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