override.c

/*
  override.c - An embedded CNC Controller with rs274/ngc (g-code) support

  Buffer handlers for real-time override commands

  Part of grblHAL

  Copyright (c) 2017-2019 Terje Io

  Grbl 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.

  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "grbl.h"
#include "override.h"

typedef struct {
    volatile uint_fast8_t head;
    volatile uint_fast8_t tail;
    uint8_t buf[OVERRIDE_BUFSIZE];
} override_queue_t;

static override_queue_t feed = {0}, accessory = {0};

ISR_CODE void ISR_FUNC(enqueue_feed_override)(uint8_t cmd)
{
    uint_fast8_t bptr = (feed.head + 1) & (OVERRIDE_BUFSIZE - 1);    // Get next head pointer

    if(bptr != feed.tail) {         // If not buffer full
        feed.buf[feed.head] = cmd;  // add data to buffer
        feed.head = bptr;           // and update pointer
    }
}

// Returns 0 if no commands enqueued
uint8_t get_feed_override (void)
{
    uint8_t data = 0;
    uint_fast8_t bptr = feed.tail;

    if(bptr != feed.head) {
        data = feed.buf[bptr++];                    // Get next character, increment tmp pointer
        feed.tail = bptr & (OVERRIDE_BUFSIZE - 1);  // and update pointer
    }

    return data;
}

ISR_CODE void ISR_FUNC(enqueue_accessory_override)(uint8_t cmd)
{
    uint_fast8_t bptr = (accessory.head + 1) & (OVERRIDE_BUFSIZE - 1);    // Get next head pointer

    if(bptr != accessory.tail) {                // If not buffer full
        accessory.buf[accessory.head] = cmd;    // add data to buffer
        accessory.head = bptr;                  // and update pointer
    }
}

// Returns 0 if no commands enqueued
uint8_t get_accessory_override (void)
{
    uint8_t data = 0;
    uint_fast8_t bptr = accessory.tail;

    if(bptr != accessory.head) {
        data = accessory.buf[bptr++];                   // Get next character, increment tmp pointer
        accessory.tail = bptr & (OVERRIDE_BUFSIZE - 1); // and update pointer
    }

    return data;
}

void flush_override_buffers () {
    feed.head = feed.tail = accessory.head = accessory.tail = 0;
}