From ba8dc678f541295133653412c2874393f1e92c32 Mon Sep 17 00:00:00 2001
From: etagle <ejtagle@hotmail.com>
Date: Wed, 11 Oct 2017 03:38:12 -0300
Subject: [PATCH] Arduino Due XON/XOFF implementation
Alos includes emergency parser and configurable TX/RX buffers for Arduino Due.
---
Marlin/src/HAL/HAL_DUE/HAL_Due.h | 75 +--
Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.cpp | 680 ++++++++++++++++++++
Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.h | 142 ++++
Marlin/src/core/serial.h | 39 +-
4 files changed, 874 insertions(+), 62 deletions(-)
create mode 100644 Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.cpp
create mode 100644 Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.h
diff --git a/Marlin/src/HAL/HAL_DUE/HAL_Due.h b/Marlin/src/HAL/HAL_DUE/HAL_Due.h
index e1a9094d7..0aa7ab437 100644
--- a/Marlin/src/HAL/HAL_DUE/HAL_Due.h
+++ b/Marlin/src/HAL/HAL_DUE/HAL_Due.h
@@ -29,37 +29,35 @@
#ifndef _HAL_DUE_H
#define _HAL_DUE_H
-// --------------------------------------------------------------------------
-// Includes
-// --------------------------------------------------------------------------
-
#include <stdint.h>
#include "Arduino.h"
#include "fastio_Due.h"
#include "watchdog_Due.h"
-
#include "HAL_timers_Due.h"
-// --------------------------------------------------------------------------
+//
// Defines
-// --------------------------------------------------------------------------
+//
#if SERIAL_PORT == -1
#define MYSERIAL SerialUSB
#elif SERIAL_PORT == 0
- #define MYSERIAL Serial
+ #define MYSERIAL customizedSerial
#elif SERIAL_PORT == 1
- #define MYSERIAL Serial1
+ #define MYSERIAL customizedSerial
#elif SERIAL_PORT == 2
- #define MYSERIAL Serial2
+ #define MYSERIAL customizedSerial
#elif SERIAL_PORT == 3
- #define MYSERIAL Serial3
+ #define MYSERIAL customizedSerial
#endif
#define _BV(bit) (1 << (bit))
+// We need the previous define before the include, or compilation bombs...
+#include "MarlinSerial_Due.h"
+
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p < 12u) ? (p) + 54u : -1)
#endif
@@ -102,46 +100,43 @@ typedef int8_t pin_t;
// Public Variables
// --------------------------------------------------------------------------
-/** result of last ADC conversion */
-extern uint16_t HAL_adc_result;
+extern uint16_t HAL_adc_result; // result of last ADC conversion
-// --------------------------------------------------------------------------
-// Public functions
-// --------------------------------------------------------------------------
+void cli(void); // Disable interrupts
+void sei(void); // Enable interrupts
-// Disable interrupts
-void cli(void);
-
-// Enable interrupts
-void sei(void);
-
-/** clear reset reason */
-void HAL_clear_reset_source (void);
-
-/** reset reason */
-uint8_t HAL_get_reset_source (void);
+void HAL_clear_reset_source(void); // clear reset reason
+uint8_t HAL_get_reset_source(void); // get reset reason
void _delay_ms(const int delay);
int freeMemory(void);
-// SPI: Extended functions which take a channel number (hardware SPI only)
-/** Write single byte to specified SPI channel */
+/**
+ * SPI: Extended functions taking a channel number (hardware SPI only)
+ */
+
+// Write single byte to specified SPI channel
void spiSend(uint32_t chan, byte b);
-/** Write buffer to specified SPI channel */
+
+// Write buffer to specified SPI channel
void spiSend(uint32_t chan, const uint8_t* buf, size_t n);
-/** Read single byte from specified SPI channel */
+
+// Read single byte from specified SPI channel
uint8_t spiRec(uint32_t chan);
+/**
+ * EEPROM
+ */
-// EEPROM
void eeprom_write_byte(unsigned char *pos, unsigned char value);
unsigned char eeprom_read_byte(unsigned char *pos);
void eeprom_read_block (void *__dst, const void *__src, size_t __n);
void eeprom_update_block (const void *__src, void *__dst, size_t __n);
-
-// ADC
+/**
+ * ADC
+ */
#define HAL_ANALOG_SELECT(pin)
@@ -150,20 +145,13 @@ inline void HAL_adc_init(void) {}//todo
#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
#define HAL_READ_ADC HAL_adc_result
-
void HAL_adc_start_conversion(const uint8_t adc_pin);
-
uint16_t HAL_adc_get_result(void);
-
-//
uint16_t HAL_getAdcReading(uint8_t chan);
-
void HAL_startAdcConversion(uint8_t chan);
uint8_t HAL_pinToAdcChannel(int pin);
-
uint16_t HAL_getAdcFreerun(uint8_t chan, bool wait_for_conversion = false);
//uint16_t HAL_getAdcSuperSample(uint8_t chan);
-
void HAL_enable_AdcFreerun(void);
//void HAL_disable_AdcFreerun(uint8_t chan);
@@ -171,9 +159,4 @@ void HAL_enable_AdcFreerun(void);
#define GET_PIN_MAP_INDEX(pin) pin
#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
-// --------------------------------------------------------------------------
-//
-// --------------------------------------------------------------------------
-
#endif // _HAL_DUE_H
-
diff --git a/Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.cpp b/Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.cpp
new file mode 100644
index 000000000..0acfb9942
--- /dev/null
+++ b/Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.cpp
@@ -0,0 +1,680 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * MarlinSerial_Due.cpp - Hardware serial library for Arduino DUE
+ * Copyright (c) 2017 Eduardo José Tagle. All right reserved
+ * Based on MarlinSerial for AVR, copyright (c) 2006 Nicholas Zambetti. All right reserved.
+ */
+#ifdef ARDUINO_ARCH_SAM
+
+#include "../../inc/MarlinConfig.h"
+
+#include "MarlinSerial_Due.h"
+#include "InterruptVectors_Due.h"
+#include "../../Marlin.h"
+
+// Based on selected port, use the proper configuration
+#if SERIAL_PORT == 0
+ #define HWUART UART
+ #define HWUART_IRQ UART_IRQn
+ #define HWUART_IRQ_ID ID_UART
+#elif SERIAL_PORT == 1
+ #define HWUART USART0
+ #define HWUART_IRQ USART0_IRQn
+ #define HWUART_IRQ_ID ID_USART0
+#elif SERIAL_PORT == 2
+ #define HWUART USART1
+ #define HWUART_IRQ USART1_IRQn
+ #define HWUART_IRQ_ID ID_USART1
+#elif SERIAL_PORT == 3
+ #define HWUART USART3
+ #define HWUART_IRQ USART3_IRQn
+ #define HWUART_IRQ_ID ID_USART3
+#endif
+
+struct ring_buffer_r {
+ unsigned char buffer[RX_BUFFER_SIZE];
+ volatile ring_buffer_pos_t head, tail;
+};
+
+#if TX_BUFFER_SIZE > 0
+ struct ring_buffer_t {
+ unsigned char buffer[TX_BUFFER_SIZE];
+ volatile uint8_t head, tail;
+ };
+#endif
+
+ring_buffer_r rx_buffer = { { 0 }, 0, 0 };
+#if TX_BUFFER_SIZE > 0
+ ring_buffer_t tx_buffer = { { 0 }, 0, 0 };
+ static bool _written;
+#endif
+
+#if ENABLED(SERIAL_XON_XOFF)
+ constexpr uint8_t XON_XOFF_CHAR_SENT = 0x80; // XON / XOFF Character was sent
+ constexpr uint8_t XON_XOFF_CHAR_MASK = 0x1F; // XON / XOFF character to send
+ // XON / XOFF character definitions
+ constexpr uint8_t XON_CHAR = 17;
+ constexpr uint8_t XOFF_CHAR = 19;
+ uint8_t xon_xoff_state = XON_XOFF_CHAR_SENT | XON_CHAR;
+
+ // Validate that RX buffer size is at least 4096 bytes- According to several experiments, on
+ // the original Arduino Due that uses a ATmega16U2 as USB to serial bridge, due to the introduced
+ // latencies, at least 2959 bytes of RX buffering (when transmitting at 250kbits/s) are required
+ // to avoid overflows.
+
+ #if RX_BUFFER_SIZE < 4096
+ #error Arduino DUE requires at least 4096 bytes of RX buffer to avoid buffer overflows when using XON/XOFF handshake
+ #endif
+#endif
+
+#if ENABLED(SERIAL_STATS_DROPPED_RX)
+ uint8_t rx_dropped_bytes = 0;
+#endif
+
+#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
+ ring_buffer_pos_t rx_max_enqueued = 0;
+#endif
+
+// A SW memory barrier, to ensure GCC does not overoptimize loops
+#define sw_barrier() asm volatile("": : :"memory");
+
+#if ENABLED(EMERGENCY_PARSER)
+
+ #include "../../module/stepper.h"
+
+ // Currently looking for: M108, M112, M410
+ // If you alter the parser please don't forget to update the capabilities in Conditionals_post.h
+
+ FORCE_INLINE void emergency_parser(const uint8_t c) {
+
+ static e_parser_state state = state_RESET;
+
+ switch (state) {
+ case state_RESET:
+ switch (c) {
+ case ' ': break;
+ case 'N': state = state_N; break;
+ case 'M': state = state_M; break;
+ default: state = state_IGNORE;
+ }
+ break;
+
+ case state_N:
+ switch (c) {
+ case '0': case '1': case '2':
+ case '3': case '4': case '5':
+ case '6': case '7': case '8':
+ case '9': case '-': case ' ': break;
+ case 'M': state = state_M; break;
+ default: state = state_IGNORE;
+ }
+ break;
+
+ case state_M:
+ switch (c) {
+ case ' ': break;
+ case '1': state = state_M1; break;
+ case '4': state = state_M4; break;
+ default: state = state_IGNORE;
+ }
+ break;
+
+ case state_M1:
+ switch (c) {
+ case '0': state = state_M10; break;
+ case '1': state = state_M11; break;
+ default: state = state_IGNORE;
+ }
+ break;
+
+ case state_M10:
+ state = (c == '8') ? state_M108 : state_IGNORE;
+ break;
+
+ case state_M11:
+ state = (c == '2') ? state_M112 : state_IGNORE;
+ break;
+
+ case state_M4:
+ state = (c == '1') ? state_M41 : state_IGNORE;
+ break;
+
+ case state_M41:
+ state = (c == '0') ? state_M410 : state_IGNORE;
+ break;
+
+ case state_IGNORE:
+ if (c == '\n') state = state_RESET;
+ break;
+
+ default:
+ if (c == '\n') {
+ switch (state) {
+ case state_M108:
+ wait_for_user = wait_for_heatup = false;
+ break;
+ case state_M112:
+ kill(PSTR(MSG_KILLED));
+ break;
+ case state_M410:
+ quickstop_stepper();
+ break;
+ default:
+ break;
+ }
+ state = state_RESET;
+ }
+ }
+ }
+
+#endif // EMERGENCY_PARSER
+
+FORCE_INLINE void store_rxd_char() {
+
+ const ring_buffer_pos_t h = rx_buffer.head,
+ i = (ring_buffer_pos_t)(h + 1) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
+
+ // Read the character
+ const uint8_t c = HWUART->UART_RHR;
+
+ // If the character is to be stored at the index just before the tail
+ // (such that the head would advance to the current tail), the buffer is
+ // critical, so don't write the character or advance the head.
+ if (i != rx_buffer.tail) {
+ rx_buffer.buffer[h] = c;
+ rx_buffer.head = i;
+ }
+ #if ENABLED(SERIAL_STATS_DROPPED_RX)
+ else if (!++rx_dropped_bytes) ++rx_dropped_bytes;
+ #endif
+
+#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
+ // calculate count of bytes stored into the RX buffer
+ ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(rx_buffer.head - rx_buffer.tail) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
+ // Keep track of the maximum count of enqueued bytes
+ NOLESS(rx_max_enqueued, rx_count);
+#endif
+
+#if ENABLED(SERIAL_XON_XOFF)
+
+ // for high speed transfers, we can use XON/XOFF protocol to do
+ // software handshake and avoid overruns.
+ if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XON_CHAR) {
+
+ // calculate count of bytes stored into the RX buffer
+ ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(rx_buffer.head - rx_buffer.tail) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
+
+ // if we are above 12.5% of RX buffer capacity, send XOFF before
+ // we run out of RX buffer space .. We need 325 bytes @ 250kbits/s to
+ // let the host react and stop sending bytes. This translates to 13mS
+ // propagation time.
+ if (rx_count >= (RX_BUFFER_SIZE) / 8) {
+ // If TX interrupts are disabled and 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.
+ if (!(HWUART->UART_IMR & UART_IMR_TXRDY) && (HWUART->UART_SR & UART_SR_TXRDY)) {
+ // Send an XOFF character
+ HWUART->UART_THR = XOFF_CHAR;
+
+ // And remember it was sent
+ xon_xoff_state = XOFF_CHAR | XON_XOFF_CHAR_SENT;
+ }
+ else {
+ // TX interrupts disabled, but buffer still not empty ... or
+ // TX interrupts enabled. Reenable TX ints and schedule XOFF
+ // character to be sent
+ #if TX_BUFFER_SIZE > 0
+ HWUART->UART_IER = UART_IER_TXRDY;
+ xon_xoff_state = XOFF_CHAR;
+ #else
+ // We are not using TX interrupts, we will have to send this manually
+ while (!(HWUART->UART_SR & UART_SR_TXRDY)) { sw_barrier(); };
+ HWUART->UART_THR = XOFF_CHAR;
+ // And remember we already sent it
+ xon_xoff_state = XOFF_CHAR | XON_XOFF_CHAR_SENT;
+ #endif
+ }
+ }
+ }
+#endif // SERIAL_XON_XOFF
+
+#if ENABLED(EMERGENCY_PARSER)
+ emergency_parser(c);
+#endif
+}
+
+#if TX_BUFFER_SIZE > 0
+
+ FORCE_INLINE void _tx_thr_empty_irq(void) {
+ // If interrupts are enabled, there must be more data in the output
+ // buffer.
+
+ #if ENABLED(SERIAL_XON_XOFF)
+ // Do a priority insertion of an XON/XOFF char, if needed.
+ const uint8_t state = xon_xoff_state;
+ if (!(state & XON_XOFF_CHAR_SENT)) {
+ HWUART->UART_THR = state & XON_XOFF_CHAR_MASK;
+ xon_xoff_state = state | XON_XOFF_CHAR_SENT;
+ }
+ else
+ #endif
+ { // Send the next byte
+ const uint8_t t = tx_buffer.tail, c = tx_buffer.buffer[t];
+ tx_buffer.tail = (t + 1) & (TX_BUFFER_SIZE - 1);
+ HWUART->UART_THR = c;
+ }
+
+ // Disable interrupts if the buffer is empty
+ if (tx_buffer.head == tx_buffer.tail)
+ HWUART->UART_IDR = UART_IDR_TXRDY;
+ }
+
+#endif // TX_BUFFER_SIZE
+
+static void UART_ISR(void) {
+ uint32_t status = HWUART->UART_SR;
+
+ // Did we receive data?
+ if (status & UART_SR_RXRDY)
+ store_rxd_char();
+
+ #if TX_BUFFER_SIZE > 0
+ // Do we have something to send, and TX interrupts are enabled (meaning something to send) ?
+ if ((status & UART_SR_TXRDY) && (HWUART->UART_IMR & UART_IMR_TXRDY))
+ _tx_thr_empty_irq();
+ #endif
+
+ // Acknowledge errors
+ if ((status & UART_SR_OVRE) || (status & UART_SR_FRAME)) {
+ // TODO: error reporting outside ISR
+ HWUART->UART_CR = UART_CR_RSTSTA;
+ }
+}
+
+// Public Methods
+
+void MarlinSerial::begin(const long baud_setting) {
+
+ // Disable UART interrupt in NVIC
+ NVIC_DisableIRQ( HWUART_IRQ );
+
+ // Disable clock
+ pmc_disable_periph_clk( HWUART_IRQ_ID );
+
+ // Configure PMC
+ pmc_enable_periph_clk( HWUART_IRQ_ID );
+
+ // Disable PDC channel
+ HWUART->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;
+
+ // Reset and disable receiver and transmitter
+ HWUART->UART_CR = UART_CR_RSTRX | UART_CR_RSTTX | UART_CR_RXDIS | UART_CR_TXDIS;
+
+ // Configure mode: 8bit, No parity, 1 bit stop
+ HWUART->UART_MR = UART_MR_CHMODE_NORMAL | US_MR_CHRL_8_BIT | US_MR_NBSTOP_1_BIT | UART_MR_PAR_NO;
+
+ // Configure baudrate (asynchronous, no oversampling)
+ HWUART->UART_BRGR = (SystemCoreClock / (baud_setting << 4));
+
+ // Configure interrupts
+ HWUART->UART_IDR = 0xFFFFFFFF;
+ HWUART->UART_IER = UART_IER_RXRDY | UART_IER_OVRE | UART_IER_FRAME;
+
+ // Install interrupt handler
+ install_isr(HWUART_IRQ, UART_ISR);
+
+ // Enable UART interrupt in NVIC
+ NVIC_EnableIRQ(HWUART_IRQ);
+
+ // Enable receiver and transmitter
+ HWUART->UART_CR = UART_CR_RXEN | UART_CR_TXEN;
+
+ #if TX_BUFFER_SIZE > 0
+ _written = false;
+ #endif
+}
+
+void MarlinSerial::end() {
+ // Disable UART interrupt in NVIC
+ NVIC_DisableIRQ( HWUART_IRQ );
+
+ pmc_disable_periph_clk( HWUART_IRQ_ID );
+}
+
+void MarlinSerial::checkRx(void) {
+ if (HWUART->UART_SR & UART_SR_RXRDY) {
+ CRITICAL_SECTION_START;
+ store_rxd_char();
+ CRITICAL_SECTION_END;
+ }
+}
+
+int MarlinSerial::peek(void) {
+ CRITICAL_SECTION_START;
+ const int v = rx_buffer.head == rx_buffer.tail ? -1 : rx_buffer.buffer[rx_buffer.tail];
+ CRITICAL_SECTION_END;
+ return v;
+}
+
+int MarlinSerial::read(void) {
+ int v;
+ CRITICAL_SECTION_START;
+ const ring_buffer_pos_t t = rx_buffer.tail;
+ if (rx_buffer.head == t)
+ v = -1;
+ else {
+ v = rx_buffer.buffer[t];
+ rx_buffer.tail = (ring_buffer_pos_t)(t + 1) & (RX_BUFFER_SIZE - 1);
+
+ #if ENABLED(SERIAL_XON_XOFF)
+ if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
+ // Get count of bytes in the RX buffer
+ ring_buffer_pos_t rx_count = (ring_buffer_pos_t)(rx_buffer.head - rx_buffer.tail) & (ring_buffer_pos_t)(RX_BUFFER_SIZE - 1);
+ // When below 10% of RX buffer capacity, send XON before
+ // running out of RX buffer bytes
+ if (rx_count < (RX_BUFFER_SIZE) / 10) {
+ xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+ CRITICAL_SECTION_END; // End critical section before returning!
+ writeNoHandshake(XON_CHAR);
+ return v;
+ }
+ }
+ #endif
+ }
+ CRITICAL_SECTION_END;
+ return v;
+}
+
+ring_buffer_pos_t MarlinSerial::available(void) {
+ CRITICAL_SECTION_START;
+ const ring_buffer_pos_t h = rx_buffer.head, t = rx_buffer.tail;
+ CRITICAL_SECTION_END;
+ return (ring_buffer_pos_t)(RX_BUFFER_SIZE + h - t) & (RX_BUFFER_SIZE - 1);
+}
+
+void MarlinSerial::flush(void) {
+ // Don't change this order of operations. If the RX interrupt occurs between
+ // reading rx_buffer_head and updating rx_buffer_tail, the previous rx_buffer_head
+ // may be written to rx_buffer_tail, making the buffer appear full rather than empty.
+ CRITICAL_SECTION_START;
+ rx_buffer.head = rx_buffer.tail;
+ CRITICAL_SECTION_END;
+
+#if ENABLED(SERIAL_XON_XOFF)
+ if ((xon_xoff_state & XON_XOFF_CHAR_MASK) == XOFF_CHAR) {
+ xon_xoff_state = XON_CHAR | XON_XOFF_CHAR_SENT;
+ writeNoHandshake(XON_CHAR);
+ }
+#endif
+}
+
+#if TX_BUFFER_SIZE > 0
+ uint8_t MarlinSerial::availableForWrite(void) {
+ CRITICAL_SECTION_START;
+ const uint8_t h = tx_buffer.head, t = tx_buffer.tail;
+ CRITICAL_SECTION_END;
+ return (uint8_t)(TX_BUFFER_SIZE + h - t) & (TX_BUFFER_SIZE - 1);
+ }
+
+ void MarlinSerial::write(const uint8_t c) {
+ #if ENABLED(SERIAL_XON_XOFF)
+ const uint8_t state = xon_xoff_state;
+ if (!(state & XON_XOFF_CHAR_SENT)) {
+ // Send 2 chars: XON/XOFF, then a user-specified char
+ writeNoHandshake(state & XON_XOFF_CHAR_MASK);
+ xon_xoff_state = state | XON_XOFF_CHAR_SENT;
+ }
+ #endif
+ writeNoHandshake(c);
+ }
+
+ void MarlinSerial::writeNoHandshake(const uint8_t c) {
+ _written = true;
+ CRITICAL_SECTION_START;
+ bool emty = (tx_buffer.head == tx_buffer.tail);
+ CRITICAL_SECTION_END;
+ // If the buffer 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.
+ if (emty && (HWUART->UART_SR & UART_SR_TXRDY)) {
+ CRITICAL_SECTION_START;
+ HWUART->UART_THR = c;
+ HWUART->UART_IER = UART_IER_TXRDY;
+ CRITICAL_SECTION_END;
+ return;
+ }
+ const uint8_t i = (tx_buffer.head + 1) & (TX_BUFFER_SIZE - 1);
+
+ // If the output buffer is full, there's nothing for it other than to
+ // wait for the interrupt handler to empty it a bit
+ while (i == tx_buffer.tail) {
+ if (__get_PRIMASK()) {
+ // Interrupts are disabled, so we'll have to poll the data
+ // register empty flag ourselves. If it is set, pretend an
+ // interrupt has happened and call the handler to free up
+ // space for us.
+ if (HWUART->UART_SR & UART_SR_TXRDY)
+ _tx_thr_empty_irq();
+ }
+ else {
+ // nop, the interrupt handler will free up space for us
+ }
+ sw_barrier();
+ }
+
+ tx_buffer.buffer[tx_buffer.head] = c;
+ { CRITICAL_SECTION_START;
+ tx_buffer.head = i;
+ HWUART->UART_IER = UART_IER_TXRDY;
+ CRITICAL_SECTION_END;
+ }
+ return;
+ }
+
+ void MarlinSerial::flushTX(void) {
+ // TX
+ // If we have never written a byte, no need to flush.
+ if (!_written)
+ return;
+
+ while ((HWUART->UART_IMR & UART_IMR_TXRDY) || !(HWUART->UART_SR & UART_SR_TXEMPTY)) {
+ if (__get_PRIMASK())
+ if ((HWUART->UART_SR & UART_SR_TXRDY))
+ _tx_thr_empty_irq();
+ sw_barrier();
+ }
+ // If we get here, nothing is queued anymore (TX interrupts are disabled) and
+ // the hardware finished tranmission (TXEMPTY is set).
+ }
+
+#else // TX_BUFFER_SIZE == 0
+
+ void MarlinSerial::write(const uint8_t c) {
+ #if ENABLED(SERIAL_XON_XOFF)
+ // Do a priority insertion of an XON/XOFF char, if needed.
+ const uint8_t state = xon_xoff_state;
+ if (!(state & XON_XOFF_CHAR_SENT)) {
+ writeNoHandshake(state & XON_XOFF_CHAR_MASK);
+ xon_xoff_state = state | XON_XOFF_CHAR_SENT;
+ }
+ #endif
+ writeNoHandshake(c);
+ }
+
+ void MarlinSerial::writeNoHandshake(const uint8_t c) {
+ while (!(HWUART->UART_SR & UART_SR_TXRDY)) { sw_barrier(); };
+ HWUART->UART_THR = c;
+ }
+
+#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 // ARDUINO_ARCH_SAM
diff --git a/Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.h b/Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.h
new file mode 100644
index 000000000..740db4d9c
--- /dev/null
+++ b/Marlin/src/HAL/HAL_DUE/MarlinSerial_Due.h
@@ -0,0 +1,142 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * MarlinSerial_Due.h - Hardware serial library for Arduino DUE
+ * Copyright (c) 2017 Eduardo José Tagle. All right reserved
+ * Based on MarlinSerial for AVR, copyright (c) 2006 Nicholas Zambetti. All right reserved.
+ */
+
+#ifndef MARLINSERIAL_DUE_H
+#define MARLINSERIAL_DUE_H
+
+#include "../../inc/MarlinConfig.h"
+
+#include <WString.h>
+
+#ifndef SERIAL_PORT
+ #define SERIAL_PORT 0
+#endif
+
+#define DEC 10
+#define HEX 16
+#define OCT 8
+#define BIN 2
+#define BYTE 0
+
+// Define constants and variables for buffering incoming serial data. We're
+// using a ring buffer (I think), in which rx_buffer_head is the index of the
+// location to which to write the next incoming character and rx_buffer_tail
+// is the index of the location from which to read.
+// 256 is the max limit due to uint8_t head and tail. Use only powers of 2. (...,16,32,64,128,256)
+#ifndef RX_BUFFER_SIZE
+ #define RX_BUFFER_SIZE 128
+#endif
+#ifndef TX_BUFFER_SIZE
+ #define TX_BUFFER_SIZE 32
+#endif
+
+#if ENABLED(SERIAL_XON_XOFF) && RX_BUFFER_SIZE < 1024
+ #error "XON/XOFF requires RX_BUFFER_SIZE >= 1024 for reliable transfers without drops."
+#endif
+
+#if !IS_POWER_OF_2(RX_BUFFER_SIZE) || RX_BUFFER_SIZE < 2
+ #error "RX_BUFFER_SIZE must be a power of 2 greater than 1."
+#endif
+
+#if TX_BUFFER_SIZE && (TX_BUFFER_SIZE < 2 || TX_BUFFER_SIZE > 256 || !IS_POWER_OF_2(TX_BUFFER_SIZE))
+ #error "TX_BUFFER_SIZE must be 0 or a power of 2 greater than 1."
+#endif
+
+#if RX_BUFFER_SIZE > 256
+ typedef uint16_t ring_buffer_pos_t;
+#else
+ typedef uint8_t ring_buffer_pos_t;
+#endif
+
+#if ENABLED(SERIAL_STATS_DROPPED_RX)
+ extern uint8_t rx_dropped_bytes;
+#endif
+
+#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
+ extern ring_buffer_pos_t rx_max_enqueued;
+#endif
+
+class MarlinSerial {
+
+public:
+ MarlinSerial() {};
+ static void begin(const long);
+ static void end();
+ static int peek(void);
+ static int read(void);
+ static void flush(void);
+ static ring_buffer_pos_t available(void);
+ static void checkRx(void);
+ static void write(const uint8_t c);
+ #if TX_BUFFER_SIZE > 0
+ static uint8_t availableForWrite(void);
+ static void flushTX(void);
+ #endif
+ static void writeNoHandshake(const uint8_t c);
+
+ #if ENABLED(SERIAL_STATS_DROPPED_RX)
+ FORCE_INLINE static uint32_t dropped() { return rx_dropped_bytes; }
+ #endif
+
+ #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
+ FORCE_INLINE static ring_buffer_pos_t rxMaxEnqueued() { return rx_max_enqueued; }
+ #endif
+
+ static FORCE_INLINE void write(const char* str) { while (*str) write(*str++); }
+ static FORCE_INLINE void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
+ static FORCE_INLINE void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
+ static FORCE_INLINE void print(const char* str) { write(str); }
+
+ static void print(char, int = BYTE);
+ static void print(unsigned char, int = BYTE);
+ static void print(int, int = DEC);
+ static void print(unsigned int, int = DEC);
+ static void print(long, int = DEC);
+ static void print(unsigned long, int = DEC);
+ static void print(double, int = 2);
+
+ static void println(const String& s);
+ static void println(const char[]);
+ static void println(char, int = BYTE);
+ static void println(unsigned char, int = BYTE);
+ static void println(int, int = DEC);
+ static void println(unsigned int, int = DEC);
+ static void println(long, int = DEC);
+ static void println(unsigned long, int = DEC);
+ static void println(double, int = 2);
+ static void println(void);
+ operator bool() { return true; }
+
+private:
+ static void printNumber(unsigned long, const uint8_t);
+ static void printFloat(double, uint8_t);
+};
+
+extern MarlinSerial customizedSerial;
+
+#endif // MARLINSERIAL_DUE_H
diff --git a/Marlin/src/core/serial.h b/Marlin/src/core/serial.h
index 07d3ac173..887402a06 100644
--- a/Marlin/src/core/serial.h
+++ b/Marlin/src/core/serial.h
@@ -25,6 +25,25 @@
#include "../inc/MarlinConfig.h"
+#if HAS_ABL && ENABLED(DEBUG_LEVELING_FEATURE)
+ #include "../libs/vector_3.h"
+#endif
+
+/**
+ * Define debug bit-masks
+ */
+enum DebugFlags {
+ DEBUG_NONE = 0,
+ DEBUG_ECHO = _BV(0), ///< Echo commands in order as they are processed
+ DEBUG_INFO = _BV(1), ///< Print messages for code that has debug output
+ DEBUG_ERRORS = _BV(2), ///< Not implemented
+ DEBUG_DRYRUN = _BV(3), ///< Ignore temperature setting and E movement commands
+ DEBUG_COMMUNICATION = _BV(4), ///< Not implemented
+ DEBUG_LEVELING = _BV(5), ///< Print detailed output for homing and leveling
+ DEBUG_MESH_ADJUST = _BV(6), ///< UBL bed leveling
+ DEBUG_ALL = 0xFF
+};
+
//todo: HAL: breaks encapsulation
// For AVR only, define a serial interface based on configuration
#ifdef __AVR__
@@ -41,22 +60,10 @@
#endif
#endif
-#include "../libs/vector_3.h"
-
-/**
- * Define debug bit-masks
- */
-enum DebugFlags {
- DEBUG_NONE = 0,
- DEBUG_ECHO = _BV(0), ///< Echo commands in order as they are processed
- DEBUG_INFO = _BV(1), ///< Print messages for code that has debug output
- DEBUG_ERRORS = _BV(2), ///< Not implemented
- DEBUG_DRYRUN = _BV(3), ///< Ignore temperature setting and E movement commands
- DEBUG_COMMUNICATION = _BV(4), ///< Not implemented
- DEBUG_LEVELING = _BV(5), ///< Print detailed output for homing and leveling
- DEBUG_MESH_ADJUST = _BV(6), ///< UBL bed leveling
- DEBUG_ALL = 0xFF
-};
+#ifdef ARDUINO_ARCH_SAM
+ // To pull the Serial port definitions and overrides
+ #include "../HAL/HAL_DUE/MarlinSerial_Due.h"
+#endif
extern uint8_t marlin_debug_flags;
#define DEBUGGING(F) (marlin_debug_flags & (DEBUG_## F))