Updated for shared stream buffer for tool change protocol.

grblHAL_Teensy4/src/driver.c

@@ -392,12 +392,8 @@ static void enetStreamWriteS (const char *data)
         .get_rx_buffer_available = TCPStreamRxFree,
         .reset_read_buffer = TCPStreamRxFlush,
         .cancel_read_buffer = TCPStreamRxCancel,
-        .enqueue_realtime_command = protocol_enqueue_realtime_command,
+        .suspend_read = TCPStreamSuspendInput,
-    #if M6_ENABLE
+        .enqueue_realtime_command = protocol_enqueue_realtime_command
-        .suspend_read = NULL // for now...
-    #else
-        .suspend_read = NULL
-    #endif
     };
   #endif
 
@@ -410,12 +406,8 @@ static void enetStreamWriteS (const char *data)
         .get_rx_buffer_available = WsStreamRxFree,
         .reset_read_buffer = WsStreamRxFlush,
         .cancel_read_buffer = WsStreamRxCancel,
-        .enqueue_realtime_command = protocol_enqueue_realtime_command,
+        .suspend_read = WsStreamSuspendInput,
-    #if M6_ENABLE
+        .enqueue_realtime_command = protocol_enqueue_realtime_command
-        .suspend_read = NULL // for now...
-    #else
-        .suspend_read = NULL
-    #endif
     };
   #endif
 
@@ -472,7 +464,7 @@ static void (*systick_isr_org)(void) = NULL;
 
 // Millisecond resolution delay function
 // Will return immediately if a callback function is provided
-static void driver_delay_ms (uint32_t ms, void (*callback)(void))
+static void driver_delay_ms (uint32_t ms, delay_callback_ptr callback)
 {
     if(ms) {
         grbl_delay.ms = ms;
@@ -2086,7 +2078,7 @@ bool driver_init (void)
         options[strlen(options) - 1] = '\0';
 
     hal.info = "iMXRT1062";
-    hal.driver_version = "210221";
+    hal.driver_version = "210313";
 #ifdef BOARD_NAME
     hal.board = BOARD_NAME;
 #endif

grblHAL_Teensy4/src/uart.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Some parts of this code is Copyright (c) 2020 Terje Io
+  Some parts of this code is Copyright (c) 2020-2021 Terje Io
 
   Some parts are derived from HardwareSerial.cpp in the Teensyduino Core Library
 
@@ -141,7 +141,7 @@ void transmitterEnable(uint8_t pin)
 
 static uint16_t tx_fifo_size;
 static stream_tx_buffer_t txbuffer = {0};
-static stream_rx_buffer_t rxbuffer = {0}, rxbackup;
+static stream_rx_buffer_t rxbuffer = {0};
 
 void serialInit (uint32_t baud_rate)
 {
@@ -339,20 +339,9 @@ void serialWrite(const char *s, uint16_t length)
         serialPutC(*ptr++);
 }
 
-// "dummy" version of serialGetC
-static int16_t serialGetNull (void)
-{
-    return -1;
-}
-
 bool serialSuspendInput (bool suspend)
 {
-    if(suspend)
+    return stream_rx_suspend(&rxbuffer, suspend);
-        hal.stream.read = serialGetNull;
-    else if(rxbuffer.backup)
-        memcpy(&rxbuffer, &rxbackup, sizeof(stream_rx_buffer_t));
-
-    return rxbuffer.tail != rxbuffer.head;
 }
 
 uint16_t serialTxCount(void) {
@@ -413,9 +402,7 @@ static void uart_interrupt_handler (void)
                 rxbuffer.head = bptr;                       // and update pointer
 #else
                 if(data == CMD_TOOL_ACK && !rxbuffer.backup) {
-                    memcpy(&rxbackup, &rxbuffer, sizeof(stream_rx_buffer_t));
+                    stream_rx_backup(&rxbuffer);
-                    rxbuffer.backup = true;
-                    rxbuffer.tail = rxbuffer.head;
                     hal.stream.read = serialGetC; // restore normal input
                 } else if(!hal.stream.enqueue_realtime_command((char)data)) {
                     rxbuffer.data[rxbuffer.head] = (char)data;  // Add data to buffer

grblHAL_Teensy4/src/usb_serial_ard.cpp

@@ -4,7 +4,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2018-2020 Terje Io
+  Copyright (c) 2018-2021 Terje Io
 
 
   Grbl is free software: you can redistribute it and/or modify
@@ -38,7 +38,7 @@ extern "C" {
 
 static stream_block_tx_buffer_t txbuf = {0};
 static char rxbuf[BLOCK_RX_BUFFER_SIZE];
-static stream_rx_buffer_t usb_rxbuffer, usb_rxbackup;
+static stream_rx_buffer_t usb_rxbuffer;
 
 void usb_serialInit(void)
 {
@@ -183,20 +183,9 @@ int16_t usb_serialGetC (void)
     return (int16_t)data;
 }
 
-// "dummy" version of serialGetC
-static int16_t serialGetNull (void)
-{
-    return -1;
-}
-
 bool usb_serialSuspendInput (bool suspend)
 {
-    if(suspend)
+    return stream_rx_suspend(&usb_rxbuffer, suspend);
-        hal.stream.read = serialGetNull;
-    else if(usb_rxbuffer.backup)
-        memcpy(&usb_rxbuffer, &usb_rxbackup, sizeof(stream_rx_buffer_t));
-
-    return usb_rxbuffer.tail != usb_rxbuffer.head;
 }
 
 //
@@ -221,9 +210,7 @@ void usb_execute_realtime (uint_fast16_t state)
         while(avail--) {
             c = *dp++;
             if(c == CMD_TOOL_ACK && !usb_rxbuffer.backup) {
-                memcpy(&usb_rxbackup, &usb_rxbuffer, sizeof(stream_rx_buffer_t));
+                stream_rx_backup(&usb_rxbuffer);
-                usb_rxbuffer.backup = true;
-                usb_rxbuffer.tail = usb_rxbuffer.head;
                 hal.stream.read = usb_serialGetC; // restore normal input
             } else if(!hal.stream.enqueue_realtime_command(c)) {
                 uint32_t bptr = (usb_rxbuffer.head + 1) & (RX_BUFFER_SIZE - 1); // Get next head pointer

grblHAL_Teensy4/src/usb_serial_pjrc.c

@@ -4,7 +4,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2018-2020 Terje Io
+  Copyright (c) 2018-2021 Terje Io
 
 
   Grbl is free software: you can redistribute it and/or modify
@@ -34,7 +34,7 @@
 
 static stream_block_tx_buffer_t txbuf = {0};
 static char rxbuf[BLOCK_RX_BUFFER_SIZE];
-static stream_rx_buffer_t usb_rxbuffer, usb_rxbackup;
+static stream_rx_buffer_t usb_rxbuffer;
 
 void usb_serialInit(void)
 {
@@ -42,7 +42,6 @@ void usb_serialInit(void)
     txbuf.s = txbuf.data;
     txbuf.max_length = usb_serial_write_buffer_free(); // 6144
     txbuf.max_length = (txbuf.max_length > BLOCK_TX_BUFFER_SIZE ? BLOCK_TX_BUFFER_SIZE : txbuf.max_length) - 20;
-
 }
 
 //
@@ -172,20 +171,9 @@ int16_t usb_serialGetC (void)
     return (int16_t)data;
 }
 
-// "dummy" version of serialGetC
-static int16_t serialGetNull (void)
-{
-    return -1;
-}
-
 bool usb_serialSuspendInput (bool suspend)
 {
-    if(suspend)
+    return stream_rx_suspend(&usb_rxbuffer, suspend);
-        hal.stream.read = serialGetNull;
-    else if(usb_rxbuffer.backup)
-        memcpy(&usb_rxbuffer, &usb_rxbackup, sizeof(stream_rx_buffer_t));
-
-    return usb_rxbuffer.tail != usb_rxbuffer.head;
 }
 
 //
@@ -210,9 +198,7 @@ void usb_execute_realtime (uint_fast16_t state)
         while(avail--) {
             c = *dp++;
             if(c == CMD_TOOL_ACK && !usb_rxbuffer.backup) {
-                memcpy(&usb_rxbackup, &usb_rxbuffer, sizeof(stream_rx_buffer_t));
+                stream_rx_backup(&usb_rxbuffer);
-                usb_rxbuffer.backup = true;
-                usb_rxbuffer.tail = usb_rxbuffer.head;
                 hal.stream.read = usb_serialGetC; // restore normal input
             } else if(!hal.stream.enqueue_realtime_command(c)) {
                 uint32_t bptr = (usb_rxbuffer.head + 1) & (RX_BUFFER_SIZE - 1); // Get next head pointer