Firmware/Marlin/MarlinSerial.cpp

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/**
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* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
HardwareSerial.cpp - Hardware serial library for Wiring
Copyright (c) 2006 Nicholas Zambetti. All right reserved.
Modified 23 November 2006 by David A. Mellis
Modified 28 September 2010 by Mark Sproul
*/
#include "Marlin.h"
#include "MarlinSerial.h"
#include "stepper.h"
#ifndef USBCON
// this next line disables the entire HardwareSerial.cpp,
// this is so I can support Attiny series and any other chip without a UART
#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
#if UART_PRESENT(SERIAL_PORT)
ring_buffer rx_buffer = { { 0 }, 0, 0 };
#endif
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FORCE_INLINE void store_char(unsigned char c) {
CRITICAL_SECTION_START;
uint8_t h = rx_buffer.head;
uint8_t i = (uint8_t)(h + 1) & (RX_BUFFER_SIZE - 1);
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != rx_buffer.tail) {
rx_buffer.buffer[h] = c;
rx_buffer.head = i;
}
CRITICAL_SECTION_END;
#if ENABLED(EMERGENCY_PARSER)
emergency_parser(c);
#endif
}
//#elif defined(SIG_USART_RECV)
#if defined(M_USARTx_RX_vect)
// fixed by Mark Sproul this is on the 644/644p
//SIGNAL(SIG_USART_RECV)
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SIGNAL(M_USARTx_RX_vect) {
unsigned char c = M_UDRx;
store_char(c);
}
#endif
// Constructors ////////////////////////////////////////////////////////////////
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MarlinSerial::MarlinSerial() { }
// Public Methods //////////////////////////////////////////////////////////////
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void MarlinSerial::begin(long baud) {
uint16_t baud_setting;
bool useU2X = true;
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#if F_CPU == 16000000UL && SERIAL_PORT == 0
// hard-coded exception for compatibility with the bootloader shipped
// with the Duemilanove and previous boards and the firmware on the 8U2
// on the Uno and Mega 2560.
if (baud == 57600) {
useU2X = false;
}
#endif
if (useU2X) {
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M_UCSRxA = _BV(M_U2Xx);
baud_setting = (F_CPU / 4 / baud - 1) / 2;
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}
else {
M_UCSRxA = 0;
baud_setting = (F_CPU / 8 / baud - 1) / 2;
}
// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
M_UBRRxH = baud_setting >> 8;
M_UBRRxL = baud_setting;
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SBI(M_UCSRxB, M_RXENx);
SBI(M_UCSRxB, M_TXENx);
SBI(M_UCSRxB, M_RXCIEx);
}
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void MarlinSerial::end() {
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CBI(M_UCSRxB, M_RXENx);
CBI(M_UCSRxB, M_TXENx);
CBI(M_UCSRxB, M_RXCIEx);
}
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int MarlinSerial::peek(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];
}
CRITICAL_SECTION_END;
return v;
}
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int MarlinSerial::read(void) {
int v;
CRITICAL_SECTION_START;
uint8_t t = rx_buffer.tail;
if (rx_buffer.head == t) {
v = -1;
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}
else {
v = rx_buffer.buffer[t];
rx_buffer.tail = (uint8_t)(t + 1) & (RX_BUFFER_SIZE - 1);
}
CRITICAL_SECTION_END;
return v;
}
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void MarlinSerial::flush() {
// 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;
}
/// imports from print.h
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void MarlinSerial::print(char c, int base) {
print((long) c, base);
}
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void MarlinSerial::print(unsigned char b, int base) {
print((unsigned long) b, base);
}
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void MarlinSerial::print(int n, int base) {
print((long) n, base);
}
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void MarlinSerial::print(unsigned int n, int base) {
print((unsigned long) n, base);
}
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void MarlinSerial::print(long n, int base) {
if (base == 0) {
write(n);
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}
else if (base == 10) {
if (n < 0) {
print('-');
n = -n;
}
printNumber(n, 10);
}
else {
printNumber(n, base);
}
}
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void MarlinSerial::print(unsigned long n, int base) {
if (base == 0) write(n);
else printNumber(n, base);
}
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void MarlinSerial::print(double n, int digits) {
printFloat(n, digits);
}
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void MarlinSerial::println(void) {
print('\r');
print('\n');
}
void MarlinSerial::println(const String& s) {
print(s);
println();
}
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void MarlinSerial::println(const char c[]) {
print(c);
println();
}
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void MarlinSerial::println(char c, int base) {
print(c, base);
println();
}
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void MarlinSerial::println(unsigned char b, int base) {
print(b, base);
println();
}
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void MarlinSerial::println(int n, int base) {
print(n, base);
println();
}
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void MarlinSerial::println(unsigned int n, int base) {
print(n, base);
println();
}
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void MarlinSerial::println(long n, int base) {
print(n, base);
println();
}
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void MarlinSerial::println(unsigned long n, int base) {
print(n, base);
println();
}
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void MarlinSerial::println(double n, int digits) {
print(n, digits);
println();
}
// Private Methods /////////////////////////////////////////////////////////////
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void MarlinSerial::printNumber(unsigned long n, uint8_t base) {
unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
unsigned long i = 0;
if (n == 0) {
print('0');
return;
}
while (n > 0) {
buf[i++] = n % base;
n /= base;
}
for (; i > 0; i--)
print((char)(buf[i - 1] < 10 ?
'0' + buf[i - 1] :
'A' + buf[i - 1] - 10));
}
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void MarlinSerial::printFloat(double number, uint8_t digits) {
// Handle negative numbers
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if (number < 0.0) {
print('-');
number = -number;
}
// Round correctly so that print(1.999, 2) prints as "2.00"
double rounding = 0.5;
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for (uint8_t i = 0; i < digits; ++i)
rounding /= 10.0;
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
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if (digits > 0) print('.');
// Extract digits from the remainder one at a time
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while (digits-- > 0) {
remainder *= 10.0;
int toPrint = int(remainder);
print(toPrint);
remainder -= toPrint;
}
}
// Preinstantiate Objects //////////////////////////////////////////////////////
MarlinSerial customizedSerial;
#endif // whole file
#endif // !USBCON
// For AT90USB targets use the UART for BT interfacing
#if defined(USBCON) && ENABLED(BLUETOOTH)
HardwareSerial bluetoothSerial;
#endif
#if ENABLED(EMERGENCY_PARSER)
// Currently looking for: M108, M112, M410
// If you alter the parser please don't forget to update the capabilities in Conditionals.h
void emergency_parser(unsigned char c) {
enum e_parser_state {
state_RESET,
state_M,
state_M1,
state_M10,
state_M11,
state_M2,
state_M3,
state_M4,
state_M41,
state_IGNORE // to '\n'
};
static e_parser_state state = state_RESET;
switch (state) {
case state_RESET:
switch (c) {
case 'M':
state = state_M;
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;
case state_M:
switch (c) {
case '1':
state = state_M1;
break;
case '2':
state = state_M2;
break;
case '3':
state = state_M3;
break;
case '4':
state = state_M4;
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;
case state_M1:
switch (c) {
case '0':
state = state_M10;
break;
case '1':
state = state_M11;
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;
case state_M2:
switch (c) {
case '3': // M23
case '8': // M28
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;
case state_M3:
switch (c) {
case '0': // M30
case '2': // M32
case '3': // M33
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;
case state_M10:
switch (c) {
case '8': // M108
{ state = state_RESET; wait_for_heatup = false; }
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;
case state_M11:
switch (c) {
case '2': // M112
state = state_RESET; kill(PSTR(MSG_KILLED));
break;
case '7': // M117
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;
case state_M4:
switch (c) {
case '1':
state = state_M41;
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;
case state_M41:
switch (c) {
case '0':
state = state_RESET;
quickstop_stepper();
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;
case state_IGNORE:
if (c == '\n') state = state_RESET;
break;
default:
state = state_RESET;
}
}
#endif