GRBL八：STM32代码移植——串口

串口部分的一直只需要修改底层的串口代码就好包括串口初始化，读写函数，中断服务函数

serial.c

/*
  serial.c - Low level functions for sending and recieving bytes via the serial port
  Part of Grbl

  The MIT License (MIT)

  GRBL(tm) - Embedded CNC g-code interpreter and motion-controller
  Copyright (c) 2009-2011 Simen Svale Skogsrud
  Copyright (c) 2011-2012 Sungeun K. Jeon

  Permission is hereby granted, free of charge, to any person obtaining a copy
  of this software and associated documentation files (the "Software"), to deal
  in the Software without restriction, including without limitation the rights
  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  copies of the Software, and to permit persons to whom the Software is
  furnished to do so, subject to the following conditions:

  The above copyright notice and this permission notice shall be included in
  all copies or substantial portions of the Software.

  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  THE SOFTWARE.
*/
#include <stm32f10x_lib.h>
//#include "stm32f10x.h"
#include "serial.h"
#include "config.h"
#include "motion_control.h"
#include "protocol.h"

uint8_t serial_rx_buffer[RX_BUFFER_SIZE];
uint8_t serial_rx_buffer_head = 0;
volatile uint8_t serial_rx_buffer_tail = 0;

uint8_t serial_tx_buffer[RX_BUFFER_SIZE];
uint8_t serial_tx_buffer_head = 0;
volatile uint8_t serial_tx_buffer_tail = 0;

#ifdef ENABLE_XONXOFF
  volatile uint8_t flow_ctrl = XON_SENT; // Flow control state variable
  
  // Returns the number of bytes in the RX buffer. This replaces a typical byte counter to prevent
  // the interrupt and main programs from writing to the counter at the same time.
  static uint8_t get_serial_rx_buffer_count()
  {
    if (serial_rx_buffer_head == serial_rx_buffer_tail) { return(0); }
    if (serial_rx_buffer_head < serial_rx_buffer_tail) { return(serial_rx_buffer_tail-serial_rx_buffer_head); }
    return (RX_BUFFER_SIZE - (serial_rx_buffer_head-serial_rx_buffer_tail));
  }
#endif

void USART_Configuration(void)
{ 
  
  GPIO_InitTypeDef GPIO_InitStructure;
  USART_InitTypeDef USART_InitStructure; 

 /********************以下为USART1配置**************************/
  RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_USART1 | RCC_APB2Periph_AFIO,ENABLE);
  /*
  *  USART1_TX -> PA9 , USART1_RX ->	PA10
  */				
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;	         
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; 
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 
  GPIO_Init(GPIOA, &GPIO_InitStructure);		   

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;	        
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;  
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  USART_InitStructure.USART_BaudRate = 115200;
  USART_InitStructure.USART_WordLength = USART_WordLength_9b;//9位数据
  USART_InitStructure.USART_StopBits = USART_StopBits_1;//1位停止位
  USART_InitStructure.USART_Parity = USART_Parity_Even;//偶校验
  USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //硬件流控制失能
  USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //发送和接受使能
  USART_Init(USART1, &USART_InitStructure); 

  USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
//  USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
  
  /***********************************************************************************
	  void USART_Cmd(USART_TypeDef* USARTx, FunctionalState NewState)
	  使能或者失能USART外设
	  USARTx：x可以是1，2或者3，来选择USART外设
	  NewState: 外设USARTx的新状态
	  这个参数可以取：ENABLE或者DISABLE
  ***********************************************************************************/
  USART_Cmd(USART1, ENABLE); 
  USART_ClearITPendingBit(USART1, USART_IT_TC);//清除中断TC位	    	
  MY_NVIC_Init(3,3,USART1_IRQChannel,2);//组2，最低优先级 
 } 

 /***********************************************************************
函数名称：void USART1_IRQHandler(void) 
功    能：串口中断服务函数
***********************************************************************/
void USART1_IRQHandler(void)  
{
	if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //接收寄存器非空
	{	
		uint8_t data = USART1->DR;
  		uint8_t next_head;
  
	    // Pick off runtime command characters directly from the serial stream. These characters are
	    // not passed into the buffer, but these set system state flag bits for runtime execution.
	    switch (data) {
	      case CMD_STATUS_REPORT: sys.execute |= EXEC_STATUS_REPORT; break; // Set as true
	      case CMD_CYCLE_START:   sys.execute |= EXEC_CYCLE_START; break; // Set as true
	      case CMD_FEED_HOLD:     sys.execute |= EXEC_FEED_HOLD; break; // Set as true
	      case CMD_RESET:         mc_reset(); break; // Call motion control reset routine.
	      default: // Write character to buffer    
	      	next_head = serial_rx_buffer_head + 1;
	      	if (next_head == RX_BUFFER_SIZE) { next_head = 0; }
    
      		// Write data to buffer unless it is full.
      		if (next_head != serial_rx_buffer_tail) {
        		serial_rx_buffer[serial_rx_buffer_head] = data;
        		serial_rx_buffer_head = next_head;    
        
      		}
  		}		
	//	USART_ClearITPendingBit(USART1, USART_IT_RXNE);

	}
	if (USART_GetITStatus(USART1, USART_IT_TXE) != RESET) 	//写数据寄存器空，可以写数据
	{
         // Temporary serial_tx_buffer_tail (to optimize for volatile)
		  uint8_t tail = serial_tx_buffer_tail;
		   
		    // Send a byte from the buffer	
		    USART1->DR = serial_tx_buffer[tail];
		  
		    // Update tail position
		    tail++;
		    if (tail == TX_BUFFER_SIZE) { tail = 0; }
		  
		    serial_tx_buffer_tail = tail;
		  
		  
		  // Turn off Data Register Empty Interrupt to stop tx-streaming if this concludes the transfer
		  //if (tail == serial_tx_buffer_head) { UCSR0B &= ~(1 << UDRIE0); }
		  //USART_ClearITPendingBit(USART1, USART_IT_TXE);
		  USART1->CR1&=~(1<<7);
    }	
}

uint8_t serial_read()
{
  uint8_t tail = serial_rx_buffer_tail; // Temporary serial_rx_buffer_tail (to optimize for volatile)
  if (serial_rx_buffer_head == tail) {
    return SERIAL_NO_DATA;
  } else {
    uint8_t data = serial_rx_buffer[tail];
    tail++;
    if (tail == RX_BUFFER_SIZE) { tail = 0; }
    serial_rx_buffer_tail = tail;   
    return data;
  }
}

void serial_write(uint8_t data) {
  // Calculate next head
  uint8_t next_head = serial_tx_buffer_head + 1;
  if (next_head == TX_BUFFER_SIZE) { next_head = 0; }

  // Wait until there is space in the buffer
  while (next_head == serial_tx_buffer_tail) { 
    if (sys.execute & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop.
  }

  // Store data and advance head
  serial_tx_buffer[serial_tx_buffer_head] = data;
  serial_tx_buffer_head = next_head;
  
  // Enable Data Register Empty Interrupt to make sure tx-streaming is running
  //UCSR0B |=  (1 << UDRIE0); 
  //发送缓冲区空中断使能，使其进入中断
  USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
 
}
 /*comment by zjk
void serial_init()
{
  
  // Set baud rate
  #if BAUD_RATE < 57600
    uint16_t UBRR0_value = ((F_CPU / (8L * BAUD_RATE)) - 1)/2 ;
    UCSR0A &= ~(1 << U2X0); // baud doubler off  - Only needed on Uno XXX
  #else
    uint16_t UBRR0_value = ((F_CPU / (4L * BAUD_RATE)) - 1)/2;
    UCSR0A |= (1 << U2X0);  // baud doubler on for high baud rates, i.e. 115200
  #endif
  UBRR0H = UBRR0_value >> 8;
  UBRR0L = UBRR0_value;
            
  // enable rx and tx
  UCSR0B |= 1<<RXEN0;
  UCSR0B |= 1<<TXEN0;
	
  // enable interrupt on complete reception of a byte
  UCSR0B |= 1<<RXCIE0;
	  
  // defaults to 8-bit, no parity, 1 stop bit
   
}

void serial_write(uint8_t data) {
  // Calculate next head
  uint8_t next_head = serial_tx_buffer_head + 1;
  if (next_head == TX_BUFFER_SIZE) { next_head = 0; }

  // Wait until there is space in the buffer
  while (next_head == serial_tx_buffer_tail) { 
    if (sys.execute & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop.
  }

  // Store data and advance head
  serial_tx_buffer[serial_tx_buffer_head] = data;
  serial_tx_buffer_head = next_head;
  
  // Enable Data Register Empty Interrupt to make sure tx-streaming is running
  UCSR0B |=  (1 << UDRIE0); 
}

// Data Register Empty Interrupt handler
ISR(SERIAL_UDRE)
{
  // Temporary serial_tx_buffer_tail (to optimize for volatile)
  uint8_t tail = serial_tx_buffer_tail;
  
  #ifdef ENABLE_XONXOFF
    if (flow_ctrl == SEND_XOFF) { 
      UDR0 = XOFF_CHAR; 
      flow_ctrl = XOFF_SENT; 
    } else if (flow_ctrl == SEND_XON) { 
      UDR0 = XON_CHAR; 
      flow_ctrl = XON_SENT; 
    } else
  #endif
  { 
    // Send a byte from the buffer	
    UDR0 = serial_tx_buffer[tail];
  
    // Update tail position
    tail++;
    if (tail == TX_BUFFER_SIZE) { tail = 0; }
  
    serial_tx_buffer_tail = tail;
  }
  
  // Turn off Data Register Empty Interrupt to stop tx-streaming if this concludes the transfer
  if (tail == serial_tx_buffer_head) { UCSR0B &= ~(1 << UDRIE0); }
}

uint8_t serial_read()
{
  uint8_t tail = serial_rx_buffer_tail; // Temporary serial_rx_buffer_tail (to optimize for volatile)
  if (serial_rx_buffer_head == tail) {
    return SERIAL_NO_DATA;
  } else {
    uint8_t data = serial_rx_buffer[tail];
    tail++;
    if (tail == RX_BUFFER_SIZE) { tail = 0; }
    serial_rx_buffer_tail = tail;
    
    #ifdef ENABLE_XONXOFF
      if ((get_serial_rx_buffer_count() < serial_rx_buffer_LOW) && flow_ctrl == XOFF_SENT) { 
        flow_ctrl = SEND_XON;
        UCSR0B |=  (1 << UDRIE0); // Force TX
      }
    #endif
    
    return data;
  }
}

ISR(SERIAL_RX)
{
  uint8_t data = UDR0;
  uint8_t next_head;
  
  // Pick off runtime command characters directly from the serial stream. These characters are
  // not passed into the buffer, but these set system state flag bits for runtime execution.
  switch (data) {
    case CMD_STATUS_REPORT: sys.execute |= EXEC_STATUS_REPORT; break; // Set as true
    case CMD_CYCLE_START:   sys.execute |= EXEC_CYCLE_START; break; // Set as true
    case CMD_FEED_HOLD:     sys.execute |= EXEC_FEED_HOLD; break; // Set as true
    case CMD_RESET:         mc_reset(); break; // Call motion control reset routine.
    default: // Write character to buffer    
      next_head = serial_rx_buffer_head + 1;
      if (next_head == RX_BUFFER_SIZE) { next_head = 0; }
    
      // Write data to buffer unless it is full.
      if (next_head != serial_rx_buffer_tail) {
        serial_rx_buffer[serial_rx_buffer_head] = data;
        serial_rx_buffer_head = next_head;    
        
        #ifdef ENABLE_XONXOFF
          if ((get_serial_rx_buffer_count() >= serial_rx_buffer_FULL) && flow_ctrl == XON_SENT) {
            flow_ctrl = SEND_XOFF;
            UCSR0B |=  (1 << UDRIE0); // Force TX
          } 
        #endif
        
      }
  }
}
*/
void serial_reset_read_buffer() 
{
  serial_rx_buffer_tail = serial_rx_buffer_head;

  #ifdef ENABLE_XONXOFF
    flow_ctrl = XON_SENT;
  #endif
}