File re-organization. New Makefile.
- Re-organized source code files into a ‘grbl’ directory to lessen one step in compiling Grbl through the Arduino IDE. - Added an ‘examples’ directory with an upload .INO sketch to further simplify compiling and uploading Grbl via the Arduino IDE. - Updated the Makefile with regard to the source code no longer being in the root directory. All files generated by compiling is placed in a separate ‘build’ directory to keep things tidy. The makefile should operate in the same way as it did before.
This commit is contained in:
Sonny Jeon
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grbl/serial.c
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grbl/serial.c
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/*
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serial.c - Low level functions for sending and recieving bytes via the serial port
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Part of Grbl v0.9
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Copyright (c) 2012-2015 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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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This file is based on work from Grbl v0.8, distributed under the
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terms of the MIT-license. See COPYING for more details.
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011-2012 Sungeun K. Jeon
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*/
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#include "grbl.h"
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uint8_t serial_rx_buffer[RX_BUFFER_SIZE];
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uint8_t serial_rx_buffer_head = 0;
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volatile uint8_t serial_rx_buffer_tail = 0;
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uint8_t serial_tx_buffer[TX_BUFFER_SIZE];
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uint8_t serial_tx_buffer_head = 0;
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volatile uint8_t serial_tx_buffer_tail = 0;
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#ifdef ENABLE_XONXOFF
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volatile uint8_t flow_ctrl = XON_SENT; // Flow control state variable
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#endif
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// Returns the number of bytes used in the RX serial buffer.
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uint8_t serial_get_rx_buffer_count()
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{
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uint8_t rtail = serial_rx_buffer_tail; // Copy to limit multiple calls to volatile
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if (serial_rx_buffer_head >= rtail) { return(serial_rx_buffer_head-rtail); }
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return (RX_BUFFER_SIZE - (rtail-serial_rx_buffer_head));
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}
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// Returns the number of bytes used in the TX serial buffer.
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// NOTE: Not used except for debugging and ensuring no TX bottlenecks.
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uint8_t serial_get_tx_buffer_count()
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{
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uint8_t ttail = serial_tx_buffer_tail; // Copy to limit multiple calls to volatile
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if (serial_tx_buffer_head >= ttail) { return(serial_tx_buffer_head-ttail); }
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return (TX_BUFFER_SIZE - (ttail-serial_tx_buffer_head));
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}
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void serial_init()
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{
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// Set baud rate
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#if BAUD_RATE < 57600
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uint16_t UBRR0_value = ((F_CPU / (8L * BAUD_RATE)) - 1)/2 ;
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UCSR0A &= ~(1 << U2X0); // baud doubler off - Only needed on Uno XXX
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#else
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uint16_t UBRR0_value = ((F_CPU / (4L * BAUD_RATE)) - 1)/2;
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UCSR0A |= (1 << U2X0); // baud doubler on for high baud rates, i.e. 115200
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#endif
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UBRR0H = UBRR0_value >> 8;
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UBRR0L = UBRR0_value;
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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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UCSR0B |= 1<<RXCIE0;
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// defaults to 8-bit, no parity, 1 stop bit
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}
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// Writes one byte to the TX serial buffer. Called by main program.
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// TODO: Check if we can speed this up for writing strings, rather than single bytes.
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void serial_write(uint8_t data) {
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// Calculate next head
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uint8_t next_head = serial_tx_buffer_head + 1;
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if (next_head == TX_BUFFER_SIZE) { next_head = 0; }
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// Wait until there is space in the buffer
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while (next_head == serial_tx_buffer_tail) {
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// TODO: Restructure st_prep_buffer() calls to be executed here during a long print.
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if (sys.rt_exec_state & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop.
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}
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// Store data and advance head
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serial_tx_buffer[serial_tx_buffer_head] = data;
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serial_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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}
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// Data Register Empty Interrupt handler
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ISR(SERIAL_UDRE)
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{
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uint8_t tail = serial_tx_buffer_tail; // Temporary serial_tx_buffer_tail (to optimize for volatile)
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#ifdef ENABLE_XONXOFF
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if (flow_ctrl == SEND_XOFF) {
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UDR0 = XOFF_CHAR;
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flow_ctrl = XOFF_SENT;
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} else if (flow_ctrl == SEND_XON) {
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UDR0 = XON_CHAR;
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flow_ctrl = XON_SENT;
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} else
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#endif
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{
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// Send a byte from the buffer
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UDR0 = serial_tx_buffer[tail];
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// Update tail position
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tail++;
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if (tail == TX_BUFFER_SIZE) { tail = 0; }
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serial_tx_buffer_tail = tail;
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}
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// Turn off Data Register Empty Interrupt to stop tx-streaming if this concludes the transfer
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if (tail == serial_tx_buffer_head) { UCSR0B &= ~(1 << UDRIE0); }
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}
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// Fetches the first byte in the serial read buffer. Called by main program.
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uint8_t serial_read()
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{
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uint8_t tail = serial_rx_buffer_tail; // Temporary serial_rx_buffer_tail (to optimize for volatile)
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if (serial_rx_buffer_head == tail) {
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return SERIAL_NO_DATA;
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} else {
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uint8_t data = serial_rx_buffer[tail];
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tail++;
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if (tail == RX_BUFFER_SIZE) { tail = 0; }
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serial_rx_buffer_tail = tail;
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#ifdef ENABLE_XONXOFF
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if ((serial_get_rx_buffer_count() < RX_BUFFER_LOW) && flow_ctrl == XOFF_SENT) {
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flow_ctrl = SEND_XON;
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UCSR0B |= (1 << UDRIE0); // Force TX
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}
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#endif
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return data;
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}
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}
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ISR(SERIAL_RX)
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{
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uint8_t data = UDR0;
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uint8_t next_head;
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// Pick off realtime 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 realtime execution.
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switch (data) {
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case CMD_STATUS_REPORT: bit_true_atomic(sys.rt_exec_state, EXEC_STATUS_REPORT); break; // Set as true
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case CMD_CYCLE_START: bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START); break; // Set as true
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case CMD_FEED_HOLD: bit_true_atomic(sys.rt_exec_state, EXEC_FEED_HOLD); break; // Set as true
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case CMD_RESET: mc_reset(); break; // Call motion control reset routine.
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default: // Write character to buffer
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next_head = serial_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 != serial_rx_buffer_tail) {
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serial_rx_buffer[serial_rx_buffer_head] = data;
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serial_rx_buffer_head = next_head;
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#ifdef ENABLE_XONXOFF
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if ((serial_get_rx_buffer_count() >= RX_BUFFER_FULL) && flow_ctrl == XON_SENT) {
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flow_ctrl = SEND_XOFF;
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UCSR0B |= (1 << UDRIE0); // Force TX
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}
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#endif
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}
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//TODO: else alarm on overflow?
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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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serial_rx_buffer_tail = serial_rx_buffer_head;
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#ifdef ENABLE_XONXOFF
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flow_ctrl = XON_SENT;
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#endif
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}
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