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538 lines
13 KiB
538 lines
13 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program 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
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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MarlinSerial.cpp - Hardware serial library for Wiring
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Copyright (c) 2006 Nicholas Zambetti. All right reserved.
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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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Modified 14 February 2016 by Andreas Hardtung (added tx buffer)
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*/
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#include "Marlin.h"
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#include "MarlinSerial.h"
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#include "stepper.h"
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#ifndef USBCON
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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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ring_buffer_r rx_buffer = { { 0 }, 0, 0 };
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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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FORCE_INLINE void store_char(unsigned char c) {
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CRITICAL_SECTION_START;
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uint8_t h = rx_buffer.head;
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uint8_t i = (uint8_t)(h + 1) & (RX_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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#if ENABLED(EMERGENCY_PARSER)
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emergency_parser(c);
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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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{
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// If interrupts are enabled, there must be more data in the output
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// buffer. Send the next byte
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uint8_t t = tx_buffer.tail;
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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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M_UDRx = c;
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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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#if defined(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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#endif
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#if defined(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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// Constructors ////////////////////////////////////////////////////////////////
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MarlinSerial::MarlinSerial() { }
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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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#if F_CPU == 16000000UL && SERIAL_PORT == 0
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// hard-coded 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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useU2X = false;
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}
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#endif
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if (useU2X) {
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M_UCSRxA = _BV(M_U2Xx);
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baud_setting = (F_CPU / 4 / baud - 1) / 2;
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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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M_UBRRxH = baud_setting >> 8;
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M_UBRRxL = baud_setting;
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SBI(M_UCSRxB, M_RXENx);
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SBI(M_UCSRxB, M_TXENx);
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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);
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_written = false;
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#endif
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}
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void MarlinSerial::end() {
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CBI(M_UCSRxB, M_RXENx);
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CBI(M_UCSRxB, M_TXENx);
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CBI(M_UCSRxB, M_RXCIEx);
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CBI(M_UCSRxB, M_UDRIEx);
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}
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void MarlinSerial::checkRx(void) {
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if (TEST(M_UCSRxA, M_RXCx)) {
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uint8_t c = M_UDRx;
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store_char(c);
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}
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}
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int MarlinSerial::peek(void) {
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int v;
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CRITICAL_SECTION_START;
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uint8_t t = rx_buffer.tail;
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if (rx_buffer.head == t) {
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v = -1;
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}
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else {
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v = rx_buffer.buffer[t];
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}
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CRITICAL_SECTION_END;
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return v;
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}
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int MarlinSerial::read(void) {
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int v;
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CRITICAL_SECTION_START;
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uint8_t t = rx_buffer.tail;
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if (rx_buffer.head == t) {
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v = -1;
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}
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else {
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v = rx_buffer.buffer[t];
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rx_buffer.tail = (uint8_t)(t + 1) & (RX_BUFFER_SIZE - 1);
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}
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CRITICAL_SECTION_END;
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return v;
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}
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uint8_t MarlinSerial::available(void) {
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CRITICAL_SECTION_START;
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uint8_t h = rx_buffer.head;
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uint8_t t = rx_buffer.tail;
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CRITICAL_SECTION_END;
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return (uint8_t)(RX_BUFFER_SIZE + h - t) & (RX_BUFFER_SIZE - 1);
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}
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void MarlinSerial::flush(void) {
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// RX
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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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CRITICAL_SECTION_START;
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rx_buffer.head = rx_buffer.tail;
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CRITICAL_SECTION_END;
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}
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#if TX_BUFFER_SIZE > 0
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uint8_t MarlinSerial::availableForWrite(void) {
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CRITICAL_SECTION_START;
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uint8_t h = tx_buffer.head;
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uint8_t t = tx_buffer.tail;
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CRITICAL_SECTION_END;
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return (uint8_t)(TX_BUFFER_SIZE + h - t) & (TX_BUFFER_SIZE - 1);
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}
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void MarlinSerial::write(uint8_t c) {
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_written = true;
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CRITICAL_SECTION_START;
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bool emty = (tx_buffer.head == tx_buffer.tail);
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CRITICAL_SECTION_END;
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// If the buffer and the data register is empty, just write the byte
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// to the data register and be done. This shortcut helps
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// significantly improve the effective datarate at high (>
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// 500kbit/s) bitrates, where interrupt overhead becomes a slowdown.
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if (emty && TEST(M_UCSRxA, M_UDREx)) {
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CRITICAL_SECTION_START;
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M_UDRx = c;
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SBI(M_UCSRxA, M_TXCx);
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CRITICAL_SECTION_END;
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return;
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}
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uint8_t i = (tx_buffer.head + 1) & (TX_BUFFER_SIZE - 1);
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// If the output buffer is full, there's nothing for it other than to
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// wait for the interrupt handler to empty it a bit
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while (i == tx_buffer.tail) {
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if (!TEST(SREG, SREG_I)) {
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// Interrupts are disabled, so we'll have to poll the data
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// register empty flag ourselves. If it is set, pretend an
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// interrupt has happened and call the handler to free up
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// space for us.
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if (TEST(M_UCSRxA, M_UDREx))
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_tx_udr_empty_irq();
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} else {
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// nop, the interrupt handler will free up space for us
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}
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}
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tx_buffer.buffer[tx_buffer.head] = c;
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{ CRITICAL_SECTION_START;
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tx_buffer.head = i;
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SBI(M_UCSRxB, M_UDRIEx);
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CRITICAL_SECTION_END;
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}
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return;
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}
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void MarlinSerial::flushTX(void) {
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// TX
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// If we have never written a byte, no need to flush. This special
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// case is needed since there is no way to force the TXC (transmit
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// complete) bit to 1 during initialization
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if (!_written)
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return;
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while (TEST(M_UCSRxB, M_UDRIEx) || !TEST(M_UCSRxA, M_TXCx)) {
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if (!TEST(SREG, SREG_I) && TEST(M_UCSRxB, M_UDRIEx))
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// Interrupts are globally disabled, but the DR empty
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// interrupt should be enabled, so poll the DR empty flag to
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// prevent deadlock
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if (TEST(M_UCSRxA, M_UDREx))
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_tx_udr_empty_irq();
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}
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// If we get here, nothing is queued anymore (DRIE is disabled) and
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// the hardware finished tranmission (TXC is set).
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}
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#else
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void MarlinSerial::write(uint8_t c) {
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while (!TEST(M_UCSRxA, M_UDREx))
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;
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M_UDRx = c;
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}
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#endif
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// end NEW
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/// imports from print.h
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void MarlinSerial::print(char c, int base) {
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print((long) c, base);
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}
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void MarlinSerial::print(unsigned char b, int base) {
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print((unsigned long) b, base);
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}
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void MarlinSerial::print(int n, int base) {
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print((long) n, base);
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}
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void MarlinSerial::print(unsigned int n, int base) {
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print((unsigned long) n, base);
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}
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void MarlinSerial::print(long n, int base) {
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if (base == 0) {
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write(n);
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}
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else if (base == 10) {
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if (n < 0) {
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print('-');
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n = -n;
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}
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printNumber(n, 10);
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}
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else {
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printNumber(n, base);
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}
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}
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void MarlinSerial::print(unsigned long n, int base) {
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if (base == 0) write(n);
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else printNumber(n, base);
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}
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void MarlinSerial::print(double n, int digits) {
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printFloat(n, digits);
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}
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void MarlinSerial::println(void) {
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print('\r');
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print('\n');
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}
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void MarlinSerial::println(const String& s) {
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print(s);
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println();
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}
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void MarlinSerial::println(const char c[]) {
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print(c);
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println();
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}
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void MarlinSerial::println(char c, int base) {
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print(c, base);
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println();
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}
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void MarlinSerial::println(unsigned char b, int base) {
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print(b, base);
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println();
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}
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void MarlinSerial::println(int n, int base) {
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print(n, base);
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println();
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}
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void MarlinSerial::println(unsigned int n, int base) {
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print(n, base);
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println();
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}
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void MarlinSerial::println(long n, int base) {
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print(n, base);
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println();
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}
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void MarlinSerial::println(unsigned long n, int base) {
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print(n, base);
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println();
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}
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void MarlinSerial::println(double n, int digits) {
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print(n, digits);
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println();
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}
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// Private Methods /////////////////////////////////////////////////////////////
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void MarlinSerial::printNumber(unsigned long n, uint8_t base) {
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unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
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unsigned long i = 0;
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if (n == 0) {
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print('0');
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return;
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}
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while (n > 0) {
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buf[i++] = n % base;
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n /= base;
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}
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for (; i > 0; i--)
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print((char)(buf[i - 1] < 10 ?
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'0' + buf[i - 1] :
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'A' + buf[i - 1] - 10));
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}
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void MarlinSerial::printFloat(double number, uint8_t digits) {
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// Handle negative numbers
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if (number < 0.0) {
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print('-');
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number = -number;
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}
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// Round correctly so that print(1.999, 2) prints as "2.00"
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double rounding = 0.5;
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for (uint8_t i = 0; i < digits; ++i)
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rounding /= 10.0;
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number += rounding;
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// Extract the integer part of the number and print it
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unsigned long int_part = (unsigned long)number;
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double remainder = number - (double)int_part;
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print(int_part);
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// Print the decimal point, but only if there are digits beyond
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if (digits > 0) print('.');
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// Extract digits from the remainder one at a time
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while (digits-- > 0) {
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remainder *= 10.0;
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int toPrint = int(remainder);
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print(toPrint);
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remainder -= toPrint;
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}
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}
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// Preinstantiate Objects //////////////////////////////////////////////////////
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MarlinSerial customizedSerial;
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#endif // whole file
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#endif // !USBCON
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// For AT90USB targets use the UART for BT interfacing
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#if defined(USBCON) && ENABLED(BLUETOOTH)
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HardwareSerial bluetoothSerial;
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#endif
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#if ENABLED(EMERGENCY_PARSER)
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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(unsigned char c) {
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static e_parser_state state = state_RESET;
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switch (state) {
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case state_RESET:
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switch (c) {
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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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case state_M1:
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switch (c) {
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case '0': state = state_M10; break;
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case '1': state = state_M11; break;
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default: state = state_IGNORE;
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}
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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_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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#endif
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