static void _controller_HSM()
{
//----- ISRs. These should be considered the highest priority scheduler functions ----//
/*
* HI Stepper DDA pulse generation // see stepper.h
* HI Stepper load routine SW interrupt // see stepper.h
* HI Dwell timer counter // see stepper.h
* MED GPIO1 switch port - limits / homing // see gpio.h
* MED Serial RX for USB // see xio_usart.h
* LO Segment execution SW interrupt // see stepper.h
* LO Serial TX for USB & RS-485 // see xio_usart.h
* LO Real time clock interrupt // see xmega_rtc.h
*/
//----- kernel level ISR handlers ----(flags are set in ISRs)-----------//
// Order is important:
DISPATCH(_reset_handler()); // 1. received software reset request
DISPATCH(_bootloader_handler()); // 2. received bootloader request
DISPATCH(_limit_switch_handler()); // 3. limit switch has been thrown
DISPATCH(_alarm_idler()); // 4. idle in alarm state
DISPATCH(_system_assertions()); // 5. system integrity assertions
DISPATCH(cm_feedhold_sequencing_callback());
DISPATCH(mp_plan_hold_callback()); // plan a feedhold from line runtime
//----- planner hierarchy for gcode and cycles -------------------------//
DISPATCH(rpt_status_report_callback()); // conditionally send status report
DISPATCH(rpt_queue_report_callback()); // conditionally send queue report
DISPATCH(ar_arc_callback()); // arc generation runs behind lines
DISPATCH(cm_homing_callback()); // G28.2 continuation
//----- command readers and parsers ------------------------------------//
DISPATCH(_sync_to_planner()); // ensure there is at least one free buffer in planning queue
DISPATCH(_sync_to_tx_buffer()); // sync with TX buffer (pseudo-blocking)
DISPATCH(cfg_baud_rate_callback()); // perform baud rate update (must be after TX sync)
DISPATCH(_dispatch()); // read and execute next command
}
static void _controller_HSM()
{
//----- kernel level ISR handlers ----(flags are set in ISRs)-----------//
// Order is important:
DISPATCH(_reset_handler()); // 1. software reset received
DISPATCH(_bootloader_handler()); // 2. received ESC char to start bootloader
DISPATCH(_limit_switch_handler()); // 3. limit switch has been thrown
DISPATCH(_shutdown_idler()); // 4. idle in shutdown state
DISPATCH(_system_assertions()); // 5. system integrity assertions
DISPATCH(_feedhold_handler()); // 6. feedhold requested
DISPATCH(_cycle_start_handler()); // 7. cycle start requested
//----- planner hierarchy for gcode and cycles -------------------------//
DISPATCH(rpt_status_report_callback()); // conditionally send status report
DISPATCH(rpt_queue_report_callback()); // conditionally send queue report
DISPATCH(mp_plan_hold_callback()); // plan a feedhold
DISPATCH(mp_end_hold_callback()); // end a feedhold
DISPATCH(ar_arc_callback()); // arc generation runs behind lines
DISPATCH(cm_homing_callback()); // G28.2 continuation
//----- command readers and parsers ------------------------------------//
DISPATCH(_sync_to_planner()); // ensure there is at least one free buffer in planning queue
DISPATCH(_sync_to_tx_buffer()); // sync with TX buffer (pseudo-blocking)
DISPATCH(cfg_baud_rate_callback()); // perform baud rate update (must be after TX sync)
DISPATCH(_dispatch()); // read and execute next command
}
