Removed interrupt nesting in the stepper ISR.
Add serial checkRx in stepper ISR. Copied HardwareSerial to MarlinSerial (Needed for checkRx).2.0.x
Erik van der Zalm
13 years ago
parent
aad4b75b94
commit
f75f426dfa
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/*
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HardwareSerial.cpp - Hardware serial library for Wiring
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Copyright (c) 2006 Nicholas Zambetti. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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Modified 23 November 2006 by David A. Mellis
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Modified 28 September 2010 by Mark Sproul
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*/
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <inttypes.h>
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#include "wiring.h"
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#include "wiring_private.h"
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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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#include "MarlinSerial.h"
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// Define constants and variables for buffering incoming serial data. We're
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// using a ring buffer (I think), in which rx_buffer_head is the index of the
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// location to which to write the next incoming character and rx_buffer_tail
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// is the index of the location from which to read.
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#define RX_BUFFER_SIZE 128
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struct ring_buffer
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{
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unsigned char buffer[RX_BUFFER_SIZE];
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int head;
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int tail;
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};
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#if defined(UBRRH) || defined(UBRR0H)
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ring_buffer rx_buffer = { { 0 }, 0, 0 };
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#endif
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inline void store_char(unsigned char c, ring_buffer *rx_buffer)
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{
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int i = (unsigned int)(rx_buffer->head + 1) % RX_BUFFER_SIZE;
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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[rx_buffer->head] = c;
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rx_buffer->head = i;
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}
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}
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//#elif defined(SIG_USART_RECV)
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#if defined(USART0_RX_vect)
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// fixed by Mark Sproul this is on the 644/644p
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//SIGNAL(SIG_USART_RECV)
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SIGNAL(USART0_RX_vect)
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{
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#if defined(UDR0)
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unsigned char c = UDR0;
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#elif defined(UDR)
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unsigned char c = UDR; // atmega8, atmega32
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#else
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#error UDR not defined
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#endif
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store_char(c, &rx_buffer);
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}
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#endif
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// Constructors ////////////////////////////////////////////////////////////////
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MarlinSerial::MarlinSerial(ring_buffer *rx_buffer,
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volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
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volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
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volatile uint8_t *udr,
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uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x)
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{
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_rx_buffer = rx_buffer;
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_ubrrh = ubrrh;
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_ubrrl = ubrrl;
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_ucsra = ucsra;
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_ucsrb = ucsrb;
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_udr = udr;
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_rxen = rxen;
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_txen = txen;
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_rxcie = rxcie;
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_udre = udre;
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_u2x = u2x;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void MarlinSerial::begin(long baud)
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{
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uint16_t baud_setting;
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bool use_u2x = true;
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#if F_CPU == 16000000UL
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// hardcoded exception for compatibility with the bootloader shipped
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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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use_u2x = false;
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}
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#endif
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if (use_u2x) {
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*_ucsra = 1 << _u2x;
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baud_setting = (F_CPU / 4 / baud - 1) / 2;
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} else {
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*_ucsra = 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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*_ubrrh = baud_setting >> 8;
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*_ubrrl = baud_setting;
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sbi(*_ucsrb, _rxen);
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sbi(*_ucsrb, _txen);
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sbi(*_ucsrb, _rxcie);
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}
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void MarlinSerial::end()
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{
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cbi(*_ucsrb, _rxen);
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cbi(*_ucsrb, _txen);
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cbi(*_ucsrb, _rxcie);
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}
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int MarlinSerial::available(void)
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{
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return (unsigned int)(RX_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % RX_BUFFER_SIZE;
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}
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int MarlinSerial::peek(void)
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{
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if (_rx_buffer->head == _rx_buffer->tail) {
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return -1;
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} else {
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return _rx_buffer->buffer[_rx_buffer->tail];
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}
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}
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int MarlinSerial::read(void)
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{
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// if the head isn't ahead of the tail, we don't have any characters
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if (_rx_buffer->head == _rx_buffer->tail) {
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return -1;
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} else {
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unsigned char c = _rx_buffer->buffer[_rx_buffer->tail];
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_rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) % RX_BUFFER_SIZE;
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return c;
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}
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}
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void MarlinSerial::flush()
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{
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// don't reverse this or there may be problems if the RX interrupt
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// occurs after reading the value of rx_buffer_head but before writing
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// the value to rx_buffer_tail; the previous value of rx_buffer_head
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// may be written to rx_buffer_tail, making it appear as if the buffer
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// don't reverse this or there may be problems if the RX interrupt
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// occurs after reading the value of rx_buffer_head but before writing
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// the value to rx_buffer_tail; the previous value of rx_buffer_head
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// may be written to rx_buffer_tail, making it appear as if the buffer
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// were full, not empty.
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_rx_buffer->head = _rx_buffer->tail;
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}
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void MarlinSerial::write(uint8_t c)
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{
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while (!((*_ucsra) & (1 << _udre)))
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;
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*_udr = c;
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}
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void MarlinSerial::checkRx()
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{
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if((UCSR0A & (1<<RXC0)) != 0) {
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unsigned char c = UDR0;
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store_char(c, &rx_buffer);
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}
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}
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// Preinstantiate Objects //////////////////////////////////////////////////////
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#if defined(UBRR0H) && defined(UBRR0L)
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MarlinSerial MSerial(&rx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UDR0, RXEN0, TXEN0, RXCIE0, UDRE0, U2X0);
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#else
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#error no serial port defined (port 0)
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#endif
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#endif // whole file
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@ -0,0 +1,66 @@
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/*
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HardwareSerial.h - Hardware serial library for Wiring
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Copyright (c) 2006 Nicholas Zambetti. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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Modified 28 September 2010 by Mark Sproul
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*/
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#ifndef MarlinSerial_h
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#define MarlinSerial_h
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#include <inttypes.h>
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#include "Stream.h"
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struct ring_buffer;
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class MarlinSerial : public Stream
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{
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private:
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ring_buffer *_rx_buffer;
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volatile uint8_t *_ubrrh;
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volatile uint8_t *_ubrrl;
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volatile uint8_t *_ucsra;
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volatile uint8_t *_ucsrb;
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volatile uint8_t *_udr;
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uint8_t _rxen;
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uint8_t _txen;
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uint8_t _rxcie;
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uint8_t _udre;
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uint8_t _u2x;
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public:
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MarlinSerial(ring_buffer *rx_buffer,
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volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
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volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
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volatile uint8_t *udr,
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uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x);
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void begin(long);
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void end();
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virtual int available(void);
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virtual int peek(void);
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virtual int read(void);
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virtual void flush(void);
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virtual void write(uint8_t);
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virtual void checkRx(void);
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using Print::write; // pull in write(str) and write(buf, size) from Print
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};
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#if defined(UBRRH) || defined(UBRR0H)
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extern MarlinSerial MSerial;
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#endif
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#endif
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