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added switch and return functions

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This commit is contained in:
Alden Hart
2016-12-08 14:28:52 -05:00
parent dd0ff106ca
commit e934cfda8e
3 changed files with 48 additions and 22 deletions
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g2core/config_app.cpp
+19 -17
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@@ -655,23 +655,25 @@ const cfgItem_t cfgArray[] = {
{ "", "gc", _f0, 0, tx_print_nul, gc_get_gc,gc_run_gc,(float *)&cs.null, 0 }, // gcode block - must be last in this group
// Actions and Reports
{ "", "sr", _f0, 0, sr_print_sr, sr_get, sr_set, (float *)&cs.null, 0 }, // request and set status reports
{ "", "qr", _f0, 0, qr_print_qr, qr_get, set_nul, (float *)&cs.null, 0 }, // get queue value - planner buffers available
{ "", "qi", _f0, 0, qr_print_qi, qi_get, set_nul, (float *)&cs.null, 0 }, // get queue value - buffers added to queue
{ "", "qo", _f0, 0, qr_print_qo, qo_get, set_nul, (float *)&cs.null, 0 }, // get queue value - buffers removed from queue
{ "", "er", _f0, 0, tx_print_nul, rpt_er, set_nul, (float *)&cs.null, 0 }, // get bogus exception report for testing
{ "", "qf", _f0, 0, tx_print_nul, get_nul, cm_run_qf, (float *)&cs.null, 0 }, // SET to invoke queue flush
{ "", "rx", _f0, 0, tx_print_int, get_rx, set_nul, (float *)&cs.null, 0 }, // get RX buffer bytes or packets
{ "", "msg", _f0, 0, tx_print_str, get_nul, set_nul, (float *)&cs.null, 0 }, // string for generic messages
{ "", "alarm",_f0,0, tx_print_nul, cm_alrm, cm_alrm, (float *)&cs.null, 0 }, // trigger alarm
{ "", "panic",_f0,0, tx_print_nul, cm_pnic, cm_pnic, (float *)&cs.null, 0 }, // trigger panic
{ "", "shutd",_f0,0, tx_print_nul, cm_shutd, cm_shutd, (float *)&cs.null, 0 }, // trigger shutdown
{ "", "clear",_f0,0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // GET "clear" to clear alarm state
{ "", "clr", _f0,0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // synonym for "clear"
{ "", "tick", _f0,0, tx_print_int, get_tick, set_nul, (float *)&cs.null, 0 }, // get system time tic
{ "", "tram", _f0,0, cm_print_tram, cm_get_tram, cm_set_tram, (float *)&cs.null, 0 },// SET to attempt setting rotation matrix from probes
{ "", "defa",_f0, 0, tx_print_nul, help_defa, set_defaults,(float *)&cs.null,0 }, // set/print defaults / help screen
{ "", "flash",_f0,0, tx_print_nul, help_flash,hw_flash, (float *)&cs.null,0 },
{ "", "sr", _f0, 0, sr_print_sr, sr_get, sr_set, (float *)&cs.null, 0 }, // request and set status reports
{ "", "qr", _f0, 0, qr_print_qr, qr_get, set_nul, (float *)&cs.null, 0 }, // get queue value - planner buffers available
{ "", "qi", _f0, 0, qr_print_qi, qi_get, set_nul, (float *)&cs.null, 0 }, // get queue value - buffers added to queue
{ "", "qo", _f0, 0, qr_print_qo, qo_get, set_nul, (float *)&cs.null, 0 }, // get queue value - buffers removed from queue
{ "", "er", _f0, 0, tx_print_nul, rpt_er, set_nul, (float *)&cs.null, 0 }, // get bogus exception report for testing
{ "", "qf", _f0, 0, tx_print_nul, get_nul, cm_run_qf, (float *)&cs.null, 0 }, // SET to invoke queue flush
{ "", "rx", _f0, 0, tx_print_int, get_rx, set_nul, (float *)&cs.null, 0 }, // get RX buffer bytes or packets
{ "", "msg", _f0, 0, tx_print_str, get_nul, set_nul, (float *)&cs.null, 0 }, // string for generic messages
{ "", "alarm",_f0,0, tx_print_nul, cm_alrm, cm_alrm, (float *)&cs.null, 0 }, // trigger alarm
{ "", "panic",_f0,0, tx_print_nul, cm_pnic, cm_pnic, (float *)&cs.null, 0 }, // trigger panic
{ "", "shutd",_f0,0, tx_print_nul, cm_shutd, cm_shutd, (float *)&cs.null, 0 }, // trigger shutdown
{ "", "clear",_f0,0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // GET "clear" to clear alarm state
{ "", "clr", _f0,0, tx_print_nul, cm_clr, cm_clr, (float *)&cs.null, 0 }, // synonym for "clear"
{ "", "tick", _f0,0, tx_print_int, get_tick, set_nul, (float *)&cs.null, 0 }, // get system time tic
{ "", "tram", _f0,0, cm_print_tram, cm_get_tram,cm_set_tram, (float *)&cs.null, 0 },// SET to attempt setting rotation matrix from probes
{ "", "defa",_f0, 0, tx_print_nul, help_defa, set_defaults,(float *)&cs.null,0 }, // set/print defaults / help screen
{ "", "flash",_f0,0, tx_print_nul, help_flash,hw_flash, (float *)&cs.null,0 },
{ "", "switch",_f0,0, tx_print_nul, get_nul, mp_switch_q, (float *)&cs.null,0 },
{ "", "return",_f0,0, tx_print_nul, get_nul, mp_return_q, (float *)&cs.null,0 },
#ifdef __HELP_SCREENS
{ "", "help",_f0, 0, tx_print_nul, help_config, set_nul, (float *)&cs.null,0 }, // prints config help screen
g2core/planner.cpp
+25 -5
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@@ -627,6 +627,26 @@ void mp_planner_time_accounting()
UPDATE_MP_DIAGNOSTICS //+++++
}
/*
* mp_switch_q() - switch planner to different quue
* mp_return_q() - return from a planner queue switch
*/
stat_t mp_switch_q(nvObj_t *nv)
{
if ((nv->value < PRIMARY_Q) || (nv->value < SECONDARY_Q)) {
return (STAT_INPUT_VALUE_RANGE_ERROR);
}
mb.return_q = mb.active_q;
mb.active_q = (uint8_t)nv->value;
return (STAT_OK);
}
stat_t mp_return_q(nvObj_t *nv) // if value == true return with offset corrections
{
mb.active_q = mb.return_q;
return (STAT_OK);
}
/**** PLANNER BUFFER PRIMITIVES ************************************************************
*
* Planner buffers are used to queue and operate on Gcode blocks. Each buffer contains
@@ -830,16 +850,16 @@ mpBuf_t * mp_get_run_buffer()
}
// Note: mp_free_run_buffer() is only called from mp_exec_XXX, which are within an interrupt
// Clearing and advancing must be done atomically as other interrupts may be using the run buffer
bool mp_free_run_buffer() // EMPTY current run buffer & advance to the next
{
mpQueue_t *q = &mb.q[mb.active_q];
mpBuf_t *r_now = q->r; // this is to avoid a race condition when clearing the buffer
mpBuf_t *r_now = q->r; // save this pointer is to avoid a race condition when clearing the buffer
_audit_buffers(); // ++++diagnostic audit for buffer chain integrity (only runs in DEBUG mode)
q->r = q->r->nx; // advance to next run buffer
_clear_buffer(r_now); // clear out the old buffer (& reset unlocked and set MP_BUFFER_EMPTY)
q->r = q->r->nx; // advance to next run buffer first,
_clear_buffer(r_now); // ... then clear out the old buffer (& set MP_BUFFER_EMPTY)
q->buffers_available++;
qr_request_queue_report(-1); // request a QR and add to the "removed buffers" count
return (q->w == q->r); // return true if the queue emptied
g2core/planner.h
+4
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@@ -423,6 +423,7 @@ typedef struct mpQueue { // a planner buffer queue
typedef struct mpBufferQueue { // one or more planner buffer queues
uint8_t active_q; // index of currently active queue
uint8_t return_q; // index of queue to return to
mpQueue_t q[2]; // number of queues
} mpBufferQueue_t;
@@ -565,6 +566,9 @@ void mp_start_feed_override(const float ramp_time, const float override);
void mp_end_feed_override(const float ramp_time);
void mp_planner_time_accounting(void);
stat_t mp_switch_q(nvObj_t *nv);
stat_t mp_return_q(nvObj_t *nv);
// planner buffer primitives
void mp_init_buffers(void);
mpBuf_t * mp_get_w(int8_t q);