Addressed much larger flash size with avr-gcc v4.9.2. Refactored reports to save 160KB.
- The newest Arduino IDE 1.6.12 has recently updated to avr-gcc v4.9.2. Unfortunately, it produces a compiled size almost 0.7KB to 1KB larger than prior versions! This can easily cause the base build to exceed the Arduino Duemilanove/Nano flash limit of 30.5KB. The Arduino Uno seems to be ok still with its 31.5KB flash limit. - Makefile `-flto` compile flag added to cut down on the horrible flash size when using the new avr-gcc. (Edit Makefile and remove comment on COMPILE definition). This brings it in-line with what the IDE produces. - Functionalized repetitive tasks in report.c to try to reduce overall flash size. Successfully cut down about 160bytes. - Removed printFloat_SettingValue() and printFloat_RPMValue() functions. These aren’t required and can be replaced with a direct call to printFloat() because they don’t require a unit conversion check.
This commit is contained in:
Sonny Jeon
parent
c0f61e4aac
commit
b04faaf0d3
6
Makefile
6
Makefile
@ -42,8 +42,14 @@ FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m
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# Tune the lines below only if you know what you are doing:
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AVRDUDE = avrdude $(PROGRAMMER) -p $(DEVICE) -B 10 -F
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# Compile flags for avr-gcc v4.8.1. Does not produce -flto warnings.
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COMPILE = avr-gcc -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) -I. -ffunction-sections
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# Compile flags for avr-gcc v4.9.2 compatible with the IDE. Or if you don't care about the warnings.
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# COMPILE = avr-gcc -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) -I. -ffunction-sections -flto
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OBJECTS = $(addprefix $(BUILDDIR)/,$(notdir $(SOURCE:.c=.o)))
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# symbolic targets:
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@ -1,3 +1,21 @@
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----------------
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Date: 2016-09-24
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Author: Sonny Jeon
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Subject: Serial RX count bug fix. Settings codes CSV. More documentation.
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- Reverted back the serial RX count function to how it was. The
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variable type was unsigned and cause an integer underflow whenever the
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calculation produced a negative number. The old way was the correct way.
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- Lots of minor edits to the code CSVs and markdown documents.
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- Expanded on explaining feedback messages and startup line execution
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feedback.
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- Created a new settings codes CSV to help GUIs import the values and
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meanings.
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----------------
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Date: 2016-09-22
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Author: Sonny Jeon
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@ -23,7 +23,7 @@
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// Grbl versioning system
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#define GRBL_VERSION "1.1a"
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#define GRBL_VERSION_BUILD "20160922"
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#define GRBL_VERSION_BUILD "20160925"
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// Define standard libraries used by Grbl.
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#include <avr/io.h>
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@ -173,7 +173,6 @@ void printFloat(float n, uint8_t decimal_places)
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// in the config.h.
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// - CoordValue: Handles all position or coordinate values in inches or mm reporting.
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// - RateValue: Handles feed rate and current velocity in inches or mm reporting.
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// - SettingValue: Handles all floating point settings values (always in mm.)
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void printFloat_CoordValue(float n) {
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if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
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printFloat(n*INCH_PER_MM,N_DECIMAL_COORDVALUE_INCH);
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@ -190,10 +189,6 @@ void printFloat_RateValue(float n) {
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}
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}
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// void printFloat_SettingValue(float n) { printFloat(n,N_DECIMAL_SETTINGVALUE); }
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void printFloat_RPMValue(float n) { printFloat(n,N_DECIMAL_RPMVALUE); }
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// Debug tool to print free memory in bytes at the called point.
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// NOTE: Keep commented unless using. Part of this function always gets compiled in.
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// void printFreeMemory()
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@ -42,12 +42,8 @@ void printFloat(float n, uint8_t decimal_places);
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// Floating value printing handlers for special variables types used in Grbl.
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// - CoordValue: Handles all position or coordinate values in inches or mm reporting.
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// - RateValue: Handles feed rate and current velocity in inches or mm reporting.
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// - SettingValue: Handles all floating point settings values (always in mm.)
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// - RPMValue: Handles spindle RPM values in settings and reports.
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void printFloat_CoordValue(float n);
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void printFloat_RateValue(float n);
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// void printFloat_SettingValue(float n);
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void printFloat_RPMValue(float n);
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// Debug tool to print free memory in bytes at the called point. Not used otherwise.
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void printFreeMemory();
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221
grbl/report.c
221
grbl/report.c
@ -29,6 +29,22 @@
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#include "grbl.h"
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// Internal report utilities to reduce flash with repetitive tasks turned into functions.
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static void report_util_line_feed() { printPgmString(PSTR("\r\n")); }
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static void report_util_feedback_line_feed() { serial_write(']'); report_util_line_feed(); }
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void report_util_setting_prefix(uint8_t n) { serial_write('$'); print_uint8_base10(n); serial_write('='); }
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static void report_util_uint8_setting(uint8_t n, int val) { report_util_setting_prefix(n); print_uint8_base10(val); report_util_line_feed(); }
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static void report_util_float_setting(uint8_t n, float val) { report_util_setting_prefix(n); printFloat(val,N_DECIMAL_SETTINGVALUE); report_util_line_feed(); }
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static void report_util_rpm_setting(uint8_t n, float val) { report_util_setting_prefix(n); printFloat(val,N_DECIMAL_RPMVALUE); report_util_line_feed(); }
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static void report_util_axis_values(float *axis_value) {
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uint8_t idx;
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for (idx=0; idx<N_AXIS; idx++) {
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printFloat_CoordValue(axis_value[idx]);
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if (idx < (N_AXIS-1)) { serial_write(','); }
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}
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}
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// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
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// For every incoming line, this method responds with an 'ok' for a successful command or an
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// 'error:' to indicate some error event with the line or some critical system error during
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@ -96,7 +112,7 @@ void report_status_message(uint8_t status_code)
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print_uint8_base10(status_code); // Print error code for user reference
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}
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#endif
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printPgmString(PSTR("\r\n"));
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report_util_line_feed();
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}
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}
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@ -125,7 +141,7 @@ void report_alarm_message(int8_t alarm_code)
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printPgmString(PSTR("Homing fail")); break;
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}
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#endif
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printPgmString(PSTR("\r\n"));
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report_util_line_feed();
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delay_ms(500); // Force delay to ensure message clears serial write buffer.
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}
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@ -160,7 +176,7 @@ void report_feedback_message(uint8_t message_code)
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case MESSAGE_SPINDLE_RESTORE:
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printPgmString(PSTR("Restoring spindle")); break;
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}
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printPgmString(PSTR("]\r\n"));
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report_util_feedback_line_feed();
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}
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@ -194,56 +210,37 @@ void report_grbl_help() {
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}
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static void report_int_setting(uint8_t n, int val)
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{
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serial_write('$');
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print_uint8_base10(n);
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serial_write('=');
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print_uint8_base10(val);
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printPgmString(PSTR("\r\n"));
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}
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static void report_float_setting(uint8_t n, float val, uint8_t decimal_places)
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{
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serial_write('$');
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print_uint8_base10(n);
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serial_write('=');
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printFloat(val, decimal_places);
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printPgmString(PSTR("\r\n"));
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}
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// Grbl global settings print out.
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// NOTE: The numbering scheme here must correlate to storing in settings.c
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void report_grbl_settings() {
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// Print Grbl settings.
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#ifdef REPORT_GUI_MODE
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report_int_setting(0,settings.pulse_microseconds);
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report_int_setting(1,settings.stepper_idle_lock_time);
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report_int_setting(2,settings.step_invert_mask);
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report_int_setting(3,settings.dir_invert_mask);
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report_int_setting(4,bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
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report_int_setting(5,bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
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report_int_setting(6,bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
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report_int_setting(10,settings.status_report_mask);
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report_float_setting(11,settings.junction_deviation,N_DECIMAL_SETTINGVALUE);
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report_float_setting(12,settings.arc_tolerance,N_DECIMAL_SETTINGVALUE);
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report_int_setting(13,bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
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report_int_setting(20,bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
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report_int_setting(21,bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
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report_int_setting(22,bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
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report_int_setting(23,settings.homing_dir_mask);
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report_float_setting(24,settings.homing_feed_rate,N_DECIMAL_SETTINGVALUE);
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report_float_setting(25,settings.homing_seek_rate,N_DECIMAL_SETTINGVALUE);
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report_int_setting(26,settings.homing_debounce_delay);
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report_float_setting(27,settings.homing_pulloff,N_DECIMAL_SETTINGVALUE);
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report_float_setting(30,settings.rpm_max,N_DECIMAL_RPMVALUE);
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report_float_setting(31,settings.rpm_min,N_DECIMAL_RPMVALUE);
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report_util_uint8_setting(0,settings.pulse_microseconds);
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report_util_uint8_setting(1,settings.stepper_idle_lock_time);
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report_util_uint8_setting(2,settings.step_invert_mask);
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report_util_uint8_setting(3,settings.dir_invert_mask);
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report_util_uint8_setting(4,bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
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report_util_uint8_setting(5,bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
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report_util_uint8_setting(6,bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
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report_util_uint8_setting(10,settings.status_report_mask);
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report_util_float_setting(11,settings.junction_deviation);
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report_util_float_setting(12,settings.arc_tolerance);
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report_util_uint8_setting(13,bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
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report_util_uint8_setting(20,bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
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report_util_uint8_setting(21,bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
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report_util_uint8_setting(22,bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
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report_util_uint8_setting(23,settings.homing_dir_mask);
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report_util_float_setting(24,settings.homing_feed_rate);
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report_util_float_setting(25,settings.homing_seek_rate);
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report_util_uint8_setting(26,settings.homing_debounce_delay);
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report_util_float_setting(27,settings.homing_pulloff);
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report_util_rpm_setting(30,settings.rpm_max);
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report_util_rpm_setting(31,settings.rpm_min);
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#ifdef VARIABLE_SPINDLE
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report_int_setting(32,bit_istrue(settings.flags,BITFLAG_LASER_MODE));
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report_util_uint8_setting(32,bit_istrue(settings.flags,BITFLAG_LASER_MODE));
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#else
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report_int_setting(32,0);
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report_util_uint8_setting(32,0);
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#endif
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// Print axis settings
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uint8_t idx, set_idx;
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@ -251,10 +248,10 @@ void report_grbl_settings() {
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for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
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for (idx=0; idx<N_AXIS; idx++) {
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switch (set_idx) {
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case 0: report_float_setting(val+idx,settings.steps_per_mm[idx],N_DECIMAL_SETTINGVALUE); break;
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case 1: report_float_setting(val+idx,settings.max_rate[idx],N_DECIMAL_SETTINGVALUE); break;
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case 2: report_float_setting(val+idx,settings.acceleration[idx]/(60*60),N_DECIMAL_SETTINGVALUE); break;
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case 3: report_float_setting(val+idx,-settings.max_travel[idx],N_DECIMAL_SETTINGVALUE); break;
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case 0: report_util_float_setting(val+idx,settings.steps_per_mm[idx]); break;
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case 1: report_util_float_setting(val+idx,settings.max_rate[idx]); break;
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case 2: report_util_float_setting(val+idx,settings.acceleration[idx]/(60*60)); break;
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case 3: report_util_float_setting(val+idx,-settings.max_travel[idx]); break;
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}
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}
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val += AXIS_SETTINGS_INCREMENT;
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@ -358,19 +355,14 @@ void report_grbl_settings() {
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// These values are retained until Grbl is power-cycled, whereby they will be re-zeroed.
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void report_probe_parameters()
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{
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uint8_t i;
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float print_position[N_AXIS];
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// Report in terms of machine position.
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printPgmString(PSTR("[PRB:"));
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for (i=0; i< N_AXIS; i++) {
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print_position[i] = system_convert_axis_steps_to_mpos(sys_probe_position,i);
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printFloat_CoordValue(print_position[i]);
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if (i < (N_AXIS-1)) { serial_write(','); }
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}
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float print_position[N_AXIS];
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system_convert_array_steps_to_mpos(print_position,sys_probe_position);
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report_util_axis_values(print_position);
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serial_write(':');
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print_uint8_base10(sys.probe_succeeded);
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printPgmString(PSTR("]\r\n"));
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report_util_feedback_line_feed();
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}
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@ -378,7 +370,7 @@ void report_probe_parameters()
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void report_ngc_parameters()
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{
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float coord_data[N_AXIS];
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uint8_t coord_select, i;
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uint8_t coord_select;
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for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
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if (!(settings_read_coord_data(coord_select,coord_data))) {
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report_status_message(STATUS_SETTING_READ_FAIL);
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@ -391,21 +383,15 @@ void report_ngc_parameters()
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default: print_uint8_base10(coord_select+54); break; // G54-G59
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}
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serial_write(':');
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for (i=0; i<N_AXIS; i++) {
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printFloat_CoordValue(coord_data[i]);
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if (i < (N_AXIS-1)) { serial_write(','); }
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else { printPgmString(PSTR("]\r\n")); }
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}
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report_util_axis_values(coord_data);
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report_util_feedback_line_feed();
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}
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printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
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for (i=0; i<N_AXIS; i++) {
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printFloat_CoordValue(gc_state.coord_offset[i]);
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if (i < (N_AXIS-1)) { serial_write(','); }
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else { printPgmString(PSTR("]\r\n")); }
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}
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report_util_axis_values(gc_state.coord_offset);
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report_util_feedback_line_feed();
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printPgmString(PSTR("[TLO:")); // Print tool length offset value
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printFloat_CoordValue(gc_state.tool_length_offset);
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printPgmString(PSTR("]\r\n"));
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report_util_feedback_line_feed();
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report_probe_parameters(); // Print probe parameters. Not persistent in memory.
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}
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@ -435,14 +421,17 @@ void report_gcode_modes()
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case PLANE_SELECT_YZ : serial_write('9'); break;
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}
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if (gc_state.modal.units == UNITS_MODE_MM) { printPgmString(PSTR(" G21")); }
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else { printPgmString(PSTR(" G20")); }
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printPgmString(PSTR(" G2"));
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if (gc_state.modal.units == UNITS_MODE_MM) { serial_write('1'); }
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else { serial_write('0'); }
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if (gc_state.modal.distance == DISTANCE_MODE_ABSOLUTE) { printPgmString(PSTR(" G90")); }
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else { printPgmString(PSTR(" G91")); }
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printPgmString(PSTR(" G9"));
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if (gc_state.modal.distance == DISTANCE_MODE_ABSOLUTE) { serial_write('0'); }
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else { serial_write('1'); }
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if (gc_state.modal.feed_rate == FEED_RATE_MODE_INVERSE_TIME) { printPgmString(PSTR(" G93")); }
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else { printPgmString(PSTR(" G94")); }
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printPgmString(PSTR(" G9"));
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if (gc_state.modal.feed_rate == FEED_RATE_MODE_INVERSE_TIME) { serial_write('3'); }
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else { serial_write('4'); }
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printPgmString(PSTR(" M"));
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switch (gc_state.modal.program_flow) {
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@ -477,10 +466,10 @@ void report_gcode_modes()
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#ifdef VARIABLE_SPINDLE
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printPgmString(PSTR(" S"));
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printFloat_RPMValue(gc_state.spindle_speed);
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printFloat(gc_state.spindle_speed,N_DECIMAL_RPMVALUE);
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#endif
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printPgmString(PSTR("]\r\n"));
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report_util_feedback_line_feed();
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}
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// Prints specified startup line
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@ -490,13 +479,13 @@ void report_startup_line(uint8_t n, char *line)
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print_uint8_base10(n);
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serial_write('=');
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printString(line);
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printPgmString(PSTR("\r\n"));
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report_util_line_feed();
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}
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void report_execute_startup_message(char *line, uint8_t status_code)
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{
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serial_write('>');
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printString(line); // Echo startup line to indicate execution.
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printString(line);
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serial_write(':');
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report_status_message(status_code);
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}
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@ -506,7 +495,7 @@ void report_build_info(char *line)
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{
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printPgmString(PSTR("[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
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printString(line);
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printPgmString(PSTR("]\r\n"));
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report_util_feedback_line_feed();
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}
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@ -515,7 +504,7 @@ void report_build_info(char *line)
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void report_echo_line_received(char *line)
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{
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printPgmString(PSTR("[echo: ")); printString(line);
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printPgmString(PSTR("]\r\n"));
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report_util_feedback_line_feed();
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}
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@ -700,22 +689,39 @@ void report_realtime_status()
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// break;
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}
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// Report machine position
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float wco[N_AXIS];
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if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE) ||
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(sys.report_wco_counter >= REPORT_WCO_REFRESH_BUSY_COUNT) ) {
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for (idx=0; idx< N_AXIS; idx++) {
|
||||
// Apply work coordinate offsets and tool length offset to current position.
|
||||
wco[idx] = gc_state.coord_system[idx]+gc_state.coord_offset[idx];
|
||||
if (idx == TOOL_LENGTH_OFFSET_AXIS) { wco[idx] += gc_state.tool_length_offset; }
|
||||
if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
|
||||
print_position[idx] -= wco[idx];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
|
||||
printPgmString(PSTR("|MPos:"));
|
||||
} else {
|
||||
// Report work position
|
||||
printPgmString(PSTR("|WPos:"));
|
||||
for (idx=0; idx< N_AXIS; idx++) {
|
||||
// Apply work coordinate offsets and tool length offset to current position.
|
||||
print_position[idx] -= gc_state.coord_system[idx]+gc_state.coord_offset[idx];
|
||||
if (idx == TOOL_LENGTH_OFFSET_AXIS) { print_position[idx] -= gc_state.tool_length_offset; }
|
||||
}
|
||||
}
|
||||
for (idx=0; idx< N_AXIS; idx++) {
|
||||
printFloat_CoordValue(print_position[idx]);
|
||||
if (idx < (N_AXIS-1)) { serial_write(','); }
|
||||
}
|
||||
report_util_axis_values(print_position);
|
||||
|
||||
// Report machine position
|
||||
// if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
|
||||
// printPgmString(PSTR("|MPos:"));
|
||||
// } else {
|
||||
// // Report work position
|
||||
// printPgmString(PSTR("|WPos:"));
|
||||
// for (idx=0; idx< N_AXIS; idx++) {
|
||||
// // Apply work coordinate offsets and tool length offset to current position.
|
||||
// print_position[idx] -= gc_state.coord_system[idx]+gc_state.coord_offset[idx];
|
||||
// if (idx == TOOL_LENGTH_OFFSET_AXIS) { print_position[idx] -= gc_state.tool_length_offset; }
|
||||
// }
|
||||
// }
|
||||
// report_util_axis_values(print_position);
|
||||
|
||||
// Returns planner and serial read buffer states.
|
||||
#ifdef REPORT_FIELD_BUFFER_STATE
|
||||
@ -777,15 +783,25 @@ void report_realtime_status()
|
||||
sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-1); // Set override on next report.
|
||||
}
|
||||
printPgmString(PSTR("|WCO:"));
|
||||
float axis_offset;
|
||||
uint8_t idx;
|
||||
for (idx=0; idx<N_AXIS; idx++) {
|
||||
axis_offset = gc_state.coord_system[idx]+gc_state.coord_offset[idx];
|
||||
if (idx == TOOL_LENGTH_OFFSET_AXIS) { axis_offset += gc_state.tool_length_offset; }
|
||||
printFloat_CoordValue(axis_offset);
|
||||
if (idx < (N_AXIS-1)) { serial_write(','); }
|
||||
}
|
||||
report_util_axis_values(wco);
|
||||
}
|
||||
// if (sys.report_wco_counter++ >= REPORT_WCO_REFRESH_BUSY_COUNT) {
|
||||
// if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
|
||||
// sys.report_wco_counter = 1; // Reset counter for slow refresh
|
||||
// } else { sys.report_wco_counter = (REPORT_WCO_REFRESH_BUSY_COUNT-REPORT_WCO_REFRESH_IDLE_COUNT+1); }
|
||||
// if (sys.report_ovr_counter >= REPORT_OVR_REFRESH_BUSY_COUNT) {
|
||||
// sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-1); // Set override on next report.
|
||||
// }
|
||||
// printPgmString(PSTR("|WCO:"));
|
||||
// float axis_offset;
|
||||
// uint8_t idx;
|
||||
// for (idx=0; idx<N_AXIS; idx++) {
|
||||
// axis_offset = gc_state.coord_system[idx]+gc_state.coord_offset[idx];
|
||||
// if (idx == TOOL_LENGTH_OFFSET_AXIS) { axis_offset += gc_state.tool_length_offset; }
|
||||
// printFloat_CoordValue(axis_offset);
|
||||
// if (idx < (N_AXIS-1)) { serial_write(','); }
|
||||
// }
|
||||
// }
|
||||
#endif
|
||||
|
||||
#ifdef REPORT_FIELD_OVERRIDES
|
||||
@ -812,7 +828,8 @@ void report_realtime_status()
|
||||
}
|
||||
#endif
|
||||
|
||||
printPgmString(PSTR(">\r\n"));
|
||||
serial_write('>');
|
||||
report_util_line_feed();
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user