MarlinSerial.cpp 8.4 KB

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  1. /*
  2. HardwareSerial.cpp - Hardware serial library for Wiring
  3. Copyright (c) 2006 Nicholas Zambetti. All right reserved.
  4. This library is free software; you can redistribute it and/or
  5. modify it under the terms of the GNU Lesser General Public
  6. License as published by the Free Software Foundation; either
  7. version 2.1 of the License, or (at your option) any later version.
  8. This library is distributed in the hope that it will be useful,
  9. but WITHOUT ANY WARRANTY; without even the implied warranty of
  10. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
  11. Lesser General Public License for more details.
  12. You should have received a copy of the GNU Lesser General Public
  13. License along with this library; if not, write to the Free Software
  14. Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
  15. Modified 23 November 2006 by David A. Mellis
  16. Modified 28 September 2010 by Mark Sproul
  17. */
  18. #include "Marlin.h"
  19. #include "MarlinSerial.h"
  20. uint8_t selectedSerialPort = 0;
  21. #ifndef AT90USB
  22. // this next line disables the entire HardwareSerial.cpp,
  23. // this is so I can support Attiny series and any other chip without a UART
  24. #if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
  25. #if UART_PRESENT(SERIAL_PORT)
  26. ring_buffer rx_buffer = { { 0 }, 0, 0 };
  27. #endif
  28. FORCE_INLINE void store_char(unsigned char c)
  29. {
  30. int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
  31. // if we should be storing the received character into the location
  32. // just before the tail (meaning that the head would advance to the
  33. // current location of the tail), we're about to overflow the buffer
  34. // and so we don't write the character or advance the head.
  35. if (i != rx_buffer.tail) {
  36. rx_buffer.buffer[rx_buffer.head] = c;
  37. rx_buffer.head = i;
  38. }
  39. }
  40. #if defined(M_USARTx_RX_vect)
  41. // The serial line receive interrupt routine for a baud rate 115200
  42. // ticks at maximum 11.76 kHz and blocks for 2.688 us at each tick.
  43. // If the serial line is fully utilized, this corresponds to 3.16%
  44. // loading of the CPU (the interrupt invocation overhead not taken into account).
  45. // As the serial line is not fully utilized, the CPU load is likely around 1%.
  46. ISR(M_USARTx_RX_vect)
  47. {
  48. // Test for a framing error.
  49. if (M_UCSRxA & (1<<M_FEx))
  50. {
  51. // Characters received with the framing errors will be ignored.
  52. // Dummy register read (discard)
  53. (void)(*(char *)M_UDRx);
  54. }
  55. else
  56. {
  57. // Read the input register.
  58. unsigned char c = M_UDRx;
  59. if (selectedSerialPort == 0)
  60. store_char(c);
  61. #ifdef DEBUG_DUMP_TO_2ND_SERIAL
  62. UDR1 = c;
  63. #endif //DEBUG_DUMP_TO_2ND_SERIAL
  64. }
  65. }
  66. #ifndef SNMM
  67. ISR(USART1_RX_vect)
  68. {
  69. // Test for a framing error.
  70. if (UCSR1A & (1<<FE1))
  71. {
  72. // Characters received with the framing errors will be ignored.
  73. // Dummy register read (discard)
  74. (void)(*(char *)UDR1);
  75. }
  76. else
  77. {
  78. // Read the input register.
  79. unsigned char c = UDR1;
  80. if (selectedSerialPort == 1)
  81. store_char(c);
  82. #ifdef DEBUG_DUMP_TO_2ND_SERIAL
  83. M_UDRx = c;
  84. #endif //DEBUG_DUMP_TO_2ND_SERIAL
  85. }
  86. }
  87. #endif
  88. #endif
  89. // Public Methods //////////////////////////////////////////////////////////////
  90. void MarlinSerial::begin(long baud)
  91. {
  92. uint16_t baud_setting;
  93. bool useU2X = true;
  94. #if F_CPU == 16000000UL && SERIAL_PORT == 0
  95. // hard-coded exception for compatibility with the bootloader shipped
  96. // with the Duemilanove and previous boards and the firmware on the 8U2
  97. // on the Uno and Mega 2560.
  98. if (baud == 57600) {
  99. useU2X = false;
  100. }
  101. #endif
  102. // set up the first (original serial port)
  103. if (useU2X) {
  104. M_UCSRxA = 1 << M_U2Xx;
  105. baud_setting = (F_CPU / 4 / baud - 1) / 2;
  106. } else {
  107. M_UCSRxA = 0;
  108. baud_setting = (F_CPU / 8 / baud - 1) / 2;
  109. }
  110. // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
  111. M_UBRRxH = baud_setting >> 8;
  112. M_UBRRxL = baud_setting;
  113. sbi(M_UCSRxB, M_RXENx);
  114. sbi(M_UCSRxB, M_TXENx);
  115. sbi(M_UCSRxB, M_RXCIEx);
  116. #ifndef SNMM
  117. if (selectedSerialPort == 1) { //set up also the second serial port
  118. if (useU2X) {
  119. UCSR1A = 1 << U2X1;
  120. baud_setting = (F_CPU / 4 / baud - 1) / 2;
  121. } else {
  122. UCSR1A = 0;
  123. baud_setting = (F_CPU / 8 / baud - 1) / 2;
  124. }
  125. // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
  126. UBRR1H = baud_setting >> 8;
  127. UBRR1L = baud_setting;
  128. sbi(UCSR1B, RXEN1);
  129. sbi(UCSR1B, TXEN1);
  130. sbi(UCSR1B, RXCIE1);
  131. }
  132. #endif
  133. }
  134. void MarlinSerial::end()
  135. {
  136. cbi(M_UCSRxB, M_RXENx);
  137. cbi(M_UCSRxB, M_TXENx);
  138. cbi(M_UCSRxB, M_RXCIEx);
  139. #ifndef SNMM
  140. cbi(UCSR1B, RXEN1);
  141. cbi(UCSR1B, TXEN1);
  142. cbi(UCSR1B, RXCIE1);
  143. #endif
  144. }
  145. int MarlinSerial::peek(void)
  146. {
  147. if (rx_buffer.head == rx_buffer.tail) {
  148. return -1;
  149. } else {
  150. return rx_buffer.buffer[rx_buffer.tail];
  151. }
  152. }
  153. int MarlinSerial::read(void)
  154. {
  155. // if the head isn't ahead of the tail, we don't have any characters
  156. if (rx_buffer.head == rx_buffer.tail) {
  157. return -1;
  158. } else {
  159. unsigned char c = rx_buffer.buffer[rx_buffer.tail];
  160. rx_buffer.tail = (unsigned int)(rx_buffer.tail + 1) % RX_BUFFER_SIZE;
  161. return c;
  162. }
  163. }
  164. void MarlinSerial::flush()
  165. {
  166. // don't reverse this or there may be problems if the RX interrupt
  167. // occurs after reading the value of rx_buffer_head but before writing
  168. // the value to rx_buffer_tail; the previous value of rx_buffer_head
  169. // may be written to rx_buffer_tail, making it appear as if the buffer
  170. // were full, not empty.
  171. rx_buffer.head = rx_buffer.tail;
  172. }
  173. /// imports from print.h
  174. void MarlinSerial::print(char c, int base)
  175. {
  176. print((long) c, base);
  177. }
  178. void MarlinSerial::print(unsigned char b, int base)
  179. {
  180. print((unsigned long) b, base);
  181. }
  182. void MarlinSerial::print(int n, int base)
  183. {
  184. print((long) n, base);
  185. }
  186. void MarlinSerial::print(unsigned int n, int base)
  187. {
  188. print((unsigned long) n, base);
  189. }
  190. void MarlinSerial::print(long n, int base)
  191. {
  192. if (base == 0) {
  193. write(n);
  194. } else if (base == 10) {
  195. if (n < 0) {
  196. print('-');
  197. n = -n;
  198. }
  199. printNumber(n, 10);
  200. } else {
  201. printNumber(n, base);
  202. }
  203. }
  204. void MarlinSerial::print(unsigned long n, int base)
  205. {
  206. if (base == 0) write(n);
  207. else printNumber(n, base);
  208. }
  209. void MarlinSerial::print(double n, int digits)
  210. {
  211. printFloat(n, digits);
  212. }
  213. void MarlinSerial::println(void)
  214. {
  215. print('\r');
  216. print('\n');
  217. }
  218. /*void MarlinSerial::println(const String &s)
  219. {
  220. print(s);
  221. println();
  222. }*/
  223. void MarlinSerial::println(const char c[])
  224. {
  225. print(c);
  226. println();
  227. }
  228. void MarlinSerial::println(char c, int base)
  229. {
  230. print(c, base);
  231. println();
  232. }
  233. void MarlinSerial::println(unsigned char b, int base)
  234. {
  235. print(b, base);
  236. println();
  237. }
  238. void MarlinSerial::println(int n, int base)
  239. {
  240. print(n, base);
  241. println();
  242. }
  243. void MarlinSerial::println(unsigned int n, int base)
  244. {
  245. print(n, base);
  246. println();
  247. }
  248. void MarlinSerial::println(long n, int base)
  249. {
  250. print(n, base);
  251. println();
  252. }
  253. void MarlinSerial::println(unsigned long n, int base)
  254. {
  255. print(n, base);
  256. println();
  257. }
  258. void MarlinSerial::println(double n, int digits)
  259. {
  260. print(n, digits);
  261. println();
  262. }
  263. // Private Methods /////////////////////////////////////////////////////////////
  264. void MarlinSerial::printNumber(unsigned long n, uint8_t base)
  265. {
  266. unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
  267. unsigned long i = 0;
  268. if (n == 0) {
  269. print('0');
  270. return;
  271. }
  272. while (n > 0) {
  273. buf[i++] = n % base;
  274. n /= base;
  275. }
  276. for (; i > 0; i--)
  277. print((char) (buf[i - 1] < 10 ?
  278. '0' + buf[i - 1] :
  279. 'A' + buf[i - 1] - 10));
  280. }
  281. void MarlinSerial::printFloat(double number, uint8_t digits)
  282. {
  283. // Handle negative numbers
  284. if (number < 0.0)
  285. {
  286. print('-');
  287. number = -number;
  288. }
  289. // Round correctly so that print(1.999, 2) prints as "2.00"
  290. double rounding = 0.5;
  291. for (uint8_t i=0; i<digits; ++i)
  292. rounding /= 10.0;
  293. number += rounding;
  294. // Extract the integer part of the number and print it
  295. unsigned long int_part = (unsigned long)number;
  296. double remainder = number - (double)int_part;
  297. print(int_part);
  298. // Print the decimal point, but only if there are digits beyond
  299. if (digits > 0)
  300. print(".");
  301. // Extract digits from the remainder one at a time
  302. while (digits-- > 0)
  303. {
  304. remainder *= 10.0;
  305. int toPrint = int(remainder);
  306. print(toPrint);
  307. remainder -= toPrint;
  308. }
  309. }
  310. // Preinstantiate Objects //////////////////////////////////////////////////////
  311. MarlinSerial MSerial;
  312. #endif // whole file
  313. #endif // !AT90USB
  314. // For AT90USB targets use the UART for BT interfacing
  315. #if defined(AT90USB) && defined (BTENABLED)
  316. HardwareSerial bt;
  317. #endif