Started serial replacement

grbl/serial.c

@@ -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)
 
@@ -139,10 +189,16 @@ uint8_t serial_read()
   }
 }
 
-
+void mbedSerialRxinterrupt() //ISR(SERIAL_RX)
-ISR(SERIAL_RX)
 {
-  uint8_t data = UDR0;
+  serialled = 0;
+
+  while (mbedSerial.readable()) {
+    uint8_t data = mbedSerial.getc();//UDR0;
+
+    //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
@@ -196,7 +252,7 @@ ISR(SERIAL_RX)
         }
     }
   }
-
+}
 
 void serial_reset_read_buffer()
 {