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@ -29,6 +29,7 @@ |
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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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* Modified 10 June 2018 by Eduardo José Tagle (See #10991) |
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* Templatized 01 October 2018 by Eduardo José Tagle to allow multiple instances |
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*/ |
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#ifdef __AVR__ |
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@ -42,62 +43,26 @@ |
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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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template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_r MarlinSerial<Cfg>::rx_buffer = { 0 }; |
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template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_t MarlinSerial<Cfg>::tx_buffer = { 0 }; |
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template<typename Cfg> bool MarlinSerial<Cfg>::_written = false; |
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template<typename Cfg> uint8_t MarlinSerial<Cfg>::xon_xoff_state = MarlinSerial<Cfg>::XON_XOFF_CHAR_SENT | MarlinSerial<Cfg>::XON_CHAR; |
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template<typename Cfg> uint8_t MarlinSerial<Cfg>::rx_dropped_bytes = 0; |
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template<typename Cfg> uint8_t MarlinSerial<Cfg>::rx_buffer_overruns = 0; |
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template<typename Cfg> uint8_t MarlinSerial<Cfg>::rx_framing_errors = 0; |
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template<typename Cfg> typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::rx_max_enqueued = 0; |
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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 "../../feature/emergency_parser.h" |
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#endif |
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#include "../../feature/emergency_parser.h" |
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// "Atomically" read the RX head index value without disabling interrupts:
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// This MUST be called with RX interrupts enabled, and CAN'T be called
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// from the RX ISR itself!
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FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head() { |
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#if RX_BUFFER_SIZE > 256 |
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template<typename Cfg> |
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FORCE_INLINE typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::atomic_read_rx_head() { |
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if (Cfg::RX_SIZE > 256) { |
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// Keep reading until 2 consecutive reads return the same value,
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// meaning there was no update in-between caused by an interrupt.
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// This works because serial RX interrupts happen at a slower rate
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@ -111,23 +76,25 @@ |
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sw_barrier(); |
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} while (vold != vnew); |
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return vnew; |
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#else |
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} |
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else { |
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// With an 8bit index, reads are always atomic. No need for special handling
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return rx_buffer.head; |
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#endif |
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} |
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} |
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#if RX_BUFFER_SIZE > 256 |
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static volatile bool rx_tail_value_not_stable = false; |
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static volatile uint16_t rx_tail_value_backup = 0; |
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#endif |
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template<typename Cfg> |
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volatile bool MarlinSerial<Cfg>::rx_tail_value_not_stable = false; |
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template<typename Cfg> |
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volatile uint16_t MarlinSerial<Cfg>::rx_tail_value_backup = 0; |
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// Set RX tail index, taking into account the RX ISR could interrupt
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// the write to this variable in the middle - So a backup strategy
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// is used to ensure reads of the correct values.
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// -Must NOT be called from the RX ISR -
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FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value) { |
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#if RX_BUFFER_SIZE > 256 |
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template<typename Cfg> |
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FORCE_INLINE void MarlinSerial<Cfg>::atomic_set_rx_tail(typename MarlinSerial<Cfg>::ring_buffer_pos_t value) { |
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if (Cfg::RX_SIZE > 256) { |
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// Store the new value in the backup
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rx_tail_value_backup = value; |
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sw_barrier(); |
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@ -140,29 +107,29 @@ |
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// Signal the new value is completely stored into the value
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rx_tail_value_not_stable = false; |
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sw_barrier(); |
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#else |
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} |
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else |
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rx_buffer.tail = value; |
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#endif |
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} |
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// Get the RX tail index, taking into account the read could be
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// interrupting in the middle of the update of that index value
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// -Called from the RX ISR -
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FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail() { |
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#if RX_BUFFER_SIZE > 256 |
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template<typename Cfg> |
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FORCE_INLINE typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::atomic_read_rx_tail() { |
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if (Cfg::RX_SIZE > 256) { |
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// If the true index is being modified, return the backup value
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if (rx_tail_value_not_stable) return rx_tail_value_backup; |
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#endif |
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} |
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// The true index is stable, return it
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return rx_buffer.tail; |
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} |
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// (called with RX interrupts disabled)
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FORCE_INLINE void store_rxd_char() { |
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template<typename Cfg> |
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FORCE_INLINE void MarlinSerial<Cfg>::store_rxd_char() { |
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#if ENABLED(EMERGENCY_PARSER) |
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static EmergencyParser::State emergency_state; // = EP_RESET
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#endif |
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static EmergencyParser::State emergency_state; // = EP_RESET
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// Get the tail - Nothing can alter its value while this ISR is executing, but there's
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// a chance that this ISR interrupted the main process while it was updating the index.
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@ -173,27 +140,17 @@ |
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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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ring_buffer_pos_t i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_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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// This must read the R_UCSRA register before reading the received byte to detect error causes
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if (Cfg::DROPPED_RX && B_DOR && !++rx_dropped_bytes) --rx_dropped_bytes; |
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if (Cfg::RX_OVERRUNS && B_DOR && !++rx_buffer_overruns) --rx_buffer_overruns; |
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if (Cfg::RX_FRAMING_ERRORS && B_FE && !++rx_framing_errors) --rx_framing_errors; |
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// Read the character from the USART
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uint8_t c = M_UDRx; |
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uint8_t c = R_UDR; |
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#if ENABLED(EMERGENCY_PARSER) |
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emergency_parser.update(emergency_state, c); |
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#endif |
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if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c); |
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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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@ -202,29 +159,28 @@ |
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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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else if (Cfg::DROPPED_RX && !++rx_dropped_bytes) |
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--rx_dropped_bytes; |
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#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED) |
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if (Cfg::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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const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_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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} |
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#if ENABLED(SERIAL_XON_XOFF) |
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if (Cfg::XONOFF) { |
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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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const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_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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if (rx_count >= (Cfg::RX_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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@ -238,19 +194,17 @@ |
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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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while (!B_UDRE) { |
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if (TEST(M_UCSRxA,M_RXCx)) { |
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if (B_RXC) { |
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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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i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1); |
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// Read the character from the USART
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c = M_UDRx; |
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c = R_UDR; |
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#if ENABLED(EMERGENCY_PARSER) |
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emergency_parser.update(emergency_state, c); |
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#endif |
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if (Cfg::EMERGENCYPARSER) emergency_parser.update(emergency_state, c); |
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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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@ -259,19 +213,18 @@ |
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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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else if (Cfg::DROPPED_RX && !++rx_dropped_bytes) |
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--rx_dropped_bytes; |
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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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R_UDR = 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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B_TXC = 1; |
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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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@ -280,19 +233,18 @@ |
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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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while (!B_UDRE) { |
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if (TEST(M_UCSRxA,M_RXCx)) { |
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if (B_RXC) { |
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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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i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1); |
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// Read the character from the USART
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c = M_UDRx; |
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c = R_UDR; |
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#if ENABLED(EMERGENCY_PARSER) |
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if (Cfg::EMERGENCYPARSER) |
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emergency_parser.update(emergency_state, 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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@ -301,9 +253,8 @@ |
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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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else if (Cfg::DROPPED_RX && !++rx_dropped_bytes) |
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--rx_dropped_bytes; |
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} |
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sw_barrier(); |
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} |
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@ -312,78 +263,68 @@ |
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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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} |
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// Store the new head value - The main loop will retry until the value is stable
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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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// (called with TX irqs disabled)
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template<typename Cfg> |
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FORCE_INLINE void MarlinSerial<Cfg>::_tx_udr_empty_irq(void) { |
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if (Cfg::TX_SIZE > 0) { |
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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 (Cfg::XONOFF) { |
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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
|
|
|
|
M_UDRx = XON_CHAR; |
|
|
|
R_UDR = XON_CHAR; |
|
|
|
|
|
|
|
// 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); |
|
|
|
B_TXC = 1; |
|
|
|
|
|
|
|
// Remember we sent it.
|
|
|
|
xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT; |
|
|
|
|
|
|
|
// If nothing else to transmit, just disable TX interrupts.
|
|
|
|
if (h == t) CBI(M_UCSRxB, M_UDRIEx); // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
|
|
|
|
if (h == t) B_UDRIE = 0; // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
|
|
|
|
|
|
|
|
return; |
|
|
|
} |
|
|
|
#endif |
|
|
|
} |
|
|
|
|
|
|
|
// If nothing to transmit, just disable TX interrupts. This could
|
|
|
|
// happen as the result of the non atomicity of the disabling of RX
|
|
|
|
// interrupts that could end reenabling TX interrupts as a side effect.
|
|
|
|
if (h == t) { |
|
|
|
CBI(M_UCSRxB, M_UDRIEx); // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
|
|
|
|
B_UDRIE = 0; // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
|
|
|
|
return; |
|
|
|
} |
|
|
|
|
|
|
|
// There is something to TX, Send the next byte
|
|
|
|
const uint8_t c = tx_buffer.buffer[t]; |
|
|
|
t = (t + 1) & (TX_BUFFER_SIZE - 1); |
|
|
|
M_UDRx = c; |
|
|
|
t = (t + 1) & (Cfg::TX_SIZE - 1); |
|
|
|
R_UDR = c; |
|
|
|
tx_buffer.tail = t; |
|
|
|
|
|
|
|
// Clear the TXC bit (by writing a one to its bit location).
|
|
|
|
// Ensures flush() won't return until the bytes are actually written/
|
|
|
|
SBI(M_UCSRxA, M_TXCx); |
|
|
|
B_TXC = 1; |
|
|
|
|
|
|
|
// Disable interrupts if there is nothing to transmit following this byte
|
|
|
|
if (h == t) CBI(M_UCSRxB, M_UDRIEx); // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
|
|
|
|
if (h == t) B_UDRIE = 0; // (Non-atomic, could be reenabled by the main program, but eventually this will succeed)
|
|
|
|
} |
|
|
|
|
|
|
|
#ifdef M_USARTx_UDRE_vect |
|
|
|
ISR(M_USARTx_UDRE_vect) { _tx_udr_empty_irq(); } |
|
|
|
#endif |
|
|
|
|
|
|
|
#endif // TX_BUFFER_SIZE
|
|
|
|
|
|
|
|
#ifdef M_USARTx_RX_vect |
|
|
|
ISR(M_USARTx_RX_vect) { store_rxd_char(); } |
|
|
|
#endif |
|
|
|
} |
|
|
|
|
|
|
|
// Public Methods
|
|
|
|
|
|
|
|
void MarlinSerial::begin(const long baud) { |
|
|
|
template<typename Cfg> |
|
|
|
void MarlinSerial<Cfg>::begin(const long baud) { |
|
|
|
uint16_t baud_setting; |
|
|
|
bool useU2X = true; |
|
|
|
|
|
|
|
@ -394,41 +335,41 @@ |
|
|
|
if (baud == 57600) useU2X = false; |
|
|
|
#endif |
|
|
|
|
|
|
|
R_UCSRA = 0; |
|
|
|
if (useU2X) { |
|
|
|
M_UCSRxA = _BV(M_U2Xx); |
|
|
|
B_U2X = 1; |
|
|
|
baud_setting = (F_CPU / 4 / baud - 1) / 2; |
|
|
|
} |
|
|
|
else { |
|
|
|
M_UCSRxA = 0; |
|
|
|
else |
|
|
|
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; |
|
|
|
|
|
|
|
SBI(M_UCSRxB, M_RXENx); |
|
|
|
SBI(M_UCSRxB, M_TXENx); |
|
|
|
SBI(M_UCSRxB, M_RXCIEx); |
|
|
|
#if TX_BUFFER_SIZE > 0 |
|
|
|
CBI(M_UCSRxB, M_UDRIEx); |
|
|
|
#endif |
|
|
|
R_UBRRH = baud_setting >> 8; |
|
|
|
R_UBRRL = baud_setting; |
|
|
|
|
|
|
|
B_RXEN = 1; |
|
|
|
B_TXEN = 1; |
|
|
|
B_RXCIE = 1; |
|
|
|
if (Cfg::TX_SIZE > 0) B_UDRIE = 0; |
|
|
|
_written = false; |
|
|
|
} |
|
|
|
|
|
|
|
void MarlinSerial::end() { |
|
|
|
CBI(M_UCSRxB, M_RXENx); |
|
|
|
CBI(M_UCSRxB, M_TXENx); |
|
|
|
CBI(M_UCSRxB, M_RXCIEx); |
|
|
|
CBI(M_UCSRxB, M_UDRIEx); |
|
|
|
template<typename Cfg> |
|
|
|
void MarlinSerial<Cfg>::end() { |
|
|
|
B_RXEN = 0; |
|
|
|
B_TXEN = 0; |
|
|
|
B_RXCIE = 0; |
|
|
|
B_UDRIE = 0; |
|
|
|
} |
|
|
|
|
|
|
|
int MarlinSerial::peek(void) { |
|
|
|
template<typename Cfg> |
|
|
|
int MarlinSerial<Cfg>::peek(void) { |
|
|
|
const ring_buffer_pos_t h = atomic_read_rx_head(), t = rx_buffer.tail; |
|
|
|
return h == t ? -1 : rx_buffer.buffer[t]; |
|
|
|
} |
|
|
|
|
|
|
|
int MarlinSerial::read(void) { |
|
|
|
template<typename Cfg> |
|
|
|
int MarlinSerial<Cfg>::read(void) { |
|
|
|
const ring_buffer_pos_t h = atomic_read_rx_head(); |
|
|
|
|
|
|
|
// Read the tail. Main thread owns it, so it is safe to directly read it
|
|
|
|
@ -439,42 +380,45 @@ |
|
|
|
|
|
|
|
// Get the next char
|
|
|
|
const int v = rx_buffer.buffer[t]; |
|
|
|
t = (ring_buffer_pos_t)(t + 1) & (RX_BUFFER_SIZE - 1); |
|
|
|
t = (ring_buffer_pos_t)(t + 1) & (Cfg::RX_SIZE - 1); |
|
|
|
|
|
|
|
// Advance tail - Making sure the RX ISR will always get an stable value, even
|
|
|
|
// if it interrupts the writing of the value of that variable in the middle.
|
|
|
|
atomic_set_rx_tail(t); |
|
|
|
|
|
|
|
#if ENABLED(SERIAL_XON_XOFF) |
|
|
|
if (Cfg::XONOFF) { |
|
|
|
// If the XOFF char was sent, or about to be sent...
|
|
|
|
if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) { |
|
|
|
// Get count of bytes in the RX buffer
|
|
|
|
const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1); |
|
|
|
if (rx_count < (RX_BUFFER_SIZE) / 10) { |
|
|
|
#if TX_BUFFER_SIZE > 0 |
|
|
|
const ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(h - t) & (ring_buffer_pos_t)(Cfg::RX_SIZE - 1); |
|
|
|
if (rx_count < (Cfg::RX_SIZE) / 10) { |
|
|
|
if (Cfg::TX_SIZE > 0) { |
|
|
|
// Signal we want an XON character to be sent.
|
|
|
|
xon_xoff_state = XON_CHAR; |
|
|
|
// Enable TX ISR. Non atomic, but it will eventually enable them
|
|
|
|
SBI(M_UCSRxB, M_UDRIEx); |
|
|
|
#else |
|
|
|
B_UDRIE = 1; |
|
|
|
} |
|
|
|
else { |
|
|
|
// If not using TX interrupts, we must send the XON char now
|
|
|
|
xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT; |
|
|
|
while (!TEST(M_UCSRxA, M_UDREx)) sw_barrier(); |
|
|
|
M_UDRx = XON_CHAR; |
|
|
|
#endif |
|
|
|
while (!B_UDRE) sw_barrier(); |
|
|
|
R_UDR = XON_CHAR; |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
#endif |
|
|
|
} |
|
|
|
|
|
|
|
return v; |
|
|
|
} |
|
|
|
|
|
|
|
ring_buffer_pos_t MarlinSerial::available(void) { |
|
|
|
template<typename Cfg> |
|
|
|
typename MarlinSerial<Cfg>::ring_buffer_pos_t MarlinSerial<Cfg>::available(void) { |
|
|
|
const ring_buffer_pos_t h = atomic_read_rx_head(), t = rx_buffer.tail; |
|
|
|
return (ring_buffer_pos_t)(RX_BUFFER_SIZE + h - t) & (RX_BUFFER_SIZE - 1); |
|
|
|
return (ring_buffer_pos_t)(Cfg::RX_SIZE + h - t) & (Cfg::RX_SIZE - 1); |
|
|
|
} |
|
|
|
|
|
|
|
void MarlinSerial::flush(void) { |
|
|
|
template<typename Cfg> |
|
|
|
void MarlinSerial<Cfg>::flush(void) { |
|
|
|
|
|
|
|
// Set the tail to the head:
|
|
|
|
// - Read the RX head index in a safe way. (See atomic_read_rx_head.)
|
|
|
|
@ -482,26 +426,36 @@ |
|
|
|
// if it interrupts the writing of the value of that variable in the middle.
|
|
|
|
atomic_set_rx_tail(atomic_read_rx_head()); |
|
|
|
|
|
|
|
#if ENABLED(SERIAL_XON_XOFF) |
|
|
|
if (Cfg::XONOFF) { |
|
|
|
// If the XOFF char was sent, or about to be sent...
|
|
|
|
if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) { |
|
|
|
#if TX_BUFFER_SIZE > 0 |
|
|
|
if (Cfg::TX_SIZE > 0) { |
|
|
|
// Signal we want an XON character to be sent.
|
|
|
|
xon_xoff_state = XON_CHAR; |
|
|
|
// Enable TX ISR. Non atomic, but it will eventually enable it.
|
|
|
|
SBI(M_UCSRxB, M_UDRIEx); |
|
|
|
#else |
|
|
|
B_UDRIE = 1; |
|
|
|
} |
|
|
|
else { |
|
|
|
// If not using TX interrupts, we must send the XON char now
|
|
|
|
xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT; |
|
|
|
while (!TEST(M_UCSRxA, M_UDREx)) sw_barrier(); |
|
|
|
M_UDRx = XON_CHAR; |
|
|
|
#endif |
|
|
|
while (!B_UDRE) sw_barrier(); |
|
|
|
R_UDR = XON_CHAR; |
|
|
|
} |
|
|
|
} |
|
|
|
#endif |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
#if TX_BUFFER_SIZE > 0 |
|
|
|
void MarlinSerial::write(const uint8_t c) { |
|
|
|
template<typename Cfg> |
|
|
|
void MarlinSerial<Cfg>::write(const uint8_t c) { |
|
|
|
if (Cfg::TX_SIZE == 0) { |
|
|
|
|
|
|
|
_written = true; |
|
|
|
while (!B_UDRE) sw_barrier(); |
|
|
|
R_UDR = c; |
|
|
|
|
|
|
|
} |
|
|
|
else { |
|
|
|
|
|
|
|
_written = true; |
|
|
|
|
|
|
|
// If the TX interrupts are disabled and the data register
|
|
|
|
@ -511,17 +465,17 @@ |
|
|
|
// 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)) { |
|
|
|
M_UDRx = c; |
|
|
|
if (!B_UDRIE && B_UDRE) { |
|
|
|
R_UDR = 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); |
|
|
|
B_TXC = 1; |
|
|
|
return; |
|
|
|
} |
|
|
|
|
|
|
|
const uint8_t i = (tx_buffer.head + 1) & (TX_BUFFER_SIZE - 1); |
|
|
|
const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1); |
|
|
|
|
|
|
|
// If global interrupts are disabled (as the result of being called from an ISR)...
|
|
|
|
if (!ISRS_ENABLED()) { |
|
|
|
@ -530,7 +484,7 @@ |
|
|
|
while (i == tx_buffer.tail) { |
|
|
|
|
|
|
|
// If we can transmit another byte, do it.
|
|
|
|
if (TEST(M_UCSRxA, M_UDREx)) _tx_udr_empty_irq(); |
|
|
|
if (B_UDRE) _tx_udr_empty_irq(); |
|
|
|
|
|
|
|
// Make sure compiler rereads tx_buffer.tail
|
|
|
|
sw_barrier(); |
|
|
|
@ -538,7 +492,7 @@ |
|
|
|
} |
|
|
|
else { |
|
|
|
// Interrupts are enabled, just wait until there is space
|
|
|
|
while (i == tx_buffer.tail) { sw_barrier(); } |
|
|
|
while (i == tx_buffer.tail) sw_barrier(); |
|
|
|
} |
|
|
|
|
|
|
|
// Store new char. head is always safe to move
|
|
|
|
@ -546,10 +500,27 @@ |
|
|
|
tx_buffer.head = i; |
|
|
|
|
|
|
|
// Enable TX ISR - Non atomic, but it will eventually enable TX ISR
|
|
|
|
SBI(M_UCSRxB, M_UDRIEx); |
|
|
|
B_UDRIE = 1; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
template<typename Cfg> |
|
|
|
void MarlinSerial<Cfg>::flushTX(void) { |
|
|
|
|
|
|
|
if (Cfg::TX_SIZE == 0) { |
|
|
|
// 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 (!B_TXC) sw_barrier(); |
|
|
|
|
|
|
|
// At this point nothing is queued anymore (DRIE is disabled) and
|
|
|
|
// the hardware finished transmission (TXC is set).
|
|
|
|
|
|
|
|
} |
|
|
|
else { |
|
|
|
|
|
|
|
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; |
|
|
|
@ -558,11 +529,10 @@ |
|
|
|
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)) { |
|
|
|
while (tx_buffer.head != tx_buffer.tail || !B_TXC) { |
|
|
|
|
|
|
|
// If there is more space, send an extra character
|
|
|
|
if (TEST(M_UCSRxA, M_UDREx)) |
|
|
|
_tx_udr_empty_irq(); |
|
|
|
if (B_UDRE) _tx_udr_empty_irq(); |
|
|
|
|
|
|
|
sw_barrier(); |
|
|
|
} |
|
|
|
@ -570,55 +540,40 @@ |
|
|
|
} |
|
|
|
else { |
|
|
|
// Wait until everything was transmitted
|
|
|
|
while (tx_buffer.head != tx_buffer.tail || !TEST(M_UCSRxA, M_TXCx)) sw_barrier(); |
|
|
|
while (tx_buffer.head != tx_buffer.tail || !B_TXC) 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) { |
|
|
|
template<typename Cfg> |
|
|
|
void MarlinSerial<Cfg>::print(char c, int base) { |
|
|
|
print((long)c, base); |
|
|
|
} |
|
|
|
|
|
|
|
void MarlinSerial::print(unsigned char b, int base) { |
|
|
|
template<typename Cfg> |
|
|
|
void MarlinSerial<Cfg>::print(unsigned char b, int base) { |
|
|
|
print((unsigned long)b, base); |
|
|
|
} |
|
|
|
|
|
|
|
void MarlinSerial::print(int n, int base) { |
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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::print(long n, int base) { |
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if (base == 0) write(n); |
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else if (base == 10) { |
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if (n < 0) { print('-'); n = -n; } |
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@ -628,68 +583,81 @@ |
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printNumber(n, base); |
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} |
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void MarlinSerial::print(unsigned long n, int base) { |
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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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template<typename Cfg> |
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void MarlinSerial<Cfg>::printNumber(unsigned long n, uint8_t base) { |
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if (n) { |
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unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
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int8_t i = 0; |
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@ -704,7 +672,8 @@ |
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print('0'); |
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} |
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void MarlinSerial::printFloat(double number, uint8_t digits) { |
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template<typename Cfg> |
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void MarlinSerial<Cfg>::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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@ -713,9 +682,7 @@ |
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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 *= 0.1; |
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for (uint8_t i = 0; i < digits; ++i) rounding *= 0.1; |
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number += rounding; |
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// Extract the integer part of the number and print it
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@ -736,8 +703,20 @@ |
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} |
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} |
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// Hookup ISR handlers
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ISR(SERIAL_REGNAME(USART,SERIAL_PORT,_RX_vect)) { |
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MarlinSerial<MarlinSerialCfg>::store_rxd_char(); |
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} |
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ISR(SERIAL_REGNAME(USART,SERIAL_PORT,_UDRE_vect)) { |
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MarlinSerial<MarlinSerialCfg>::_tx_udr_empty_irq(); |
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} |
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// Preinstantiate
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MarlinSerial customizedSerial; |
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template class MarlinSerial<MarlinSerialCfg>; |
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// Instantiate
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MarlinSerial<MarlinSerialCfg> customizedSerial; |
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#endif // !USBCON && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)
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Eduardo José Tagle
6 years ago
Scott Lahteine