Teacup_Firmware/dda_queue.c

#include	"dda_queue.h"

/** \file
	\brief DDA Queue - manage the move queue
*/

#include	<string.h>
#ifndef SIMULATOR
#include	<avr/interrupt.h>
#endif

#include	"config_wrapper.h"
#include	"timer.h"
#include	"serial.h"
#include	"sermsg.h"
#include	"temp.h"
#include	"delay.h"
#include	"sersendf.h"
#include	"clock.h"
#include	"memory_barrier.h"

/// movebuffer head pointer. Points to the last move in the queue.
/// this variable is used both in and out of interrupts, but is
/// only written outside of interrupts.
uint8_t	mb_head = 0;

/// movebuffer tail pointer. Points to the currently executing move
/// this variable is read/written both in and out of interrupts.
uint8_t	mb_tail = 0;

/// move buffer.
/// holds move queue
/// contents are read/written both in and out of interrupts, but
/// once writing starts in interrupts on a specific slot, the
/// slot will only be modified in interrupts until the slot is
/// is no longer live.
/// The size does not need to be a power of 2 anymore!
DDA BSS movebuffer[MOVEBUFFER_SIZE];

/// check if the queue is completely full
uint8_t queue_full() {
	MEMORY_BARRIER();
	if (mb_tail > mb_head) {
		return ((mb_tail - mb_head - 1) == 0) ? 255 : 0;
	} else {
		return ((mb_tail + MOVEBUFFER_SIZE - mb_head - 1) == 0) ? 255 : 0;
	}
}

/// check if the queue is completely empty
uint8_t queue_empty() {
  uint8_t result;

  ATOMIC_START
    result = ((mb_tail == mb_head) && (movebuffer[mb_tail].live == 0))?255:0;
  ATOMIC_END

	return result;
}

/// Return the current movement, or NULL, if there's no movement going on.
DDA *queue_current_movement() {
  DDA* current;

  ATOMIC_START
    current = &movebuffer[mb_tail];

    if ( ! current->live || current->waitfor_temp || current->nullmove)
      current = NULL;
  ATOMIC_END

  return current;
}

// -------------------------------------------------------
// This is the one function called by the timer interrupt.
// It calls a few other functions, though.
// -------------------------------------------------------
/// Take a step or go to the next move.
void queue_step() {
	// do our next step
	DDA* current_movebuffer = &movebuffer[mb_tail];
	if (current_movebuffer->live) {
		if (current_movebuffer->waitfor_temp) {
			setTimer(HEATER_WAIT_TIMEOUT);
			if (temp_achieved()) {
				current_movebuffer->live = current_movebuffer->done = 0;
				serial_writestr_P(PSTR("Temp achieved\n"));
			}
		}
		else {
			dda_step(current_movebuffer);
		}
	}

  // Start the next move if this one is done.
	if (current_movebuffer->live == 0)
		next_move();
}

/// add a move to the movebuffer
/// \note this function waits for space to be available if necessary, check queue_full() first if waiting is a problem
/// This is the only function that modifies mb_head and it always called from outside an interrupt.
void enqueue_home(TARGET *t, uint8_t endstop_check, uint8_t endstop_stop_cond) {
	// don't call this function when the queue is full, but just in case, wait for a move to complete and free up the space for the passed target
	while (queue_full())
		delay_us(100);

	uint8_t h = mb_head + 1;
	h &= (MOVEBUFFER_SIZE - 1);

	DDA* new_movebuffer = &(movebuffer[h]);

  // Initialise queue entry to a known state. This also clears flags like
  // dda->live, dda->done and dda->wait_for_temp.
  new_movebuffer->allflags = 0;

  if (t != NULL) {
		new_movebuffer->endstop_check = endstop_check;
		new_movebuffer->endstop_stop_cond = endstop_stop_cond;
	}
	else {
		// it's a wait for temp
		new_movebuffer->waitfor_temp = 1;
	}
  dda_create(new_movebuffer, t);

	// make certain all writes to global memory
	// are flushed before modifying mb_head.
	MEMORY_BARRIER();

	mb_head = h;

  uint8_t isdead;

  ATOMIC_START
    isdead = (movebuffer[mb_tail].live == 0);
  ATOMIC_END

	if (isdead) {
		next_move();
		// Compensate for the cli() in setTimer().
		sei();
	}
}

/// go to the next move.
/// be aware that this is sometimes called from interrupt context, sometimes not.
/// Note that if it is called from outside an interrupt it must not/can not by
/// be interrupted such that it can be re-entered from within an interrupt.
/// The timer interrupt MUST be disabled on entry. This is ensured because
/// the timer was disabled at the start of the ISR or else because the current
/// move buffer was dead in the non-interrupt case (which indicates that the 
/// timer interrupt is disabled).
void next_move() {
	while ((queue_empty() == 0) && (movebuffer[mb_tail].live == 0)) {
		// next item
		uint8_t t = mb_tail + 1;
		t &= (MOVEBUFFER_SIZE - 1);
		DDA* current_movebuffer = &movebuffer[t];
		// tail must be set before setTimer call as setTimer
		// reenables the timer interrupt, potentially exposing
		// mb_tail to the timer interrupt routine. 
		mb_tail = t;
		if (current_movebuffer->waitfor_temp) {
			serial_writestr_P(PSTR("Waiting for target temp\n"));
			current_movebuffer->live = 1;
			setTimer(HEATER_WAIT_TIMEOUT);
		}
		else {
			dda_start(current_movebuffer);
		}
	} 
}

/// DEBUG - print queue.
/// Qt/hs format, t is tail, h is head, s is F/full, E/empty or neither
void print_queue() {
	sersendf_P(PSTR("Q%d/%d%c"), mb_tail, mb_head, (queue_full()?'F':(queue_empty()?'E':' ')));
}

/// dump queue for emergency stop.
/// Make sure to have all timers stopped with timer_stop() or
/// unexpected things might happen.
/// \todo effect on startpoint is undefined!
void queue_flush() {

  // if the timer were running, this would require
  // wrapping in ATOMIC_START ... ATOMIC_END.
  mb_tail = mb_head;
  movebuffer[mb_head].live = 0;
}

/// wait for queue to empty
void queue_wait() {
	while (queue_empty() == 0)
		clock();
}