From 3d8a3806511825f6d04967b925665bcacb5647d6 Mon Sep 17 00:00:00 2001 From: Joseph Coffland Date: Mon, 5 Sep 2016 14:12:31 -0700 Subject: [PATCH] Uppercase status strings, Don't enable read interrupt immediately in usart_readline(), Disabled alarm in mach_set_position() --- src/machine.c | 9 ++++----- src/plan/state.c | 20 ++++++++++---------- src/usart.c | 6 +++++- 3 files changed, 19 insertions(+), 16 deletions(-) diff --git a/src/machine.c b/src/machine.c index 22410bd..aaff4f7 100644 --- a/src/machine.c +++ b/src/machine.c @@ -208,9 +208,9 @@ float mach_get_feed_rate() {return mach.gm.feed_rate;} PGM_P mp_get_units_mode_pgmstr(machUnitsMode_t mode) { switch (mode) { - case INCHES: return PSTR("in"); - case MILLIMETERS: return PSTR("mm"); - case DEGREES: return PSTR("deg"); + case INCHES: return PSTR("IN"); + case MILLIMETERS: return PSTR("MM"); + case DEGREES: return PSTR("DEG"); } return PSTR("invalid"); @@ -691,8 +691,7 @@ void mach_set_coord_system(machCoordSystem_t coord_system) { * the planner and that all motion has stopped. */ void mach_set_position(int axis, float position) { - if (!mp_is_quiescent()) CM_ALARM(STAT_INTERNAL_ERROR); - + //if (!mp_is_quiescent()) CM_ALARM(STAT_INTERNAL_ERROR); mach.position[axis] = position; mach.ms.target[axis] = position; mp_set_planner_position(axis, position); diff --git a/src/plan/state.c b/src/plan/state.c index 40c99e2..bd160bb 100644 --- a/src/plan/state.c +++ b/src/plan/state.c @@ -60,11 +60,11 @@ plannerCycle_t mp_get_cycle() {return ps.cycle;} PGM_P mp_get_state_pgmstr(plannerState_t state) { switch (state) { - case STATE_READY: return PSTR("ready"); - case STATE_ESTOPPED: return PSTR("estopped"); - case STATE_RUNNING: return PSTR("running"); - case STATE_STOPPING: return PSTR("stopping"); - case STATE_HOLDING: return PSTR("holding"); + case STATE_READY: return PSTR("READY"); + case STATE_ESTOPPED: return PSTR("ESTOPPED"); + case STATE_RUNNING: return PSTR("RUNNING"); + case STATE_STOPPING: return PSTR("STOPPING"); + case STATE_HOLDING: return PSTR("HOLDING"); } return PSTR("invalid"); @@ -73,11 +73,11 @@ PGM_P mp_get_state_pgmstr(plannerState_t state) { PGM_P mp_get_cycle_pgmstr(plannerCycle_t cycle) { switch (cycle) { - case CYCLE_MACHINING: return PSTR("machining"); - case CYCLE_HOMING: return PSTR("homing"); - case CYCLE_PROBING: return PSTR("probing"); - case CYCLE_CALIBRATING: return PSTR("calibrating"); - case CYCLE_JOGGING: return PSTR("jogging"); + case CYCLE_MACHINING: return PSTR("MACHINING"); + case CYCLE_HOMING: return PSTR("HOMING"); + case CYCLE_PROBING: return PSTR("PROBING"); + case CYCLE_CALIBRATING: return PSTR("CALIBRATING"); + case CYCLE_JOGGING: return PSTR("JOGGING"); } return PSTR("invalid"); diff --git a/src/usart.c b/src/usart.c index 7d66f63..91ecb10 100644 --- a/src/usart.c +++ b/src/usart.c @@ -199,7 +199,8 @@ char *usart_readline() { bool eol = false; while (!rx_buf_empty()) { - char data = usart_getc(); + char data = rx_buf_peek(); + rx_buf_pop(); if (usart_flags & USART_ECHO) usart_putc(data); @@ -235,10 +236,13 @@ char *usart_readline() { if (eol) { line[i] = 0; i = 0; + + _set_rxc_interrupt(true); // Enable read interrupt return line; } } + _set_rxc_interrupt(true); // Enable read interrupt return 0; } -- 2.27.0