ManuelW/grbl-LPC-CoreXY
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refactored handling of settings '$' command out of gcode module and into settings module

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This commit is contained in:
Simen Svale Skogsrud 2011-02-18 22:59:16 +01:00
parent 6893463e80
commit 9876e14f0b
9 changed files with 93 additions and 68 deletions
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2
Makefile
View File

@ -31,7 +31,7 @@ DEVICE = atmega328p
CLOCK = 16000000
PROGRAMMER = -c avrisp2 -P usb
OBJECTS = main.o motion_control.o gcode.o spindle_control.o wiring_serial.o protocol.o stepper.o \
eeprom.o settings.o planner.o
eeprom.o settings.o planner.o nuts_bolts.o
# FUSES = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m
FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m
# update that line with this when programmer is back up:

56
gcode.c
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@ -22,7 +22,6 @@
by Kramer, Proctor and Messina. */
#include "gcode.h"
#include <stdlib.h>
#include <string.h>
#include "nuts_bolts.h"
#include <math.h>
@ -63,7 +62,7 @@ typedef struct {
uint8_t inches_mode; /* 0 = millimeter mode, 1 = inches mode {G20, G21} */
uint8_t absolute_mode; /* 0 = relative motion, 1 = absolute motion {G90, G91} */
uint8_t program_flow;
int spindle_direction;
int8_t spindle_direction;
double feed_rate, seek_rate; /* Millimeters/second */
double position[3]; /* Where the interpreter considers the tool to be at this point in the code */
uint8_t tool;
@ -76,11 +75,7 @@ static parser_state_t gc;
#define FAIL(status) gc.status_code = status;
int read_double(char *line, // <- string: line of RS274/NGC code being processed
int *char_counter, // <- pointer to a counter for position on the line
double *double_ptr); // <- pointer to double to be read
int next_statement(char *letter, double *double_ptr, char *line, int *char_counter);
int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter);
void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2)
@ -122,7 +117,7 @@ double theta(double x, double y)
// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
// characters and signed floating point values (no whitespace).
uint8_t gc_execute_line(char *line) {
int char_counter = 0;
uint8_t char_counter = 0;
char letter;
double value;
double unit_converted_value;
@ -140,27 +135,12 @@ uint8_t gc_execute_line(char *line) {
clear_vector(target);
clear_vector(offset);
gc.status_code = GCSTATUS_OK;
gc.status_code = STATUS_OK;
// Disregard comments and block delete
if (line[0] == '(') { return(gc.status_code); }
if (line[0] == '/') { char_counter++; } // ignore block delete
// If the line starts with an '$' it is a configuration-command
if (line[0] == '$') {
// Parameter lines are on the form '$4=374.3' or '$' to dump current settings
char_counter = 1;
if(line[char_counter] == 0) { settings_dump(); return(GCSTATUS_OK); }
read_double(line, &char_counter, &p);
if(line[char_counter++] != '=') { return(GCSTATUS_UNSUPPORTED_STATEMENT); }
read_double(line, &char_counter, &value);
if(line[char_counter] != 0) { return(GCSTATUS_UNSUPPORTED_STATEMENT); }
settings_store_setting(p, value);
return(gc.status_code);
}
/* We'll handle this as g-code. First: parse all statements */
// Pass 1: Commands
while(next_statement(&letter, &value, line, &char_counter)) {
int_value = trunc(value);
@ -184,7 +164,7 @@ uint8_t gc_execute_line(char *line) {
case 91: gc.absolute_mode = FALSE; break;
case 93: gc.inverse_feed_rate_mode = TRUE; break;
case 94: gc.inverse_feed_rate_mode = FALSE; break;
default: FAIL(GCSTATUS_UNSUPPORTED_STATEMENT);
default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
}
break;
@ -195,7 +175,7 @@ uint8_t gc_execute_line(char *line) {
case 3: gc.spindle_direction = 1; break;
case 4: gc.spindle_direction = -1; break;
case 5: gc.spindle_direction = 0; break;
default: FAIL(GCSTATUS_UNSUPPORTED_STATEMENT);
default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
}
break;
case 'T': gc.tool = trunc(value); break;
@ -324,7 +304,7 @@ uint8_t gc_execute_line(char *line) {
double h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y); // == -(h * 2 / d)
// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
// real CNC, and thus - for practical reasons - we will terminate promptly:
if(isnan(h_x2_div_d)) { FAIL(GCSTATUS_FLOATING_POINT_ERROR); return(gc.status_code); }
if(isnan(h_x2_div_d)) { FAIL(STATUS_FLOATING_POINT_ERROR); return(gc.status_code); }
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
if (gc.motion_mode == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d; }
@ -407,40 +387,24 @@ uint8_t gc_execute_line(char *line) {
// Parses the next statement and leaves the counter on the first character following
// the statement. Returns 1 if there was a statements, 0 if end of string was reached
// or there was an error (check state.status_code).
int next_statement(char *letter, double *double_ptr, char *line, int *char_counter) {
int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter) {
if (line[*char_counter] == 0) {
return(0); // No more statements
}
*letter = line[*char_counter];
if((*letter < 'A') || (*letter > 'Z')) {
FAIL(GCSTATUS_EXPECTED_COMMAND_LETTER);
FAIL(STATUS_EXPECTED_COMMAND_LETTER);
return(0);
}
(*char_counter)++;
if (!read_double(line, char_counter, double_ptr)) {
FAIL(STATUS_BAD_NUMBER_FORMAT);
return(0);
};
return(1);
}
int read_double(char *line, //!< string: line of RS274/NGC code being processed
int *char_counter, //!< pointer to a counter for position on the line
double *double_ptr) //!< pointer to double to be read
{
char *start = line + *char_counter;
char *end;
*double_ptr = strtod(start, &end);
if(end == start) {
FAIL(GCSTATUS_BAD_NUMBER_FORMAT);
return(0);
};
*char_counter = end - line;
return(1);
}
/*
Intentionally not supported:

6
gcode.h
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@ -23,12 +23,6 @@
#define gcode_h
#include <avr/io.h>
#define GCSTATUS_OK 0
#define GCSTATUS_BAD_NUMBER_FORMAT 1
#define GCSTATUS_EXPECTED_COMMAND_LETTER 2
#define GCSTATUS_UNSUPPORTED_STATEMENT 3
#define GCSTATUS_FLOATING_POINT_ERROR 4
// Initialize the parser
void gc_init();

18
nuts_bolts.c Normal file
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@ -0,0 +1,18 @@
#include "nuts_bolts.h"
#include <stdint.h>
#include <stdlib.h>
int read_double(char *line, uint8_t *char_counter, double *double_ptr)
{
char *start = line + *char_counter;
char *end;
*double_ptr = strtod(start, &end);
if(end == start) {
return(0);
};
*char_counter = end - line;
return(1);
}

3
nuts_bolts.h
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@ -21,6 +21,7 @@
#ifndef nuts_bolts_h
#define nuts_bolts_h
#include <string.h>
#include <stdint.h>
#define FALSE 0
#define TRUE 1
@ -32,4 +33,6 @@
#define clear_vector(a) memset(a, 0, sizeof(a))
#define max(a,b) (((a) > (b)) ? (a) : (b))
int read_double(char *line, uint8_t *char_counter, double *double_ptr);
#endif

37
protocol.c
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@ -33,22 +33,24 @@ static char line[LINE_BUFFER_SIZE];
static uint8_t char_counter;
void status_message(int status_code) {
switch(status_code) {
case GCSTATUS_OK:
printPgmString(PSTR("ok\n\r")); break;
case GCSTATUS_BAD_NUMBER_FORMAT:
printPgmString(PSTR("error: Bad number format\n\r")); break;
case GCSTATUS_EXPECTED_COMMAND_LETTER:
printPgmString(PSTR("error: Expected command letter\n\r")); break;
case GCSTATUS_UNSUPPORTED_STATEMENT:
printPgmString(PSTR("error: Unsupported statement\n\r")); break;
case GCSTATUS_FLOATING_POINT_ERROR:
printPgmString(PSTR("error: Floating point error\n\r")); break;
default:
if (status_code == 0) {
printPgmString(PSTR("ok\n\r"));
} else {
printPgmString(PSTR("error: "));
switch(status_code) {
case STATUS_BAD_NUMBER_FORMAT:
printPgmString(PSTR("Bad number format\n\r")); break;
case STATUS_EXPECTED_COMMAND_LETTER:
printPgmString(PSTR("Expected command letter\n\r")); break;
case STATUS_UNSUPPORTED_STATEMENT:
printPgmString(PSTR("Unsupported statement\n\r")); break;
case STATUS_FLOATING_POINT_ERROR:
printPgmString(PSTR("Floating point error\n\r")); break;
default:
printInteger(status_code);
printPgmString(PSTR("\n\r"));
}
}
}
void protocol_init()
@ -58,6 +60,15 @@ void protocol_init()
printPgmString(PSTR("\r\n"));
}
// Executes one line of input according to protocol
uint8_t protocol_execute_line(char *line) {
if(line[0] == '$') {
return(settings_execute_line(line)); // Delegate lines starting with '$' to the settings module
} else {
return(gc_execute_line(line)); // Everything else is gcode
}
}
void protocol_process()
{
char c;
@ -65,7 +76,7 @@ void protocol_process()
{
if((char_counter > 0) && ((c == '\n') || (c == '\r'))) { // Line is complete. Then execute!
line[char_counter] = 0; // treminate string
status_message(gc_execute_line(line));
status_message(protocol_execute_line(line));
char_counter = 0; // reset line buffer index
} else if (c <= ' ') { // Throw away whitepace and control characters
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase

9
protocol.h
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@ -20,6 +20,12 @@
#ifndef serial_h
#define serial_h
#define STATUS_OK 0
#define STATUS_BAD_NUMBER_FORMAT 1
#define STATUS_EXPECTED_COMMAND_LETTER 2
#define STATUS_UNSUPPORTED_STATEMENT 3
#define STATUS_FLOATING_POINT_ERROR 4
// Initialize the serial protocol
void protocol_init();
@ -27,4 +33,7 @@ void protocol_init();
// come in. Blocks until the serial buffer is emptied.
void protocol_process();
// Executes one line of input according to protocol
uint8_t protocol_execute_line(char *line);
#endif

23
settings.c
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@ -25,6 +25,7 @@
#include "eeprom.h"
#include "wiring_serial.h"
#include <avr/pgmspace.h>
#include "protocol.h"
settings_t settings;
@ -81,6 +82,28 @@ void settings_dump() {
printPgmString(PSTR("\r\n'$x=value' to set parameter or just '$' to dump current settings\r\n"));
}
// Parameter lines are on the form '$4=374.3' or '$' to dump current settings
uint8_t settings_execute_line(char *line) {
uint8_t char_counter = 1;
double parameter, value;
if(line[0] != '$') {
return(STATUS_UNSUPPORTED_STATEMENT);
}
if(line[char_counter] == 0) {
settings_dump(); return(STATUS_OK);
}
read_double(line, &char_counter, &parameter);
if(line[char_counter++] != '=') {
return(STATUS_UNSUPPORTED_STATEMENT);
}
read_double(line, &char_counter, &value);
if(line[char_counter] != 0) {
return(STATUS_UNSUPPORTED_STATEMENT);
}
settings_store_setting(parameter, value);
return(STATUS_OK);
}
void write_settings() {
eeprom_put_char(0, SETTINGS_VERSION);
memcpy_to_eeprom_with_checksum(1, (char*)&settings, sizeof(settings_t));

3
settings.h
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@ -51,6 +51,9 @@ void settings_init();
// Print current settings
void settings_dump();
// Handle settings command
uint8_t settings_execute_line(char *line);
// A helper method to set new settings from command line
void settings_store_setting(int parameter, double value);