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()
{
//----- Interrupt Service Routines are the highest priority controller functions ----//
// See hardware.h for a list of ISRs and their priorities.
//
//----- kernel level ISR handlers ----(flags are set in ISRs)------------------------//
// Order is important:
//RXMOD DISPATCH(hw_hard_reset_handler()); // 1. handle hard reset requests
//RXMOD DISPATCH(hw_bootloader_handler()); // 2. handle requests to enter bootloader
DISPATCH(_shutdown_idler()); // 3. idle in shutdown state
// DISPATCH( poll_switches()); // 4. run a switch polling cycle
DISPATCH(_limit_switch_handler()); // 5. limit switch has been thrown
DISPATCH(cm_feedhold_sequencing_callback());// 6a. feedhold state machine runner
DISPATCH(mp_plan_hold_callback()); // 6b. plan a feedhold from line runtime
DISPATCH(_system_assertions()); // 7. system integrity assertions
//----- planner hierarchy for gcode and cycles ---------------------------------------//
DISPATCH(st_motor_power_callback()); // stepper motor power sequencing
// DISPATCH(switch_debounce_callback()); // debounce switches
DISPATCH(sr_status_report_callback()); // conditionally send status report
DISPATCH(qr_queue_report_callback()); // conditionally send queue report
DISPATCH(rx_report_callback()); // conditionally send rx report
DISPATCH(arcoOK_Macro());
DISPATCH(cm_arc_callback()); // arc generation runs behind lines
DISPATCH(cm_homing_callback()); // G28.2 continuation
DISPATCH(cm_jogging_callback()); // jog function
DISPATCH(cm_probe_callback()); // G38.2 continuation
DISPATCH(cm_wait_callback()); //
DISPATCH(cm_deferred_write_callback()); // persist G10 changes when not in machining cycle
//----- 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)
#ifdef __AVR
DISPATCH(set_baud_callback()); // perform baud rate update (must be after TX sync)
#endif
//static uint32_t linebuffer = 0;
//if (linebuffer != cm_get_linenum(RUNTIME))
// printf("line - %d\n", cm_get_linenum(RUNTIME));
//linebuffer = cm_get_linenum(RUNTIME);
DISPATCH(macro_func_ptr()); // read and execute next command
DISPATCH(_normal_idler()); // blink LEDs slowly to show everything is OK
}