preliminary support for line numbers and checksums, also some handy host-side functions
This commit is contained in:
Michael Moon
parent
76834e6636
commit
ee4e71da1a
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@ -36,9 +36,14 @@ CC = $(ARCH)gcc
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OBJDUMP = $(ARCH)objdump
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OBJCOPY = $(ARCH)objcopy
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DEFS = -DF_CPU=$(F_CPU)
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# DEFS += "-DDEBUG=1"
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# DEFS += "-DREQUIRE_LINENUMBER"
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# DEFS += "-DREQUIRE_CHECKSUM"
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OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once -DDEBUG=0
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# OPTIMIZE = -O0
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CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) -mmcu=$(MCU_TARGET) -DF_CPU=$(F_CPU) $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -save-temps
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CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) -mmcu=$(MCU_TARGET) $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -save-temps
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LDFLAGS = -Wl,--as-needed -Wl,--gc-sections
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AVRDUDE = avrdude
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@ -52,14 +57,14 @@ AVRDUDE = avrdude
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# #
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##############################################################################
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PROGPORT = /dev/arduino
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PROGBAUD = 19200
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PROGBAUD = 57600
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OBJ = $(patsubst %.c,%.o,${SOURCES})
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.PHONY: all program clean size
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.PRECIOUS: %.o %.elf
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all: $(PROGRAM).hex $(PROGRAM).lst size
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all: $(PROGRAM).hex $(PROGRAM).lst $(PROGRAM).sym size
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program: $(PROGRAM).hex
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stty $(PROGBAUD) raw ignbrk hup < $(PROGPORT)
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@ -72,8 +77,9 @@ clean:
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rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex *.al *.i *.s *~
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size: $(PROGRAM).hex
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@echo -n " SIZE "
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@objdump -h mendel.elf | perl -ne '/.(data|text)\s+([0-9a-f]+)/ && do { $$a += eval "0x$$2" }; END { printf "%d bytes (%d%% of %dkb)\n", $$a, $$a * 100 / (14 * 1024), 14 }'
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@echo " SIZE Atmega168 Atmega328p"
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@objdump -h mendel.elf | perl -ne '/.(text)\s+([0-9a-f]+)/ && do { $$a += eval "0x$$2" }; END { printf " FLASH: %5d bytes (%2d%% of %2dkb) (%2d%% of %2dkb)\n", $$a, $$a * 100 / (14 * 1024), 14, $$a * 100 / (30 * 1024), 30 }'
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@objdump -h mendel.elf | perl -ne '/.(data|bss)\s+([0-9a-f]+)/ && do { $$a += eval "0x$$2" }; END { printf " RAM : %5d bytes (%2d%% of %2dkb) (%2d%% of %2dkb)\n", $$a, $$a * 100 / (1 * 1024), 1, $$a * 100 / (2 * 1024), 2 }'
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%.o: %.c
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@echo " CC $@"
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@ -94,3 +100,7 @@ size: $(PROGRAM).hex
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%.bin: %.elf
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@echo " OBJCOPY $@"
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@$(OBJCOPY) -j .text -j .data -O binary $< $@
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%.sym: %.elf
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@echo " SYM $@"
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@$(OBJDUMP) -t $< | perl -ne 'BEGIN { printf " ADDR NAME SIZE\n"; } /([0-9a-f]+)\s+(\w+)\s+O\s+\.(bss|data)\s+([0-9a-f]+)\s+(\w+)/ && printf "0x%04x %-20s +%d\n", eval("0x$$1") & 0xFFFF, $$5, eval("0x$$4")' | sort -k1 > $@
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@ -0,0 +1,206 @@
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#!/bin/bash
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#
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# this file is designed to be sourced into your current shell like this:
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#
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# source ./func.sh
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#
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# and then used like this:
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#
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# $ arduincmd G1 X100
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# $ arduinocmd M250
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#
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# {X:4200,Y:0,Z:0,E:0,F:300,c:19334400}
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# {X:4200,Y:0,Z:0,E:0,F:300,c:0}
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# Q1/1E
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# $ readsym_uint8 mb_head
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# 1
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# $ readsym_target startpoint
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# X: 2100
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# Y: 0
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# Z: 0
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# E: 0
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# F: 300
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# $ readsym_mb
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# [0] {
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# eX: 0 eY: 0 eZ: 0 eE: 0 eF: 0
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# flags: 0
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# dX: 0 dY: 0 dZ: 0 dE: 0
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# cX: 0 cY: 0 cZ: 0 cE: 0
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# ts: 0
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# c: 0 ec: 0 n: 0
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# }
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# [HEAD,TAIL:1] {
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# eX: 4200 eY: 0 eZ: 0 eE: 0 eF: 300
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# flags: 120
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# dX: 4200 dY: 0 dZ: 0 dE: 0
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# cX: -2100 cY: -2100 cZ: -2100 cE: -2100
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# ts: 4200
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# c: 19334400 ec: 0 n: 0
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# }
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# [2] {
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# eX: 0 eY: 0 eZ: 0 eE: 0 eF: 0
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# flags: 0
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# dX: 0 dY: 0 dZ: 0 dE: 0
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# cX: 0 cY: 0 cZ: 0 cE: 0
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# ts: 0
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# c: 0 ec: 0 n: 0
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# }
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# [3] {
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# eX: 0 eY: 0 eZ: 0 eE: 0 eF: 0
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# flags: 0
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# dX: 0 dY: 0 dZ: 0 dE: 0
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# cX: 0 cY: 0 cZ: 0 cE: 0
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# ts: 0
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# c: 0 ec: 0 n: 0
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# }
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# [4] {
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# eX: 0 eY: 0 eZ: 0 eE: 0 eF: 0
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# flags: 0
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# dX: 0 dY: 0 dZ: 0 dE: 0
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# cX: 0 cY: 0 cZ: 0 cE: 0
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# ts: 0
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# c: 0 ec: 0 n: 0
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# }
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# [5] {
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# eX: 0 eY: 0 eZ: 0 eE: 0 eF: 0
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# flags: 0
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# dX: 0 dY: 0 dZ: 0 dE: 0
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# cX: 0 cY: 0 cZ: 0 cE: 0
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# ts: 0
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# c: 0 ec: 0 n: 0
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# }
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# [6] {
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# eX: 0 eY: 0 eZ: 0 eE: 0 eF: 0
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# flags: 0
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# dX: 0 dY: 0 dZ: 0 dE: 0
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# cX: 0 cY: 0 cZ: 0 cE: 0
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# ts: 0
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# c: 0 ec: 0 n: 0
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# }
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# [7] {
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# eX: 0 eY: 0 eZ: 0 eE: 0 eF: 0
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# flags: 0
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# dX: 0 dY: 0 dZ: 0 dE: 0
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# cX: 0 cY: 0 cZ: 0 cE: 0
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# ts: 0
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# c: 0 ec: 0 n: 0
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# }
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arduinocmd() {
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(
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LN=0
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cmd="$*"
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echo "$cmd" >&3;
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while [ "$REPLY" != "OK" ]
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do
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read -u 3
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if [ "$LN" -ne 0 ]
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then
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if [ "$REPLY" != "OK" ]
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then
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echo "$REPLY"
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fi
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fi
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LN=$(( $LN + 1 ))
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done
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) 3<>/dev/arduino;
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}
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readsym() {
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sym=$1
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make mendel.sym &>/dev/null
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if egrep -q '\b'$sym'\b' mendel.sym
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then
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ADDR=$(( $(egrep '\b'$sym'\b' mendel.sym | cut -d\ -f1) ))
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SIZE=$(egrep '\b'$sym'\b' mendel.sym | cut -d+ -f2)
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while [ $SIZE -gt 0 ]
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do
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echo -n $(arduinocmd "M253 S"$ADDR)
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ADDR=$(( $ADDR + 1 ))
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SIZE=$(( $SIZE - 1 ))
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done
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echo
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else
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echo "unknown symbol: $sym"
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fi
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}
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readsym_uint8() {
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sym=$1
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val=$(readsym $sym)
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perl -e 'printf "%u\n", eval "0x".$ARGV[0]' $val
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}
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readsym_int8() {
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sym=$1
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val=$(readsym $sym)
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perl -e 'printf "%d\n", ((eval "0x".$ARGV[0]) & 0x7F) - (((eval "0x".$ARGV[0]) & 0x80)?0x80:0)' $val
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}
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readsym_uint16() {
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sym=$1
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val=$(readsym $sym)
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perl -e '$ARGV[0] =~ m#(..)(..)# && printf "%u\n", eval "0x$2$1"' $val
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}
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readsym_int16() {
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sym=$1
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val=$(readsym $sym)
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perl -e '$ARGV[0] =~ m#(..)(..)# && printf "%d\n", ((eval "0x$2$1") & 0x7FFF) - (((eval "0x$2$1") & 0x8000)?0x8000:0)' $val
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}
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readsym_uint32() {
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sym=$1
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val=$(readsym $sym)
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perl -e '$ARGV[0] =~ m#(..)(..)(..)(..)# && printf "%u\n", eval "0x$4$3$2$1"' $val
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}
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readsym_int32() {
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sym=$1
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val=$(readsym $sym)
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perl -e '$ARGV[0] =~ m#(..)(..)(..)(..)# && printf "%d\n", eval "0x$4$3$2$1"' $val
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}
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readsym_target() {
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sym=$1
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val=$(readsym $sym)
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perl -e '@a = qw/X Y Z E F/; $c = 0; while (length $ARGV[0]) { $ARGV[0] =~ s#^(..)(..)(..)(..)##; printf "%s: %d\n", $a[$c], eval "0x$4$3$2$1"; $c++; }' $val
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}
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readsym_mb() {
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val=$(readsym movebuffer)
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mbhead=$(readsym mb_head)
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mbtail=$(readsym mb_tail)
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perl - <<'ENDPERL' -- $val $mbhead $mbtail
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$i = -1;
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@a = qw/eX 4 eY 4 eZ 4 eE 4 eF 4 flags 9 dX 12 dY 4 dZ 4 dE 4 cX 12 cY 4 cZ 4 cE 4 ts 12 c 12 ec 4 n 4/;
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$c = 0;
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$c = 1234567;
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while (length $ARGV[1]) {
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if ($c > ($#a / 2)) {
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$i++;
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$c = 0;
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printf "\n}\n"
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if ($i > 0);
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printf "[%s%d] {\n", (($i == $ARGV[2])?"HEAD":"").(($ARGV[2] == $ARGV[3] && $ARGV[2] == $i)?",":"").(($i == $ARGV[3])?"TAIL":"").(($i == $ARGV[2] || $i == $ARGV[3])?":":""), $i
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}
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if ($a[$c * 2 + 1] & 8) {
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printf "\n";
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}
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if (($a[$c * 2 + 1] & 7) == 4) {
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$ARGV[1] =~ s#^(..)(..)(..)(..)##;
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printf "\t%s: %d", $a[$c * 2], eval "0x$4$3$2$1";
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}
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elsif (($a[$c * 2 + 1] & 7) == 1) {
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$ARGV[1] =~ s#^(..)##;
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printf "\t%s: %d", $a[$c * 2], eval "0x$1";
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}
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$c++;
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}
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printf "\n}\n";
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ENDPERL
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}
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@ -14,12 +14,13 @@
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uint8_t option_bitfield;
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#define OPTION_COMMENT 128
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#define OPTION_CHECKSUM 64
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decfloat read_digit;
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const char alphabet[] = "GMXYZEFSP";
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const char alphabet[] = "GMXYZEFSPN*";
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GCODE_COMMAND next_target = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, { 0, 0, 0, 0, 0 } };
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GCODE_COMMAND next_target = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, { 0, 0, 0, 0, 0 }, 0, 0, 0, 0, 0, 0 };
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/*
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utility functions
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@ -96,9 +97,20 @@ void SpecialMoveE(int32_t e, uint32_t f) {
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enqueue(&t);
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}
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/****************************************************************************
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* *
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* Character Received - add it to our command *
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* *
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****************************************************************************/
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void scan_char(uint8_t c) {
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static uint8_t last_field = 0;
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// move this below switch(c) if the asterisk isn't included in the checksum
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#define crc(a, b) (a ^ b)
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if ((option_bitfield & OPTION_CHECKSUM) == 0)
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next_target.checksum_calculated = crc(next_target.checksum_calculated, c);
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// uppercase
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if (c >= 'a' && c <= 'z')
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c &= ~32;
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@ -182,6 +194,12 @@ void scan_char(uint8_t c) {
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// if (DEBUG)
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serwrite_uint16(next_target.P);
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break;
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case 'N':
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next_target.N = decfloat_to_int(&read_digit, 1, 1);
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break;
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case '*':
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next_target.checksum_read = decfloat_to_int(&read_digit, 1, 1);
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break;
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}
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// reset for next field
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last_field = 0;
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@ -234,6 +252,13 @@ void scan_char(uint8_t c) {
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case 'P':
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next_target.seen_P = 1;
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break;
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case 'N':
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next_target.seen_N = 1;
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break;
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case '*':
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next_target.seen_checksum = 1;
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option_bitfield |= OPTION_CHECKSUM;
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break;
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// comments
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case ';':
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@ -269,23 +294,47 @@ void scan_char(uint8_t c) {
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serial_writechar(c);
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// process
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if (next_target.seen_G || next_target.seen_M) {
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process_gcode_command(&next_target);
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if (
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#ifdef REQUIRE_LINENUMBER
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((next_target.N_expected == next_target.N) && (next_target.seen_N == 1)) &&
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#else
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((next_target.N_expected == next_target.N) || (next_target.seen_N == 0)) &&
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#endif
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#ifdef REQUIRE_CHECKSUM
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((next_target.checksum_calculated == next_target.checksum_read) && (next_target.seen_checksum == 1))
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#else
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((next_target.checksum_calculated == next_target.checksum_read) || (next_target.seen_checksum == 0))
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#endif
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) {
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process_gcode_command(&next_target);
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// reset 'seen comment'
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option_bitfield &= ~OPTION_COMMENT;
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serial_writestr_P(PSTR("OK\n"));
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// reset variables
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next_target.seen_X = next_target.seen_Y = next_target.seen_Z = next_target.seen_E = next_target.seen_F = next_target.seen_S = next_target.seen_P = 0;
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last_field = 0;
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read_digit.sign = 0;
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read_digit.mantissa = 0;
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read_digit.exponent = 0;
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serial_writestr_P(PSTR("OK\n"));
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// expect next line number
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next_target.N_expected++;
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}
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else {
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serial_writestr_P(PSTR("RESEND\n"));
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}
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}
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// reset 'seen comment' and 'receiving checksum'
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option_bitfield = 0;
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// reset variables
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next_target.seen_X = next_target.seen_Y = next_target.seen_Z = next_target.seen_E = next_target.seen_F = next_target.seen_S = next_target.seen_P = next_target.N = next_target.checksum_read = next_target.checksum_calculated = 0;
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last_field = 0;
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read_digit.sign = 0;
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read_digit.mantissa = 0;
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read_digit.exponent = 0;
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}
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}
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/****************************************************************************
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* *
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* Command Received - process it *
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* *
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****************************************************************************/
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void process_gcode_command(GCODE_COMMAND *gcmd) {
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// convert relative to absolute
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if (gcmd->option_relative) {
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@ -535,18 +584,22 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
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serwrite_int32(current_position.E);
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serial_writestr_P(PSTR(",F:"));
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serwrite_int32(current_position.F);
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serial_writestr_P(PSTR(",c:"));
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serwrite_uint32(movebuffer[mb_tail].c);
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serial_writestr_P(PSTR("}\n"));
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serial_writestr_P(PSTR("{X:"));
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serwrite_int32(startpoint.X);
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serwrite_int32(movebuffer[mb_tail].endpoint.X);
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serial_writestr_P(PSTR(",Y:"));
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serwrite_int32(startpoint.Y);
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serwrite_int32(movebuffer[mb_tail].endpoint.Y);
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serial_writestr_P(PSTR(",Z:"));
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serwrite_int32(startpoint.Z);
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serwrite_int32(movebuffer[mb_tail].endpoint.Z);
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serial_writestr_P(PSTR(",E:"));
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serwrite_int32(startpoint.E);
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serwrite_int32(movebuffer[mb_tail].endpoint.E);
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serial_writestr_P(PSTR(",F:"));
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serwrite_int32(startpoint.F);
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serwrite_int32(movebuffer[mb_tail].endpoint.F);
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serial_writestr_P(PSTR(",c:"));
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serwrite_uint32(movebuffer[mb_tail].end_c);
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serial_writestr_P(PSTR("}\n"));
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print_queue();
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@ -555,6 +608,7 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
|
|||
// DEBUG: read arbitrary memory location
|
||||
case 253:
|
||||
serwrite_hex8(*(volatile uint8_t *)(gcmd->S));
|
||||
serial_writechar('\n');
|
||||
break;
|
||||
|
||||
// DEBUG: write arbitrary memory locatiom
|
||||
|
|
|
|||
|
|
@ -22,11 +22,13 @@ typedef struct {
|
|||
uint8_t seen_E :1;
|
||||
uint8_t seen_F :1;
|
||||
uint8_t seen_S :1;
|
||||
|
||||
uint8_t seen_P :1;
|
||||
uint8_t seen_N :1;
|
||||
uint8_t seen_checksum :1;
|
||||
|
||||
uint8_t option_relative :1;
|
||||
uint8_t option_inches :1;
|
||||
// uint8_t option_synchronise :1;
|
||||
|
||||
uint8_t G;
|
||||
uint8_t M;
|
||||
|
|
@ -34,6 +36,12 @@ typedef struct {
|
|||
|
||||
int16_t S;
|
||||
uint16_t P;
|
||||
|
||||
uint32_t N;
|
||||
uint32_t N_expected;
|
||||
|
||||
uint8_t checksum_read;
|
||||
uint8_t checksum_calculated;
|
||||
} GCODE_COMMAND;
|
||||
|
||||
// the command being processed
|
||||
|
|
|
|||
|
|
@ -7,7 +7,7 @@ void serwrite_hex4(uint8_t v) {
|
|||
if (v < 10)
|
||||
serial_writechar('0' + v);
|
||||
else
|
||||
serial_writechar('A' + v);
|
||||
serial_writechar('A' - 10 + v);
|
||||
}
|
||||
|
||||
void serwrite_hex8(uint8_t v) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue