bissen21/Marlin_Firmware
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Removed interrupt nesting in the stepper ISR.

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Add serial checkRx in stepper ISR.
Copied HardwareSerial to MarlinSerial (Needed for checkRx).
This commit is contained in:
Erik van der Zalm
2011-11-27 21:12:55 +01:00
parent aad4b75b94
commit f75f426dfa
16 changed files with 1007 additions and 754 deletions
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25
Marlin/Marlin.pde
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@ -176,6 +176,7 @@ static unsigned long stoptime=0;
static uint8_t tmp_extruder;
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
@ -199,13 +200,6 @@ extern "C"{
}
}
//adds an command to the main command buffer
//thats really done in a non-safe way.
//needs overworking someday
@ -226,7 +220,7 @@ void enquecommand(const char *cmd)
void setup()
{
Serial.begin(BAUDRATE);
MSerial.begin(BAUDRATE);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(VERSION_STRING);
SERIAL_PROTOCOLLNPGM("start");
@ -289,15 +283,14 @@ void loop()
manage_heater();
manage_inactivity(1);
checkHitEndstops();
checkStepperErrors();
LCD_STATUS;
}
inline void get_command()
{
while( Serial.available() > 0 && buflen < BUFSIZE) {
serial_char = Serial.read();
while( MSerial.available() > 0 && buflen < BUFSIZE) {
serial_char = MSerial.read();
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) return; //if empty line
@ -1039,7 +1032,7 @@ inline void process_commands()
void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
Serial.flush();
MSerial.flush();
SERIAL_PROTOCOLPGM("Resend:");
SERIAL_PROTOCOLLN(gcode_LastN + 1);
ClearToSend();
@ -1088,7 +1081,7 @@ void prepare_move()
if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
}
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
@ -1098,7 +1091,7 @@ void prepare_arc_move(char isclockwise) {
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
// Trace the arc
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise);
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
@ -1108,10 +1101,6 @@ void prepare_arc_move(char isclockwise) {
}
}
void manage_inactivity(byte debug)
{
if( (millis()-previous_millis_cmd) > max_inactive_time )