simulator.h is already included in config.h/arduino.h, so it doesn't
need to be included again most of the time. In some cases it was
included twice on purpose to undo some intervening include file, but
these intervening includes were unnecessary. Remove some related
include file redundancy by re-ordering the include files and relocating
some nested includes up to the parent .c file.
Again, the whole file compiled flawlessly without change. Still,
to get it linked as well, most of the functionality had to
be #ifdef'd out.
Nevertheless, the firmware shows first signs of life, e.g. M115
works.
Just did it, no code changes neccessary. Except ajusting the
boundaries to not yet ported code.
Successful tests: controller answers with "ok", just like an AVR.
Binary size raised, of course:
SIZES ARM... lpc1114
FLASH : 3064 bytes 10%
RAM : 194 bytes 5%
EEPROM : 0 bytes 0%
Previously acknoledgement was sent as soon as the command was
parsed. Accordingly, the host would send the next command and
this command would wait in the RX buffer without being parsed.
This worked reasonably, unless an incoming line of G-code was
longer than the RX buffer, in which case the line end was dropped
and parsing of the line never completed. With a 64 bytes buffer
on AVR this was rarely the case, with the 16 bytes hardware buffer
on ARM LPC1114 it happens regularly. And there's no recovering
from such a situation.
This should solve issue #52.
This raises abstraction and even makes the binary a bit smaller
(2 bytes without SD, 14 bytes with SD).
A G-code file with 16'384 lines of comments, 64 bytes per line
( = 1 MB file size), is read and parsed from SD card in 2:47
minutes, or at a speed of 5924 bytes/second.
This solves lines like these, with previous answer:
M23 bla*3
ok E: Bad M-code 233
M23 123*92
ok E: Bad M-code 88
It should also solve lines with ;-comment _and_ a checksum.
This is neccessary to allow file names with leading digits. It's
still possible to send commands like M105 with spaces in between
("M1 05") and also to put space between character and number, like
"X 15.0".
Part 2 is to implement M23: select file. That's more than just a
few lines, as we also have to teach the gcode-parser to collect
strings.
For now the file is simply tested for successful opening, no
actual printing, yet.
About build size: during development there was another
implementation, which didn't abstract SD card functions into
sd.c/.h, but put them into gcode_process.c directly. At the
feature completeness of this commit, the other implementation
used 70 bytes flash less, but also 23 bytes more RAM. So I decided
for the more abstracted/encapsulated version. --Traumflug
Also, this adds 14 bytes binary size even without SD card support.
A lot more #ifdefs around each use of next_target.read_string
would remove this, but after all we do care a bit about
readability of the source code, so let's sacrify these 14 bytes
to it. --Traumflug
Offending code were lines like these from Repetier Host:
N8965 M117 ETE 29m 10s *86
When firmware received not-G command (M-command or T-command) with X, Y,
Z, E or F coordinate, it will "change" this command to G1.
Now, firmware do change only if received line is not either G- or M-
or T-command.
Examples:
X10 - is changed to G1 X10
E20 F300 - is changed to G1 E20 F300
M117 E1 - is NOT changed to G1 E1
This commit costs 6 bytes binary size.
In preparation for more efficient and scalable code using axis-loops
for common operations, add two new array-types for signed and unsigned
32-bit values per axis. Make the TARGET type use this array instead of
its current X, Y, Z, and E variables.
Traumflug notes:
- Did the usual conversion to spaces for changed lines.
- Added X = 0 to the enum. Just for peace of mind.
- Excellent patch!
Initially I wanted to make the new array an anonymous union with the
old variables to allow accessing values both ways. This way it would
have been possible to do the transition in smaller pieces. But as
the patch worked so flawlessly and binary size is precisely the
same, I abandoned this idea. Maybe it's a good idea in other areas.
Teach simulator several command line options to control console output
of info messages, gcode traces, data_recorder output, etc.
Also move gcode output to sim_gcode instead of sending directly to
datarecorder.
Wow! It took something like two years to expose (and get
developer attention of) such a bug: the checksum was calculated
based on the uppercased characters parsed, not the ones actually
received over the line.
These were commits 9dbfa7217e0de8b140846ab480d6b4a7fc9b6791 and
2b596cb05e621ed822071486f812eb334328267a.
There are several reasons why this new approach didn't work out well:
- The machine coordinate system is lost on relative movements.
OK, we could keep tracking it, but this would mean even more
code, so even more chances for bugs.
- With the lost coordinate system, no software endstops are possible.
- Neither of X, Y, Z will ever overflow.
- If a movement planner would appear one day, he'd have to handle
relative movements as well. Even more code duplication.
Instead of converting them to absolute first, then back to
relative and having all the fuzz with working on the queue's
start vs. working at the queue's end, mark a movement as relative
and use this directly.
This is a intrusive patch and for now, it's done for the X axis only.
To make comparison with the former approach easier ...
The advantages of this change:
- Converting from mm to steps in gcode_parse.c and back in dda.c
wastes cycles and accuracy.
- In dda.c, UM_PER_STEP simply goes away, so distance calculations
work now with STEPS_PER_MM > 500 just fine. 1/16 microstepping
on threaded rods (Z axis) becomes possible.
- Distance calculations (feedrate, acceleration, ...) become much
simpler.
- A wide range of STEPS_PER_M can now be handled at reasonable
(4 decimal digit) accuracy with a simple macro. Formerly,
we were limited to 500 steps/mm, now we can do 4'096 steps/mm
and could easily raise this another digit.
Disadvantages:
- STEPS_PER_MM is gone in config.h, using STEPS_PER_M is required,
because the preprocessor refuses to compare numbers with decimal
points in them.
- The DDA has to store the position in steps anyways to avoid
rounding errors.
& tests of the debug_flags. Currently the compiler is able to eliminate
the block and the & operation when the constant is zero, but since
the debug_flags variable is a volatile the compiler does not eliminate
the load of the variable. By pretesting and shortcutting the load is
eliminated. Saves a small number of bytes when the debug build is
disabled and costs nothing when it is enabled.
This is without accuracy or other losses and should finally make
decfloat_to_int() free of variable overflow within the decribed
ranges. Surprisingly, this costs 14 bytes program size.
Phil Hord
Markus Hitter
Michael Moon
David Forrest
konoppo
Jim McGee
Ben Jackson
Markus Amsler