725 lines
23 KiB
C++
725 lines
23 KiB
C++
/**
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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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*
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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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* Modified 01 October 2017 by Eduardo José Tagle (added XON/XOFF)
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*/
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// Disable HardwareSerial.cpp to support chips without a UART (Attiny, etc.)
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#include "MarlinConfig.h"
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#if USE_MARLINSERIAL && (defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H))
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#include "MarlinSerial.h"
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#include "Marlin.h"
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struct ring_buffer_r {
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unsigned char buffer[RX_BUFFER_SIZE];
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volatile ring_buffer_pos_t head, tail;
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};
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#if TX_BUFFER_SIZE > 0
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struct ring_buffer_t {
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unsigned char buffer[TX_BUFFER_SIZE];
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volatile uint8_t head, tail;
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};
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#endif
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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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#endif
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static bool _written;
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#endif
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#if ENABLED(SERIAL_XON_XOFF)
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constexpr uint8_t XON_XOFF_CHAR_SENT = 0x80, // XON / XOFF Character was sent
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XON_XOFF_CHAR_MASK = 0x1F; // XON / XOFF character to send
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// XON / XOFF character definitions
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constexpr uint8_t XON_CHAR = 17, XOFF_CHAR = 19;
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uint8_t xon_xoff_state = XON_XOFF_CHAR_SENT | XON_CHAR;
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#endif
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#if ENABLED(SERIAL_STATS_DROPPED_RX)
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uint8_t rx_dropped_bytes = 0;
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#endif
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#if ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS)
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uint8_t rx_buffer_overruns = 0;
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#endif
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#if ENABLED(SERIAL_STATS_RX_FRAMING_ERRORS)
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uint8_t rx_framing_errors = 0;
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#endif
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#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
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ring_buffer_pos_t rx_max_enqueued = 0;
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#endif
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// A SW memory barrier, to ensure GCC does not overoptimize loops
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#define sw_barrier() asm volatile("": : :"memory");
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#if ENABLED(EMERGENCY_PARSER)
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#include "emergency_parser.h"
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#endif
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// (called with RX interrupts disabled)
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FORCE_INLINE void store_rxd_char() {
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// Get the tail - Nothing can alter its value while we are at this ISR
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const ring_buffer_pos_t t = rx_buffer.tail;
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// Get the head pointer
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ring_buffer_pos_t h = rx_buffer.head;
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// Get the next element
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ring_buffer_pos_t i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
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// This must read the M_UCSRxA register before reading the received byte to detect error causes
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#if ENABLED(SERIAL_STATS_DROPPED_RX)
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if (TEST(M_UCSRxA, M_DORx) && !++rx_dropped_bytes) --rx_dropped_bytes;
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#endif
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#if ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS)
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if (TEST(M_UCSRxA, M_DORx) && !++rx_buffer_overruns) --rx_buffer_overruns;
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#endif
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#if ENABLED(SERIAL_STATS_RX_FRAMING_ERRORS)
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if (TEST(M_UCSRxA, M_FEx) && !++rx_framing_errors) --rx_framing_errors;
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#endif
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// Read the character from the USART
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uint8_t c = M_UDRx;
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#if ENABLED(EMERGENCY_PARSER)
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emergency_parser.update(c);
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#endif
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// If the character is to be stored at the index just before the tail
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// (such that the head would advance to the current tail), the RX FIFO is
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// full, so don't write the character or advance the head.
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if (i != t) {
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rx_buffer.buffer[h] = c;
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h = i;
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}
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#if ENABLED(SERIAL_STATS_DROPPED_RX)
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else if (!++rx_dropped_bytes) --rx_dropped_bytes;
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#endif
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#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
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// Calculate count of bytes stored into the RX buffer
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const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
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// Keep track of the maximum count of enqueued bytes
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NOLESS(rx_max_enqueued, rx_count);
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#endif
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#if ENABLED(SERIAL_XON_XOFF)
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// If the last char that was sent was an XON
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if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XON_CHAR) {
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// Bytes stored into the RX buffer
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const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
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// If over 12.5% of RX buffer capacity, send XOFF before running out of
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// RX buffer space .. 325 bytes @ 250kbits/s needed to let the host react
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// and stop sending bytes. This translates to 13mS propagation time.
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if (rx_count >= (RX_BUFFER_SIZE) / 8) {
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// At this point, definitely no TX interrupt was executing, since the TX isr can't be preempted.
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// Don't enable the TX interrupt here as a means to trigger the XOFF char, because if it happens
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// to be in the middle of trying to disable the RX interrupt in the main program, eventually the
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// enabling of the TX interrupt could be undone. The ONLY reliable thing this can do to ensure
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// the sending of the XOFF char is to send it HERE AND NOW.
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// About to send the XOFF char
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xon_xoff_state = XOFF_CHAR | XON_XOFF_CHAR_SENT;
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// Wait until the TX register becomes empty and send it - Here there could be a problem
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// - While waiting for the TX register to empty, the RX register could receive a new
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// character. This must also handle that situation!
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while (!TEST(M_UCSRxA, M_UDREx)) {
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if (TEST(M_UCSRxA,M_RXCx)) {
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// A char arrived while waiting for the TX buffer to be empty - Receive and process it!
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i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
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// Read the character from the USART
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c = M_UDRx;
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#if ENABLED(EMERGENCY_PARSER)
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emergency_parser.update(c);
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#endif
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// If the character is to be stored at the index just before the tail
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// (such that the head would advance to the current tail), the FIFO is
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// full, so don't write the character or advance the head.
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if (i != t) {
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rx_buffer.buffer[h] = c;
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h = i;
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}
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#if ENABLED(SERIAL_STATS_DROPPED_RX)
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else if (!++rx_dropped_bytes) --rx_dropped_bytes;
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#endif
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}
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sw_barrier();
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}
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M_UDRx = XOFF_CHAR;
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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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// At this point there could be a race condition between the write() function
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// and this sending of the XOFF char. This interrupt could happen between the
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// wait to be empty TX buffer loop and the actual write of the character. Since
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// the TX buffer is full because it's sending the XOFF char, the only way to be
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// sure the write() function will succeed is to wait for the XOFF char to be
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// completely sent. Since an extra character could be received during the wait
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// it must also be handled!
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while (!TEST(M_UCSRxA, M_UDREx)) {
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if (TEST(M_UCSRxA,M_RXCx)) {
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// A char arrived while waiting for the TX buffer to be empty - Receive and process it!
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i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
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// Read the character from the USART
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c = M_UDRx;
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#if ENABLED(EMERGENCY_PARSER)
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emergency_parser.update(c);
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#endif
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// If the character is to be stored at the index just before the tail
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// (such that the head would advance to the current tail), the FIFO is
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// full, so don't write the character or advance the head.
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if (i != t) {
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rx_buffer.buffer[h] = c;
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h = i;
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}
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#if ENABLED(SERIAL_STATS_DROPPED_RX)
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else if (!++rx_dropped_bytes) --rx_dropped_bytes;
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#endif
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}
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sw_barrier();
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}
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// At this point everything is ready. The write() function won't
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// have any issues writing to the UART TX register if it needs to!
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}
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}
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#endif // SERIAL_XON_XOFF
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// Store the new head value
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rx_buffer.head = h;
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}
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#if TX_BUFFER_SIZE > 0
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// (called with TX irqs disabled)
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FORCE_INLINE void _tx_udr_empty_irq(void) {
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// Read positions
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uint8_t t = tx_buffer.tail;
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const uint8_t h = tx_buffer.head;
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#if ENABLED(SERIAL_XON_XOFF)
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// If an XON char is pending to be sent, do it now
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if (xon_xoff_state == XON_CHAR) {
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// Send the character
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M_UDRx = XON_CHAR;
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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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// Remember we sent it.
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xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
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// If nothing else to transmit, just disable TX interrupts.
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if (h == t) CBI(M_UCSRxB, M_UDRIEx); // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
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return;
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}
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#endif
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// If nothing to transmit, just disable TX interrupts. This could
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// happen as the result of the non atomicity of the disabling of RX
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// interrupts that could end reenabling TX interrupts as a side effect.
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if (h == t) {
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CBI(M_UCSRxB, M_UDRIEx); // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
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return;
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}
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// There is something to TX, Send the next byte
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const uint8_t c = tx_buffer.buffer[t];
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t = (t + 1) & (TX_BUFFER_SIZE - 1);
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M_UDRx = c;
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tx_buffer.tail = t;
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// Clear the TXC bit (by writing a one to its bit location).
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// Ensures flush() won't return until the bytes are actually written/
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SBI(M_UCSRxA, M_TXCx);
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// Disable interrupts if there is nothing to transmit following this byte
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if (h == t) CBI(M_UCSRxB, M_UDRIEx); // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
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}
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#ifdef M_USARTx_UDRE_vect
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ISR(M_USARTx_UDRE_vect) { _tx_udr_empty_irq(); }
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#endif
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#endif // TX_BUFFER_SIZE
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#ifdef M_USARTx_RX_vect
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ISR(M_USARTx_RX_vect) { store_rxd_char(); }
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#endif
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// Public Methods
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void MarlinSerial::begin(const 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
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// 8U2 on the Uno and Mega 2560.
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if (baud == 57600) useU2X = false;
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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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#endif
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_written = false;
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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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int MarlinSerial::peek(void) {
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#if RX_BUFFER_SIZE > 256
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// Disable RX interrupts, but only if non atomic reads
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const bool isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
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CBI(M_UCSRxB, M_RXCIEx);
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#endif
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const int v = rx_buffer.head == rx_buffer.tail ? -1 : rx_buffer.buffer[rx_buffer.tail];
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#if RX_BUFFER_SIZE > 256
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// Reenable RX interrupts if they were enabled
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if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx);
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#endif
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return v;
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}
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int MarlinSerial::read(void) {
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#if RX_BUFFER_SIZE > 256
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// Disable RX interrupts to ensure atomic reads - This could reenable TX interrupts,
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// but this situation is explicitly handled at the TX isr, so no problems there
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bool isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
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CBI(M_UCSRxB, M_RXCIEx);
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#endif
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const ring_buffer_pos_t h = rx_buffer.head;
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#if RX_BUFFER_SIZE > 256
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// End critical section
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if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx);
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#endif
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ring_buffer_pos_t t = rx_buffer.tail;
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// If nothing to read, return now
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if (h == t) return -1;
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// Get the next char
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const int v = rx_buffer.buffer[t];
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t = (ring_buffer_pos_t)(t + 1) & (RX_BUFFER_SIZE - 1);
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#if RX_BUFFER_SIZE > 256
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// Disable RX interrupts to ensure atomic write to tail, so
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// the RX isr can't read partially updated values - This could
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// reenable TX interrupts, but this situation is explicitly
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// handled at the TX isr, so no problems there
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isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
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CBI(M_UCSRxB, M_RXCIEx);
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#endif
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// Advance tail
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rx_buffer.tail = t;
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#if RX_BUFFER_SIZE > 256
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// End critical section
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if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx);
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#endif
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#if ENABLED(SERIAL_XON_XOFF)
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// If the XOFF char was sent, or about to be sent...
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if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
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// Get count of bytes in the RX buffer
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const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
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if (rx_count < (RX_BUFFER_SIZE) / 10) {
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#if TX_BUFFER_SIZE > 0
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// Signal we want an XON character to be sent.
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xon_xoff_state = XON_CHAR;
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// Enable TX isr. Non atomic, but it will eventually enable them
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SBI(M_UCSRxB, M_UDRIEx);
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#else
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// If not using TX interrupts, we must send the XON char now
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xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
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while (!TEST(M_UCSRxA, M_UDREx)) sw_barrier();
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M_UDRx = XON_CHAR;
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#endif
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}
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}
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#endif
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return v;
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}
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ring_buffer_pos_t MarlinSerial::available(void) {
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#if RX_BUFFER_SIZE > 256
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const bool isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
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CBI(M_UCSRxB, M_RXCIEx);
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#endif
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const ring_buffer_pos_t h = rx_buffer.head, t = rx_buffer.tail;
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#if RX_BUFFER_SIZE > 256
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if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx);
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#endif
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return (ring_buffer_pos_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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#if RX_BUFFER_SIZE > 256
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const bool isr_enabled = TEST(M_UCSRxB, M_RXCIEx);
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CBI(M_UCSRxB, M_RXCIEx);
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#endif
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rx_buffer.tail = rx_buffer.head;
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#if RX_BUFFER_SIZE > 256
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if (isr_enabled) SBI(M_UCSRxB, M_RXCIEx);
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#endif
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#if ENABLED(SERIAL_XON_XOFF)
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// If the XOFF char was sent, or about to be sent...
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if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
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#if TX_BUFFER_SIZE > 0
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// Signal we want an XON character to be sent.
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xon_xoff_state = XON_CHAR;
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// Enable TX isr. Non atomic, but it will eventually enable it.
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SBI(M_UCSRxB, M_UDRIEx);
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#else
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// If not using TX interrupts, we must send the XON char now
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xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
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while (!TEST(M_UCSRxA, M_UDREx)) sw_barrier();
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M_UDRx = XON_CHAR;
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#endif
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}
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|
#endif
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|
}
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|
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|
#if TX_BUFFER_SIZE > 0
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|
void MarlinSerial::write(const uint8_t c) {
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|
_written = true;
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|
|
|
// If the TX interrupts are disabled and the data register
|
|
// is empty, just write the byte 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.
|
|
// Yes, there is a race condition between the sending of the
|
|
// XOFF char at the RX isr, but it is properly handled there
|
|
if (!TEST(M_UCSRxB, M_UDRIEx) && TEST(M_UCSRxA, M_UDREx)) {
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|
M_UDRx = c;
|
|
|
|
// clear the TXC bit -- "can be cleared by writing a one to its bit
|
|
// location". This makes sure flush() won't return until the bytes
|
|
// actually got written
|
|
SBI(M_UCSRxA, M_TXCx);
|
|
return;
|
|
}
|
|
|
|
const uint8_t i = (tx_buffer.head + 1) & (TX_BUFFER_SIZE - 1);
|
|
|
|
// If global interrupts are disabled (as the result of being called from an ISR)...
|
|
if (!ISRS_ENABLED()) {
|
|
|
|
// Make room by polling if it is possible to transmit, and do so!
|
|
while (i == tx_buffer.tail) {
|
|
|
|
// If we can transmit another byte, do it.
|
|
if (TEST(M_UCSRxA, M_UDREx)) _tx_udr_empty_irq();
|
|
|
|
// Make sure compiler rereads tx_buffer.tail
|
|
sw_barrier();
|
|
}
|
|
}
|
|
else {
|
|
// Interrupts are enabled, just wait until there is space
|
|
while (i == tx_buffer.tail) { sw_barrier(); }
|
|
}
|
|
|
|
// Store new char. head is always safe to move
|
|
tx_buffer.buffer[tx_buffer.head] = c;
|
|
tx_buffer.head = i;
|
|
|
|
// Enable TX isr - Non atomic, but it will eventually enable TX isr
|
|
SBI(M_UCSRxB, M_UDRIEx);
|
|
}
|
|
|
|
void MarlinSerial::flushTX(void) {
|
|
// No bytes written, no need to flush. This special case is needed since there's
|
|
// no way to force the TXC (transmit complete) bit to 1 during initialization.
|
|
if (!_written) return;
|
|
|
|
// If global interrupts are disabled (as the result of being called from an ISR)...
|
|
if (!ISRS_ENABLED()) {
|
|
|
|
// Wait until everything was transmitted - We must do polling, as interrupts are disabled
|
|
while (tx_buffer.head != tx_buffer.tail || !TEST(M_UCSRxA, M_TXCx)) {
|
|
|
|
// If there is more space, send an extra character
|
|
if (TEST(M_UCSRxA, M_UDREx))
|
|
_tx_udr_empty_irq();
|
|
|
|
sw_barrier();
|
|
}
|
|
|
|
}
|
|
else {
|
|
// Wait until everything was transmitted
|
|
while (tx_buffer.head != tx_buffer.tail || !TEST(M_UCSRxA, M_TXCx)) sw_barrier();
|
|
}
|
|
|
|
// At this point nothing is queued anymore (DRIE is disabled) and
|
|
// the hardware finished transmission (TXC is set).
|
|
}
|
|
|
|
#else // TX_BUFFER_SIZE == 0
|
|
|
|
void MarlinSerial::write(const uint8_t c) {
|
|
_written = true;
|
|
while (!TEST(M_UCSRxA, M_UDREx)) sw_barrier();
|
|
M_UDRx = c;
|
|
}
|
|
|
|
void MarlinSerial::flushTX(void) {
|
|
// No bytes written, no need to flush. This special case is needed since there's
|
|
// no way to force the TXC (transmit complete) bit to 1 during initialization.
|
|
if (!_written) return;
|
|
|
|
// Wait until everything was transmitted
|
|
while (!TEST(M_UCSRxA, M_TXCx)) sw_barrier();
|
|
|
|
// At this point nothing is queued anymore (DRIE is disabled) and
|
|
// the hardware finished transmission (TXC is set).
|
|
}
|
|
#endif // TX_BUFFER_SIZE == 0
|
|
|
|
/**
|
|
* Imports from print.h
|
|
*/
|
|
|
|
void MarlinSerial::print(char c, int base) {
|
|
print((long)c, base);
|
|
}
|
|
|
|
void MarlinSerial::print(unsigned char b, int base) {
|
|
print((unsigned long)b, base);
|
|
}
|
|
|
|
void MarlinSerial::print(int n, int base) {
|
|
print((long)n, base);
|
|
}
|
|
|
|
void MarlinSerial::print(unsigned int n, int base) {
|
|
print((unsigned long)n, base);
|
|
}
|
|
|
|
void MarlinSerial::print(long n, int base) {
|
|
if (base == 0) write(n);
|
|
else if (base == 10) {
|
|
if (n < 0) { print('-'); n = -n; }
|
|
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) {
|
|
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::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 // USE_MARLINSERIAL && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)
|
|
|
|
// For AT90USB targets use the UART for BT interfacing
|
|
#if !USE_MARLINSERIAL && ENABLED(BLUETOOTH)
|
|
HardwareSerial bluetoothSerial;
|
|
#endif
|