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@ -33,495 +33,490 @@
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#include "stepper.h"
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#include "stepper.h"
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#include "Marlin.h"
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#include "Marlin.h"
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#ifndef USBCON
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// Disable HardwareSerial.cpp to support chips without a UART (Attiny, etc.)
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// this next line disables the entire HardwareSerial.cpp,
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// this is so I can support Attiny series and any other chip without a UART
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#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
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#if UART_PRESENT(SERIAL_PORT)
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#if !defined(USBCON) && (defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H))
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ring_buffer_r rx_buffer = { { 0 }, 0, 0 };
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#if TX_BUFFER_SIZE > 0
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#if UART_PRESENT(SERIAL_PORT)
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ring_buffer_t tx_buffer = { { 0 }, 0, 0 };
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ring_buffer_r rx_buffer = { { 0 }, 0, 0 };
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static bool _written;
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#if TX_BUFFER_SIZE > 0
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ring_buffer_t tx_buffer = { { 0 }, 0, 0 };
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static bool _written;
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#endif
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#endif
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#endif
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#endif
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#if ENABLED(EMERGENCY_PARSER)
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#include "language.h"
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// Currently looking for: M108, M112, M410
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// If you alter the parser please don't forget to update the capabilities in Conditionals_post.h
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FORCE_INLINE void emergency_parser(const unsigned char c) {
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static e_parser_state state = state_RESET;
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FORCE_INLINE void store_char(unsigned char c) {
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switch (state) {
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CRITICAL_SECTION_START;
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case state_RESET:
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uint8_t h = rx_buffer.head;
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switch (c) {
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uint8_t i = (uint8_t)(h + 1) & (RX_BUFFER_SIZE - 1);
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case ' ': break;
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case 'N': state = state_N; break;
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case 'M': state = state_M; break;
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default: state = state_IGNORE;
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}
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break;
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case state_N:
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switch (c) {
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case '0': case '1': case '2':
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case '3': case '4': case '5':
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case '6': case '7': case '8':
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case '9': case '-': case ' ': break;
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case 'M': state = state_M; break;
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default: state = state_IGNORE;
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}
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break;
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case state_M:
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switch (c) {
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case ' ': break;
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case '1': state = state_M1; break;
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case '4': state = state_M4; break;
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default: state = state_IGNORE;
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}
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break;
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// if we should be storing the received character into the location
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case state_M1:
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// just before the tail (meaning that the head would advance to the
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switch (c) {
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// current location of the tail), we're about to overflow the buffer
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case '0': state = state_M10; break;
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// and so we don't write the character or advance the head.
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case '1': state = state_M11; break;
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if (i != rx_buffer.tail) {
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default: state = state_IGNORE;
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rx_buffer.buffer[h] = c;
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}
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rx_buffer.head = i;
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break;
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case state_M10:
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state = (c == '8') ? state_M108 : state_IGNORE;
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break;
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case state_M11:
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state = (c == '2') ? state_M112 : state_IGNORE;
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break;
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case state_M4:
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state = (c == '1') ? state_M41 : state_IGNORE;
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break;
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case state_M41:
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state = (c == '0') ? state_M410 : state_IGNORE;
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break;
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case state_IGNORE:
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if (c == '\n') state = state_RESET;
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break;
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default:
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if (c == '\n') {
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switch (state) {
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case state_M108:
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wait_for_user = wait_for_heatup = false;
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break;
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case state_M112:
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kill(PSTR(MSG_KILLED));
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break;
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case state_M410:
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quickstop_stepper();
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break;
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default:
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break;
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}
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state = state_RESET;
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}
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}
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}
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}
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CRITICAL_SECTION_END;
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#if ENABLED(EMERGENCY_PARSER)
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emergency_parser(c);
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#endif
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#endif
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}
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#if TX_BUFFER_SIZE > 0
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FORCE_INLINE void _tx_udr_empty_irq(void) {
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FORCE_INLINE void store_char(unsigned char c) {
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// If interrupts are enabled, there must be more data in the output
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CRITICAL_SECTION_START;
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// buffer. Send the next byte
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uint8_t h = rx_buffer.head;
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uint8_t t = tx_buffer.tail;
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uint8_t i = (uint8_t)(h + 1) & (RX_BUFFER_SIZE - 1);
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uint8_t c = tx_buffer.buffer[t];
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tx_buffer.tail = (t + 1) & (TX_BUFFER_SIZE - 1);
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// if we should be storing the received character into the location
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// just before the tail (meaning that the head would advance to the
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// current location of the tail), we're about to overflow the buffer
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// and so we don't write the character or advance the head.
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if (i != rx_buffer.tail) {
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rx_buffer.buffer[h] = c;
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rx_buffer.head = i;
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}
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CRITICAL_SECTION_END;
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M_UDRx = c;
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#if ENABLED(EMERGENCY_PARSER)
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emergency_parser(c);
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#endif
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}
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// clear the TXC bit -- "can be cleared by writing a one to its bit
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#if TX_BUFFER_SIZE > 0
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// location". This makes sure flush() won't return until the bytes
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// actually got written
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SBI(M_UCSRxA, M_TXCx);
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if (tx_buffer.head == tx_buffer.tail) {
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FORCE_INLINE void _tx_udr_empty_irq(void) {
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// Buffer empty, so disable interrupts
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// If interrupts are enabled, there must be more data in the output
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CBI(M_UCSRxB, M_UDRIEx);
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// buffer. Send the next byte
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}
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uint8_t t = tx_buffer.tail;
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}
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uint8_t c = tx_buffer.buffer[t];
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tx_buffer.tail = (t + 1) & (TX_BUFFER_SIZE - 1);
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#ifdef M_USARTx_UDRE_vect
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M_UDRx = c;
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ISR(M_USARTx_UDRE_vect) {
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_tx_udr_empty_irq();
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// clear the TXC bit -- "can be cleared by writing a one to its bit
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// location". This makes sure flush() won't return until the bytes
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// actually got written
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SBI(M_UCSRxA, M_TXCx);
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if (tx_buffer.head == tx_buffer.tail) {
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// Buffer empty, so disable interrupts
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CBI(M_UCSRxB, M_UDRIEx);
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}
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}
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}
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#endif
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#endif // TX_BUFFER_SIZE
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#ifdef M_USARTx_UDRE_vect
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ISR(M_USARTx_UDRE_vect) {
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_tx_udr_empty_irq();
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}
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#endif
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#ifdef M_USARTx_RX_vect
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#endif // TX_BUFFER_SIZE
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ISR(M_USARTx_RX_vect) {
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unsigned char c = M_UDRx;
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store_char(c);
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}
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#endif
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// Constructors ////////////////////////////////////////////////////////////////
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#ifdef M_USARTx_RX_vect
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ISR(M_USARTx_RX_vect) {
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unsigned char c = M_UDRx;
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store_char(c);
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}
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#endif
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MarlinSerial::MarlinSerial() { }
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// Public Methods
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// Public Methods //////////////////////////////////////////////////////////////
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void MarlinSerial::begin(long baud) {
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uint16_t baud_setting;
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bool useU2X = true;
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void MarlinSerial::begin(long baud) {
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#if F_CPU == 16000000UL && SERIAL_PORT == 0
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uint16_t baud_setting;
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// hard-coded exception for compatibility with the bootloader shipped
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bool useU2X = true;
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// with the Duemilanove and previous boards and the firmware on the 8U2
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// on the Uno and Mega 2560.
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if (baud == 57600) {
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useU2X = false;
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}
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#endif
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#if F_CPU == 16000000UL && SERIAL_PORT == 0
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if (useU2X) {
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// hard-coded exception for compatibility with the bootloader shipped
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M_UCSRxA = _BV(M_U2Xx);
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// with the Duemilanove and previous boards and the firmware on the 8U2
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baud_setting = (F_CPU / 4 / baud - 1) / 2;
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// on the Uno and Mega 2560.
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}
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if (baud == 57600) {
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else {
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useU2X = false;
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M_UCSRxA = 0;
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baud_setting = (F_CPU / 8 / baud - 1) / 2;
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}
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}
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#endif
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if (useU2X) {
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// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
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M_UCSRxA = _BV(M_U2Xx);
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M_UBRRxH = baud_setting >> 8;
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baud_setting = (F_CPU / 4 / baud - 1) / 2;
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M_UBRRxL = baud_setting;
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}
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else {
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M_UCSRxA = 0;
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baud_setting = (F_CPU / 8 / baud - 1) / 2;
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}
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// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
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SBI(M_UCSRxB, M_RXENx);
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M_UBRRxH = baud_setting >> 8;
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SBI(M_UCSRxB, M_TXENx);
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M_UBRRxL = baud_setting;
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SBI(M_UCSRxB, M_RXCIEx);
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#if TX_BUFFER_SIZE > 0
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CBI(M_UCSRxB, M_UDRIEx);
|
|
|
|
|
|
|
|
_written = false;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
SBI(M_UCSRxB, M_RXENx);
|
|
|
|
void MarlinSerial::end() {
|
|
|
|
SBI(M_UCSRxB, M_TXENx);
|
|
|
|
CBI(M_UCSRxB, M_RXENx);
|
|
|
|
SBI(M_UCSRxB, M_RXCIEx);
|
|
|
|
CBI(M_UCSRxB, M_TXENx);
|
|
|
|
#if TX_BUFFER_SIZE > 0
|
|
|
|
CBI(M_UCSRxB, M_RXCIEx);
|
|
|
|
CBI(M_UCSRxB, M_UDRIEx);
|
|
|
|
CBI(M_UCSRxB, M_UDRIEx);
|
|
|
|
_written = false;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::end() {
|
|
|
|
|
|
|
|
CBI(M_UCSRxB, M_RXENx);
|
|
|
|
|
|
|
|
CBI(M_UCSRxB, M_TXENx);
|
|
|
|
|
|
|
|
CBI(M_UCSRxB, M_RXCIEx);
|
|
|
|
|
|
|
|
CBI(M_UCSRxB, M_UDRIEx);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::checkRx(void) {
|
|
|
|
|
|
|
|
if (TEST(M_UCSRxA, M_RXCx)) {
|
|
|
|
|
|
|
|
uint8_t c = M_UDRx;
|
|
|
|
|
|
|
|
store_char(c);
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::checkRx(void) {
|
|
|
|
int MarlinSerial::peek(void) {
|
|
|
|
if (TEST(M_UCSRxA, M_RXCx)) {
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
uint8_t c = M_UDRx;
|
|
|
|
int v = rx_buffer.head == rx_buffer.tail ? -1 : rx_buffer.buffer[rx_buffer.tail];
|
|
|
|
store_char(c);
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
|
|
|
|
return v;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
int MarlinSerial::read(void) {
|
|
|
|
|
|
|
|
int v;
|
|
|
|
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
|
|
|
|
uint8_t t = rx_buffer.tail;
|
|
|
|
|
|
|
|
if (rx_buffer.head == t) {
|
|
|
|
|
|
|
|
v = -1;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
else {
|
|
|
|
|
|
|
|
v = rx_buffer.buffer[t];
|
|
|
|
|
|
|
|
rx_buffer.tail = (uint8_t)(t + 1) & (RX_BUFFER_SIZE - 1);
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
}
|
|
|
|
return v;
|
|
|
|
|
|
|
|
}
|
|
|
|
int MarlinSerial::peek(void) {
|
|
|
|
|
|
|
|
|
|
|
|
uint8_t MarlinSerial::available(void) {
|
|
|
|
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
|
|
|
|
uint8_t h = rx_buffer.head,
|
|
|
|
|
|
|
|
t = rx_buffer.tail;
|
|
|
|
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
|
|
|
|
return (uint8_t)(RX_BUFFER_SIZE + h - t) & (RX_BUFFER_SIZE - 1);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::flush(void) {
|
|
|
|
|
|
|
|
// RX
|
|
|
|
|
|
|
|
// don't reverse this or there may be problems if the RX interrupt
|
|
|
|
|
|
|
|
// occurs after reading the value of rx_buffer_head but before writing
|
|
|
|
|
|
|
|
// the value to rx_buffer_tail; the previous value of rx_buffer_head
|
|
|
|
|
|
|
|
// may be written to rx_buffer_tail, making it appear as if the buffer
|
|
|
|
|
|
|
|
// were full, not empty.
|
|
|
|
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
|
|
|
|
rx_buffer.head = rx_buffer.tail;
|
|
|
|
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if TX_BUFFER_SIZE > 0
|
|
|
|
|
|
|
|
uint8_t MarlinSerial::availableForWrite(void) {
|
|
|
|
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
uint8_t h = tx_buffer.head;
|
|
|
|
int v = rx_buffer.head == rx_buffer.tail ? -1 : rx_buffer.buffer[rx_buffer.tail];
|
|
|
|
uint8_t t = tx_buffer.tail;
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
|
|
|
|
return v;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
int MarlinSerial::read(void) {
|
|
|
|
|
|
|
|
int v;
|
|
|
|
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
|
|
|
|
uint8_t t = rx_buffer.tail;
|
|
|
|
|
|
|
|
if (rx_buffer.head == t) {
|
|
|
|
|
|
|
|
v = -1;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
else {
|
|
|
|
|
|
|
|
v = rx_buffer.buffer[t];
|
|
|
|
|
|
|
|
rx_buffer.tail = (uint8_t)(t + 1) & (RX_BUFFER_SIZE - 1);
|
|
|
|
|
|
|
|
}
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
return (uint8_t)(TX_BUFFER_SIZE + h - t) & (TX_BUFFER_SIZE - 1);
|
|
|
|
return v;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::write(uint8_t c) {
|
|
|
|
uint8_t MarlinSerial::available(void) {
|
|
|
|
_written = true;
|
|
|
|
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
bool emty = (tx_buffer.head == tx_buffer.tail);
|
|
|
|
uint8_t h = rx_buffer.head,
|
|
|
|
|
|
|
|
t = rx_buffer.tail;
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
// If the buffer and the data register is empty, just write the byte
|
|
|
|
return (uint8_t)(RX_BUFFER_SIZE + h - t) & (RX_BUFFER_SIZE - 1);
|
|
|
|
// to the data register and be done. This shortcut helps
|
|
|
|
}
|
|
|
|
// significantly improve the effective datarate at high (>
|
|
|
|
|
|
|
|
// 500kbit/s) bitrates, where interrupt overhead becomes a slowdown.
|
|
|
|
void MarlinSerial::flush(void) {
|
|
|
|
if (emty && TEST(M_UCSRxA, M_UDREx)) {
|
|
|
|
// RX
|
|
|
|
|
|
|
|
// don't reverse this or there may be problems if the RX interrupt
|
|
|
|
|
|
|
|
// occurs after reading the value of rx_buffer_head but before writing
|
|
|
|
|
|
|
|
// the value to rx_buffer_tail; the previous value of rx_buffer_head
|
|
|
|
|
|
|
|
// may be written to rx_buffer_tail, making it appear as if the buffer
|
|
|
|
|
|
|
|
// were full, not empty.
|
|
|
|
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
|
|
|
|
rx_buffer.head = rx_buffer.tail;
|
|
|
|
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#if TX_BUFFER_SIZE > 0
|
|
|
|
|
|
|
|
uint8_t MarlinSerial::availableForWrite(void) {
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
M_UDRx = c;
|
|
|
|
uint8_t h = tx_buffer.head;
|
|
|
|
SBI(M_UCSRxA, M_TXCx);
|
|
|
|
uint8_t t = tx_buffer.tail;
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
return;
|
|
|
|
return (uint8_t)(TX_BUFFER_SIZE + h - t) & (TX_BUFFER_SIZE - 1);
|
|
|
|
}
|
|
|
|
|
|
|
|
uint8_t i = (tx_buffer.head + 1) & (TX_BUFFER_SIZE - 1);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// If the output buffer is full, there's nothing for it other than to
|
|
|
|
|
|
|
|
// wait for the interrupt handler to empty it a bit
|
|
|
|
|
|
|
|
while (i == tx_buffer.tail) {
|
|
|
|
|
|
|
|
if (!TEST(SREG, SREG_I)) {
|
|
|
|
|
|
|
|
// Interrupts are disabled, so we'll have to poll the data
|
|
|
|
|
|
|
|
// register empty flag ourselves. If it is set, pretend an
|
|
|
|
|
|
|
|
// interrupt has happened and call the handler to free up
|
|
|
|
|
|
|
|
// space for us.
|
|
|
|
|
|
|
|
if (TEST(M_UCSRxA, M_UDREx))
|
|
|
|
|
|
|
|
_tx_udr_empty_irq();
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
|
|
|
// nop, the interrupt handler will free up space for us
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
tx_buffer.buffer[tx_buffer.head] = c;
|
|
|
|
void MarlinSerial::write(uint8_t c) {
|
|
|
|
{ CRITICAL_SECTION_START;
|
|
|
|
_written = true;
|
|
|
|
tx_buffer.head = i;
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
SBI(M_UCSRxB, M_UDRIEx);
|
|
|
|
bool emty = (tx_buffer.head == tx_buffer.tail);
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
}
|
|
|
|
// If the buffer and the data register is empty, just write the byte
|
|
|
|
return;
|
|
|
|
// to the data register and be done. This shortcut helps
|
|
|
|
}
|
|
|
|
// significantly improve the effective datarate at high (>
|
|
|
|
|
|
|
|
// 500kbit/s) bitrates, where interrupt overhead becomes a slowdown.
|
|
|
|
|
|
|
|
if (emty && TEST(M_UCSRxA, M_UDREx)) {
|
|
|
|
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
|
|
|
|
M_UDRx = c;
|
|
|
|
|
|
|
|
SBI(M_UCSRxA, M_TXCx);
|
|
|
|
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
|
|
|
|
return;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
uint8_t i = (tx_buffer.head + 1) & (TX_BUFFER_SIZE - 1);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// If the output buffer is full, there's nothing for it other than to
|
|
|
|
|
|
|
|
// wait for the interrupt handler to empty it a bit
|
|
|
|
|
|
|
|
while (i == tx_buffer.tail) {
|
|
|
|
|
|
|
|
if (!TEST(SREG, SREG_I)) {
|
|
|
|
|
|
|
|
// Interrupts are disabled, so we'll have to poll the data
|
|
|
|
|
|
|
|
// register empty flag ourselves. If it is set, pretend an
|
|
|
|
|
|
|
|
// interrupt has happened and call the handler to free up
|
|
|
|
|
|
|
|
// space for us.
|
|
|
|
|
|
|
|
if (TEST(M_UCSRxA, M_UDREx))
|
|
|
|
|
|
|
|
_tx_udr_empty_irq();
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
|
|
|
// nop, the interrupt handler will free up space for us
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::flushTX(void) {
|
|
|
|
tx_buffer.buffer[tx_buffer.head] = c;
|
|
|
|
// TX
|
|
|
|
{ CRITICAL_SECTION_START;
|
|
|
|
// If we have never written a byte, no need to flush. This special
|
|
|
|
tx_buffer.head = i;
|
|
|
|
// case is needed since there is no way to force the TXC (transmit
|
|
|
|
SBI(M_UCSRxB, M_UDRIEx);
|
|
|
|
// complete) bit to 1 during initialization
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
if (!_written)
|
|
|
|
}
|
|
|
|
return;
|
|
|
|
return;
|
|
|
|
|
|
|
|
|
|
|
|
while (TEST(M_UCSRxB, M_UDRIEx) || !TEST(M_UCSRxA, M_TXCx)) {
|
|
|
|
|
|
|
|
if (!TEST(SREG, SREG_I) && TEST(M_UCSRxB, M_UDRIEx))
|
|
|
|
|
|
|
|
// Interrupts are globally disabled, but the DR empty
|
|
|
|
|
|
|
|
// interrupt should be enabled, so poll the DR empty flag to
|
|
|
|
|
|
|
|
// prevent deadlock
|
|
|
|
|
|
|
|
if (TEST(M_UCSRxA, M_UDREx))
|
|
|
|
|
|
|
|
_tx_udr_empty_irq();
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
// If we get here, nothing is queued anymore (DRIE is disabled) and
|
|
|
|
|
|
|
|
// the hardware finished tranmission (TXC is set).
|
|
|
|
void MarlinSerial::flushTX(void) {
|
|
|
|
}
|
|
|
|
// TX
|
|
|
|
|
|
|
|
// If we have never written a byte, no need to flush. This special
|
|
|
|
#else
|
|
|
|
// case is needed since there is no way to force the TXC (transmit
|
|
|
|
void MarlinSerial::write(uint8_t c) {
|
|
|
|
// complete) bit to 1 during initialization
|
|
|
|
while (!TEST(M_UCSRxA, M_UDREx))
|
|
|
|
if (!_written)
|
|
|
|
;
|
|
|
|
return;
|
|
|
|
M_UDRx = c;
|
|
|
|
|
|
|
|
|
|
|
|
while (TEST(M_UCSRxB, M_UDRIEx) || !TEST(M_UCSRxA, M_TXCx)) {
|
|
|
|
|
|
|
|
if (!TEST(SREG, SREG_I) && TEST(M_UCSRxB, M_UDRIEx))
|
|
|
|
|
|
|
|
// Interrupts are globally disabled, but the DR empty
|
|
|
|
|
|
|
|
// interrupt should be enabled, so poll the DR empty flag to
|
|
|
|
|
|
|
|
// prevent deadlock
|
|
|
|
|
|
|
|
if (TEST(M_UCSRxA, M_UDREx))
|
|
|
|
|
|
|
|
_tx_udr_empty_irq();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
// If we get here, nothing is queued anymore (DRIE is disabled) and
|
|
|
|
|
|
|
|
// the hardware finished tranmission (TXC is set).
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// end NEW
|
|
|
|
#else
|
|
|
|
|
|
|
|
void MarlinSerial::write(uint8_t c) {
|
|
|
|
|
|
|
|
while (!TEST(M_UCSRxA, M_UDREx))
|
|
|
|
|
|
|
|
;
|
|
|
|
|
|
|
|
M_UDRx = c;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
/// imports from print.h
|
|
|
|
// end NEW
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/// imports from print.h
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::print(char c, int base) {
|
|
|
|
|
|
|
|
print((long) c, base);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::print(unsigned char b, int base) {
|
|
|
|
void MarlinSerial::print(char c, int base) {
|
|
|
|
print((unsigned long) b, base);
|
|
|
|
print((long) c, base);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::print(int n, int base) {
|
|
|
|
void MarlinSerial::print(unsigned char b, int base) {
|
|
|
|
print((long) n, base);
|
|
|
|
print((unsigned long) b, base);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::print(unsigned int n, int base) {
|
|
|
|
void MarlinSerial::print(int n, int base) {
|
|
|
|
print((unsigned long) n, base);
|
|
|
|
print((long) n, base);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::print(long n, int base) {
|
|
|
|
void MarlinSerial::print(unsigned int n, int base) {
|
|
|
|
if (base == 0) {
|
|
|
|
print((unsigned long) n, base);
|
|
|
|
write(n);
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else if (base == 10) {
|
|
|
|
|
|
|
|
if (n < 0) {
|
|
|
|
void MarlinSerial::print(long n, int base) {
|
|
|
|
print('-');
|
|
|
|
if (base == 0) {
|
|
|
|
n = -n;
|
|
|
|
write(n);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
else if (base == 10) {
|
|
|
|
|
|
|
|
if (n < 0) {
|
|
|
|
|
|
|
|
print('-');
|
|
|
|
|
|
|
|
n = -n;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
printNumber(n, 10);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
else {
|
|
|
|
|
|
|
|
printNumber(n, base);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
printNumber(n, 10);
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else {
|
|
|
|
|
|
|
|
printNumber(n, base);
|
|
|
|
void MarlinSerial::print(unsigned long n, int base) {
|
|
|
|
|
|
|
|
if (base == 0) write(n);
|
|
|
|
|
|
|
|
else printNumber(n, base);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::print(double n, int digits) {
|
|
|
|
void MarlinSerial::print(unsigned long n, int base) {
|
|
|
|
printFloat(n, digits);
|
|
|
|
if (base == 0) write(n);
|
|
|
|
|
|
|
|
else printNumber(n, base);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::print(double n, int digits) {
|
|
|
|
|
|
|
|
printFloat(n, digits);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(void) {
|
|
|
|
|
|
|
|
print('\r');
|
|
|
|
|
|
|
|
print('\n');
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(const String& s) {
|
|
|
|
|
|
|
|
print(s);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(const char c[]) {
|
|
|
|
|
|
|
|
print(c);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(char c, int base) {
|
|
|
|
|
|
|
|
print(c, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(unsigned char b, int base) {
|
|
|
|
|
|
|
|
print(b, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(int n, int base) {
|
|
|
|
|
|
|
|
print(n, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(unsigned int n, int base) {
|
|
|
|
|
|
|
|
print(n, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(long n, int base) {
|
|
|
|
|
|
|
|
print(n, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(unsigned long n, int base) {
|
|
|
|
|
|
|
|
print(n, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(double n, int digits) {
|
|
|
|
|
|
|
|
print(n, digits);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Private Methods /////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::printNumber(unsigned long n, uint8_t base) {
|
|
|
|
|
|
|
|
if (n) {
|
|
|
|
|
|
|
|
unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
|
|
|
|
|
|
|
|
int8_t i = 0;
|
|
|
|
|
|
|
|
while (n) {
|
|
|
|
|
|
|
|
buf[i++] = n % base;
|
|
|
|
|
|
|
|
n /= base;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
while (i--)
|
|
|
|
|
|
|
|
print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
|
|
|
|
print('0');
|
|
|
|
void MarlinSerial::println(void) {
|
|
|
|
}
|
|
|
|
print('\r');
|
|
|
|
|
|
|
|
print('\n');
|
|
|
|
void MarlinSerial::printFloat(double number, uint8_t digits) {
|
|
|
|
|
|
|
|
// Handle negative numbers
|
|
|
|
|
|
|
|
if (number < 0.0) {
|
|
|
|
|
|
|
|
print('-');
|
|
|
|
|
|
|
|
number = -number;
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// Round correctly so that print(1.999, 2) prints as "2.00"
|
|
|
|
void MarlinSerial::println(const String& s) {
|
|
|
|
double rounding = 0.5;
|
|
|
|
print(s);
|
|
|
|
for (uint8_t i = 0; i < digits; ++i)
|
|
|
|
println();
|
|
|
|
rounding *= 0.1;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
number += rounding;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Extract the integer part of the number and print it
|
|
|
|
|
|
|
|
unsigned long int_part = (unsigned long)number;
|
|
|
|
|
|
|
|
double remainder = number - (double)int_part;
|
|
|
|
|
|
|
|
print(int_part);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Print the decimal point, but only if there are digits beyond
|
|
|
|
|
|
|
|
if (digits) {
|
|
|
|
|
|
|
|
print('.');
|
|
|
|
|
|
|
|
// Extract digits from the remainder one at a time
|
|
|
|
|
|
|
|
while (digits--) {
|
|
|
|
|
|
|
|
remainder *= 10.0;
|
|
|
|
|
|
|
|
int toPrint = int(remainder);
|
|
|
|
|
|
|
|
print(toPrint);
|
|
|
|
|
|
|
|
remainder -= toPrint;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// Preinstantiate Objects //////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::println(const char c[]) {
|
|
|
|
|
|
|
|
print(c);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
MarlinSerial customizedSerial;
|
|
|
|
void MarlinSerial::println(char c, int base) {
|
|
|
|
|
|
|
|
print(c, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#endif // whole file
|
|
|
|
void MarlinSerial::println(unsigned char b, int base) {
|
|
|
|
#endif // !USBCON
|
|
|
|
print(b, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// For AT90USB targets use the UART for BT interfacing
|
|
|
|
void MarlinSerial::println(int n, int base) {
|
|
|
|
#if defined(USBCON) && ENABLED(BLUETOOTH)
|
|
|
|
print(n, base);
|
|
|
|
HardwareSerial bluetoothSerial;
|
|
|
|
println();
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#if ENABLED(EMERGENCY_PARSER)
|
|
|
|
void MarlinSerial::println(unsigned int n, int base) {
|
|
|
|
|
|
|
|
print(n, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// Currently looking for: M108, M112, M410
|
|
|
|
void MarlinSerial::println(long n, int base) {
|
|
|
|
// If you alter the parser please don't forget to update the capabilities in Conditionals_post.h
|
|
|
|
print(n, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
FORCE_INLINE void emergency_parser(unsigned char c) {
|
|
|
|
void MarlinSerial::println(unsigned long n, int base) {
|
|
|
|
|
|
|
|
print(n, base);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
static e_parser_state state = state_RESET;
|
|
|
|
void MarlinSerial::println(double n, int digits) {
|
|
|
|
|
|
|
|
print(n, digits);
|
|
|
|
|
|
|
|
println();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
switch (state) {
|
|
|
|
// Private Methods
|
|
|
|
case state_RESET:
|
|
|
|
|
|
|
|
switch (c) {
|
|
|
|
|
|
|
|
case ' ': break;
|
|
|
|
|
|
|
|
case 'N': state = state_N; break;
|
|
|
|
|
|
|
|
case 'M': state = state_M; break;
|
|
|
|
|
|
|
|
default: state = state_IGNORE;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case state_N:
|
|
|
|
|
|
|
|
switch (c) {
|
|
|
|
|
|
|
|
case '0': case '1': case '2':
|
|
|
|
|
|
|
|
case '3': case '4': case '5':
|
|
|
|
|
|
|
|
case '6': case '7': case '8':
|
|
|
|
|
|
|
|
case '9': case '-': case ' ': break;
|
|
|
|
|
|
|
|
case 'M': state = state_M; break;
|
|
|
|
|
|
|
|
default: state = state_IGNORE;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case state_M:
|
|
|
|
|
|
|
|
switch (c) {
|
|
|
|
|
|
|
|
case ' ': break;
|
|
|
|
|
|
|
|
case '1': state = state_M1; break;
|
|
|
|
|
|
|
|
case '4': state = state_M4; break;
|
|
|
|
|
|
|
|
default: state = state_IGNORE;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case state_M1:
|
|
|
|
void MarlinSerial::printNumber(unsigned long n, uint8_t base) {
|
|
|
|
switch (c) {
|
|
|
|
if (n) {
|
|
|
|
case '0': state = state_M10; break;
|
|
|
|
unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
|
|
|
|
case '1': state = state_M11; break;
|
|
|
|
int8_t i = 0;
|
|
|
|
default: state = state_IGNORE;
|
|
|
|
while (n) {
|
|
|
|
}
|
|
|
|
buf[i++] = n % base;
|
|
|
|
break;
|
|
|
|
n /= base;
|
|
|
|
|
|
|
|
}
|
|
|
|
case state_M10:
|
|
|
|
while (i--)
|
|
|
|
state = (c == '8') ? state_M108 : state_IGNORE;
|
|
|
|
print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case state_M11:
|
|
|
|
|
|
|
|
state = (c == '2') ? state_M112 : state_IGNORE;
|
|
|
|
|
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break;
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case state_M4:
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|
state = (c == '1') ? state_M41 : state_IGNORE;
|
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|
|
break;
|
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case state_M41:
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|
state = (c == '0') ? state_M410 : state_IGNORE;
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|
|
break;
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|
case state_IGNORE:
|
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|
|
if (c == '\n') state = state_RESET;
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|
|
break;
|
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default:
|
|
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|
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|
|
if (c == '\n') {
|
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|
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|
|
switch (state) {
|
|
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|
|
case state_M108:
|
|
|
|
|
|
|
|
wait_for_user = wait_for_heatup = false;
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
case state_M112:
|
|
|
|
|
|
|
|
kill(PSTR(MSG_KILLED));
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
case state_M410:
|
|
|
|
|
|
|
|
quickstop_stepper();
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
state = state_RESET;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
else
|
|
|
|
|
|
|
|
print('0');
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void MarlinSerial::printFloat(double number, uint8_t digits) {
|
|
|
|
|
|
|
|
// Handle negative numbers
|
|
|
|
|
|
|
|
if (number < 0.0) {
|
|
|
|
|
|
|
|
print('-');
|
|
|
|
|
|
|
|
number = -number;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Round correctly so that print(1.999, 2) prints as "2.00"
|
|
|
|
|
|
|
|
double rounding = 0.5;
|
|
|
|
|
|
|
|
for (uint8_t i = 0; i < digits; ++i)
|
|
|
|
|
|
|
|
rounding *= 0.1;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
number += rounding;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Extract the integer part of the number and print it
|
|
|
|
|
|
|
|
unsigned long int_part = (unsigned long)number;
|
|
|
|
|
|
|
|
double remainder = number - (double)int_part;
|
|
|
|
|
|
|
|
print(int_part);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Print the decimal point, but only if there are digits beyond
|
|
|
|
|
|
|
|
if (digits) {
|
|
|
|
|
|
|
|
print('.');
|
|
|
|
|
|
|
|
// Extract digits from the remainder one at a time
|
|
|
|
|
|
|
|
while (digits--) {
|
|
|
|
|
|
|
|
remainder *= 10.0;
|
|
|
|
|
|
|
|
int toPrint = int(remainder);
|
|
|
|
|
|
|
|
print(toPrint);
|
|
|
|
|
|
|
|
remainder -= toPrint;
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Preinstantiate
|
|
|
|
|
|
|
|
MarlinSerial customizedSerial;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#endif // !USBCON && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// For AT90USB targets use the UART for BT interfacing
|
|
|
|
|
|
|
|
#if defined(USBCON) && ENABLED(BLUETOOTH)
|
|
|
|
|
|
|
|
HardwareSerial bluetoothSerial;
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
Scott Lahteine
8 years ago
committed by