsigned drive):
         _drive(drive)
     {
+		if (hardSectorCount != 0)
+		{
+			usbSetDrive(_drive, high_density, indexMode);
+			std::cerr << "Measuring rotational speed... " << std::flush;
+			nanoseconds_t oneRevolution = usbGetRotationalPeriod(hardSectorCount);
+			_hardSectorThreshold = oneRevolution * 3 / (4 * hardSectorCount);
+			std::cerr << fmt::format("{}ms\n", oneRevolution / 1e6);
+		}
+		else
+			_hardSectorThreshold = 0;
     }
 
     ~HardwareFluxSink()
@@ -36,11 +59,12 @@ public:
         usbSetDrive(_drive, high_density, indexMode);
         usbSeek(track);
 
-        return usbWrite(side, fluxmap.rawBytes());
+        return usbWrite(side, fluxmap.rawBytes(), _hardSectorThreshold);
     }
 
 private:
     unsigned _drive;
+    nanoseconds_t _hardSectorThreshold;
 };
 
 std::unique_ptr<FluxSink> FluxSink::createHardwareFluxSink(unsigned drive)

lib/fluxsource/fluxsource.h

@@ -30,6 +30,7 @@ public:
 extern void setHardwareFluxSourceRevolutions(double revolutions);
 extern void setHardwareFluxSourceDensity(bool high_density);
 extern void setHardwareFluxSourceSynced(bool synced);
+extern void setHardwareFluxSourceHardSectorCount(int sectorCount);
 
 #endif
 

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" },
@@ -22,6 +24,11 @@ static IntFlag indexMode(
     "index pulse source (0=drive, 1=300 RPM fake source, 2=360 RPM fake source",
     0);
 
+static IntFlag hardSectorCount(
+    { "--hard-sector-count" },
+    "number of hard sectors on the disk (0=soft sectors)",
+    0);
+
 static bool high_density = false;
 
 void setHardwareFluxSourceDensity(bool high_density)
@@ -37,7 +44,11 @@ public:
     {
         usbSetDrive(_drive, high_density, indexMode);
         std::cerr << "Measuring rotational speed... " << std::flush;
-        _oneRevolution = usbGetRotationalPeriod();
+        _oneRevolution = usbGetRotationalPeriod(hardSectorCount);
+	if (hardSectorCount != 0)
+		_hardSectorThreshold = _oneRevolution * 3 / (4 * hardSectorCount);
+	else
+		_hardSectorThreshold = 0;
         std::cerr << fmt::format("{}ms\n", _oneRevolution / 1e6);
     }
 
@@ -50,7 +61,8 @@ public:
     {
         usbSetDrive(_drive, high_density, indexMode);
         usbSeek(track);
-        Bytes data = usbRead(side, synced, revolutions * _oneRevolution);
+        Bytes data = usbRead(
+			side, synced, revolutions * _oneRevolution, _hardSectorThreshold);
         auto fluxmap = std::make_unique<Fluxmap>();
         fluxmap->appendBytes(data);
         return fluxmap;
@@ -70,6 +82,7 @@ private:
     unsigned _drive;
     unsigned _revolutions;
     nanoseconds_t _oneRevolution;
+    nanoseconds_t _hardSectorThreshold;
 };
 
 void setHardwareFluxSourceRevolutions(double revolutions)
@@ -82,6 +95,11 @@ void setHardwareFluxSourceSynced(bool synced)
     ::synced.setDefaultValue(synced);
 }
 
+void setHardwareFluxSourceHardSectorCount(int sectorCount)
+{
+    ::hardSectorCount.setDefaultValue(sectorCount);
+}
+
 std::unique_ptr<FluxSource> FluxSource::createHardwareFluxSource(unsigned drive)
 {
     return std::unique_ptr<FluxSource>(new HardwareFluxSource(drive));

lib/imagereader/diskcopyimagereader.cc

@@ -0,0 +1,128 @@
+#include "globals.h"
+#include "flags.h"
+#include "dataspec.h"
+#include "sector.h"
+#include "sectorset.h"
+#include "imagereader/imagereader.h"
+#include "fmt/format.h"
+#include <algorithm>
+#include <iostream>
+#include <fstream>
+
+class DiskCopyImageReader : public ImageReader
+{
+public:
+	DiskCopyImageReader(const ImageSpec& spec):
+		ImageReader(spec)
+	{}
+
+	SectorSet readImage()
+	{
+        std::ifstream inputFile(spec.filename, std::ios::in | std::ios::binary);
+        if (!inputFile.is_open())
+            Error() << "cannot open input file";
+
+		Bytes data;
+		data.writer() += inputFile;
+		ByteReader br(data);
+
+		br.seek(1);
+		std::string label = br.read(data[0]);
+
+		br.seek(0x40);
+		uint32_t dataSize = br.read_be32();
+
+		br.seek(0x50);
+		uint8_t encoding = br.read_8();
+		uint8_t formatByte = br.read_8();
+
+		unsigned numCylinders = 80;
+		unsigned numHeads = 2;
+		unsigned numSectors = 0;
+		bool mfm = false;
+
+		switch (encoding)
+		{
+			case 0: /* GCR CLV 400kB */
+				numHeads = 1;
+				break;
+
+			case 1: /* GCR CLV 800kB */
+				break;
+
+			case 2: /* MFM CAV 720kB */
+				numSectors = 9;
+				mfm = true;
+				break;
+
+			case 3: /* MFM CAV 1440kB */
+				numSectors = 18;
+				mfm = true;
+				break;
+
+			default:
+				Error() << fmt::format("don't understant DiskCopy disks of type {}", encoding);
+		}
+
+		std::cout << "reading DiskCopy 4.2 image\n"
+		          << fmt::format("{} cylinders, {} heads; {}; {}\n",
+				  		numCylinders, numHeads,
+						mfm ? "MFM" : "GCR",
+						label);
+
+		auto sectorsPerTrack = [&](int track) -> int
+		{
+			if (mfm)
+				return numSectors;
+
+			if (track < 16)
+				return 12;
+			if (track < 32)
+				return 11;
+			if (track < 48)
+				return 10;
+			if (track < 64)
+				return 9;
+			return 8;
+		};
+
+		uint32_t dataPtr = 0x54;
+		uint32_t tagPtr = dataPtr + dataSize;
+
+        SectorSet sectors;
+        for (int track = 0; track < numCylinders; track++)
+        {
+			int numSectors = sectorsPerTrack(track);
+            for (int head = 0; head < numHeads; head++)
+            {
+                for (int sectorId = 0; sectorId < numSectors; sectorId++)
+                {
+					br.seek(dataPtr);
+					Bytes payload = br.read(512);
+					dataPtr += 512;
+
+					br.seek(tagPtr);
+					Bytes tag = br.read(12);
+					tagPtr += 12;
+
+                    std::unique_ptr<Sector>& sector = sectors.get(track, head, sectorId);
+                    sector.reset(new Sector);
+                    sector->status = Sector::OK;
+                    sector->logicalTrack = sector->physicalTrack = track;
+                    sector->logicalSide = sector->physicalSide = head;
+                    sector->logicalSector = sectorId;
+                    sector->data.writer().append(payload).append(tag);
+                }
+            }
+        }
+        return sectors;
+	}
+};
+
+std::unique_ptr<ImageReader> ImageReader::createDiskCopyImageReader(
+	const ImageSpec& spec)
+{
+    return std::unique_ptr<ImageReader>(new DiskCopyImageReader(spec));
+}
+
+

lib/imagereader/imagereader.cc

@@ -12,8 +12,11 @@ std::map<std::string, ImageReader::Constructor> ImageReader::formats =
 {
 	{".adf", ImageReader::createImgImageReader},
 	{".d81", ImageReader::createImgImageReader},
+	{".diskcopy", ImageReader::createDiskCopyImageReader},
 	{".img", ImageReader::createImgImageReader},
 	{".ima", ImageReader::createImgImageReader},
+	{".jv1", ImageReader::createImgImageReader},
+	{".jv3", ImageReader::createJv3ImageReader},
 };
 
 static bool ends_with(const std::string& value, const std::string& ending)
@@ -45,7 +48,7 @@ std::unique_ptr<ImageReader> ImageReader::create(const ImageSpec& spec)
 void ImageReader::verifyImageSpec(const ImageSpec& spec)
 {
     if (!findConstructor(spec))
-        Error() << "unrecognised image filename extension";
+        Error() << "unrecognised input image filename extension";
 }
 
 ImageReader::ImageReader(const ImageSpec& spec):

lib/imagereader/imagereader.h

@@ -23,7 +23,9 @@ private:
 
 	static std::map<std::string, Constructor> formats;
 
+    static std::unique_ptr<ImageReader> createDiskCopyImageReader(const ImageSpec& spec);
     static std::unique_ptr<ImageReader> createImgImageReader(const ImageSpec& spec);
+    static std::unique_ptr<ImageReader> createJv3ImageReader(const ImageSpec& spec);
 
 	static Constructor findConstructor(const ImageSpec& spec);
 

lib/imagereader/jv3imagereader.cc

@@ -0,0 +1,141 @@
+#include "globals.h"
+#include "flags.h"
+#include "dataspec.h"
+#include "sector.h"
+#include "sectorset.h"
+#include "imagereader/imagereader.h"
+#include "fmt/format.h"
+#include <algorithm>
+#include <iostream>
+#include <fstream>
+
+/* JV3 files are kinda weird. There's a fixed layout for up to 2901 sectors, which may appear
+ * in any order, followed by the same again for more sectors. To find the second data block
+ * you need to know the size of the first data block, which requires parsing it.
+ *
+ * https://www.tim-mann.org/trs80/dskspec.html
+ *
+ * typedef struct {
+ *   SectorHeader headers1[2901];
+ *   unsigned char writeprot;
+ *   unsigned char data1[];
+ *   SectorHeader headers2[2901];
+ *   unsigned char padding;
+ *   unsigned char data2[];
+ * } JV3;
+ *
+ * typedef struct {
+ *   unsigned char track;
+ *   unsigned char sector;
+ *   unsigned char flags;
+ * } SectorHeader;
+ */
+
+struct SectorHeader
+{
+	uint8_t track;
+	uint8_t sector;
+	uint8_t flags;
+};
+
+#define JV3_DENSITY     0x80  /* 1=dden, 0=sden */
+#define JV3_DAM         0x60  /* data address mark code; see below */
+#define JV3_SIDE        0x10  /* 0=side 0, 1=side 1 */
+#define JV3_ERROR       0x08  /* 0=ok, 1=CRC error */
+#define JV3_NONIBM      0x04  /* 0=normal, 1=short */
+#define JV3_SIZE        0x03  /* in used sectors: 0=256,1=128,2=1024,3=512
+                                 in free sectors: 0=512,1=1024,2=128,3=256 */
+
+#define JV3_FREE        0xFF  /* in track and sector fields of free sectors */
+#define JV3_FREEF       0xFC  /* in flags field, or'd with size code */
+
+static unsigned getSectorSize(uint8_t flags)
+{
+	if ((flags & JV3_FREEF) == JV3_FREEF)
+	{
+		switch (flags & JV3_SIZE)
+		{
+			case 0: return 512;
+			case 1: return 1024;
+			case 2: return 128;
+			case 3: return 256;
+		}
+	}
+	else
+	{
+		switch (flags & JV3_SIZE)
+		{
+			case 0: return 256;
+			case 1: return 128;
+			case 2: return 1024;
+			case 3: return 512;
+		}
+	}
+	Error() << "not reachable";
+}
+
+class Jv3ImageReader : public ImageReader
+{
+public:
+	Jv3ImageReader(const ImageSpec& spec):
+		ImageReader(spec)
+	{}
+
+	SectorSet readImage()
+	{
+        std::ifstream inputFile(spec.filename, std::ios::in | std::ios::binary);
+        if (!inputFile.is_open())
+            Error() << "cannot open input file";
+
+		inputFile.seekg( 0, std::ios::end);
+		unsigned inputFileSize = inputFile.tellg();
+		unsigned headerPtr = 0;
+		SectorSet sectors;
+		for (;;)
+		{
+			unsigned dataPtr = headerPtr + 2901*3 + 1;
+			if (dataPtr >= inputFileSize)
+				break;
+
+			for (unsigned i=0; i<2901; i++)
+			{
+				SectorHeader header = {0, 0, 0xff};
+				inputFile.seekg(headerPtr);
+				inputFile.read((char*) &header, 3);
+				unsigned sectorSize = getSectorSize(header.flags);
+				if ((header.flags & JV3_FREEF) != JV3_FREEF)
+				{
+					Bytes data(sectorSize);
+					inputFile.seekg(dataPtr);
+					inputFile.read((char*) data.begin(), sectorSize);
+
+					unsigned head = !!(header.flags & JV3_SIDE);
+                    std::unique_ptr<Sector>& sector = sectors.get(header.track, head, header.sector);
+                    sector.reset(new Sector);
+                    sector->status = Sector::OK;
+                    sector->logicalTrack = sector->physicalTrack = header.track;
+                    sector->logicalSide = sector->physicalSide = head;
+                    sector->logicalSector = header.sector;
+                    sector->data = data;
+				}
+
+				headerPtr += 3;
+				dataPtr += sectorSize;
+			}
+
+			/* dataPtr is now pointing at the beginning of the next chunk. */
+
+			headerPtr = dataPtr;
+		}
+
+        return sectors;
+	}
+};
+
+std::unique_ptr<ImageReader> ImageReader::createJv3ImageReader(
+	const ImageSpec& spec)
+{
+    return std::unique_ptr<ImageReader>(new Jv3ImageReader(spec));
+}
+
+

lib/imagewriter/diskcopyimagewriter.cc

@@ -0,0 +1,168 @@
+#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));
+}
+
+

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},
 };
@@ -46,7 +47,7 @@ std::unique_ptr<ImageWriter> ImageWriter::create(const SectorSet& sectors, const
 void ImageWriter::verifyImageSpec(const ImageSpec& spec)
 {
 	if (!findConstructor(spec))
-		Error() << "unrecognised image filename extension";
+		Error() << "unrecognised output image filename extension";
 }
 
 ImageWriter::ImageWriter(const SectorSet& sectors, const ImageSpec& spec):

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);
 

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"
@@ -91,6 +91,11 @@ void setReaderRevolutions(int revolutions)
 	setHardwareFluxSourceRevolutions(revolutions);
 }
 
+void setReaderHardSectorCount(int sectorCount)
+{
+    setHardwareFluxSourceHardSectorCount(sectorCount);
+}
+
 static void writeSectorsToFile(const SectorSet& sectors, const ImageSpec& spec)
 {
 	std::unique_ptr<ImageWriter> writer(ImageWriter::create(sectors, spec));

lib/reader.h

@@ -13,6 +13,7 @@ extern FlagGroup readerFlags;
 extern void setReaderDefaultSource(const std::string& source);
 extern void setReaderDefaultOutput(const std::string& output);
 extern void setReaderRevolutions(int revolutions);
+extern void setReaderHardSectorCount(int sectorCount);
 
 extern std::vector<std::unique_ptr<Track>> readTracks();
 

lib/usb.cc

@@ -1,344 +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)
-{
-    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;
-}
-
-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);
-}

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

lib/usb/fluxengineusb.cc

@@ -0,0 +1,333 @@
+#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(int hardSectorCount)
+	{
+		struct measurespeed_frame f = {
+			.f = {.type = F_FRAME_MEASURE_SPEED_CMD, .size = sizeof(f)},
+			.hard_sector_count = (uint8_t) hardSectorCount,
+		};
+		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,
+	           nanoseconds_t hardSectorThreshold)
+	{
+		struct read_frame f = {
+			.f = { .type = F_FRAME_READ_CMD, .size = sizeof(f) },
+			.side = (uint8_t) side,
+			.synced = (uint8_t) synced,
+		};
+		f.hardsec_threshold_ms = (hardSectorThreshold + 5e5) / 1e6; /* round to nearest ms */
+		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, nanoseconds_t hardSectorThreshold)
+	{
+		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,
+		};
+		f.hardsec_threshold_ms = (hardSectorThreshold + 5e5) / 1e6; /* round to nearest ms */
+		((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, nanoseconds_t hardSectorThreshold)
+	{
+		struct erase_frame f = {
+			.f = { .type = F_FRAME_ERASE_CMD, .size = sizeof(f) },
+			.side = (uint8_t) side,
+		};
+		f.hardsec_threshold_ms = (hardSectorThreshold + 5e5) / 1e6; /* round to nearest ms */
+		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);
+}
+

lib/usb/greaseweazle.cc

@@ -0,0 +1,156 @@
+#include "globals.h"
+#include "usb.h"
+#include "protocol.h"
+#include "bytes.h"
+#include "fmt/format.h"
+#include "greaseweazle.h"
+
+Bytes fluxEngineToGreaseWeazle(const Bytes& fldata, nanoseconds_t clock)
+{
+	Bytes gwdata;
+	ByteWriter bw(gwdata);
+	ByteReader br(fldata);
+	uint32_t ticks_fl = 0;
+	uint32_t ticks_gw = 0;
+
+	auto write_28 = [&](uint32_t val) {
+		bw.write_8(1 | (val<<1) & 0xff);
+		bw.write_8(1 | (val>>6) & 0xff);
+		bw.write_8(1 | (val>>13) & 0xff);
+		bw.write_8(1 | (val>>20) & 0xff);
+	};
+
+	while (!br.eof())
+	{
+		uint8_t b = br.read_8();
+		ticks_fl += b & 0x3f;
+		if (b & F_BIT_PULSE)
+		{
+			uint32_t newticks_gw = ticks_fl * NS_PER_TICK / clock;
+			uint32_t delta = newticks_gw - ticks_gw;
+			if (delta < 250)
+				bw.write_8(delta);
+			else
+			{
+				int high = (delta-250) / 255;
+				if (high < 5)
+				{
+					bw.write_8(250 + high);
+					bw.write_8(1 + (delta-250) % 255);
+				}
+				else
+				{
+					bw.write_8(255);
+					bw.write_8(FLUXOP_SPACE);
+					write_28(delta - 249);
+					bw.write_8(249);
+				}
+			}
+			ticks_gw = newticks_gw;
+		}
+	}
+	bw.write_8(0); /* end of stream */
+	return gwdata;
+}
+
+Bytes greaseWeazleToFluxEngine(const Bytes& gwdata, nanoseconds_t clock)
+{
+	Bytes fldata;
+	ByteReader br(gwdata);
+	ByteWriter bw(fldata);
+
+    auto read_28 = [&]() {
+        return ((br.read_8() & 0xfe) >> 1)
+            | ((br.read_8() & 0xfe) << 6)
+            | ((br.read_8() & 0xfe) << 13)
+            | ((br.read_8() & 0xfe) << 20);
+    };
+
+	uint32_t ticks_gw = 0;
+	uint32_t lastevent_fl = 0;
+	uint32_t index_gw = ~0;
+
+	while (!br.eof())
+	{
+		uint8_t b = br.read_8();
+		if (!b)
+			break;
+
+		uint8_t event = 0;
+		if (b == 255)
+		{
+			switch (br.read_8())
+			{
+				case FLUXOP_INDEX:
+					index_gw = ticks_gw + read_28();
+					break;
+
+				case FLUXOP_SPACE:
+					ticks_gw += read_28();
+					break;
+
+				default:
+					Error() << "bad opcode in GreaseWeazle stream";
+			}
+		}
+		else
+		{
+			if (b < 250)
+				ticks_gw += b;
+			else
+			{
+				int delta = 250 + (b-250)*255 + br.read_8() - 1;
+				ticks_gw += delta;
+			}
+			event = F_BIT_PULSE;
+		}
+
+		if (event)
+		{
+			uint32_t index_fl = (index_gw * clock) / NS_PER_TICK;
+			uint32_t ticks_fl = (ticks_gw * clock) / NS_PER_TICK;
+			if (index_gw != ~0)
+			{
+				if (index_fl < ticks_fl)
+				{
+					uint32_t delta_fl = index_fl - lastevent_fl;
+					while (delta_fl > 0x3f)
+					{
+						bw.write_8(0x3f);
+						delta_fl -= 0x3f;
+					}
+					bw.write_8(delta_fl | F_BIT_INDEX);
+					lastevent_fl = index_fl;
+					index_gw = ~0;
+				}
+				else if (index_fl == ticks_fl)
+					event |= F_BIT_INDEX;
+			}
+
+			uint32_t delta_fl = ticks_fl - lastevent_fl;
+			while (delta_fl > 0x3f)
+			{
+				bw.write_8(0x3f);
+				delta_fl -= 0x3f;
+			}
+			bw.write_8(delta_fl | event);
+			lastevent_fl = ticks_fl;
+		}
+	}
+
+	return fldata;
+}
+
+/* Left-truncates at the first index mark, so the resulting data as aligned at
+ * the index. */
+Bytes stripPartialRotation(const Bytes& fldata)
+{
+	for (unsigned i=0; i<fldata.size(); i++)
+	{
+		uint8_t b = fldata[i];
+		if (b & F_BIT_INDEX)
+			return fldata.slice(i);
+	}
+	return fldata;
+}
+

lib/usb/greaseweazle.h

@@ -0,0 +1,203 @@
+#ifndef GREASEWEAZLE_H
+#define GREASEWEAZLE_H
+
+#define GREASEWEAZLE_VID 0x1209
+#define GREASEWEAZLE_PID 0x4d69
+
+#define EP_OUT 0x02
+#define EP_IN 0x83
+
+#define GREASEWEAZLE_VERSION 22
+
+extern Bytes fluxEngineToGreaseWeazle(const Bytes& fldata, nanoseconds_t clock);
+extern Bytes greaseWeazleToFluxEngine(const Bytes& gwdata, nanoseconds_t clock);
+extern Bytes stripPartialRotation(const Bytes& fldata);
+
+/* Copied from https://github.com/keirf/Greaseweazle/blob/master/inc/cdc_acm_protocol.h.
+ *
+ * WANING: these headers were originally defined with 'packed', which is a gccism so it's
+ * been dummied out. Don't use them expecting wire protocol structures. */
+
+#define packed /* */
+
+/*
+ * GREASEWEAZLE COMMAND SET
+ */
+
+/* CMD_GET_INFO, length=3, idx. Returns 32 bytes after ACK. */
+#define CMD_GET_INFO        0
+/* [BOOTLOADER] CMD_UPDATE, length=6, <update_len>. 
+ * Host follows with <update_len> bytes.
+ * Bootloader finally returns a status byte, 0 on success. */
+/* [MAIN FIRMWARE] CMD_UPDATE, length=10, <update_len>, 0xdeafbee3.
+ * Host follows with <update_len> bytes.
+ * Main firmware finally returns a status byte, 0 on success. */
+#define CMD_UPDATE          1
+/* CMD_SEEK, length=3, cyl#. Seek to cyl# on selected drive. */
+#define CMD_SEEK            2
+/* CMD_HEAD, length=3, head# (0=bottom) */
+#define CMD_HEAD            3
+/* CMD_SET_PARAMS, length=3+nr, idx, <nr bytes> */
+#define CMD_SET_PARAMS      4
+/* CMD_GET_PARAMS, length=4, idx, nr_bytes. Returns nr_bytes after ACK. */
+#define CMD_GET_PARAMS      5
+/* CMD_MOTOR, length=4, drive#, on/off. Turn on/off a drive motor. */
+#define CMD_MOTOR           6
+/* CMD_READ_FLUX, length=2-8. Argument is gw_read_flux.
+ * Returns flux readings until EOStream. */
+#define CMD_READ_FLUX       7
+/* CMD_WRITE_FLUX, length=2-4. Argument is gw_write_flux.
+ * Host follows with flux readings until EOStream. */
+#define CMD_WRITE_FLUX      8
+/* CMD_GET_FLUX_STATUS, length=2. Last read/write status returned in ACK. */
+#define CMD_GET_FLUX_STATUS 9
+/* CMD_SWITCH_FW_MODE, length=3, <mode> */
+#define CMD_SWITCH_FW_MODE 11
+/* CMD_SELECT, length=3, drive#. Select drive# as current unit. */
+#define CMD_SELECT         12
+/* CMD_DESELECT, length=2. Deselect current unit (if any). */
+#define CMD_DESELECT       13
+/* CMD_SET_BUS_TYPE, length=3, bus_type. Set the bus type. */
+#define CMD_SET_BUS_TYPE   14
+/* CMD_SET_PIN, length=4, pin#, level. */
+#define CMD_SET_PIN        15
+/* CMD_RESET, length=2. Reset all state to initial (power on) values. */
+#define CMD_RESET          16
+/* CMD_ERASE_FLUX, length=6. Argument is gw_erase_flux. */
+#define CMD_ERASE_FLUX     17
+/* CMD_SOURCE_BYTES, length=6. Argument is gw_sink_source_bytes. */
+#define CMD_SOURCE_BYTES   18
+/* CMD_SINK_BYTES, length=6. Argument is gw_sink_source_bytes. */
+#define CMD_SINK_BYTES     19
+#define CMD_MAX            19
+
+
+/*
+ * CMD_SET_BUS CODES
+ */
+#define BUS_NONE            0
+#define BUS_IBMPC           1
+#define BUS_SHUGART         2
+
+
+/*
+ * ACK RETURN CODES
+ */
+#define ACK_OKAY            0
+#define ACK_BAD_COMMAND     1
+#define ACK_NO_INDEX        2
+#define ACK_NO_TRK0         3
+#define ACK_FLUX_OVERFLOW   4
+#define ACK_FLUX_UNDERFLOW  5
+#define ACK_WRPROT          6
+#define ACK_NO_UNIT         7
+#define ACK_NO_BUS          8
+#define ACK_BAD_UNIT        9
+#define ACK_BAD_PIN        10
+#define ACK_BAD_CYLINDER   11
+
+
+/*
+ * CONTROL-CHANNEL COMMAND SET:
+ * We abuse SET_LINE_CODING requests over endpoint 0, stashing a command
+ * in the baud-rate field.
+ */
+#define BAUD_NORMAL        9600
+#define BAUD_CLEAR_COMMS  10000
+
+/*
+ * Flux stream opcodes. Preceded by 0xFF byte.
+ * 
+ * Argument types:
+ *  N28: 28-bit non-negative integer N, encoded as 4 bytes b0,b1,b2,b3:
+ *   b0 = (uint8_t)(1 | (N <<  1))
+ *   b1 = (uint8_t)(1 | (N >>  6))
+ *   b2 = (uint8_t)(1 | (N >> 13))
+ *   b3 = (uint8_t)(1 | (N >> 20))
+ */
+/* FLUXOP_INDEX [CMD_READ_FLUX]
+ *  Args:
+ *   +4 [N28]: ticks to index, relative to sample cursor.
+ *  Signals an index pulse in the read stream. Sample cursor is unaffected. */
+#define FLUXOP_INDEX      1
+/* FLUXOP_SPACE [CMD_READ_FLUX, CMD_WRITE_FLUX]
+ *  Args:
+ *   +4 [N28]: ticks to increment the sample cursor.
+ *  Increments the sample cursor with no intervening flux transitions. */
+#define FLUXOP_SPACE      2
+/* FLUXOP_ASTABLE [CMD_WRITE_FLUX]
+ *  Args:
+ *   +4 [N28]: astable period.
+ *  Generate regular flux transitions at specified astable period. 
+ *  Duration is specified by immediately preceding FLUXOP_SPACE opcode(s). */
+#define FLUXOP_ASTABLE    3
+
+
+/*
+ * COMMAND PACKETS
+ */
+
+/* CMD_GET_INFO, index 0 */
+#define GETINFO_FIRMWARE 0
+struct packed gw_info {
+    uint8_t fw_major;
+    uint8_t fw_minor;
+    uint8_t is_main_firmware; /* == 0 -> update bootloader */
+    uint8_t max_cmd;
+    uint32_t sample_freq;
+    uint8_t hw_model, hw_submodel;
+    uint8_t usb_speed;
+};
+extern struct gw_info gw_info;
+
+/* CMD_GET_INFO, index 1 */
+#define GETINFO_BW_STATS 1
+struct packed gw_bw_stats {
+    struct packed {
+        uint32_t bytes;
+        uint32_t usecs;
+    } min_bw, max_bw;
+};
+
+/* CMD_READ_FLUX */
+struct packed gw_read_flux {
+    /* Maximum ticks to read for (or 0, for no limit). */
+    uint32_t ticks;
+    /* Maximum index pulses to read (or 0, for no limit). */
+    uint16_t max_index;
+};
+
+/* CMD_WRITE_FLUX */
+struct packed gw_write_flux {
+    /* If non-zero, start the write at the index pulse. */
+    uint8_t cue_at_index;
+    /* If non-zero, terminate the write at the next index pulse. */
+    uint8_t terminate_at_index;
+};
+
+/* CMD_ERASE_FLUX */
+struct packed gw_erase_flux {
+    uint32_t ticks;
+};
+
+/* CMD_SINK_SOURCE_BYTES */
+struct packed gw_sink_source_bytes {
+    uint32_t nr_bytes;
+};
+
+/* CMD_{GET,SET}_PARAMS, index 0 */
+#define PARAMS_DELAYS 0
+struct packed gw_delay {
+    uint16_t select_delay; /* usec */
+    uint16_t step_delay;   /* usec */
+    uint16_t seek_settle;  /* msec */
+    uint16_t motor_delay;  /* msec */
+    uint16_t auto_off;     /* msec */
+};
+
+/* CMD_SWITCH_FW_MODE */
+#define FW_MODE_BOOTLOADER 0
+#define FW_MODE_NORMAL     1
+
+#endif
+

lib/usb/greaseweazleusb.cc

@@ -0,0 +1,390 @@
+#include "globals.h"
+#include "usb.h"
+#include "protocol.h"
+#include "fluxmap.h"
+#include "bytes.h"
+#include <libusb.h>
+#include "fmt/format.h"
+#include "greaseweazle.h"
+
+#define TIMEOUT 5000
+
+static const char* gw_error(int e)
+{
+    switch (e)
+    {
+        case ACK_OKAY:           return "OK";
+        case ACK_BAD_COMMAND:    return "Bad command";
+        case ACK_NO_INDEX:       return "No index";
+        case ACK_NO_TRK0:        return "No track 0";
+        case ACK_FLUX_OVERFLOW:  return "Overflow";
+        case ACK_FLUX_UNDERFLOW: return "Underflow";
+        case ACK_WRPROT:         return "Write protected";
+        case ACK_NO_UNIT:        return "No unit";
+        case ACK_NO_BUS:         return "No bus";
+        case ACK_BAD_UNIT:       return "Invalid unit";
+        case ACK_BAD_PIN:        return "Invalid pin";
+        case ACK_BAD_CYLINDER:   return "Invalid cylinder";
+        default:                 return "Unknown error";
+    }
+}
+
+class GreaseWeazleUsb : public USB
+{
+private:
+    uint8_t _readbuffer[4096];
+    int _readbuffer_ptr = 0;
+    int _readbuffer_fill = 0;
+
+    void read_bytes(uint8_t* buffer, int len)
+    {
+        while (len > 0)
+        {
+            if (_readbuffer_ptr < _readbuffer_fill)
+            {
+                int buffered = std::min(len, _readbuffer_fill - _readbuffer_ptr);
+                memcpy(buffer, _readbuffer + _readbuffer_ptr, buffered);
+                _readbuffer_ptr += buffered;
+                buffer += buffered;
+                len -= buffered;
+            }
+
+            if (len == 0)
+                break;
+
+            int actual;
+            int rc = libusb_bulk_transfer(_device, EP_IN,
+                _readbuffer, sizeof(_readbuffer),
+                &actual, TIMEOUT);
+            if (rc < 0)
+                Error() << "failed to receive command reply: " << usberror(rc);
+
+            _readbuffer_fill = actual;
+            _readbuffer_ptr = 0;
+        }
+    }
+
+    void read_bytes(Bytes& bytes)
+    {
+        read_bytes(bytes.begin(), bytes.size());
+    }
+
+    Bytes read_bytes(unsigned len)
+    {
+        Bytes b(len);
+        read_bytes(b);
+        return b;
+    }
+
+    uint8_t read_byte()
+    {
+        uint8_t b;
+        read_bytes(&b, 1);
+        return b;
+    }
+
+    uint32_t read_28()
+    {
+        return ((read_byte() & 0xfe) >> 1)
+            | ((read_byte() & 0xfe) << 6)
+            | ((read_byte() & 0xfe) << 13)
+            | ((read_byte() & 0xfe) << 20);
+    }
+
+    void write_bytes(const uint8_t* buffer, int len)
+    {
+        while (len > 0)
+        {
+            int actual;
+            int rc = libusb_bulk_transfer(_device, EP_OUT, (uint8_t*)buffer, len, &actual, 0);
+            if (rc < 0)
+                Error() << "failed to send command: " << usberror(rc);
+
+            buffer += actual;
+            len -= actual;
+        }
+    }
+
+    void write_bytes(const Bytes& bytes)
+    {
+        write_bytes(bytes.cbegin(), bytes.size());
+    }
+
+    void do_command(const Bytes& command)
+    {
+        write_bytes(command);
+
+        uint8_t buffer[2];
+        read_bytes(buffer, sizeof(buffer));
+
+        if (buffer[0] != command[0])
+            Error() << fmt::format("command returned garbage (0x{:x} != 0x{:x} with status 0x{:x})",
+                buffer[0], command[0], buffer[1]);
+        if (buffer[1])
+            Error() << fmt::format("GreaseWeazle error: {}", gw_error(buffer[1]));
+    }
+
+public:
+    GreaseWeazleUsb(libusb_device_handle* device)
+    {
+        _device = device;
+
+        /* Configure the 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 GreaseWeazle would not accept configuration: " << usberror(i);
+        }
+
+        /* Detach the existing kernel serial port driver, if there is one, and claim it ourselves. */
+
+        for (int i = 0; i < 2; i++)
+        {
+            if (libusb_kernel_driver_active(_device, i))
+                libusb_detach_kernel_driver(_device, i);
+            int rc = libusb_claim_interface(_device, i);
+            if (rc < 0)
+                Error() << "unable to claim interface: " << libusb_error_name(rc);
+        }
+
+        int version = getVersion();
+        if (version != GREASEWEAZLE_VERSION)
+            Error() << "your GreaseWeazle firmware is at version " << version
+                    << " but the client is for version " << GREASEWEAZLE_VERSION
+                    << "; please upgrade";
+
+        /* Configure the hardware. */
+
+        do_command({ CMD_SET_BUS_TYPE, 3, BUS_IBMPC });
+    }
+
+    int getVersion()
+    {
+        do_command({ CMD_GET_INFO, 3, GETINFO_FIRMWARE });
+
+        Bytes response = read_bytes(32);
+        ByteReader br(response);
+
+        br.seek(4);
+        nanoseconds_t freq = br.read_le32();
+        _clock = 1000000000 / freq;
+
+        br.seek(0);
+        return br.read_be16();
+    }
+
+    void recalibrate()
+    {
+        seek(0);
+    }
+    
+    void seek(int track)
+    {
+        do_command({ CMD_SEEK, 3, (uint8_t)track });
+    }
+    
+    nanoseconds_t getRotationalPeriod(int hardSectorCount)
+    {
+        if (hardSectorCount != 0)
+            Error() << "hard sectors are currently unsupported on the GreaseWeazel";
+
+        /* The GreaseWeazle doesn't have a command to fetch the period directly,
+         * so we have to do a flux read. */
+
+        do_command({ CMD_READ_FLUX, 2 });
+
+        uint32_t ticks_gw = 0;
+        uint32_t firstindex = ~0;
+        uint32_t secondindex = ~0;
+        for (;;)
+        {
+            uint8_t b = read_byte();
+            if (!b)
+                break;
+
+            if (b == 255)
+            {
+                switch (read_byte())
+                {
+                    case FLUXOP_INDEX:
+                    {
+                        uint32_t index = read_28() + ticks_gw;
+                        if (firstindex == ~0)
+                            firstindex = index;
+                        else if (secondindex == ~0)
+                            secondindex = index;
+                        break;
+                    }
+
+                    case FLUXOP_SPACE:
+                        read_bytes(4);
+                        break;
+
+                    default:
+                        Error() << "bad opcode in GreaseWeazle stream";
+                }
+            }
+            else
+            {
+                if (b < 250)
+                    ticks_gw += b;
+                else
+                {
+                    int delta = 250 + (b-250)*255 + read_byte() - 1;
+                    ticks_gw += delta;
+                }
+            }
+        }
+
+        if (secondindex == ~0)
+            Error() << "unable to determine disk rotational period (is a disk in the drive?)";
+        do_command({ CMD_GET_FLUX_STATUS, 2 });
+
+        _revolutions = (nanoseconds_t)(secondindex - firstindex) * _clock;
+        return _revolutions;
+    }
+    
+    void testBulkWrite()
+    {
+        const int LEN = 10*1024*1024;
+        Bytes cmd(6);
+        ByteWriter bw(cmd);
+        bw.write_8(CMD_SINK_BYTES);
+        bw.write_8(cmd.size());
+        bw.write_le32(LEN);
+        do_command(cmd);
+
+        Bytes junk(LEN);
+		double start_time = getCurrentTime();
+        write_bytes(LEN);
+        read_bytes(1);
+		double elapsed_time = getCurrentTime() - start_time;
+
+		std::cout << "Transferred "
+				  << LEN
+				  << " bytes from PC -> GreaseWeazle in "
+				  << int(elapsed_time * 1000.0)
+				  << " ms ("
+				  << int((LEN / 1024.0) / elapsed_time)
+				  << " kB/s)"
+				  << std::endl;
+    }
+    
+    void testBulkRead()
+    {
+        const int LEN = 10*1024*1024;
+        Bytes cmd(6);
+        ByteWriter bw(cmd);
+        bw.write_8(CMD_SOURCE_BYTES);
+        bw.write_8(cmd.size());
+        bw.write_le32(LEN);
+        do_command(cmd);
+
+		double start_time = getCurrentTime();
+        read_bytes(LEN);
+		double elapsed_time = getCurrentTime() - start_time;
+
+		std::cout << "Transferred "
+				  << LEN
+				  << " bytes from GreaseWeazle -> PC in "
+				  << int(elapsed_time * 1000.0)
+				  << " ms ("
+				  << int((LEN / 1024.0) / elapsed_time)
+				  << " kB/s)"
+				  << std::endl;
+    }
+
+    Bytes read(int side, bool synced, nanoseconds_t readTime, nanoseconds_t hardSectorThreshold)
+    {
+        if (hardSectorThreshold != 0)
+            Error() << "hard sectors are currently unsupported on the GreaseWeazel";
+
+        int revolutions = (readTime+_revolutions-1) / _revolutions;
+
+        do_command({ CMD_HEAD, 3, (uint8_t)side });
+
+        {
+            Bytes cmd(4);
+            cmd.writer()
+                .write_8(CMD_READ_FLUX)
+                .write_8(cmd.size())
+                .write_le32(revolutions + (synced ? 1 : 0));
+            do_command(cmd);
+        }
+
+		Bytes buffer;
+        ByteWriter bw(buffer);
+        for (;;)
+        {
+            uint8_t b = read_byte();
+            if (!b)
+                break;
+            bw.write_8(b);
+        }
+
+        do_command({ CMD_GET_FLUX_STATUS, 2 });
+
+        Bytes fldata = greaseWeazleToFluxEngine(buffer, _clock);
+        if (synced)
+            fldata = stripPartialRotation(fldata);
+        return fldata;
+    }
+    
+    void write(int side, const Bytes& fldata, nanoseconds_t hardSectorThreshold)
+    {
+        if (hardSectorThreshold != 0)
+            Error() << "hard sectors are currently unsupported on the GreaseWeazel";
+
+        do_command({ CMD_HEAD, 3, (uint8_t)side });
+        do_command({ CMD_WRITE_FLUX, 3, 1 });
+        write_bytes(fluxEngineToGreaseWeazle(fldata, _clock));
+        read_byte(); /* synchronise */
+
+        do_command({ CMD_GET_FLUX_STATUS, 2 });
+    }
+    
+    void erase(int side, nanoseconds_t hardSectorThreshold)
+    {
+        if (hardSectorThreshold != 0)
+            Error() << "hard sectors are currently unsupported on the GreaseWeazel";
+
+        do_command({ CMD_HEAD, 3, (uint8_t)side });
+
+        Bytes cmd(6);
+        ByteWriter bw(cmd);
+        bw.write_8(CMD_ERASE_FLUX);
+        bw.write_8(cmd.size());
+        bw.write_le32(200e6 / _clock);
+        do_command(cmd);
+        read_byte(); /* synchronise */
+
+        do_command({ CMD_GET_FLUX_STATUS, 2 });
+    }
+    
+    void setDrive(int drive, bool high_density, int index_mode)
+    {
+        do_command({ CMD_SELECT, 3, (uint8_t)drive });
+        do_command({ CMD_MOTOR, 4, (uint8_t)drive, 1 });
+        do_command({ CMD_SET_PIN, 4, 2, (uint8_t)(high_density ? 0 : 1) });
+    }
+
+    void measureVoltages(struct voltages_frame* voltages)
+    { Error() << "unsupported operation on the GreaseWeazle"; }
+
+private:
+    nanoseconds_t _clock;
+    nanoseconds_t _revolutions;
+};
+
+USB* createGreaseWeazleUsb(libusb_device_handle* device)
+{
+    return new GreaseWeazleUsb(device);
+}
+
+// vim: sw=4 ts=4 et
+

lib/usb/usb.cc

@@ -0,0 +1,170 @@
+#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"
+#include "greaseweazle.h"
+
+FlagGroup usbFlags;
+
+static StringFlag device(
+    { "--device" },
+    "serial number of hardware device to use",
+	"");
+
+static USB* usb = NULL;
+
+enum
+{
+	DEV_FLUXENGINE,
+	DEV_GREASEWEAZLE,
+};
+
+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";
+		case DEV_GREASEWEAZLE: return "GreaseWeazle";
+		default: assert(false);
+	}
+	return NULL;
+}
+
+static const std::string get_serial_number(libusb_device* device, libusb_device_descriptor* desc)
+{
+	std::string serial;
+
+	libusb_device_handle* handle;
+	if (libusb_open(device, &handle) == 0)
+	{
+		unsigned char buffer[64];
+		libusb_get_string_descriptor_ascii(handle, desc->iSerialNumber, buffer, sizeof(buffer));
+		serial = (const char*) buffer;
+		libusb_close(handle);
+	}
+
+	return serial;
+}
+
+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);
+
+		uint32_t id = (candidate->desc.idVendor << 16) | candidate->desc.idProduct;
+		switch (id)
+		{
+			case (FLUXENGINE_VID<<16) | FLUXENGINE_PID:
+			{
+				candidate->type = DEV_FLUXENGINE;
+				candidate->serial = get_serial_number(candidate->device, &candidate->desc);
+				candidates[candidate->serial] = std::move(candidate);
+				break;
+			}
+
+			case (GREASEWEAZLE_VID<<16) | GREASEWEAZLE_PID:
+			{
+				candidate->type = DEV_GREASEWEAZLE;
+				candidate->serial = get_serial_number(candidate->device, &candidate->desc);
+				candidates[candidate->serial] = std::move(candidate);
+				break;
+			}
+		}
+	}
+
+	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';
+	switch (candidate.type)
+	{
+		case DEV_FLUXENGINE:
+			usb = createFluxengineUsb(handle);
+			break;
+
+		case DEV_GREASEWEAZLE:
+			usb = createGreaseWeazleUsb(handle);
+			break;
+	}
+}
+
+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;
+}
+

lib/usb/usb.h

@@ -0,0 +1,67 @@
+#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(int hardSectorCount) = 0;
+	virtual void testBulkWrite() = 0;
+	virtual void testBulkRead() = 0;
+	virtual Bytes read(int side, bool synced, nanoseconds_t readTime,
+	                   nanoseconds_t hardSectorThreshold) = 0;
+	virtual void write(int side, const Bytes& bytes,
+	                   nanoseconds_t hardSectorThreshold) = 0;
+	virtual void erase(int side, nanoseconds_t hardSectorThreshold) = 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);
+extern USB* createGreaseWeazleUsb(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, nanoseconds_t hardSectorThreshold)
+{ getUsb().erase(side, hardSectorThreshold); }
+
+static inline nanoseconds_t usbGetRotationalPeriod(int hardSectorCount)
+{ return getUsb().getRotationalPeriod(hardSectorCount); }
+
+static inline Bytes usbRead(int side, bool synced, nanoseconds_t readTime,
+                            nanoseconds_t hardSectorThreshold)
+{ return getUsb().read(side, synced, readTime, hardSectorThreshold); }
+
+static inline void usbWrite(int side, const Bytes& bytes,
+                            nanoseconds_t hardSectorThreshold)
+{ getUsb().write(side, bytes, hardSectorThreshold); }
+
+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

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"
@@ -43,6 +43,11 @@ void setWriterDefaultInput(const std::string& input)
     ::input.set(input);
 }
 
+void setWriterHardSectorCount(int sectorCount)
+{
+	setHardwareFluxSinkHardSectorCount(sectorCount);
+}
+
 static SectorSet readSectorsFromFile(const ImageSpec& spec)
 {
 	return ImageReader::create(spec)->readImage();

lib/writer.h

@@ -11,6 +11,7 @@ class Geometry;
 
 extern void setWriterDefaultDest(const std::string& dest);
 extern void setWriterDefaultInput(const std::string& input);
+extern void setWriterHardSectorCount(int sectorCount);
 
 extern void writeTracks(const std::function<std::unique_ptr<Fluxmap>(int track, int side)> producer);
 

mkninja.sh

@@ -151,9 +151,12 @@ buildlibrary libfmt.a \
     dep/fmt/posix.cc \
 
 buildlibrary libbackend.a \
+	lib/imagereader/diskcopyimagereader.cc \
 	lib/imagereader/imagereader.cc \
 	lib/imagereader/imgimagereader.cc \
+	lib/imagereader/jv3imagereader.cc \
 	lib/imagewriter/d64imagewriter.cc \
+	lib/imagewriter/diskcopyimagewriter.cc \
 	lib/imagewriter/imagewriter.cc \
 	lib/imagewriter/imgimagewriter.cc \
 	lib/imagewriter/ldbsimagewriter.cc \
@@ -170,7 +173,11 @@ buildlibrary libbackend.a \
     arch/ibm/decoder.cc \
     arch/ibm/encoder.cc \
     arch/macintosh/decoder.cc \
+    arch/macintosh/encoder.cc \
+    arch/micropolis/decoder.cc \
     arch/mx/decoder.cc \
+	arch/tids990/decoder.cc \
+	arch/tids990/encoder.cc \
     arch/victor9k/decoder.cc \
     arch/zilogmcz/decoder.cc \
     lib/bytes.cc \
@@ -190,6 +197,10 @@ buildlibrary libbackend.a \
     lib/fluxsource/kryoflux.cc \
     lib/fluxsource/sqlitefluxsource.cc \
     lib/fluxsource/streamfluxsource.cc \
+    lib/usb/usb.cc \
+    lib/usb/fluxengineusb.cc \
+    lib/usb/greaseweazle.cc \
+    lib/usb/greaseweazleusb.cc \
     lib/globals.cc \
     lib/hexdump.cc \
     lib/ldbs.cc \
@@ -197,7 +208,6 @@ buildlibrary libbackend.a \
     lib/sector.cc \
     lib/sectorset.cc \
     lib/sql.cc \
-    lib/usb.cc \
     lib/visualiser.cc \
     lib/writer.cc \
 
@@ -207,6 +217,7 @@ buildlibrary libfrontend.a \
     src/fe-fluxtoau.cc \
     src/fe-fluxtoscp.cc \
     src/fe-fluxtovcd.cc \
+    src/fe-image.cc \
     src/fe-inspect.cc \
     src/fe-readadfs.cc \
     src/fe-readaeslanier.cc \
@@ -220,7 +231,9 @@ buildlibrary libfrontend.a \
     src/fe-readfb100.cc \
     src/fe-readibm.cc \
     src/fe-readmac.cc \
+    src/fe-readmicropolis.cc \
     src/fe-readmx.cc \
+	src/fe-readtids990.cc \
     src/fe-readvictor9k.cc \
     src/fe-readzilogmcz.cc \
     src/fe-rpm.cc \
@@ -232,6 +245,8 @@ buildlibrary libfrontend.a \
     src/fe-writeamiga.cc \
     src/fe-writebrother.cc \
     src/fe-writeibm.cc \
+    src/fe-writemac.cc \
+    src/fe-writetids990.cc \
     src/fe-writeflux.cc \
     src/fe-writetestpattern.cc \
     src/fluxengine.cc \
@@ -258,6 +273,7 @@ buildsimpleprogram brother240tool \
     libemu.a \
     libfmt.a \
 
+runtest amiga-test          tests/amiga.cc
 runtest bitaccumulator-test tests/bitaccumulator.cc
 runtest bytes-test          tests/bytes.cc
 runtest compression-test    tests/compression.cc
@@ -265,6 +281,6 @@ runtest dataspec-test       tests/dataspec.cc
 runtest flags-test          tests/flags.cc
 runtest fluxpattern-test    tests/fluxpattern.cc
 runtest fmmfm-test          tests/fmmfm.cc
+runtest greaseweazle-test   tests/greaseweazle.cc
 runtest kryoflux-test       tests/kryoflux.cc
 runtest ldbs-test           tests/ldbs.cc
-runtest amiga-test          tests/amiga.cc

protocol.h

@@ -3,7 +3,7 @@
 
 enum 
 {
-    FLUXENGINE_VERSION = 14,
+    FLUXENGINE_VERSION = 15,
 
     FLUXENGINE_VID = 0x1209,
     FLUXENGINE_PID = 0x6e00,
@@ -48,7 +48,7 @@ enum
     F_FRAME_GET_VERSION_REPLY,    /* version_frame */
     F_FRAME_SEEK_CMD,             /* seek_frame */
     F_FRAME_SEEK_REPLY,           /* any_frame */
-    F_FRAME_MEASURE_SPEED_CMD,    /* any_frame */
+    F_FRAME_MEASURE_SPEED_CMD,    /* measurespeed_frame */
     F_FRAME_MEASURE_SPEED_REPLY,  /* speed_frame */
     F_FRAME_BULK_WRITE_TEST_CMD,   /* any_frame */
     F_FRAME_BULK_WRITE_TEST_REPLY, /* any_frame */
@@ -125,6 +125,12 @@ struct seek_frame
     uint8_t track;
 };
 
+struct measurespeed_frame 
+{
+    struct frame_header f;
+	uint8_t hard_sector_count;
+};
+
 struct speed_frame
 {
     struct frame_header f;
@@ -137,6 +143,7 @@ struct read_frame
     uint8_t side;
     uint8_t synced;
     uint16_t milliseconds;
+    uint8_t hardsec_threshold_ms;
 };
 
 struct write_frame
@@ -144,12 +151,14 @@ struct write_frame
     struct frame_header f;
     uint8_t side;
     uint32_t bytes_to_write;
+    uint8_t hardsec_threshold_ms;
 };
 
 struct erase_frame
 {
     struct frame_header f;
     uint8_t side;
+    uint8_t hardsec_threshold_ms;
 };
 
 struct set_drive_frame

src/fe-fluxtoscp.cc

@@ -61,10 +61,7 @@ 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[])
@@ -117,9 +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';
@@ -175,7 +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());
         }

src/fe-image.cc

@@ -0,0 +1,38 @@
+#include "globals.h"
+#include "flags.h"
+#include "dataspec.h"
+#include "sector.h"
+#include "sectorset.h"
+#include "imagereader/imagereader.h"
+#include "imagewriter/imagewriter.h"
+#include "fmt/format.h"
+#include <fstream>
+
+static FlagGroup flags { };
+
+static void syntax()
+{
+    std::cout << "Syntax: fluxengine convert image <srcspec> <destspec>\n";
+    exit(0);
+}
+
+int mainConvertImage(int argc, const char* argv[])
+{
+    auto filenames = flags.parseFlagsWithFilenames(argc, argv);
+    if (filenames.size() != 2)
+        syntax();
+
+	DataSpec ids(filenames[0]);
+	ImageSpec iis(ids);
+	SectorSet sectors = ImageReader::create(iis)->readImage();
+
+	DataSpec ods(filenames[1]);
+	ImageSpec ois(ods);
+	auto writer = ImageWriter::create(sectors, ois);
+	writer->adjustGeometry();
+	writer->printMap();
+	writer->writeImage();
+
+    return 0;
+}
+

src/fe-readmicropolis.cc

@@ -0,0 +1,26 @@
+#include "globals.h"
+#include "flags.h"
+#include "reader.h"
+#include "fluxmap.h"
+#include "encoders/encoders.h"
+#include "decoders/decoders.h"
+#include "sector.h"
+#include "sectorset.h"
+#include "record.h"
+#include "micropolis/micropolis.h"
+#include "fmt/format.h"
+
+static FlagGroup flags { &readerFlags };
+
+int mainReadMicropolis(int argc, const char* argv[])
+{
+	setReaderDefaultSource(":t=0-76");
+	setReaderDefaultOutput("micropolis.img");
+	setReaderHardSectorCount(16);
+	flags.parseFlags(argc, argv);
+
+	MicropolisDecoder decoder;
+	readDiskCommand(decoder);
+	return 0;
+}
+

src/fe-readtids990.cc

@@ -0,0 +1,27 @@
+#include "globals.h"
+#include "flags.h"
+#include "reader.h"
+#include "fluxmap.h"
+#include "encoders/encoders.h"
+#include "decoders/decoders.h"
+#include "sector.h"
+#include "sectorset.h"
+#include "record.h"
+#include "tids990/tids990.h"
+#include "fmt/format.h"
+
+static FlagGroup flags { &readerFlags };
+
+int mainReadTiDs990(int argc, const char* argv[])
+{
+	setReaderDefaultSource(":t=0-76");
+	setReaderDefaultOutput("tids990.img");
+    setReaderRevolutions(2);
+    flags.parseFlags(argc, argv);
+
+	TiDs990Decoder decoder;
+	readDiskCommand(decoder);
+    return 0;
+}
+
+

src/fe-rpm.cc

@@ -1,23 +1,30 @@
 #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" },
     "source for data",
     ":d=0:t=0:s=0");
 
+static IntFlag hardSectorCount(
+    { "--hard-sector-count" },
+    "number of hard sectors on the disk (0=soft sectors)",
+    0);
+
 int mainRpm(int argc, const char* argv[])
 {
     flags.parseFlags(argc, argv);
 
     FluxSpec spec(source);
     usbSetDrive(spec.drive, false, F_INDEX_REAL);
-    nanoseconds_t period = usbGetRotationalPeriod();
+    nanoseconds_t period = usbGetRotationalPeriod(hardSectorCount);
     if (period != 0)
         std::cout << "Rotational period is " << period/1000000 << " ms (" << 60e9/period << " rpm)" << std::endl;
     else

src/fe-scptoflux.cc

@@ -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);
 }

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" },

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[])
 {

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)
 {

src/fe-writemac.cc

@@ -0,0 +1,24 @@
+#include "globals.h"
+#include "flags.h"
+#include "decoders/decoders.h"
+#include "encoders/encoders.h"
+#include "macintosh/macintosh.h"
+#include "writer.h"
+#include "fmt/format.h"
+#include <fstream>
+
+static FlagGroup flags { &writerFlags, &macintoshEncoderFlags };
+
+int mainWriteMac(int argc, const char* argv[])
+{
+    setWriterDefaultInput(":c=80:h=2:s=12:b=524");
+	setWriterDefaultDest(":d=0:t=0-79:s=0-1");
+    flags.parseFlags(argc, argv);
+
+	MacintoshEncoder encoder;
+	writeDiskCommand(encoder);
+
+    return 0;
+}
+
+

src/fe-writetids990.cc

@@ -0,0 +1,23 @@
+#include "globals.h"
+#include "flags.h"
+#include "decoders/decoders.h"
+#include "encoders/encoders.h"
+#include "tids990/tids990.h"
+#include "writer.h"
+#include "fmt/format.h"
+#include <fstream>
+
+static FlagGroup flags { &writerFlags, &tids990EncoderFlags };
+
+int mainWriteTiDs990(int argc, const char* argv[])
+{
+    setWriterDefaultInput(":c=77:h=2:s=26:b=288");
+	setWriterDefaultDest(":d=0:t=0-76:s=0-1");
+    flags.parseFlags(argc, argv);
+
+	TiDs990Encoder encoder;
+	writeDiskCommand(encoder);
+
+    return 0;
+}
+

src/fluxengine.cc

@@ -7,6 +7,7 @@ extern command_cb mainConvertCwfToFlux;
 extern command_cb mainConvertFluxToAu;
 extern command_cb mainConvertFluxToScp;
 extern command_cb mainConvertFluxToVcd;
+extern command_cb mainConvertImage;
 extern command_cb mainConvertScpToFlux;
 extern command_cb mainInspect;
 extern command_cb mainReadADFS;
@@ -21,7 +22,9 @@ extern command_cb mainReadF85;
 extern command_cb mainReadFB100;
 extern command_cb mainReadIBM;
 extern command_cb mainReadMac;
+extern command_cb mainReadMicropolis;
 extern command_cb mainReadMx;
+extern command_cb mainReadTiDs990;
 extern command_cb mainReadVictor9K;
 extern command_cb mainReadZilogMCZ;
 extern command_cb mainRpm;
@@ -32,6 +35,8 @@ extern command_cb mainUpgradeFluxFile;
 extern command_cb mainWriteAmiga;
 extern command_cb mainWriteBrother;
 extern command_cb mainWriteIbm;
+extern command_cb mainWriteMac;
+extern command_cb mainWriteTiDs990;
 extern command_cb mainWriteFlux;
 extern command_cb mainWriteTestPattern;
 
@@ -76,7 +81,9 @@ static std::vector<Command> readables =
     { "fb100",         mainReadFB100,     "Reads FB100 disks.", },
     { "ibm",           mainReadIBM,       "Reads the ubiquitous IBM format disks.", },
     { "mac",           mainReadMac,       "Reads Apple Macintosh disks.", },
+    { "micropolis",    mainReadMicropolis, "Reads Micropolis disks.", },
     { "mx",            mainReadMx,        "Reads MX disks.", },
+	{ "tids990",       mainReadTiDs990,   "Reads Texas Instruments DS990 disks.", },
     { "victor9k",      mainReadVictor9K,  "Reads Victor 9000 disks.", },
     { "zilogmcz",      mainReadZilogMCZ,  "Reads Zilog MCZ disks.", },
 };
@@ -86,6 +93,8 @@ static std::vector<Command> writeables =
     { "amiga",         mainWriteAmiga,    "Writes Amiga disks.", },
     { "brother",       mainWriteBrother,  "Writes 120kB and 240kB Brother word processor disks.", },
     { "ibm",           mainWriteIbm,      "Writes the ubiquitous IBM format disks.", },
+	{ "mac", 		   mainWriteMac,      "Writes Apple Macintosh disks.", },
+	{ "tids990",       mainWriteTiDs990,  "Writes Texas Instruments DS990 disks.", },
 };
 
 static std::vector<Command> convertables =
@@ -95,6 +104,7 @@ static std::vector<Command> convertables =
     { "fluxtoau",      mainConvertFluxToAu,  "Converts (one track of a) flux file to an .au audio file.", },
     { "fluxtoscp",     mainConvertFluxToScp, "Converrt a flux file to a Supercard Pro file.", },
     { "fluxtovcd",     mainConvertFluxToVcd, "Converts (one track of a) flux file to a VCD file.", },
+	{ "image",         mainConvertImage,     "Converts one disk image to another.", },
 };
 
 static std::vector<Command> testables =

tests/bytes.cc

@@ -124,6 +124,13 @@ static void test_tobits()
 	}));
 }
 
+static void test_tostring()
+{
+	std::string s = "Hello, world";
+	Bytes b(s);
+	assert(b == s);
+}
+
 int main(int argc, const char* argv[])
 {
     test_bounds();
@@ -133,5 +140,6 @@ int main(int argc, const char* argv[])
     test_writes();
     test_slice();
 	test_tobits();
+	test_tostring();
     return 0;
 }

tests/greaseweazle.cc

@@ -0,0 +1,109 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include "globals.h"
+#include "fluxmap.h"
+#include "lib/usb/greaseweazle.h"
+
+static Bytes operator + (const Bytes& left, const Bytes& right)
+{
+    Bytes output;
+    ByteWriter bw(output);
+    bw += left;
+    bw += right;
+    return output;
+}
+
+static Bytes operator * (const Bytes& left, size_t count)
+{
+    Bytes output;
+    ByteWriter bw(output);
+    while (count--)
+        bw += left;
+    return output;
+}
+
+#define E28(val) \
+	(1 | (val<<1) & 0xff), \
+	(1 | (val>>6) & 0xff), \
+	(1 | (val>>13) & 0xff), \
+	(1 | (val>>20) & 0xff)
+
+
+static void test_convert(const Bytes& gwbytes, const Bytes& flbytes)
+{
+	Bytes gwtoflbytes = greaseWeazleToFluxEngine(gwbytes, 2*NS_PER_TICK);
+	Bytes fltogwbytes = fluxEngineToGreaseWeazle(flbytes, 2*NS_PER_TICK);
+
+    if (gwtoflbytes != flbytes)
+    {
+		std::cout << "GreaseWeazle to FluxEngine conversion failed.\n";
+        std::cout << "GreaseWeazle bytes:" << std::endl;
+        hexdump(std::cout, gwbytes);
+        std::cout << std::endl << "Produced this:" << std::endl;
+        hexdump(std::cout, gwtoflbytes);
+        std::cout << std::endl << "Expected this:" << std::endl;
+        hexdump(std::cout, flbytes);
+        abort();
+    }
+
+    if (fltogwbytes != gwbytes)
+    {
+		std::cout << "FluxEngine to GreaseWeazle conversion failed.\n";
+        std::cout << "FluxEngine bytes:" << std::endl;
+        hexdump(std::cout, flbytes);
+        std::cout << std::endl << "Produced this:" << std::endl;
+        hexdump(std::cout, fltogwbytes);
+        std::cout << std::endl << "Expected this:" << std::endl;
+        hexdump(std::cout, gwbytes);
+        abort();
+    }
+}
+
+static void test_conversions()
+{
+	/* Simple one-byte intervals. */
+
+	test_convert(
+		Bytes{ 1, 1, 1, 1, 0 },
+		Bytes{ 0x82, 0x82, 0x82, 0x82 }
+	);
+
+	/* Larger one-byte intervals. */
+
+	test_convert(
+		Bytes{ 32, 0 },
+		Bytes{ 0x3f, 0x81 }
+	);
+
+	test_convert(
+		Bytes{ 64, 0 },
+		Bytes{ 0x3f, 0x3f, 0x82 }
+	);
+
+	test_convert(
+		Bytes{ 128, 0 },
+		Bytes{ 0x3f, 0x3f, 0x3f, 0x3f, 0x84 }
+	);
+
+	/* Two-byte intervals. */
+
+	test_convert(
+		Bytes{ 250, 1, 0 },
+		Bytes{ 0x3f, 0x3f, 0x3f, 0x3f, 0x3f, 0x3f, 0x3f, 0xbb }
+	);
+
+	/* Very long intervals. */
+
+	test_convert(
+		Bytes{ 255, FLUXOP_SPACE, E28(2048 - 249), 249, 0 },
+		Bytes{ 0x3f }*0x41 + Bytes{ 0x81 }
+	);
+}
+
+int main(int argc, const char* argv[])
+{
+	test_conversions();
+    return 0;
+}
+