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From cb05c9dda6bb8da6dbf6bbbbc64e79b069d8b2a0 Mon Sep 17 00:00:00 2001
From: Michael Moon <triffid.hunter@gmail.com>
Date: Sat, 5 Feb 2011 18:39:35 +1100
Subject: big gcode_parse update- wait for whole line to ease processing, use
floats to receive numerical data, plugs into existing gcode_process.c. TODO:
revamp gcode_process to use new gcode_parse data structures
---
func.sh | 32 ++++
gcode_parse.c | 563 +++++++++++++++++++++++-----------------------------------
gcode_parse.h | 4 +-
3 files changed, 256 insertions(+), 343 deletions(-)
diff --git a/func.sh b/func.sh
index e59b7a5..18827e0 100755
--- a/func.sh
+++ b/func.sh
@@ -322,6 +322,38 @@ ENDPERL
}
# Read status of PID routines.
+mendel_readsym_nexttarget() {
+ local val=$(mendel_readsym next_target)
+ perl - <<'ENDPERL' -- $val
+ $i = -1;
+ @a = qw/flags 2 G 1 M 1 X 4 Y 4 Z 4 E 4 F 4 S 2 P 2 T 1 N 4 eN 4 cr 1 cc 1/;
+ $c = 1234567;
+ while (length $ARGV[1]) {
+ if ($c > ($#a / 2)) {
+ $i++;
+ $c = 0;
+ }
+ if ($a[$c * 2 + 1] & 8) {
+ printf "\n";
+ }
+ if (($a[$c * 2 + 1] & 7) == 4) {
+ $ARGV[1] =~ s#^(..)(..)(..)(..)##;
+ printf "%s: %d\t", $a[$c * 2], eval "0x$4$3$2$1";
+ }
+ if (($a[$c * 2 + 1] & 7) == 2) {
+ $ARGV[1] =~ s#^(..)(..)##;
+ printf "%s: %d\t", $a[$c * 2], eval "0x$2$1";
+ }
+ elsif (($a[$c * 2 + 1] & 7) == 1) {
+ $ARGV[1] =~ s#^(..)##;
+ printf "%s: %d\t", $a[$c * 2], eval "0x$1";
+ }
+ $c++;
+ }
+ printf "\n";
+ENDPERL
+}
+
mendel_heater_pid() {
local P=$(mendel_readsym_int16 heater_p)
local I=$(mendel_readsym_int16 heater_i)
diff --git a/gcode_parse.c b/gcode_parse.c
index 1eb4eb0..626b694 100644
--- a/gcode_parse.c
+++ b/gcode_parse.c
@@ -4,15 +4,12 @@
\brief Parse received G-Codes
*/
-#include <string.h>
+#include <stdlib.h>
+#include "config.h"
+#include "sersendf.h"
#include "serial.h"
#include "sermsg.h"
-#include "dda_queue.h"
-#include "debug.h"
-#include "heater.h"
-#include "sersendf.h"
-
#include "gcode_process.h"
/// current or previous gcode word
@@ -22,64 +19,232 @@ uint8_t last_field = 0;
/// crude crc macro
#define crc(a, b) (a ^ b)
-/// crude floating point data storage
-decfloat read_digit __attribute__ ((__section__ (".bss")));
-
-/// this is where we store all the data for the current command before we work out what to do with it
-GCODE_COMMAND next_target __attribute__ ((__section__ (".bss")));
-
-/*
- decfloat_to_int() is the weakest subject to variable overflow. For evaluation, we assume a build room of +-1000 mm and STEPS_PER_MM_x between 1.000 and 4096. Accordingly for metric units:
-
- df->mantissa: +-0..1048075 (20 bit - 500 for rounding)
- df->exponent: 0, 2, 3, 4 or 5 (10 bit)
- multiplicand: 1000 (10 bit)
-
- imperial units:
-
- df->mantissa: +-0..32267 (15 bit - 500 for rounding)
- df->exponent: 0, 2, 3, 4 or 5 (10 bit)
- multiplicand: 25400 (15 bit)
-*/
-// decfloat_to_int() can handle a bit more:
-#define DECFLOAT_EXP_MAX 3 // more is pointless, as 1 um is our presision
-// (2^^32 - 1) / multiplicand - powers[DECFLOAT_EXP_MAX] / 2 =
-// 4294967295 / 1000 - 5000 =
-#define DECFLOAT_MANT_MM_MAX 4289967 // = 4290 mm
-// 4294967295 / 25400 - 5000 =
-#define DECFLOAT_MANT_IN_MAX 164093 // = 164 inches = 4160 mm
+#define GCODE_LINE_BUFFER_LEN 64
+
+#define iA 0
+#define iB 1
+#define iC 2
+#define iD 3
+#define iE 4
+#define iF 5
+#define iG 6
+#define iH 7
+#define iI 8
+#define iJ 9
+#define iK 10
+#define iL 11
+#define iM 12
+#define iN 13
+#define iO 14
+#define iP 15
+#define iQ 16
+#define iR 17
+#define iS 18
+#define iT 19
+#define iU 20
+#define iV 21
+#define iW 22
+#define iX 23
+#define iY 24
+#define iZ 25
+#define iAsterisk 26
+
+GCODE_COMMAND next_target;
+
+uint8_t gcode_line[GCODE_LINE_BUFFER_LEN];
+uint8_t gcode_line_pointer = 0;
+
+float words[32];
+uint32_t seen_mask = 0;
+
+#define SEEN(c) (seen_mask & (1L << (c)))
+
+uint32_t line_number = 0;
+
+const uint8_t char2index(uint8_t c) __attribute__ ((pure));
+const uint8_t char2index(uint8_t c) {
+ if (c >= 'a' && c <= 'z')
+ return c - 'a';
+ if (c >= 'A' && c <= 'Z')
+ return c - 'A';
+ if (c == '*')
+ return 26;
+ return 255;
+}
-/*
- utility functions
-*/
-extern const uint32_t powers[]; // defined in sermsg.c
+void gcode_parse_char(uint8_t c) {
+ if (gcode_line_pointer < (GCODE_LINE_BUFFER_LEN - 1))
+ gcode_line[gcode_line_pointer++] = c;
+ if ((c == 13) || (c == 10)) {
+ uint8_t i;
+ for (i = gcode_line_pointer; i < GCODE_LINE_BUFFER_LEN; i++)
+ gcode_line[i] = 0;
+ if (gcode_line_pointer > 2)
+ gcode_parse_line(gcode_line);
+ gcode_line_pointer = 0;
+ }
+}
-/// convert a floating point input value into an integer with appropriate scaling.
-/// \param *df pointer to floating point structure that holds fp value to convert
-/// \param multiplicand multiply by this amount during conversion to integer
-///
-/// Tested for up to 42'000 mm (accurate), 420'000 mm (precision 10 um) and
-/// 4'200'000 mm (precision 100 um).
-static int32_t decfloat_to_int(decfloat *df, uint16_t multiplicand) {
- uint32_t r = df->mantissa;
- uint8_t e = df->exponent;
+void gcode_parse_line(uint8_t *c) {
+ enum {
+ STATE_FIND_WORD,
+ STATE_FIND_VALUE,
+ STATE_SEMICOLON_COMMENT,
+ STATE_BRACKET_COMMENT,
+ } state = STATE_FIND_WORD;
+
+ uint8_t i; // string index
+ uint8_t w = 0; // current gcode word
+ uint8_t checksum = 0;
+
+ seen_mask = 0;
+
+ // calculate checksum
+ for(i = 0; c[i] != '*' && c[i] != 0; i++)
+ checksum = checksum ^ c[i];
+
+ // extract gcode words from line
+ for (i = 0; c[i] != 0 && c[i] != 13 && c[i] != 10; i++) {
+ switch (state) {
+ case STATE_FIND_WORD:
+ // start of word
+ if (char2index(c[i]) < 255) {
+ w = char2index(c[i]);
+ state = STATE_FIND_VALUE;
+ }
+ // comment until end of line
+ if (c[i] == ';')
+ state = STATE_SEMICOLON_COMMENT;
+ // comment until close bracket
+ if (c[i] == '(')
+ state = STATE_BRACKET_COMMENT;
+ break;
+ case STATE_FIND_VALUE:
+ if ((c[i] >= '0' && c[i] <= '9') || c[i] == '-') {
+ uint8_t *ep;
+ float v = strtod((const char *) &c[i], (char **) &ep);
+ state = STATE_FIND_WORD;
+ if (ep > &c[i]) {
+// sersendf_P(PSTR("[seen %c: %lx->"), w + 'A', seen_mask);
+ seen_mask |= (1L << w);
+// sersendf_P(PSTR("%lx]"), seen_mask);
+ words[w] = v;
+ i = ep - c - 1;
+ }
+ }
+ break;
+ case STATE_BRACKET_COMMENT:
+ if (c[i] == ')')
+ state = STATE_FIND_WORD;
+ break;
+ case STATE_SEMICOLON_COMMENT:
+ // dummy entry to suppress compiler warning
+ break;
+ } // switch (state)
+ } // for i=0 .. newline
+
+ // TODO: process line just read
+
+ if (SEEN(iAsterisk)) {
+ if (checksum != words[iAsterisk]) {
+ if (seen_mask & iAsterisk)
+ sersendf_P(PSTR("rs %d "), ((uint8_t) words[iAsterisk]));
+ sersendf_P(PSTR("Bad checksum, received %d, expected %d\n"), ((uint8_t) words[iAsterisk]), checksum);
+ seen_mask = 0;
+ return;
+ }
+ }
+
+ if (SEEN(iN)) {
+ if (((uint32_t) words[iN]) != line_number) {
+ sersendf_P(PSTR("Bad line number, received %ld, expected %ld\n"), ((uint32_t) words[iN]), line_number);
+ seen_mask = 0;
+ return;
+ }
+ line_number++;
+ }
+
+ serial_writestr_P(PSTR("ok "));
- // e=1 means we've seen a decimal point but no digits after it, and e=2 means we've seen a decimal point with one digit so it's too high by one if not zero
- if (e)
- e--;
+ // patch words into next_target struct
+ // TODO: eliminate next_target, update gcode_process to use words[] directly
- // This raises range for mm by factor 1000 and for inches by factor 100.
- // It's a bit expensive, but we should have the time while parsing.
- while (e && multiplicand % 10 == 0) {
- multiplicand /= 10;
- e--;
+ next_target.flags = 0;
+ if (SEEN(iG)) {
+ next_target.seen_G = 1;
+ next_target.G = words[iG];
+// sersendf_P(PSTR("G:%d/"), next_target.G);
+ }
+ if (SEEN(iM)) {
+ next_target.seen_M = 1;
+ next_target.M = words[iM];
+// sersendf_P(PSTR("M:%d/"), next_target.M);
+ }
+ if (SEEN(iX)) {
+ next_target.seen_X = 1;
+ next_target.target.X = words[iX] * STEPS_PER_MM_X;
+// sersendf_P(PSTR("X:%ld/"), next_target.target.X);
+ }
+ if (SEEN(iY)) {
+ next_target.seen_Y = 1;
+ next_target.target.Y = words[iY] * STEPS_PER_MM_Y;
+// sersendf_P(PSTR("Y:%ld/"), next_target.target.Y);
+ }
+ if (SEEN(iZ)) {
+ next_target.seen_Z = 1;
+ next_target.target.Z = words[iZ] * STEPS_PER_MM_Z;
+// sersendf_P(PSTR("Z:%ld/"), next_target.target.Z);
+ }
+ if (SEEN(iE)) {
+ next_target.seen_E = 1;
+ next_target.target.E = words[iE] * STEPS_PER_MM_E;
+// sersendf_P(PSTR("E:%ld/"), next_target.target.E);
+ }
+ if (SEEN(iF)) {
+ next_target.seen_F = 1;
+ next_target.target.F = words[iF];
+// sersendf_P(PSTR("F:%ld/"), next_target.target.F);
+ }
+ if (SEEN(iS)) {
+ next_target.seen_S = 1;
+ // if this is temperature, multiply by 4 to convert to quarter-degree units
+ // cosmetically this should be done in the temperature section,
+ // but it takes less code, less memory and loses no precision if we do it here instead
+ if ((next_target.M == 104) || (next_target.M == 109))
+ next_target.S = words[iS] * 4.0;
+ // if this is heater PID stuff, multiply by PID_SCALE because we divide by PID_SCALE later on
+ else if ((next_target.M >= 130) && (next_target.M <= 132))
+ next_target.S = words[iS] * PID_SCALE;
+ else
+ next_target.S = words[iS];
+// sersendf_P(PSTR("S:%d/"), next_target.S);
+ }
+ if (SEEN(iP)) {
+ next_target.seen_P = 1;
+ next_target.P = words[iP];
+// sersendf_P(PSTR("P:%u/"), next_target.P);
+ }
+ if (SEEN(iT)) {
+ next_target.seen_T = 1;
+ next_target.T = words[iT];
+// sersendf_P(PSTR("T:%d/"), next_target.T);
+ }
+ if (SEEN(iN)) {
+ next_target.seen_N = 1;
+ next_target.N = words[iN];
+// sersendf_P(PSTR("N:%lu/"), next_target.N);
}
+ next_target.N_expected = line_number;
+ if (SEEN(iAsterisk)) {
+ next_target.seen_checksum = 1;
+ next_target.checksum_read = words[iAsterisk];
+ }
+ next_target.checksum_calculated = checksum;
- r *= multiplicand;
- if (e)
- r = (r + powers[e] / 2) / powers[e];
+ process_gcode_command();
+ serial_writechar('\n');
- return df->sign ? -(int32_t)r : (int32_t)r;
+ seen_mask = 0;
}
void gcode_init(void) {
@@ -94,290 +259,6 @@ void gcode_init(void) {
#endif
}
-/// Character Received - add it to our command
-/// \param c the next character to process
-void gcode_parse_char(uint8_t c) {
- uint8_t checksum_char = c;
-
- // uppercase
- if (c >= 'a' && c <= 'z')
- c &= ~32;
-
- // process previous field
- if (last_field) {
- // check if we're seeing a new field or end of line
- // any character will start a new field, even invalid/unknown ones
- if ((c >= 'A' && c <= 'Z') || c == '*' || (c == 10) || (c == 13)) {
- switch (last_field) {
- case 'G':
- next_target.G = read_digit.mantissa;
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_uint8(next_target.G);
- break;
- case 'M':
- next_target.M = read_digit.mantissa;
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_uint8(next_target.M);
- break;
- case 'X':
- if (next_target.option_inches)
- next_target.target.X = decfloat_to_int(&read_digit, 25400);
- else
- next_target.target.X = decfloat_to_int(&read_digit, 1000);
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_int32(next_target.target.X);
- break;
- case 'Y':
- if (next_target.option_inches)
- next_target.target.Y = decfloat_to_int(&read_digit, 25400);
- else
- next_target.target.Y = decfloat_to_int(&read_digit, 1000);
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_int32(next_target.target.Y);
- break;
- case 'Z':
- if (next_target.option_inches)
- next_target.target.Z = decfloat_to_int(&read_digit, 25400);
- else
- next_target.target.Z = decfloat_to_int(&read_digit, 1000);
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_int32(next_target.target.Z);
- break;
- case 'E':
- if (next_target.option_inches)
- next_target.target.E = decfloat_to_int(&read_digit, 25400);
- else
- next_target.target.E = decfloat_to_int(&read_digit, 1000);
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_uint32(next_target.target.E);
- break;
- case 'F':
- // just use raw integer, we need move distance and n_steps to convert it to a useful value, so wait until we have those to convert it
- if (next_target.option_inches)
- next_target.target.F = decfloat_to_int(&read_digit, 25400);
- else
- next_target.target.F = decfloat_to_int(&read_digit, 1);
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_uint32(next_target.target.F);
- break;
- case 'S':
- // if this is temperature, multiply by 4 to convert to quarter-degree units
- // cosmetically this should be done in the temperature section,
- // but it takes less code, less memory and loses no precision if we do it here instead
- if ((next_target.M == 104) || (next_target.M == 109) || (next_target.M == 140))
- next_target.S = decfloat_to_int(&read_digit, 4);
- // if this is heater PID stuff, multiply by PID_SCALE because we divide by PID_SCALE later on
- else if ((next_target.M >= 130) && (next_target.M <= 132))
- next_target.S = decfloat_to_int(&read_digit, PID_SCALE);
- else
- next_target.S = decfloat_to_int(&read_digit, 1);
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_uint16(next_target.S);
- break;
- case 'P':
- next_target.P = decfloat_to_int(&read_digit, 1);
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_uint16(next_target.P);
- break;
- case 'T':
- next_target.T = read_digit.mantissa;
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_uint8(next_target.T);
- break;
- case 'N':
- next_target.N = decfloat_to_int(&read_digit, 1);
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_uint32(next_target.N);
- break;
- case '*':
- next_target.checksum_read = decfloat_to_int(&read_digit, 1);
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serwrite_uint8(next_target.checksum_read);
- break;
- }
- // reset for next field
- last_field = 0;
- read_digit.sign = read_digit.mantissa = read_digit.exponent = 0;
- }
- }
-
- // skip comments
- if (next_target.seen_semi_comment == 0 && next_target.seen_parens_comment == 0) {
- // new field?
- if ((c >= 'A' && c <= 'Z') || c == '*') {
- last_field = c;
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serial_writechar(c);
- }
-
- // process character
- // Can't do ranges in switch..case, so process actual digits here.
- // Do it early, as there are many more digits than characters expected.
- if (c >= '0' && c <= '9') {
- if (read_digit.exponent < DECFLOAT_EXP_MAX + 1 &&
- ((next_target.option_inches == 0 &&
- read_digit.mantissa < DECFLOAT_MANT_MM_MAX) ||
- (next_target.option_inches &&
- read_digit.mantissa < DECFLOAT_MANT_IN_MAX))) {
- // this is simply mantissa = (mantissa * 10) + atoi(c) in different clothes
- read_digit.mantissa = (read_digit.mantissa << 3) +
- (read_digit.mantissa << 1) + (c - '0');
- if (read_digit.exponent)
- read_digit.exponent++;
- }
- }
- else {
- switch (c) {
- // Each currently known command is either G or M, so preserve
- // previous G/M unless a new one has appeared.
- // FIXME: same for T command
- case 'G':
- next_target.seen_G = 1;
- next_target.seen_M = 0;
- next_target.M = 0;
- break;
- case 'M':
- next_target.seen_M = 1;
- next_target.seen_G = 0;
- next_target.G = 0;
- break;
- case 'X':
- next_target.seen_X = 1;
- break;
- case 'Y':
- next_target.seen_Y = 1;
- break;
- case 'Z':
- next_target.seen_Z = 1;
- break;
- case 'E':
- next_target.seen_E = 1;
- break;
- case 'F':
- next_target.seen_F = 1;
- break;
- case 'S':
- next_target.seen_S = 1;
- break;
- case 'P':
- next_target.seen_P = 1;
- break;
- case 'T':
- next_target.seen_T = 1;
- break;
- case 'N':
- next_target.seen_N = 1;
- break;
- case '*':
- next_target.seen_checksum = 1;
- break;
-
- // comments
- case ';':
- next_target.seen_semi_comment = 1;
- break;
- case '(':
- next_target.seen_parens_comment = 1;
- break;
-
- // now for some numeracy
- case '-':
- read_digit.sign = 1;
- // force sign to be at start of number, so 1-2 = -2 instead of -12
- read_digit.exponent = 0;
- read_digit.mantissa = 0;
- break;
- case '.':
- if (read_digit.exponent == 0)
- read_digit.exponent = 1;
- break;
- #ifdef DEBUG
- case ' ':
- case '\t':
- case 10:
- case 13:
- // ignore
- break;
- #endif
-
- default:
- #ifdef DEBUG
- // invalid
- serial_writechar('?');
- serial_writechar(c);
- serial_writechar('?');
- #endif
- break;
- }
- }
- } else if ( next_target.seen_parens_comment == 1 && c == ')')
- next_target.seen_parens_comment = 0; // recognize stuff after a (comment)
-
- if (next_target.seen_checksum == 0)
- next_target.checksum_calculated =
- crc(next_target.checksum_calculated, checksum_char);
-
- // end of line
- if ((c == 10) || (c == 13)) {
- if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO))
- serial_writechar(c);
-
- if (
- #ifdef REQUIRE_LINENUMBER
- ((next_target.N >= next_target.N_expected) && (next_target.seen_N == 1)) ||
- (next_target.seen_M && (next_target.M == 110))
- #else
- 1
- #endif
- ) {
- if (
- #ifdef REQUIRE_CHECKSUM
- ((next_target.checksum_calculated == next_target.checksum_read) && (next_target.seen_checksum == 1))
- #else
- ((next_target.checksum_calculated == next_target.checksum_read) || (next_target.seen_checksum == 0))
- #endif
- ) {
- // process
- serial_writestr_P(PSTR("ok "));
- process_gcode_command();
- serial_writechar('\n');
-
- // expect next line number
- if (next_target.seen_N == 1)
- next_target.N_expected = next_target.N + 1;
- }
- else {
- sersendf_P(PSTR("rs N%ld Expected checksum %d\n"), next_target.N_expected, next_target.checksum_calculated);
-// request_resend();
- }
- }
- else {
- sersendf_P(PSTR("rs N%ld Expected line number %ld\n"), next_target.N_expected, next_target.N_expected);
-// request_resend();
- }
-
- // reset variables
- 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.seen_T = next_target.seen_N = \
- next_target.seen_M = next_target.seen_checksum = next_target.seen_semi_comment = \
- next_target.seen_parens_comment = next_target.checksum_read = \
- next_target.checksum_calculated = 0;
- // last_field and read_digit are reset above already
-
- // assume a G1 by default
- next_target.seen_G = 1;
- next_target.G = 1;
-
- if (next_target.option_all_relative) {
- next_target.target.X = next_target.target.Y = next_target.target.Z = 0;
- }
- if (next_target.option_all_relative || next_target.option_e_relative) {
- next_target.target.E = 0;
- }
- }
-}
-
/***************************************************************************\
* *
* Request a resend of the current line - used from various places. *
diff --git a/gcode_parse.h b/gcode_parse.h
index 825bbbc..73e44c1 100644
--- a/gcode_parse.h
+++ b/gcode_parse.h
@@ -64,8 +64,8 @@ extern GCODE_COMMAND next_target;
void gcode_init(void);
-/// accept the next character and process it
-void gcode_parse_char(uint8_t c);
+// once we have a whole line, process it
+void gcode_parse_line(uint8_t *c);
// uses the global variable next_target.N
void request_resend(void);
--
1.8.1.2
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