ManuelW/grbl-LPC-CoreXY
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Started serial replacement

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Unknown 2017-01-04 22:07:31 -05:00
parent 55eb5fb546
commit c93491fb64
1 changed files with 111 additions and 55 deletions
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166
grbl/serial.c
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@ -20,6 +20,7 @@
*/
#include "grbl.h"
#include "mbed.h"
#define RX_RING_BUFFER (RX_BUFFER_SIZE+1)
#define TX_RING_BUFFER (TX_BUFFER_SIZE+1)
@ -32,6 +33,13 @@ uint8_t serial_tx_buffer[TX_RING_BUFFER];
uint8_t serial_tx_buffer_head = 0;
volatile uint8_t serial_tx_buffer_tail = 0;
RawSerial mbedSerial(USBTX, USBRX, BAUD_RATE);
void mbedSerialTxinterrupt();
void mbedSerialRxinterrupt();
//Serial Debug LED #2
DigitalOut serialled(LED2);
// Returns the number of bytes available in the RX serial buffer.
uint8_t serial_get_rx_buffer_available()
@ -61,8 +69,16 @@ uint8_t serial_get_tx_buffer_count()
return (TX_RING_BUFFER - (ttail-serial_tx_buffer_head));
}
void serial_init()
{
mbedSerial.baud(BAUD_RATE);
mbedSerial.attach(&mbedSerialTxinterrupt, Serial::TxIrq);
mbedSerial.attach(&mbedSerialRxinterrupt, Serial::RxIrq);
mbedSerial.putc('\n');
}
void serial_init_legacy()
{
// Set baud rate
#if BAUD_RATE < 57600
@ -81,9 +97,29 @@ void serial_init()
// defaults to 8-bit, no parity, 1 stop bit
}
void serial_write(uint8_t data)
{
serialled = 1;
// Calculate next head
uint8_t next_head = serial_tx_buffer_head + 1;
if (next_head == TX_RING_BUFFER) { next_head = 0; }
// Wait until there is space in the buffer
while (next_head == serial_tx_buffer_tail) {
// TODO: Restructure st_prep_buffer() calls to be executed here during a long print.
if (sys_rt_exec_state & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop.
}
// Store data and advance head
serial_tx_buffer[serial_tx_buffer_head] = data;
serial_tx_buffer_head = next_head;
// mbedSerial.putc(data);
}
// Writes one byte to the TX serial buffer. Called by main program.
void serial_write(uint8_t data) {
void serial_write_legacy(uint8_t data) {
// Calculate next head
uint8_t next_head = serial_tx_buffer_head + 1;
if (next_head == TX_RING_BUFFER) { next_head = 0; }
@ -102,9 +138,23 @@ void serial_write(uint8_t data) {
UCSR0B |= (1 << UDRIE0);
}
void mbedSerialTxinterrupt() {
uint8_t tail = serial_tx_buffer_tail; // Temporary serial_tx_buffer_tail (to optimize for volatile)
while ((mbedSerial.writeable()) && (tail != serial_tx_buffer_head)) {
// Send a byte from the buffer
mbedSerial.putc(serial_tx_buffer[tail]);
// Update tail position
tail++;
if (tail == TX_RING_BUFFER) { tail = 0; }
serial_tx_buffer_tail = tail;
}
}
// Data Register Empty Interrupt handler
ISR(SERIAL_UDRE)
void legacy_tx_ISR(void)//ISR(SERIAL_UDRE)
{
uint8_t tail = serial_tx_buffer_tail; // Temporary serial_tx_buffer_tail (to optimize for volatile)
@ -139,65 +189,71 @@ uint8_t serial_read()
}
}
ISR(SERIAL_RX)
void mbedSerialRxinterrupt() //ISR(SERIAL_RX)
{
uint8_t data = UDR0;
uint8_t next_head;
serialled = 0;
// Pick off realtime command characters directly from the serial stream. These characters are
// not passed into the main buffer, but these set system state flag bits for realtime execution.
switch (data) {
case CMD_RESET: mc_reset(); break; // Call motion control reset routine.
case CMD_STATUS_REPORT: system_set_exec_state_flag(EXEC_STATUS_REPORT); break; // Set as true
case CMD_CYCLE_START: system_set_exec_state_flag(EXEC_CYCLE_START); break; // Set as true
case CMD_FEED_HOLD: system_set_exec_state_flag(EXEC_FEED_HOLD); break; // Set as true
default :
if (data > 0x7F) { // Real-time control characters are extended ACSII only.
switch(data) {
case CMD_SAFETY_DOOR: system_set_exec_state_flag(EXEC_SAFETY_DOOR); break; // Set as true
case CMD_JOG_CANCEL:
if (sys.state & STATE_JOG) { // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
}
break;
#ifdef DEBUG
case CMD_DEBUG_REPORT: {uint8_t sreg = SREG; cli(); bit_true(sys_rt_exec_debug,EXEC_DEBUG_REPORT); SREG = sreg;} break;
#endif
case CMD_FEED_OVR_RESET: system_set_exec_motion_override_flag(EXEC_FEED_OVR_RESET); break;
case CMD_FEED_OVR_COARSE_PLUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_PLUS); break;
case CMD_FEED_OVR_COARSE_MINUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_MINUS); break;
case CMD_FEED_OVR_FINE_PLUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_FINE_PLUS); break;
case CMD_FEED_OVR_FINE_MINUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_FINE_MINUS); break;
case CMD_RAPID_OVR_RESET: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_RESET); break;
case CMD_RAPID_OVR_MEDIUM: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_MEDIUM); break;
case CMD_RAPID_OVR_LOW: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_LOW); break;
case CMD_SPINDLE_OVR_RESET: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_RESET); break;
case CMD_SPINDLE_OVR_COARSE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_PLUS); break;
case CMD_SPINDLE_OVR_COARSE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_MINUS); break;
case CMD_SPINDLE_OVR_FINE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_PLUS); break;
case CMD_SPINDLE_OVR_FINE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_MINUS); break;
case CMD_SPINDLE_OVR_STOP: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_STOP); break;
case CMD_COOLANT_FLOOD_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_FLOOD_OVR_TOGGLE); break;
#ifdef ENABLE_M7
case CMD_COOLANT_MIST_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_MIST_OVR_TOGGLE); break;
#endif
}
// Throw away any unfound extended-ASCII character by not passing it to the serial buffer.
} else { // Write character to buffer
next_head = serial_rx_buffer_head + 1;
if (next_head == RX_RING_BUFFER) { next_head = 0; }
while (mbedSerial.readable()) {
uint8_t data = mbedSerial.getc();//UDR0;
// Write data to buffer unless it is full.
if (next_head != serial_rx_buffer_tail) {
serial_rx_buffer[serial_rx_buffer_head] = data;
serial_rx_buffer_head = next_head;
//BWF: If I turn this off, nothing works. Why?
//mbedSerial.putc(data);
uint8_t next_head;
// Pick off realtime command characters directly from the serial stream. These characters are
// not passed into the main buffer, but these set system state flag bits for realtime execution.
switch (data) {
case CMD_RESET: mc_reset(); break; // Call motion control reset routine.
case CMD_STATUS_REPORT: system_set_exec_state_flag(EXEC_STATUS_REPORT); break; // Set as true
case CMD_CYCLE_START: system_set_exec_state_flag(EXEC_CYCLE_START); break; // Set as true
case CMD_FEED_HOLD: system_set_exec_state_flag(EXEC_FEED_HOLD); break; // Set as true
default :
if (data > 0x7F) { // Real-time control characters are extended ACSII only.
switch(data) {
case CMD_SAFETY_DOOR: system_set_exec_state_flag(EXEC_SAFETY_DOOR); break; // Set as true
case CMD_JOG_CANCEL:
if (sys.state & STATE_JOG) { // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
}
break;
#ifdef DEBUG
case CMD_DEBUG_REPORT: {uint8_t sreg = SREG; cli(); bit_true(sys_rt_exec_debug,EXEC_DEBUG_REPORT); SREG = sreg;} break;
#endif
case CMD_FEED_OVR_RESET: system_set_exec_motion_override_flag(EXEC_FEED_OVR_RESET); break;
case CMD_FEED_OVR_COARSE_PLUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_PLUS); break;
case CMD_FEED_OVR_COARSE_MINUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_MINUS); break;
case CMD_FEED_OVR_FINE_PLUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_FINE_PLUS); break;
case CMD_FEED_OVR_FINE_MINUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_FINE_MINUS); break;
case CMD_RAPID_OVR_RESET: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_RESET); break;
case CMD_RAPID_OVR_MEDIUM: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_MEDIUM); break;
case CMD_RAPID_OVR_LOW: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_LOW); break;
case CMD_SPINDLE_OVR_RESET: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_RESET); break;
case CMD_SPINDLE_OVR_COARSE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_PLUS); break;
case CMD_SPINDLE_OVR_COARSE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_MINUS); break;
case CMD_SPINDLE_OVR_FINE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_PLUS); break;
case CMD_SPINDLE_OVR_FINE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_MINUS); break;
case CMD_SPINDLE_OVR_STOP: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_STOP); break;
case CMD_COOLANT_FLOOD_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_FLOOD_OVR_TOGGLE); break;
#ifdef ENABLE_M7
case CMD_COOLANT_MIST_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_MIST_OVR_TOGGLE); break;
#endif
}
// Throw away any unfound extended-ASCII character by not passing it to the serial buffer.
} else { // Write character to buffer
next_head = serial_rx_buffer_head + 1;
if (next_head == RX_RING_BUFFER) { next_head = 0; }
// Write data to buffer unless it is full.
if (next_head != serial_rx_buffer_tail) {
serial_rx_buffer[serial_rx_buffer_head] = data;
serial_rx_buffer_head = next_head;
}
}
}
}
}
}
void serial_reset_read_buffer()
{
serial_rx_buffer_tail = serial_rx_buffer_head;