Mass reformat
No code changes other than what clang-format mandates. This is breaking
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Imbus
parent
a1c041481c
commit
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38 changed files with 7094 additions and 6574 deletions
282
grbl/serial.c
282
grbl/serial.c
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@ -21,184 +21,200 @@
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#include "grbl.h"
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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 RX_RING_BUFFER (RX_BUFFER_SIZE + 1)
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#define TX_RING_BUFFER (TX_BUFFER_SIZE + 1)
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uint8_t serial_rx_buffer[RX_RING_BUFFER];
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uint8_t serial_rx_buffer_head = 0;
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uint8_t serial_rx_buffer[RX_RING_BUFFER];
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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_RING_BUFFER];
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uint8_t serial_tx_buffer_head = 0;
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uint8_t serial_tx_buffer[TX_RING_BUFFER];
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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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// 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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{
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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(RX_BUFFER_SIZE - (serial_rx_buffer_head-rtail)); }
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return((rtail-serial_rx_buffer_head-1));
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uint8_t serial_get_rx_buffer_available() {
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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) {
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return (RX_BUFFER_SIZE - (serial_rx_buffer_head - rtail));
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}
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return ((rtail - serial_rx_buffer_head - 1));
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}
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// Returns the number of bytes used in the RX serial buffer.
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// NOTE: Deprecated. Not used unless classic status reports are enabled in config.h.
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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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uint8_t serial_get_rx_buffer_count() {
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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) {
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return (serial_rx_buffer_head - rtail);
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}
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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_RING_BUFFER - (ttail-serial_tx_buffer_head));
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uint8_t serial_get_tx_buffer_count() {
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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) {
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return (serial_tx_buffer_head - ttail);
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}
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return (TX_RING_BUFFER - (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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void serial_init() {
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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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#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, tx, and interrupt on complete reception of a byte
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UCSR0B |= (1<<RXEN0 | 1<<TXEN0 | 1<<RXCIE0);
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// enable rx, tx, and interrupt on complete reception of a byte
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UCSR0B |= (1 << RXEN0 | 1 << TXEN0 | 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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// 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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// 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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// 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) {
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next_head = 0;
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}
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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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// 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) {
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return;
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} // 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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// 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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// 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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ISR(SERIAL_UDRE) {
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uint8_t tail = serial_tx_buffer_tail; // Temporary serial_tx_buffer_tail (to optimize for volatile)
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// Send a byte from the buffer
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UDR0 = serial_tx_buffer[tail];
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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_RING_BUFFER) { tail = 0; }
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// Update tail position
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tail++;
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if (tail == TX_RING_BUFFER) {
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tail = 0;
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}
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serial_tx_buffer_tail = tail;
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serial_tx_buffer_tail = tail;
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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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// 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) {
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UCSR0B &= ~(1 << UDRIE0);
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}
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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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uint8_t serial_read() {
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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_RING_BUFFER) { tail = 0; }
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serial_rx_buffer_tail = tail;
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tail++;
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if (tail == RX_RING_BUFFER) {
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tail = 0;
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}
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serial_rx_buffer_tail = tail;
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return data;
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}
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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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uint8_t data = UDR0;
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uint8_t next_head;
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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 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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// 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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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: {
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uint8_t sreg = SREG;
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cli();
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bit_true(sys_rt_exec_debug, EXEC_DEBUG_REPORT);
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SREG = sreg;
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} 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:
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system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_PLUS);
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break;
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case CMD_SPINDLE_OVR_COARSE_MINUS:
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system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_MINUS);
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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:
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system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_MINUS);
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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:
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system_set_exec_accessory_override_flag(EXEC_COOLANT_FLOOD_OVR_TOGGLE);
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break;
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#ifdef ENABLE_M7
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case CMD_COOLANT_MIST_OVR_TOGGLE:
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system_set_exec_accessory_override_flag(EXEC_COOLANT_MIST_OVR_TOGGLE);
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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) {
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next_head = 0;
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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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// 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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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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void serial_reset_read_buffer() {
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serial_rx_buffer_tail = serial_rx_buffer_head;
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}
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