92 lines
2.8 KiB
C
92 lines
2.8 KiB
C
/*
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protocol.c - the serial protocol master control unit
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Part of Grbl
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Copyright (c) 2009-2011 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 "protocol.h"
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#include "gcode.h"
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#include "serial.h"
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#include "print.h"
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#include "settings.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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#include <avr/pgmspace.h>
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#define LINE_BUFFER_SIZE 50
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static char line[LINE_BUFFER_SIZE];
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static uint8_t char_counter;
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static void status_message(int status_code) {
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if (status_code == 0) {
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printPgmString(PSTR("ok\r\n"));
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} else {
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printPgmString(PSTR("error: "));
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switch(status_code) {
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case STATUS_BAD_NUMBER_FORMAT:
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printPgmString(PSTR("Bad number format\r\n")); break;
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case STATUS_EXPECTED_COMMAND_LETTER:
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printPgmString(PSTR("Expected command letter\r\n")); break;
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case STATUS_UNSUPPORTED_STATEMENT:
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printPgmString(PSTR("Unsupported statement\r\n")); break;
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case STATUS_FLOATING_POINT_ERROR:
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printPgmString(PSTR("Floating point error\r\n")); break;
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default:
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printInteger(status_code);
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printPgmString(PSTR("\r\n"));
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}
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}
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}
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void protocol_init()
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{
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printPgmString(PSTR("\r\nGrbl " GRBL_VERSION));
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printPgmString(PSTR("\r\n"));
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}
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// Executes one line of input according to protocol
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uint8_t protocol_execute_line(char *line) {
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if(line[0] == '$') {
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return(settings_execute_line(line)); // Delegate lines starting with '$' to the settings module
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} else {
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return(gc_execute_line(line)); // Everything else is gcode
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}
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}
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void protocol_process()
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{
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char c;
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while((c = serial_read()) != SERIAL_NO_DATA)
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{
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if((char_counter > 0) && ((c == '\n') || (c == '\r'))) { // Line is complete. Then execute!
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line[char_counter] = 0; // treminate string
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status_message(protocol_execute_line(line));
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char_counter = 0; // reset line buffer index
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} else if (c <= ' ') {
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// Throw away whitepace and control characters
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} else if (char_counter >= LINE_BUFFER_SIZE-1) {
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// Throw away any characters beyond the end of the line buffer
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} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
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line[char_counter++] = c-'a'+'A';
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} else {
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line[char_counter++] = c;
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}
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}
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}
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