Initial v0.8 ALPHA commit. Features multi-tasking run-time command execution (feed hold, cycle start, reset, status query). Extensive re-structuring of code for future features.
- ALPHA status. - Multitasking ability with run-time command executions for real-time control and feedback. - Decelerating feed hold and resume during operation. - System abort/reset, which immediately kills all movement and re-initializes grbl. - Re-structured grbl to easily allow for new features: Status reporting, jogging, backlash compensation. (To be completed in the following releases.) - Resized TX/RX serial buffers (32/128 bytes) - Increased planner buffer size to 20 blocks. - Updated documentation.
This commit is contained in:
Sonny Jeon
92
serial.c
92
serial.c
@ -3,6 +3,7 @@
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -24,15 +25,13 @@
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#include <avr/interrupt.h>
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#include <avr/sleep.h>
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#include "serial.h"
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#include "config.h"
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#include "stepper.h"
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#include "nuts_bolts.h"
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#include "protocol.h"
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#ifdef __AVR_ATmega328P__
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#define RX_BUFFER_SIZE 256
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#else
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#define RX_BUFFER_SIZE 64
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#endif
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#define TX_BUFFER_SIZE 16
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#define RX_BUFFER_SIZE 128
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#define TX_BUFFER_SIZE 32
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uint8_t rx_buffer[RX_BUFFER_SIZE];
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uint8_t rx_buffer_head = 0;
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@ -44,25 +43,25 @@ volatile uint8_t tx_buffer_tail = 0;
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static void set_baud_rate(long baud) {
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uint16_t UBRR0_value = ((F_CPU / 16 + baud / 2) / baud - 1);
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UBRR0H = UBRR0_value >> 8;
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UBRR0L = UBRR0_value;
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UBRR0H = UBRR0_value >> 8;
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UBRR0L = UBRR0_value;
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}
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void serial_init(long baud)
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{
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set_baud_rate(baud);
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/* baud doubler off - Only needed on Uno XXX */
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/* baud doubler off - Only needed on Uno XXX */
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UCSR0A &= ~(1 << U2X0);
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// enable rx and tx
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// enable rx and tx
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UCSR0B |= 1<<RXEN0;
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UCSR0B |= 1<<TXEN0;
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// enable interrupt on complete reception of a byte
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// enable interrupt on complete reception of a byte
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UCSR0B |= 1<<RXCIE0;
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// defaults to 8-bit, no parity, 1 stop bit
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// defaults to 8-bit, no parity, 1 stop bit
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}
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void serial_write(uint8_t data) {
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@ -70,20 +69,23 @@ void serial_write(uint8_t data) {
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uint8_t next_head = tx_buffer_head + 1;
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if (next_head == TX_BUFFER_SIZE) { next_head = 0; }
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// Wait until there's a space in the buffer
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while (next_head == tx_buffer_tail) { sleep_mode(); };
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// Wait until there is space in the buffer
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while (next_head == tx_buffer_tail) {
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protocol_execute_runtime(); // Check for any run-time commands
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if (sys_abort) { return; } // Bail, if system abort.
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}
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// Store data and advance head
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tx_buffer[tx_buffer_head] = data;
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tx_buffer_head = next_head;
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// Enable Data Register Empty Interrupt to make sure tx-streaming is running
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UCSR0B |= (1 << UDRIE0);
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UCSR0B |= (1 << UDRIE0);
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}
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// Data Register Empty Interrupt handler
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SIGNAL(USART_UDRE_vect) {
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// temporary tx_buffer_tail (to optimize for volatile)
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ISR(USART_UDRE_vect) {
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// Temporary tx_buffer_tail (to optimize for volatile)
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uint8_t tail = tx_buffer_tail;
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// Send a byte from the buffer
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@ -101,25 +103,45 @@ SIGNAL(USART_UDRE_vect) {
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uint8_t serial_read()
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{
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if (rx_buffer_head == rx_buffer_tail) {
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return SERIAL_NO_DATA;
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} else {
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uint8_t data = rx_buffer[rx_buffer_tail];
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rx_buffer_tail++;
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if (rx_buffer_tail == RX_BUFFER_SIZE) { rx_buffer_tail = 0; }
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return data;
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}
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if (rx_buffer_head == rx_buffer_tail) {
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return SERIAL_NO_DATA;
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} else {
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uint8_t data = rx_buffer[rx_buffer_tail];
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rx_buffer_tail++;
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if (rx_buffer_tail == RX_BUFFER_SIZE) { rx_buffer_tail = 0; }
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return data;
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}
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}
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SIGNAL(USART_RX_vect)
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ISR(USART_RX_vect)
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{
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uint8_t data = UDR0;
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uint8_t next_head = rx_buffer_head + 1;
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if (next_head == RX_BUFFER_SIZE) { next_head = 0; }
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uint8_t data = UDR0;
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uint8_t next_head = rx_buffer_head + 1;
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if (next_head == RX_BUFFER_SIZE) { next_head = 0; }
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// Write data to buffer unless it is full.
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if (next_head != rx_buffer_tail) {
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rx_buffer[rx_buffer_head] = data;
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rx_buffer_head = next_head;
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}
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if (next_head != rx_buffer_tail) {
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// Pick off runtime command characters directly from the serial stream. These characters are
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// not passed into the buffer, but these set system state flag bits for runtime execution.
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switch (data) {
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case CMD_STATUS_REPORT: sys_state |= BIT_STATUS_REPORT; break; // Set as true
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case CMD_CYCLE_START: sys_state |= BIT_CYCLE_START; break; // Set as true
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case CMD_FEED_HOLD: sys_state |= BIT_FEED_HOLD; break; // Set as true
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case CMD_RESET:
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// Immediately force stepper subsystem idle at an interrupt level.
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if (!(sys_state & BIT_RESET)) { // Force stop only first time.
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st_go_idle();
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}
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sys_state |= BIT_RESET; // Set as true
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break;
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default : // Write character to buffer
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rx_buffer[rx_buffer_head] = data;
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rx_buffer_head = next_head;
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}
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}
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}
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void serial_reset_read_buffer()
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{
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rx_buffer_tail = rx_buffer_head;
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}
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