532c359a11
- Completely overhauled the g-code parser. It’s now 100%* compliant. (* may have some bugs). Being compliant, here are some of the major differences. - SMALLER and JUST AS FAST! A number of optimizations were found that sped things up and allowed for the more thorough error-checking to be installed without a speed hit. Trimmed a lot of ‘fat’ in the parser and still was able to make it significantly smaller than it was. - No default feed rate setting! Removed completely! This doesn’t exist in the g-code standard. So, it now errors out whenever it’s undefined for motions that require it (G1/2/3/38.2). - Any g-code parser error expunges the ENTIRE block. This means all information is lost and not passed on to the running state. Before some of the states would remain, which could have led to some problems. - If the g-code block passes all of the error-checks, the g-code state is updated and all motions are executed according to the order of execution. - Changes in spindle speed, when already running, will update the output pin accordingly. This fixes a bug, where it wouldn’t update the speed. - Update g-code parser error reporting. Errors now return detailed information of what exact went wrong. The most common errors return a short text description. For less common errors, the parser reports ‘Invalid gcode ID:20’, where 20 is a error ID. A list of error code IDs and their descriptions will be documented for user reference elsewhere to save flash space. - Other notable changes: - Added a print integer routine for uint8 variables. This saved significant flash space by switching from a heavier universal print integer routine. - Saved some flash space with our own short hypotenuse calculation - Some arc computation flash and memory optimizations.
69 lines
2.3 KiB
C
69 lines
2.3 KiB
C
/*
|
|
nuts_bolts.h - Header file for shared definitions, variables, and functions
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2011-2014 Sungeun K. Jeon
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
|
|
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 nuts_bolts_h
|
|
#define nuts_bolts_h
|
|
|
|
#define false 0
|
|
#define true 1
|
|
|
|
#define N_AXIS 3 // Number of axes
|
|
#define X_AXIS 0 // Axis indexing value. Must start with 0 and be continuous.
|
|
#define Y_AXIS 1
|
|
#define Z_AXIS 2
|
|
|
|
#define MM_PER_INCH (25.40)
|
|
#define INCH_PER_MM (0.0393701)
|
|
|
|
#define TICKS_PER_MICROSECOND (F_CPU/1000000)
|
|
|
|
// Useful macros
|
|
#define clear_vector(a) memset(a, 0, sizeof(a))
|
|
#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
|
|
// #define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
|
|
#define max(a,b) (((a) > (b)) ? (a) : (b))
|
|
#define min(a,b) (((a) < (b)) ? (a) : (b))
|
|
|
|
// Bit field and masking macros
|
|
#define bit(n) (1 << n)
|
|
#define bit_true(x,mask) (x |= mask)
|
|
#define bit_false(x,mask) (x &= ~mask)
|
|
#define bit_toggle(x,mask) (x ^= mask)
|
|
#define bit_istrue(x,mask) ((x & mask) != 0)
|
|
#define bit_isfalse(x,mask) ((x & mask) == 0)
|
|
|
|
// Read a floating point value from a string. Line points to the input buffer, char_counter
|
|
// is the indexer pointing to the current character of the line, while float_ptr is
|
|
// a pointer to the result variable. Returns true when it succeeds
|
|
uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr);
|
|
|
|
// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
|
|
void delay_ms(uint16_t ms);
|
|
|
|
// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
|
|
void delay_us(uint32_t us);
|
|
|
|
uint8_t get_direction_mask(uint8_t i);
|
|
|
|
float hypot_f(float x, float y);
|
|
|
|
#endif
|