Send the ack after processing commands - this gives the host code more
information on serial buffer utilization.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Prefer using 'uint8_t' buffers as it is too easy to run into C sign
extension problems with 'char' buffers. Prefer using 'uint_fast8_t'
for buffer lengths as gcc does a better job compiling them on 32bit
mcus.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for compiling the Klipper micro-controller code as a
real-time process capable of running on standard Linux systems.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The command_encodef() can read the max_size parameter directly from
the 'struct command_encoder' passed into it. Also, there is no need
to check that a message will fit in a buffer if the buffer is declared
to be MESSAGE_MAX in size.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add function to indicate when tasks need to be run. This will allow
the scheduler code to know if there are any tasks that need to be
processed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the command dispatch and response generation so that most of
the work is done on pru0 instead of pru1. This allows more code to
fit into the limited space on pru1.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't use the sendf() macro for ack and nak messages - directly call
the command_sendf() code instead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Export a new console_sendf() function from the board code instead of
console_get_output() and console_push_output(). This enables more
flexibility in how the board specific code produces output.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the command_task() code from the generic code to the board
specific code. This enables more flexibility in how the board
specific code processes input.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Refactor the code so that message block framing, command parsing, and
command dispatch are distinct.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Avoid using linker magic to define the init, task, and shutdown
functions. Instead, use the compile_time_request system. This
simplifies the build and produces more efficient code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Avoid generating unique ids via memory locations and linker scripts.
Instead, generate them using code produced by buildcommands.py.
Utilize gcc's ability to perform static string comparisons at compile
time to produce a unique id for each unique string.
This fixes a build failure on ARM introduced in 142b92b8. It also
reduces the complexity of the build.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On regular 32bit machines there is no need to implement explicit
signed conversion on 16bit integers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit f28eb902 reworked the switch to fix int16 encoding. However,
at least one version of avr gcc doesn't like that switch layout (it
uses a jump table). Reorg the switch to avoid that issue.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The code wasn't properly sign-extending 16bit integers which caused
int16_t reports in output() to appear as uint16_t.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
As long as the code is careful when writing the in_sendf variable it
should be safe to update it without having to disable irqs.
Also, make sure in_sendf is cleared on shutdown.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow sendf() to be called from irq and timer context - check for the
case where sendf() is called while already in sendf() and simply
discard those messages. This makes it safe to use output() debugging
calls even in irq and timer context.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of creating a misc.h file in each board directory, create a
generic board directory and declare misc.h there.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor