Firmware amended to allow interrupts in the ISR (carefully...). This means that USART input doesn't get lost when the interrupts are coming fast (as when 1/16 microstepping is being used).

git-svn-id: https://reprap.svn.sourceforge.net/svnroot/reprap@3673 cb376a5e-1013-0410-a455-b6b1f9ac8223
author: adrian-bowyer <adrian-bowyer@cb376a5e-1013-0410-a455-b6b1f9ac8223> 2010-08-01 17:34:08 +0000
committer: adrian-bowyer <adrian-bowyer@cb376a5e-1013-0410-a455-b6b1f9ac8223> 2010-08-01 17:34:08 +0000
commit: ee9e34ed2befb2fbd985b20c97efda9e391b1ef4 (patch)
tree: 66a14de28bd0880f339d7c358348bc6b0919db36
parent: 3b9414daa0f13006260098b943be8bd5393eede0 (diff)
download: reprap-backup-ee9e34ed2befb2fbd985b20c97efda9e391b1ef4.tar.gz
reprap-backup-ee9e34ed2befb2fbd985b20c97efda9e391b1ef4.zip
5 files changed, 81 insertions, 48 deletions
diff --git a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde
index 93902025..beb5ac66 100755
--- a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde
+++ b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/FiveD_GCode_Interpreter.pde
@@ -1,4 +1,5 @@
 #include <ctype.h>
+#include <stdio.h>
 #include <HardwareSerial.h>
 #include <avr/pgmspace.h>
 #include "WProgram.h"
@@ -118,9 +119,21 @@ FloatPoint where_i_am;
 
 // Our interrupt function
 
+/*
+This has an internal flag (nonest) to prevent its being interrupted by another timer interrupt.
+It re-enables interrupts internally (not something that one would normally do with an ISR).
+This allows USART interrupts to be serviced while this ISR is also live, and so prevents 
+communications errors.
+*/
+
+volatile bool nonest;
+
 ISR(TIMER1_COMPA_vect)
 {
-  //disableTimerInterrupt();
+  if(nonest)
+    return;
+  nonest = true;
+  sei();
   interruptBlink++;
   if(interruptBlink == 0x280)
   {
@@ -133,12 +146,12 @@ ISR(TIMER1_COMPA_vect)
       cdda[tail]->dda_step();
   else
       dQMove();
- 
-  //enableTimerInterrupt();
+  nonest = false;
 }
 
 void setup()
 {
+  nonest = false;
   disableTimerInterrupt();
   setupTimerInterrupt();
   interruptBlink = 0;
@@ -246,6 +259,7 @@ void manage()
 
 void loop()
 {
+  nonest = false;
    manage();
    get_and_do_command(); 
 #if MOTHERBOARD == 2
diff --git a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.pde b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.pde
index 87bcc4eb..1b570a91 100755
--- a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.pde
+++ b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/cartesian_dda.pde
@@ -4,7 +4,7 @@
 #include "extruder.h"
 #include "vectors.h"
 #include "cartesian_dda.h"
-#include <stdio.h>
+
 
 
 cartesian_dda::cartesian_dda()
diff --git a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/configuration.h.dist b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/configuration.h.dist
index 755ca30a..66520492 100755
--- a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/configuration.h.dist
+++ b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/configuration.h.dist
@@ -267,6 +267,10 @@
 
 #define COMMAND_SIZE 128 // *RO
 
+// Our response string length
+
+#define RESPONSE_SIZE 256 // *RO
+
 // The size of the movement buffer
 
 #define BUFFER_SIZE 4 // *RO
@@ -285,7 +289,6 @@
 // You probably only want to edit things below this line if you really really
 // know what you are doing...
 
-extern char debugstring[];
 
 void delayMicrosecondsInterruptible(unsigned int us);
 
diff --git a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/hostcom.h b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/hostcom.h
index d33c0e0c..6096d809 100644
--- a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/hostcom.h
+++ b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/hostcom.h
@@ -1,8 +1,9 @@
 #ifndef HOSTCOM_H
 #define HOSTCOM_H
 /*
- * Class to handle sending messages back to the host
- * NOWHERE ELSE in this program should anything send to Serial.print
+ * Class to handle sending messages from and back to the host.
+ * NOWHERE ELSE in this program should anything send to Serial.print()
+ * or get anything from Serial.read().
  */
 
 // Can't get lower than absolute zero...
@@ -21,13 +22,24 @@ public:
   void setCoords(const FloatPoint& where);
   void setResend(long ln);
   void setFatal();
-  void sendMessage(bool noText);
+  void sendMessage(bool doMessage);
   void start();
   
+// Wrappers for the comms interface
+
+  void putInit();
+  void put(char* s);
+  void put(const float& f);
+  void put(const long& l);
+  void put(int i);
+  void putEnd();
+  byte gotData();
+  char get();
+  
 private:
   void reset();
   void sendtext(bool noText);
-  char message[COMMAND_SIZE];
+  char message[RESPONSE_SIZE];
   int etemp;
   int btemp;
   float x;
@@ -45,6 +57,17 @@ inline hostcom::hostcom()
   reset();
 }
 
+// Wrappers for the comms interface
+
+inline void hostcom::putInit() {  Serial.begin(HOST_BAUD); }
+inline void hostcom::put(char* s) { Serial.print(s); }
+inline void hostcom::put(const float& f) { Serial.print(f); }
+inline void hostcom::put(const long& l) { Serial.print(l); }
+inline void hostcom::put(int i) { Serial.print(i); }
+inline void hostcom::putEnd() { Serial.println(); }
+inline byte hostcom::gotData() { return Serial.available(); }
+inline char hostcom::get() { return Serial.read(); }
+
 inline void hostcom::reset()
 {
   etemp = NO_TEMP;
@@ -57,8 +80,9 @@ inline void hostcom::reset()
 
 inline void hostcom::start()
 {
-  Serial.begin(HOST_BAUD);
-  Serial.println("start");  
+  putInit();
+  put("start");
+  putEnd();  
 }
 
 inline char* hostcom::string()
@@ -95,66 +119,65 @@ inline void hostcom::setFatal()
   fatal = true;
 }
 
-inline void hostcom::sendtext(bool noText)
+inline void hostcom::sendtext(bool doMessage)
 {
-  if(noText)
+  if(!doMessage)
     return;
   if(!message[0])
     return;
-  Serial.print(" ");
-  Serial.print(message);
+  put(" ");
+  put(message);
 }
 
-inline void hostcom::sendMessage(bool noText)
+inline void hostcom::sendMessage(bool doMessage)
 {
   if(fatal)
   {
-    Serial.print("!!");
-    sendtext(false);
-    Serial.println();
+    put("!!");
+    sendtext(true);
+    putEnd();
     shutdown();
     return; // Technically redundant - shutdown never returns.
   }
   
   if(resend < 0)
-    Serial.print("ok");
+    put("ok");
   else
   {
-    Serial.print("rs ");
-    Serial.print(resend);
+    put("rs ");
+    put(resend);
   }
     
   if(etemp > NO_TEMP)
   {
-    Serial.print(" T:");
-    Serial.print(etemp);
+    put(" T:");
+    put(etemp);
   }
   
   if(btemp > NO_TEMP)
   {
-    Serial.print(" B:");
-    Serial.print(btemp);
+    put(" B:");
+    put(btemp);
   }
   
   if(sendCoordinates)
   {				
-    Serial.print(" C: X:");
-    Serial.print(x);
-    Serial.print(" Y:");
-    Serial.print(y);
-    Serial.print(" Z:");
-    Serial.print(z);
-    Serial.print(" E:");
-    Serial.print(e);
+    put(" C: X:");
+    put(x);
+    put(" Y:");
+    put(y);
+    put(" Z:");
+    put(z);
+    put(" E:");
+    put(e);
   }
   
-  sendtext(noText);
+  sendtext(doMessage);
   
-  Serial.println();
+  putEnd();
   
   reset(); 
 }
 
-//extern hostcom talkToHost;
 
 #endif
diff --git a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde
index ebfae38b..90679d8f 100755
--- a/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde
+++ b/trunk/mendel/firmware/FiveD_GCode/FiveD_GCode_Interpreter/process_g_code.pde
@@ -187,9 +187,9 @@ inline void init_process_string()
 void get_and_do_command()
 {         
         c = ' ';
-        while(Serial.available() && c != '\n')
+        while(talkToHost.gotData() && c != '\n')
 	{
-		c = Serial.read();
+		c = talkToHost.get();
                 blink();
                 if(c == '\r')
                   c = '\n';
@@ -220,7 +220,8 @@ void get_and_do_command()
 	{
                 // Terminate string
                 cmdbuffer[serial_count] = 0;
-                 if(SendDebug & DEBUG_ECHO)
+                
+                if(SendDebug & DEBUG_ECHO)
                    sprintf(talkToHost.string(), "Echo: %s", cmdbuffer);
                    
 		//process our command!
@@ -233,14 +234,6 @@ void get_and_do_command()
                 
                 talkToHost.sendMessage(SendDebug & DEBUG_INFO);
                 
- /*               if(debugstring[0] != 0 && (SendDebug & DEBUG_INFO))
-                {
-                  Serial.print("ok ");
-                  Serial.println(debugstring);
-                  debugstring[0] = 0;
-                } else
-                  Serial.println("ok");
-*/
 	}
 }
author	adrian-bowyer <adrian-bowyer@cb376a5e-1013-0410-a455-b6b1f9ac8223>	2010-08-01 17:34:08 +0000
committer	adrian-bowyer <adrian-bowyer@cb376a5e-1013-0410-a455-b6b1f9ac8223>	2010-08-01 17:34:08 +0000
commit	ee9e34ed2befb2fbd985b20c97efda9e391b1ef4 (patch)
tree	66a14de28bd0880f339d7c358348bc6b0919db36
parent	3b9414daa0f13006260098b943be8bd5393eede0 (diff)
download	reprap-backup-ee9e34ed2befb2fbd985b20c97efda9e391b1ef4.tar.gz reprap-backup-ee9e34ed2befb2fbd985b20c97efda9e391b1ef4.zip