90 lines
2.3 KiB
C
90 lines
2.3 KiB
C
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/*
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serial_protocol.c - the serial protocol master control unit
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <avr/io.h>
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#include "serial_protocol.h"
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#include "gcode.h"
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#include "wiring_serial.h"
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#include "config.h"
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#include <math.h>
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#include "nuts_bolts.h"
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#define BLOCK_BUFFER_SIZE 128
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char line[BLOCK_BUFFER_SIZE];
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uint8_t line_counter;
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void prompt() {
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printString(PROMPT);
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}
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void print_result() {
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double position[3];
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int inches_mode;
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uint8_t status_code;
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uint32_t line_number;
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gc_get_status(position, &status_code, &inches_mode, &line_number);
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printByte('[');
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printInteger(trunc(position[X_AXIS]*100));
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printByte(',');
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printInteger(trunc(position[Y_AXIS]*100));
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printByte(',');
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printInteger(trunc(position[Z_AXIS]*100));
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printByte(']');
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printByte(' ');
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printByte('@');
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printInteger(line_number);
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printByte(':');
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switch(status_code) {
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case GCSTATUS_OK: printString("0 OK\n"); break;
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case GCSTATUS_BAD_NUMBER_FORMAT: printString("1 Bad number format\n");
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case GCSTATUS_EXPECTED_COMMAND_LETTER: printString("2 Expected command letter\n"); break;
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case GCSTATUS_UNSUPPORTED_STATEMENT: printString("3 Unsupported statement\n"); break;
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case GCSTATUS_MOTION_CONTROL_ERROR: printString("4 Motion control error\n"); break;
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}
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}
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void sp_init()
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{
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beginSerial(BAUD_RATE);
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printString("Grbl ");
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printString(VERSION);
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printByte('\n');
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prompt();
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}
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void sp_process()
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{
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char c;
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while((c = serialRead()) != -1)
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{
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if(c == '\n') {
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line[line_counter] = 0;
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gc_execute_line(line);
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line_counter = 0;
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print_result();
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prompt();
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} else {
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line[line_counter] = c;
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}
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}
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}
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