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Merge pull request #112 from jgeisler0303/simulator

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Grbl Simulator. Oh yeah.
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Sonny Jeon 2013-01-17 12:01:37 -08:00
commit dd06268c3d
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( Made using CamBam - http://www.cambam.co.uk )
( Untitled 2/13/2012 2:54:50 PM )
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M5
M30

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# Part of Grbl Simulator
#
# Copyright (c) 2012 Jens Geisler
#
# Grbl is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# Grbl is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Grbl. If not, see <http://www.gnu.org/licenses/>.
OBJECTS = main.o simulator.o runtime.o ../protocol.o ../planner.o ../settings.o ../print.o ../nuts_bolts.o eeprom.o serial.o avr\pgmspace.o avr\interrupt.o util\delay.o util\floatunsisf.o ../stepper.o ../gcode.o ../spindle_control.o ../motion_control.o ../limits.o ../report.o ../coolant_control.o
CLOCK = 16000000
EXE_NAME= grbl_sim.exe
COMPILER= C:\MinGW\bin\gcc.exe
COMPILE = $(COMPILER) -Wall -Os -DF_CPU=$(CLOCK) -include config.h -I.
# symbolic targets:
all: main
new: clean main
clean:
rm -f $(EXE_NAME) $(OBJECTS)
# file targets:
main: $(OBJECTS)
$(COMPILE) -o $(EXE_NAME) $(OBJECTS) -lm -Wl,--gc-sections
%.o: %.c
$(COMPILE) -c $< -o $@
../protocol.o: ../protocol.c
$(COMPILE) -include rename_execute_runtime.h -c $< -o $@
../planner.o: ../planner.c
$(COMPILE) -include planner_inject_accessors.c -c $< -o $@

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/*
interrupt.c - replacement for the avr library of the same name to provide
dummy register variables
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "interrupt.h"
// dummy register variables
uint16_t timsk0;
uint16_t timsk1;
uint16_t timsk2;
uint16_t ocr1a;
uint16_t ocr2a;
uint16_t tcnt0;
uint16_t tcnt2;
uint16_t tccr0b;
uint16_t tccr2b;
uint16_t tccr1b;
uint16_t tccr0a;
uint16_t tccr1a;
uint16_t tccr2a;
uint16_t pcmsk0;
uint16_t pcicr;
void sei() {};

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/*
interrupt.h - replacement for the avr include of the same name to provide
dummy register variables and macros
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef interrupt_h
#define interrupt_h
#include <inttypes.h>
// dummy register variables
extern uint16_t timsk0;
extern uint16_t timsk1;
extern uint16_t timsk2;
extern uint16_t tcnt0;
extern uint16_t tcnt2;
extern uint16_t tccr0b;
extern uint16_t tccr0a;
extern uint16_t tccr2a;
extern uint16_t tccr2b;
extern uint16_t tccr1b;
extern uint16_t tccr1a;
extern uint16_t ocr1a;
extern uint16_t ocr2a;
extern uint16_t pcmsk0;
extern uint16_t pcicr;
// macros to turn avr interrupts into regular functions
#define TIMER1_COMPA_vect
#define ISR(a) void interrupt_ ## a ()
// enable interrupts does nothing in the simulation environment
void sei();
// dummy macros for interrupt related registers
#define TIMSK0 timsk0
#define TIMSK1 timsk1
#define TIMSK2 timsk2
#define OCR1A ocr1a
#define OCR2A ocr2a
#define OCIE1A 0
#define OCIE2A 0
#define TCNT0 tcnt0
#define TCNT2 tcnt2
#define TCCR0B tccr0b
#define TCCR0A tccr0a
#define TCCR1A tccr1a
#define TCCR1B tccr1b
#define TCCR2A tccr2a
#define TCCR2B tccr2b
#define CS21 0
#define CS10 0
#define WGM13 0
#define WGM12 0
#define WGM11 0
#define WGM10 0
#define WGM21 0
#define COM1A0 0
#define COM1B0 0
#define TOIE0 0
#define TOIE2 0
#define PCICR pcicr
#endif

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/*
io.h - dummy replacement for the avr include of the same name
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/

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/*
pgmspace.c - replacement for the avr library of the same name to provide
dummy functions
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
// this is not really ever called in the simulation
char pgm_read_byte_near(const char* s) {
return s[0];
}

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/*
pgmspace.h - replacement for the avr include of the same name to provide
dummy functions andd macros
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef pgmspace_h
#define pgmspace_h
#define PSTR(s) s
char pgm_read_byte_near(const char* s);
#endif

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/*
sleep.h - dummy replacement for the avr include of the same name
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/

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/*
config.h - replacement for the include of the same name in grbl
to define dummy registers
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef config_h
#include "../config.h"
#include <inttypes.h>
// dummy register variables implemented in simulator.c
extern uint8_t stepping_ddr;
extern uint8_t stepping_port;
extern uint8_t spindle_ddr;
extern uint8_t spindle_port;
extern uint8_t limit_ddr;
extern uint8_t limit_port;
extern uint8_t limit_int_reg;
extern uint8_t pinout_ddr;
extern uint8_t pinout_port;
extern uint8_t pinout_int_reg;
extern uint8_t coolant_flood_ddr;
extern uint8_t coolant_flood_port;
// ReDefine pin-assignments
#undef STEPPING_DDR
#define STEPPING_DDR stepping_ddr
#undef STEPPING_PORT
#define STEPPING_PORT stepping_port
#undef X_STEP_BIT
#define X_STEP_BIT 2 // Uno Digital Pin 2
#undef Y_STEP_BIT
#define Y_STEP_BIT 3 // Uno Digital Pin 3
#undef Z_STEP_BIT
#define Z_STEP_BIT 4 // Uno Digital Pin 4
#undef X_DIRECTION_BIT
#define X_DIRECTION_BIT 5 // Uno Digital Pin 5
#undef Y_DIRECTION_BIT
#define Y_DIRECTION_BIT 6 // Uno Digital Pin 6
#undef Z_DIRECTION_BIT
#define Z_DIRECTION_BIT 7 // Uno Digital Pin 7
#undef STEPPERS_DISABLE_DDR
#define STEPPERS_DISABLE_DDR stepping_ddr
#undef STEPPERS_DISABLE_PORT
#define STEPPERS_DISABLE_PORT stepping_port
#undef STEPPERS_DISABLE_BIT
#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8
#undef LIMIT_DDR
#define LIMIT_DDR limit_ddr
#undef LIMIT_PORT
#define LIMIT_PORT limit_port
#undef LIMIT_PIN
#define LIMIT_PIN limit_port
#undef X_LIMIT_BIT
#define X_LIMIT_BIT 1 // Uno Digital Pin 9
#undef Y_LIMIT_BIT
#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
#undef Z_LIMIT_BIT
#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
#undef LIMIT_INT
#define LIMIT_INT 0
#undef LIMIT_PCMSK
#define LIMIT_PCMSK limit_int_reg
#undef SPINDLE_ENABLE_DDR
#define SPINDLE_ENABLE_DDR spindle_ddr
#undef SPINDLE_ENABLE_PORT
#define SPINDLE_ENABLE_PORT spindle_port
#undef SPINDLE_ENABLE_BIT
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#undef SPINDLE_DIRECTION_DDR
#define SPINDLE_DIRECTION_DDR spindle_ddr
#undef SPINDLE_DIRECTION_PORT
#define SPINDLE_DIRECTION_PORT spindle_port
#undef SPINDLE_DIRECTION_BIT
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13
#undef PINOUT_DDR
#define PINOUT_DDR pinout_ddr
#undef PINOUT_PORT
#define PINOUT_PORT pinout_port
#undef PINOUT_PIN
#define PINOUT_PIN pinout_port
#undef PINOUT_PCMSK
#define PINOUT_PCMSK pinout_int_reg
#undef PINOUT_INT
#define PINOUT_INT 0
#undef COOLANT_FLOOD_DDR
#define COOLANT_FLOOD_DDR coolant_flood_ddr
#undef COOLANT_FLOOD_PORT
#define COOLANT_FLOOD_PORT coolant_flood_port
#undef COOLANT_FLOOD_BIT
#define COOLANT_FLOOD_BIT 0
#endif

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/*
eeprom.c - replacement for the avr library of the same name to provide
dummy functions
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
// These are never called in the simulator
unsigned char eeprom_get_char( unsigned int addr ) {
return 0;
}
void eeprom_put_char( unsigned int addr, unsigned char new_value ) {
}
void memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsigned int size) {
}
int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, unsigned int size) {
return 0;
}
// end of file

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t_= NaN
x_= NaN
y_= NaN
z_= NaN
splot 'HelloWorldSteps.dat' u 2:3:4:(dx= $2-x_,x_=$2,dy=$3-y_,y_=$3,dz=$4-z_,z_=$4,dt=$1-t_,t_=$1,sqrt(dx*dx+dy*dy+dz*dz)/(dt<0.01?0.01:dt)) title "Simulated steps with speed dependent coloring" with lines palette

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/*
main.c - main grbl simulator program
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include <inttypes.h>
#include <stdio.h>
#include <stdlib.h>
#include "../planner.h"
#include "../stepper.h"
#include "../gcode.h"
#include "../protocol.h"
#include "../nuts_bolts.h"
#include "../settings.h"
#include "../spindle_control.h"
#include "../limits.h"
#include "../coolant_control.h"
#include "simulator.h"
int main(int argc, char *argv[]) {
// Get the minimum time step for printing stepper values.
// If not given or the command line cannot be parsed to a float than
// step_time= 0.0; This means to not print stepper values at all
if(argc>1) {
argv++;
step_time= atof(*argv);
}
// Setup output file handles. Block info goes to stdout. Stepper values go to stderr.
block_out_file= stdout;
step_out_file= stderr;
// Make sure the output streams are flushed immediately.
// This is important when using the simulator inside another application in parallel
// to the real grbl.
// Theoretically flushing could be limited to complete lines. Unfortunately Windows
// does not know line buffered streams. So for now we stick to flushing every character.
//setvbuf(stdout, NULL, _IONBF, 1);
//setvbuf(stderr, NULL, _IONBF, 1);
st_init(); // Setup stepper pins and interrupt timers
memset(&sys, 0, sizeof(sys)); // Clear all system variables
//settings_reset(); TODO: implement read_settings from eeprom
settings_init();
protocol_init(); // Clear incoming line data
//printf("plan_init():\n");
plan_init(); // Clear block buffer and planner variables
//printf("gc_init():\n");
gc_init(); // Set g-code parser to default state
//printf("spindle_init():\n");
spindle_init();
//printf("limits_init():\n");
limits_init();
//printf("coolant_init():\n");
coolant_init();
//printf("st_reset():\n");
st_reset(); // Clear stepper subsystem variables.
sys.auto_start = true; // runtime commands are not processed. We start to simulate immediately
// Main loop of command processing until EOF is encountered
//printf("protocol_process():\n");
protocol_process();
// flush the block buffer and print stepper info on any pending blocks
plan_synchronize();
// Graceful exit
fclose(block_out_file);
fclose(step_out_file);
exit(EXIT_SUCCESS);
}

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#include "../planner.h"
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
block_t *get_block_buffer() { return block_buffer; }
static volatile uint8_t block_buffer_head; // Index of the next block to be pushed
uint8_t get_block_buffer_head() { return block_buffer_head; }
static volatile uint8_t block_buffer_tail; // Index of the next block to be pushed
uint8_t get_block_buffer_tail() { return block_buffer_tail; }

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#define protocol_execute_runtime orig_protocol_execute_runtime
//void __attribute__((weak)) protocol_execute_runtime(void);

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/*
runtime.c - replacement for the modul of the same name in grbl
Run time commands are not processed in the simulator.
Instead, the execute_runtime() is used as a hook to handle stepper simulation
and printing of simulation results.
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "simulator.h"
#include <stdio.h>
void orig_protocol_execute_runtime(void);
// replacement for original execute_runtime as a hook to print blocks as they are generated
// and to control simulation of buffered blocks
void protocol_execute_runtime(void) {
orig_protocol_execute_runtime();
//printf("printBlock():\n");
printBlock();
//printf("handle_buffer():\n");
handle_buffer();
}

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/*
serial.c - replacement for the modul of the same name in grbl
Make sure the simulator reads from stdin and writes to stdout.
Also print info about the last buffered block.
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "../serial.h"
#include <stdio.h>
#include "simulator.h"
#include <stdio.h>
void serial_write(uint8_t data) {
printBlock();
if(print_comment && data!='\n' && data!='\r') {
fprintf(block_out_file, "# ");
print_comment= 0;
}
if(data=='\n' || data=='\r')
print_comment= 1;
fprintf(block_out_file, "%c", data);
// Indicate the end of processing a command. See simulator.c for details
runtime_second_call= 0;
}
uint8_t serial_read() {
int c;
if((c = fgetc(stdin)) != EOF) {
serial_write(c);
return c;
}
return SERIAL_NO_DATA;
}

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grbl_sim.exe 0.01 <HelloWorld.nc >HelloWorld.dat 2> HelloWorldSteps.dat

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/*
simulator.c - functions to simulate how the buffer is emptied and the
stepper interrupt is called
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdio.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include <stdio.h>
#include "../stepper.h"
#include "../planner.h"
#include "../nuts_bolts.h"
#include "simulator.h"
// This variable is needed to determine if execute_runtime() is called in a loop
// waiting for the buffer to empty, as in plan_synchronize()
// it is reset in serial_write() because this is certainly called at the end of
// every command processing
int runtime_second_call= 0;
// Current time of the stepper simulation
double sim_time= 0.0;
// Next time the status of stepper values should be printed
double next_print_time= 0.0;
// Minimum time step for printing stepper values. Given by user via command line
double step_time= 0.0;
// global system variable structure for position etc.
system_t sys;
int block_position[]= {0,0,0};
uint8_t print_comment= 1;
uint8_t end_of_block= 1;
uint32_t block_number= 0;
// Output file handles set by main program
FILE *block_out_file;
FILE *step_out_file;
// dummy port variables
uint8_t stepping_ddr;
uint8_t stepping_port;
uint8_t spindle_ddr;
uint8_t spindle_port;
uint8_t limit_ddr;
uint8_t limit_port;
uint8_t limit_int_reg;
uint8_t pinout_ddr;
uint8_t pinout_port;
uint8_t pinout_int_reg;
uint8_t coolant_flood_ddr;
uint8_t coolant_flood_port;
extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
extern uint8_t block_buffer_head; // Index of the next block to be pushed
extern uint8_t block_buffer_tail; // Index of the block to process now
// Stub of the timer interrupt function from stepper.c
void interrupt_TIMER2_COMPA_vect();
// Call the stepper interrupt until one block is finished
void sim_stepper() {
//printf("sim_stepper()\n");
block_t *current_block= plan_get_current_block();
// If the block buffer is empty, call the stepper interrupt one last time
// to let it handle sys.cycle_start etc.
if(current_block==NULL) {
interrupt_TIMER2_COMPA_vect();
return;
}
while(current_block==plan_get_current_block()) {
sim_time+= get_step_time();
interrupt_TIMER2_COMPA_vect();
// Check to see if we should print some info
if(step_time>0.0) {
if(sim_time>=next_print_time) {
if(end_of_block) {
end_of_block= 0;
fprintf(step_out_file, "# block number %d\n", block_number);
}
fprintf(step_out_file, "%20.15f, %d, %d, %d\n", sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
// Make sure the simulation time doesn't get ahead of next_print_time
while(next_print_time<sim_time) next_print_time+= step_time;
}
}
}
// always print stepper values at the end of a block
if(step_time>0.0) {
fprintf(step_out_file, "%20.15f, %d, %d, %d\n", sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
end_of_block= 1;
block_number++;
}
}
// Returns the index of the previous block in the ring buffer
uint8_t prev_block_index(uint8_t block_index)
{
if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
block_index--;
return(block_index);
}
block_t *get_block_buffer();
uint8_t get_block_buffer_head();
uint8_t get_block_buffer_tail();
block_t *plan_get_recent_block() {
if (get_block_buffer_head() == get_block_buffer_tail()) { return(NULL); }
return(get_block_buffer()+prev_block_index(get_block_buffer_head()));
}
// Print information about the most recently inserted block
// but only once!
void printBlock() {
block_t *b;
static block_t *last_block;
//printf("printBlock()\n");
b= plan_get_recent_block();
if(b!=last_block && b!=NULL) {
//fprintf(block_out_file,"%s\n", line);
//fprintf(block_out_file," block: ");
if(b->direction_bits & (1<<X_DIRECTION_BIT)) block_position[0]-= b->steps_x;
else block_position[0]+= b->steps_x;
fprintf(block_out_file,"%d, ", block_position[0]);
if(b->direction_bits & (1<<Y_DIRECTION_BIT)) block_position[1]-= b->steps_y;
else block_position[1]+= b->steps_y;
fprintf(block_out_file,"%d, ", block_position[1]);
if(b->direction_bits & (1<<Z_DIRECTION_BIT)) block_position[2]-= b->steps_z;
else block_position[2]+= b->steps_z;
fprintf(block_out_file,"%d, ", block_position[2]);
fprintf(block_out_file,"%f", b->entry_speed_sqr);
fprintf(block_out_file,"\n");
last_block= b;
}
}
// The simulator assumes that grbl is fast enough to keep the buffer full.
// Thus, the stepper interrupt is only called when the buffer is full and then only to
// finish one block.
// Only when plan_synchronize() wait for the whole buffer to clear, the stepper interrupt
// to finish all pending moves.
void handle_buffer() {
// runtime_second_call is reset by serial_write() after every command.
// Only when execute_runtime() is called repeatedly by plan_synchronize()
// runtime_second_call will be incremented above 2
//printf("handle_buffer()\n");
if(plan_check_full_buffer() || runtime_second_call>2) {
sim_stepper(step_out_file);
} else {
runtime_second_call++;
}
}
double get_step_time() {
/* code for the old stepper algorithm
uint16_t ceiling;
uint16_t prescaler;
uint32_t actual_cycles;
uint8_t invalid_prescaler= 0;
prescaler= ((TCCR1B>>CS10) & 0x07) - 1;
ceiling= OCR1A;
switch(prescaler) {
case 0:
actual_cycles= ceiling;
break;
case 1:
actual_cycles= ceiling * 8L;
break;
case 2:
actual_cycles = ceiling * 64L;
break;
case 3:
actual_cycles = ceiling * 256L;
break;
case 4:
actual_cycles = ceiling * 1024L;
break;
default:
invalid_prescaler= 1;
}
if(invalid_prescaler) return 12345.0;
else return (double)actual_cycles/F_CPU;*/
return (double)((ocr2a+1)*8)/(double)(F_CPU);
}

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/*
simulator.h - functions to simulate how the buffer is emptied and the
stepper interrupt is called
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef simulator_h
#define simulator_h
#include <stdio.h>
#include "../nuts_bolts.h"
// Output file handles
extern FILE *block_out_file;
extern FILE *step_out_file;
// This variable is needed to determine if execute_runtime() is called in a loop
// waiting for the buffer to empty, as in plan_synchronize()
extern int runtime_second_call;
// Minimum time step for printing stepper values. Given by user via command line
extern double step_time;
// global system variable structure for position etc.
extern system_t sys;
extern uint8_t print_comment;
// Call the stepper interrupt until one block is finished
void sim_stepper();
// Check if buffer is full or if plan_synchronize() wants to clear the buffer
void handle_buffer();
// Print information about the most recently inserted block
void printBlock();
// Calculate the time between stepper interrupt calls from TCCR1B and OCR1A AVR registers
// which are set in config_step_timer in stepper.c
// This reconstructs the stepper-internal value of variable st.cycles_per_step_event
// The reconstruction is done to truely decouple the simulator from the actual grbl code
double get_step_time();
#endif

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/*
delay.c - replacement for the avr library of the same name to provide
dummy functions
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
// TODO: the simulation time should reflect when grbl dwells
// Maybe this becomes a no-issue when dwell is executed in a buffered block
void _delay_ms(int i) {}
void _delay_us(int i) {}

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/*
delay.h - replacement for the avr include of the same name to provide
dummy functions
Part of Grbl Simulator
Copyright (c) 2012 Jens Geisler
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef delay_h
#define delay_h
void _delay_ms(int i);
void _delay_us(int i);
#endif

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float __floatunsisf (unsigned long v) {
return v;
}