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RepetierMAX/Repetier/gcode.cpp
Jeff Epler 013bc037ca Fix compilation issues on Debian Wheezy 
.. which uses Arduino 1.0.1 with gcc-avr 4.7.2-2.

SIG_USART0_RECV is forbidden to use, even in a #ifdef test.

PROGMEM data must additionally be const. (not all instances fixed,
for instance I didn't touch he NUM_EXTRUDER>2 case)

prog_char is deprecated but available by defining __PROG_TYPES_COMPAT__
before including pgmspace.h.
2013-07-14 16:25:09 -05:00

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/*
This file is part of Repetier-Firmware.
Repetier-Firmware 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.
Repetier-Firmware 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 Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
Functions in this file are used to communicate using ascii or repetier protocol.
*/
#include "Reptier.h"
#define bit_clear(x,y) x&= ~(1<<y) //cbi(x,y)
#define bit_set(x,y) x|= (1<<y)//sbi(x,y)
#define MAX_CMD_SIZE 96
GCode gcode_buffer[GCODE_BUFFER_SIZE]; ///< Buffer for received commands.
byte gcode_rindex=0; ///< Read position in gcode_buffer.
byte gcode_windex=0; ///< Write position in gcode_buffer.
byte gcode_transbuffer[MAX_CMD_SIZE]; ///< Current received command.
byte gcode_wpos=0; ///< Writing position in gcode_transbuffer.
byte gcode_binary; ///< Flags the command as binary input.
byte gcode_last_binary=0; ///< Was the last successful command in binary mode?
byte gcode_comment=false; ///< Flags true if we are reading the comment part of a command.
byte gcode_binary_size; ///< Expected size of the incoming binary command.
bool gcode_wait_all_parsed=false; ///< Don't read until all commands are parsed. Needed if gcode_buffer is misused as storage for strings.
long gcode_lastN=0; ///< Last line number received.
long gcode_actN; ///< Line number of current command.
char gcode_wait_resend=-1; ///< Waiting for line to be resend. -1 = no wait.
volatile byte gcode_buflen=0; ///< Number of commands stored in gcode_buffer
unsigned long gcode_lastdata=0; ///< Time, when we got the last data packet. Used to detect missing bytes.
SerialOutput out; ///< Instance used for serail write operations.
#ifndef EXTERNALSERIAL
// Implement serial communication for one stream only!
/*
HardwareSerial.h - Hardware serial library for Wiring
Copyright (c) 2006 Nicholas Zambetti. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Modified 28 September 2010 by Mark Sproul
Modified to use only 1 queue with fixed length by Repetier
*/
ring_buffer rx_buffer = { { 0 }, 0, 0};
ring_buffer tx_buffer = { { 0 }, 0, 0};
inline void rf_store_char(unsigned char c, ring_buffer *buffer)
{
int i = (unsigned int)(buffer->head + 1) & SERIAL_BUFFER_MASK;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != buffer->tail) {
buffer->buffer[buffer->head] = c;
buffer->head = i;
}
}
#if !defined(USART0_RX_vect) && defined(USART1_RX_vect)
// do nothing - on the 32u4 the first USART is USART1
#else
#if !defined(USART_RX_vect) && \
!defined(SIG_UART0_RECV) && !defined(USART0_RX_vect) && \
!defined(SIG_UART_RECV)
#error "Don't know what the Data Received vector is called for the first UART"
#else
void rfSerialEvent() __attribute__((weak));
void rfSerialEvent() {}
#define serialEvent_implemented
#if defined(USART_RX_vect)
SIGNAL(USART_RX_vect)
#elif defined(SIG_UART0_RECV)
SIGNAL(SIG_UART0_RECV)
#elif defined(USART0_RX_vect)
SIGNAL(USART0_RX_vect)
#elif defined(SIG_UART_RECV)
SIGNAL(SIG_UART_RECV)
#endif
{
#if defined(UDR0)
unsigned char c = UDR0;
#elif defined(UDR)
unsigned char c = UDR;
#else
#error UDR not defined
#endif
rf_store_char(c, &rx_buffer);
}
#endif
#endif
#if !defined(USART0_UDRE_vect) && defined(USART1_UDRE_vect)
// do nothing - on the 32u4 the first USART is USART1
#else
#if !defined(UART0_UDRE_vect) && !defined(UART_UDRE_vect) && !defined(USART0_UDRE_vect) && !defined(USART_UDRE_vect)
#error "Don't know what the Data Register Empty vector is called for the first UART"
#else
#if defined(UART0_UDRE_vect)
ISR(UART0_UDRE_vect)
#elif defined(UART_UDRE_vect)
ISR(UART_UDRE_vect)
#elif defined(USART0_UDRE_vect)
ISR(USART0_UDRE_vect)
#elif defined(USART_UDRE_vect)
ISR(USART_UDRE_vect)
#endif
{
if (tx_buffer.head == tx_buffer.tail) {
// Buffer empty, so disable interrupts
#if defined(UCSR0B)
bit_clear(UCSR0B, UDRIE0);
#else
bit_clear(UCSRB, UDRIE);
#endif
}
else {
// There is more data in the output buffer. Send the next byte
unsigned char c = tx_buffer.buffer[tx_buffer.tail];
tx_buffer.tail = (tx_buffer.tail + 1) & SERIAL_BUFFER_MASK;
#if defined(UDR0)
UDR0 = c;
#elif defined(UDR)
UDR = c;
#else
#error UDR not defined
#endif
}
}
#endif
#endif
// Constructors ////////////////////////////////////////////////////////////////
RFHardwareSerial::RFHardwareSerial(ring_buffer *rx_buffer, ring_buffer *tx_buffer,
volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
volatile uint8_t *udr,
uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udrie, uint8_t u2x)
{
_rx_buffer = rx_buffer;
_tx_buffer = tx_buffer;
_ubrrh = ubrrh;
_ubrrl = ubrrl;
_ucsra = ucsra;
_ucsrb = ucsrb;
_udr = udr;
_rxen = rxen;
_txen = txen;
_rxcie = rxcie;
_udrie = udrie;
_u2x = u2x;
}
// Public Methods //////////////////////////////////////////////////////////////
void RFHardwareSerial::begin(unsigned long baud)
{
uint16_t baud_setting;
bool use_u2x = true;
#if F_CPU == 16000000UL
// hardcoded exception for compatibility with the bootloader shipped
// with the Duemilanove and previous boards and the firmware on the 8U2
// on the Uno and Mega 2560.
if (baud == 57600) {
use_u2x = false;
}
#endif
try_again:
if (use_u2x) {
*_ucsra = 1 << _u2x;
baud_setting = (F_CPU / 4 / baud - 1) / 2;
} else {
*_ucsra = 0;
baud_setting = (F_CPU / 8 / baud - 1) / 2;
}
if ((baud_setting > 4095) && use_u2x)
{
use_u2x = false;
goto try_again;
}
// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
*_ubrrh = baud_setting >> 8;
*_ubrrl = baud_setting;
bit_set(*_ucsrb, _rxen);
bit_set(*_ucsrb, _txen);
bit_set(*_ucsrb, _rxcie);
bit_clear(*_ucsrb, _udrie);
}
void RFHardwareSerial::end()
{
// wait for transmission of outgoing data
while (_tx_buffer->head != _tx_buffer->tail)
;
bit_clear(*_ucsrb, _rxen);
bit_clear(*_ucsrb, _txen);
bit_clear(*_ucsrb, _rxcie);
bit_clear(*_ucsrb, _udrie);
// clear any received data
_rx_buffer->head = _rx_buffer->tail;
}
int RFHardwareSerial::available(void)
{
return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) & SERIAL_BUFFER_MASK;
}
int RFHardwareSerial::peek(void)
{
if (_rx_buffer->head == _rx_buffer->tail) {
return -1;
} else {
return _rx_buffer->buffer[_rx_buffer->tail];
}
}
int RFHardwareSerial::read(void)
{
// if the head isn't ahead of the tail, we don't have any characters
if (_rx_buffer->head == _rx_buffer->tail) {
return -1;
} else {
unsigned char c = _rx_buffer->buffer[_rx_buffer->tail];
_rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) & SERIAL_BUFFER_MASK;
return c;
}
}
void RFHardwareSerial::flush()
{
while (_tx_buffer->head != _tx_buffer->tail)
;
}
#ifdef COMPAT_PRE1
void
#else
size_t
#endif
RFHardwareSerial::write(uint8_t c)
{
int i = (_tx_buffer->head + 1) & SERIAL_BUFFER_MASK;
// If the output buffer is full, there's nothing for it other than to
// wait for the interrupt handler to empty it a bit
// ???: return 0 here instead?
while (i == _tx_buffer->tail)
;
_tx_buffer->buffer[_tx_buffer->head] = c;
_tx_buffer->head = i;
bit_set(*_ucsrb, _udrie);
#ifndef COMPAT_PRE1
return 1;
#endif
}
// Preinstantiate Objects //////////////////////////////////////////////////////
#if defined(UBRRH) && defined(UBRRL)
RFHardwareSerial RFSerial(&rx_buffer, &tx_buffer, &UBRRH, &UBRRL, &UCSRA, &UCSRB, &UDR, RXEN, TXEN, RXCIE, UDRIE, U2X);
#elif defined(UBRR0H) && defined(UBRR0L)
RFHardwareSerial RFSerial(&rx_buffer, &tx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UDR0, RXEN0, TXEN0, RXCIE0, UDRIE0, U2X0);
#elif defined(USBCON)
// do nothing - Serial object and buffers are initialized in CDC code
#else
#error no serial port defined (port 0)
#endif
#endif
/** \page Repetier-protocol
\section Introduction
The repetier-protocol was developed, to overcome some shortcommings in the standard
RepRap communication method, while remaining backward compatible. To use the improved
features of this protocal, you need a host which speaks it. On Windows the recommended
host software is Repetier-Host. It is developed in parallel to this firmware and supports
all implemented features.
\subsection Improvements
- With higher speeds, the serial connection is more likely to produce communication failures.
The standard method is to transfer a checksum at the end of the line. This checksum is the
XORd value of all characters send. The value is limited to a range between 0 and 127. It can
not detect two identical missing characters or a wrong order. Therefore the new protocol
uses Fletchers checksum, which overcomes these shortcommings.
- The new protocol send data in binary format. This reduces the data size to less then 50% and
it speeds up decoding the command. No slow conversion from string to floats are needed.
*/
/** \brief Computes size of binary data from bitfield.
In the repetier-protocol in binary mode, the first 2 bytes define the
data. From this bitfield, this function computes the size of the command
including the 2 bytes of the bitfield and the 2 bytes for the checksum.
Gcode Letter to Bit and Datatype:
- N : Bit 0 : 16-Bit Integer
- M : Bit 1 : 8-Bit unsigned byte
- G : Bit 2 : 8-Bit unsigned byte
- X : Bit 3 : 32-Bit Float
- Y : Bit 4 : 32-Bit Float
- Z : Bit 5 : 32-Bit Float
- E : Bit 6 : 32-Bit Float
- : Bit 7 : always set to distinguish binary from ASCII line.
- F : Bit 8 : 32-Bit Float
- T : Bit 9 : 8 Bit Integer
- S : Bit 10 : 32 Bit Value
- P : Bit 11 : 32 Bit Integer
- V2 : Bit 12 : Version 2 command for additional commands/sizes
- Ext : Bit 13 : There are 2 more bytes following with Bits, only for future versions
- Int :Bit 14 : Marks it as internal command,
- Text : Bit 15 : 16 Byte ASCII String terminated with 0
Second word if V2:
- I : Bit 0 : 32-Bit float
- J : Bit 1 : 32-Bit float
- R : Bit 2 : 32-Bit float
*/
byte gcode_comp_binary_size(char *ptr) {// unsigned int bitfield) {
byte s = 4; // include checksum and bitfield
unsigned int bitfield = *(int*)ptr;
if(bitfield & 1) s+=2;
if(bitfield & 8) s+=4;
if(bitfield & 16) s+=4;
if(bitfield & 32) s+=4;
if(bitfield & 64) s+=4;
if(bitfield & 256) s+=4;
if(bitfield & 512) s+=1;
if(bitfield & 1024) s+=4;
if(bitfield & 2048) s+=4;
if(bitfield & 4096) { // Version 2 or later
s+=2; // for bitfield 2
unsigned int bitfield2 = *(int*)(ptr+2);
if(bitfield & 2) s+=2;
if(bitfield & 4) s+=2;
if(bitfield2 & 1) s+= 4;
if(bitfield2 & 2) s+= 4;
if(bitfield2 & 4) s+= 4;
if(bitfield & 32768) s+=(byte)ptr[4]+1;
//OUT_P_I_LN("LenStr:",(int)ptr[4]);
//OUT_P_I_LN("LenBinV2:",s);
} else {
if(bitfield & 2) s+=1;
if(bitfield & 4) s+=1;
if(bitfield & 32768) s+=16;
}
return s;
}
extern "C" void __cxa_pure_virtual() { }
SerialOutput::SerialOutput() {
}
#ifdef COMPAT_PRE1
void
#else
size_t
#endif
SerialOutput::write(uint8_t value) {
RFSERIAL.write(value);
#ifndef COMPAT_PRE1
return 1;
#endif
}
void SerialOutput::printFloat(double number, uint8_t digits)
{
if (isnan(number)) {
print_P(PSTR("NAN"));
return;
}
if (isinf(number)) {
print_P(PSTR("INF"));
return;
}
// Handle negative numbers
if (number < 0.0)
{
write('-');
number = -number;
}
// Round correctly so that print(1.999, 2) prints as "2.00"
double rounding = 0.5;
for (uint8_t i=0; i<digits; ++i)
rounding /= 10.0;
number += rounding;
// Extract the integer part of the number and print it
unsigned long int_part = (unsigned long)number;
double remainder = number - (double)int_part;
print(int_part);
// Print the decimal point, but only if there are digits beyond
if (digits > 0)
write('.');
// Extract digits from the remainder one at a time
while (digits-- > 0)
{
remainder *= 10.0;
int toPrint = int(remainder);
print(toPrint);
remainder -= toPrint;
}
}
/**
Print a string stored in program memory on serial console.
Example: serial_print_pgm(PSTR("Dummy string"));
*/
void SerialOutput::print_P(PGM_P ptr) {
char c;
while ((c=pgm_read_byte(ptr++)) != 0x00)
write(c);
}
/**
Print a string stored in program memory on serial console.
Example: out.println_P(PSTR("Dummy string"));
*/
void SerialOutput::println_P(PGM_P ptr) {
print_P(ptr);
println();
}
void SerialOutput::print_long_P(PGM_P ptr,long value) {
print_P(ptr);
print(value);
}
void SerialOutput::print_int_P(PGM_P ptr,int value) {
print_P(ptr);
print(value);
}
void SerialOutput::print_float_P(PGM_P ptr,float value,uint8_t digits) {
print_P(ptr);
out.printFloat(value,digits);
}
void SerialOutput::println_long_P(PGM_P ptr,long value) {
print_P(ptr);
println(value);
}
void SerialOutput::println_int_P(PGM_P ptr,int value) {
print_P(ptr);
println(value);
}
void SerialOutput::println_float_P(PGM_P ptr,float value,uint8_t digits) {
print_P(ptr);
printFloat(value,digits);
println();
}
void SerialOutput::print_error_P(PGM_P ptr,bool newline) {
OUT_P("error:");
print_P(ptr);
if(newline)
println();
}
/** \brief request resend of the expected line.
*/
void gcode_resend() {
RFSERIAL.flush();
gcode_wpos=0;
if(gcode_binary)
gcode_wait_resend = 30;
else
gcode_wait_resend = 14;
OUT_LN;
OUT_P_L_LN("Resend:",gcode_lastN+1);
OUT_P_LN("ok");
}
void emergencyStop() {
#if defined(KILL_METHOD) && KILL_METHOD==1
resetFunc();
#else
cli(); // Don't allow interrupts to do their work
kill(false);
manage_temperatures();
pwm_pos[0] = pwm_pos[1] = pwm_pos[2] = pwm_pos[3]=0;
#if EXT0_HEATER_PIN>-1
WRITE(EXT0_HEATER_PIN,0);
#endif
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1
WRITE(EXT1_HEATER_PIN,0);
#endif
#if defined(EXT2_HEATER_PIN) && EXT2_HEATER_PIN>-1
WRITE(EXT2_HEATER_PIN,0);
#endif
#if FAN_PIN>-1
WRITE(FAN_PIN,0);
#endif
while(1) {}
#endif
}
/**
Check if result is plausible. If it is, an ok is send and the command is stored in queue.
If not, a resend and ok is send.
*/
void gcode_checkinsert(GCode *act) {
if(GCODE_HAS_M(act)) {
if(act->M==110) { // Reset line number
gcode_lastN = gcode_actN;
OUT_P_LN("ok");
return;
}
if(act->M==112) { // Emergency kill - freeze printer
emergencyStop();
}
}
if(GCODE_HAS_N(act)) {
if((((gcode_lastN+1) & 0xffff)!=(gcode_actN&0xffff))) {
if(gcode_wait_resend<0) { // after a resend, we have to skip the garbage in buffers, no message for this
if(DEBUG_ERRORS) {
OUT_P_L("Error: expected line ",gcode_lastN+1);
OUT_P_L_LN(" got ",gcode_actN);
}
gcode_resend(); // Line missing, force resend
} else {
--gcode_wait_resend;
gcode_wpos = 0;
OUT_P_L_LN("skip ",gcode_actN);
OUT_P_LN("ok");
}
return;
}
gcode_lastN = gcode_actN;
}
gcode_windex = (gcode_windex+1) % GCODE_BUFFER_SIZE;
gcode_buflen++;
#ifdef ACK_WITH_LINENUMBER
OUT_P_L_LN("ok ",gcode_actN);
#else
OUT_P_LN("ok");
#endif
gcode_last_binary = gcode_binary;
gcode_wait_resend = -1; // everything is ok.
#ifndef ECHO_ON_EXECUTE
if(DEBUG_ECHO) {
OUT_P("Echo:");
gcode_print_command(act);
out.println();
}
#endif
}
void gcode_silent_insert() {
gcode_windex = (gcode_windex+1) % GCODE_BUFFER_SIZE;
gcode_buflen++;
#ifndef ECHO_ON_EXECUTE
if(DEBUG_ECHO) {
out.print_P(PSTR("Echo:"));
gcode_print_command(act);
out.println();
}
#endif
}
/**
Get the next buffered command. Returns 0 if no more commands are buffered. For each
returned command, the gcode_command_finished() function must be called.
*/
GCode *gcode_next_command() {
if(gcode_buflen==0) return 0; // No more data
byte idx = gcode_rindex;
gcode_rindex = (idx+1) % GCODE_BUFFER_SIZE;
return &gcode_buffer[idx];
}
/** \brief Removes the last returned command from cache.
*/
void gcode_command_finished(GCode *code) {
if(!gcode_buflen) return; // Should not happen, but safety first
#ifdef ECHO_ON_EXECUTE
if(DEBUG_ECHO) {
OUT_P("Echo:");
gcode_print_command(code);
out.println();
}
#endif
gcode_buflen--;
}
/** \brief Execute commands in progmem stored string. Multiple commands are seperated by \n */
void gcode_execute_PString(PGM_P cmd) {
char buf[80];
byte buflen;
char c;
GCode code;
do {
// Wait for a free place in command buffer
// Scan next command from string
byte comment=0;
buflen = 0;
do {
c = pgm_read_byte(cmd++);
if(c == 0 || c == '\n') break;
if(c == ';') comment = 1;
if(comment) continue;
buf[buflen++] = c;
} while(buflen<79);
if(buflen==0) { // empty line ignore
continue;
}
buf[buflen]=0;
// Send command into command buffer
if(gcode_parse_ascii(&code,(char *)buf) && (code.params & 518)) { // Success
process_command(&code,false);
defaultLoopActions();
}
} while(c);
}
/** \brief Read from serial console or sdcard.
This function is the main function to read the commands from serial console or from sdcard.
It must be called frequently to empty the incoming buffer.
*/
void gcode_read_serial() {
if(gcode_wait_all_parsed && gcode_buflen) return;
gcode_wait_all_parsed=false;
GCode *act;
unsigned long time = millis();
if(gcode_buflen>=GCODE_BUFFER_SIZE) return; // all buffers full
if(RFSERIAL.available()==0) {
if((gcode_wait_resend>=0 || gcode_wpos>0) && time-gcode_lastdata>200) {
gcode_resend(); // Something is wrong, a started line was not continued in the last second
gcode_lastdata = time;
}
#ifdef WAITING_IDENTIFIER
else if(gcode_buflen == 0 && time-gcode_lastdata>1000) { // Don't do it if buffer is not empty. It may be a slow executing command.
OUT_P_LN(WAITING_IDENTIFIER); // Unblock communication in case the last ok was not received correct.
gcode_lastdata = time;
}
#endif
}
while(RFSERIAL.available() > 0 && gcode_wpos < MAX_CMD_SIZE) { // consume data until no data or buffer full
gcode_lastdata = millis();
gcode_transbuffer[gcode_wpos++] = RFSERIAL.read();
// first lets detect, if we got an old type ascii command
if(gcode_wpos==1) {
if(gcode_wait_resend>=0 && gcode_last_binary) {
if(!gcode_transbuffer[0]) {gcode_wait_resend--;} // Skip 30 zeros to get in sync
else gcode_wait_resend = 30;
gcode_wpos = 0;
continue;
}
if(!gcode_transbuffer[0]) {gcode_wpos = 0;continue;}
gcode_binary = (gcode_transbuffer[0] & 128)!=0;
}
if(gcode_binary) {
if(gcode_wpos < 2 ) continue;
if(gcode_wpos == 5) gcode_binary_size = gcode_comp_binary_size((char*)gcode_transbuffer);
if(gcode_wpos==gcode_binary_size) {
act = &gcode_buffer[gcode_windex];
if(gcode_parse_binary(act,gcode_transbuffer)) { // Success
gcode_checkinsert(act);
} else {
gcode_resend();
}
gcode_wpos = 0;
return;
}
} else { // Ascii command
char ch = gcode_transbuffer[gcode_wpos-1];
if(ch == '\n' || ch == '\r' || ch == ':' || gcode_wpos >= (MAX_CMD_SIZE - 1) ) {// complete line read
gcode_transbuffer[gcode_wpos]=0;
gcode_comment = false;
if(gcode_wpos==1) { // empty line ignore
gcode_wpos = 0;
continue;
}
act = &gcode_buffer[gcode_windex];
if(gcode_parse_ascii(act,(char *)gcode_transbuffer)) { // Success
gcode_checkinsert(act);
} else {
gcode_resend();
}
gcode_wpos = 0;
return;
} else {
if(ch == ';') gcode_comment = true; // ignore new data until lineend
if(gcode_comment) gcode_wpos--;
}
}
}
#if SDSUPPORT
if(!sd.sdmode || gcode_wpos!=0) { // not reading or incoming serial command
return;
}
while( sd.filesize > sd.sdpos && gcode_wpos < MAX_CMD_SIZE) { // consume data until no data or buffer full
gcode_lastdata = millis();
int n = sd.file.read();
if(n==-1) {
OUT_P_LN("SD read error");
break;
}
sd.sdpos++; // = file.curPosition();
gcode_transbuffer[gcode_wpos++] = (byte)n;
// first lets detect, if we got an old type ascii command
if(gcode_wpos==1) {
gcode_binary = (gcode_transbuffer[0] & 128)!=0;
}
if(gcode_binary) {
if(gcode_wpos < 2 ) continue;
if(gcode_wpos == 5) gcode_binary_size = gcode_comp_binary_size((char*)gcode_transbuffer);
if(gcode_wpos==gcode_binary_size) {
act = &gcode_buffer[gcode_windex];
if(gcode_parse_binary(act,gcode_transbuffer)) { // Success
gcode_silent_insert();
}
gcode_wpos = 0;
return;
}
} else {
char ch = gcode_transbuffer[gcode_wpos-1];
if(ch == '\n' || ch == '\r' || ch == ':' || gcode_wpos >= (MAX_CMD_SIZE - 1) ) {// complete line read
gcode_transbuffer[gcode_wpos]=0;
gcode_comment = false;
if(gcode_wpos==1) { // empty line ignore
gcode_wpos = 0;
continue;
}
act = &gcode_buffer[gcode_windex];
if(gcode_parse_ascii(act,(char *)gcode_transbuffer)) { // Success
gcode_silent_insert();
}
gcode_wpos = 0;
return;
} else {
if(ch == ';') gcode_comment = true; // ignore new data until lineend
if(gcode_comment) gcode_wpos--;
}
}
}
sd.sdmode = false;
OUT_P_LN("Done printing file");
/*OUT_P_L("Printed bytes:",sd.sdpos);
OUT_P_L_LN(" of ",sd.filesize);
OUT_P_I_LN("WPOS:",gcode_wpos);*/
gcode_wpos = 0;
#endif
}
/**
Converts a binary bytefield containing one GCode line into a GCode structure.
Returns true if checksum was correct.
*/
bool gcode_parse_binary(GCode *code,byte *buffer) {
unsigned int sum1=0,sum2=0; // for fletcher-16 checksum
// first do fletcher-16 checksum tests see
// http://en.wikipedia.org/wiki/Fletcher's_checksum
byte i=0;
byte *p = buffer;
byte len = gcode_binary_size-2;
while (len) {
byte tlen = len > 21 ? 21 : len;
len -= tlen;
do {
sum1 += *p++;
if(sum1>=255) sum1-=255;
sum2 += sum1;
if(sum2>=255) sum2-=255;
} while (--tlen);
}
sum1 -= *p++;
sum2 -= *p;
if(sum1 | sum2) {
if(DEBUG_ERRORS) {
OUT_P_LN("Error:Binary cmd wrong checksum.");
}
return false;
}
p = buffer;
code->params = *(unsigned int *)p;p+=2;
byte textlen=16;
if(GCODE_IS_V2(code)) {
code->params2 = *(unsigned int *)p;p+=2;
if(GCODE_HAS_STRING(code))
textlen = *p++;
} else code->params2 = 0;
if(code->params & 1) {gcode_actN=code->N=*(unsigned int *)p;p+=2;}
if(GCODE_IS_V2(code)) { // Read G,M as 16 bit value
if(code->params & 2) {code->M=*(unsigned int *)p;p+=2;}
if(code->params & 4) {code->G=*(unsigned int *)p;p+=2;}
} else {
if(code->params & 2) {code->M=*p++;}
if(code->params & 4) {code->G=*p++;}
}
//if(code->params & 8) {memcpy(&code->X,p,4);p+=4;}
if(code->params & 8) {code->X=*(float *)p;p+=4;}
if(code->params & 16) {code->Y=*(float *)p;p+=4;}
if(code->params & 32) {code->Z =*(float *)p;p+=4;}
if(code->params & 64) {code->E=*(float *)p;p+=4;}
if(code->params & 256) {code->F=*(float *)p;p+=4;}
if(code->params & 512) {code->T=*p++;}
if(code->params & 1024) {code->S=*(long int*)p;p+=4;}
if(code->params & 2048) {code->P=*(long int*)p;p+=4;}
if(GCODE_HAS_I(code)) {code->I=*(float *)p;p+=4;}
if(GCODE_HAS_J(code)) {code->J=*(float *)p;p+=4;}
if(GCODE_HAS_R(code)) {code->R=*(float *)p;p+=4;}
if(GCODE_HAS_STRING(code)) { // set text pointer to string
code->text = (char*)p;
code->text[textlen] = 0; // Terminate string overwriting checksum
gcode_wait_all_parsed=true; // Don't destroy string until executed
}
return true;
}
inline float gcode_value(char *s) { return (strtod(s, NULL)); }
inline long gcode_value_long(char *s) { return (strtol(s, NULL, 10)); }
/**
Converts a ascii GCode line into a GCode structure.
*/
bool gcode_parse_ascii(GCode *code,char *line) {
bool has_checksum = false;
char *pos;
code->params = 0;
code->params2 = 0;
if((pos = strchr(line,'N'))!=0) { // Line number detected
gcode_actN = gcode_value_long(++pos);
code->params |=1;
code->N = gcode_actN & 0xffff;
}
if((pos = strchr(line,'M'))!=0) { // M command
code->M = gcode_value_long(++pos) & 0xffff;
code->params |= 2;
if(code->M>255) code->params |= 4096;
}
if(GCODE_HAS_M(code) && (code->M == 23 || code->M == 28 || code->M == 29 || code->M == 30 || code->M == 32 || code->M == 117)) {
// after M command we got a filename for sd card management
char *sp = line;
while(*sp!='M') sp++; // Search M command
while(*sp!=' ') sp++; // search next whitespace
while(*sp==' ') sp++; // skip leading whitespaces
//char *wp = code->text;
code->text = sp;
while(*sp) {
if(code->M != 117 && (*sp==' ' || *sp=='*')) break; // end of filename reached
sp++;
//*wp++ = *sp++;
}
//*wp = 0; // ensure ending 0
*sp = 0; // Removes checksum, but we don't care. Could also be part of the string.
gcode_wait_all_parsed = true; // don't risk string be deleted
code->params |= 32768;
} else {
if((pos = strchr(line,'G'))!=0) { // G command
code->G = gcode_value_long(++pos) & 0xffff;
code->params |= 4;
if(code->G>255) code->params |= 4096;
}
if((pos = strchr(line,'X'))!=0) {
code->X = gcode_value(++pos);
code->params |= 8;
}
if((pos = strchr(line,'Y'))!=0) {
code->Y = gcode_value(++pos);
code->params |= 16;
}
if((pos = strchr(line,'Z'))!=0) {
code->Z = gcode_value(++pos);
code->params |= 32;
}
if((pos = strchr(line,'E'))!=0) {
code->E = gcode_value(++pos);
code->params |= 64;
}
if((pos = strchr(line,'F'))!=0) {
code->F = gcode_value(++pos);
code->params |= 256;
}
if((pos = strchr(line,'T'))!=0) { // M command
code->T = gcode_value_long(++pos) & 0xff;
code->params |= 512;
}
if((pos = strchr(line,'S'))!=0) { // M command
code->S = gcode_value_long(++pos);
code->params |= 1024;
}
if((pos = strchr(line,'P'))!=0) { // M command
code->P = gcode_value_long(++pos);
code->params |= 2048;
}
if((pos = strchr(line,'I'))!=0) {
code->I = gcode_value(++pos);
code->params2 |= 1;
code->params |= 4096; // Needs V2 for saving
}
if((pos = strchr(line,'J'))!=0) {
code->J = gcode_value(++pos);
code->params2 |= 2;
code->params |= 4096; // Needs V2 for saving
}
if((pos = strchr(line,'R'))!=0) {
code->R = gcode_value(++pos);
code->params2 |= 4;
code->params |= 4096; // Needs V2 for saving
}
}
if((pos = strchr(line,'*'))!=0) { // checksum
byte checksum_given = gcode_value_long(pos+1);
byte checksum = 0;
while(line!=pos) checksum ^= *line++;
if(checksum!=checksum_given) {
if(DEBUG_ERRORS) {
out.println_int_P(PSTR("Error: Wrong checksum "),(int)checksum);
}
return false; // mismatch
}
}
return true;
}
/** \brief Print command on serial console */
void gcode_print_command(GCode *code) {
if(GCODE_HAS_M(code)) {
out.print('M');
out.print((int)code->M);
out.print(' ');
}
if(GCODE_HAS_G(code)) {
out.print('G');
out.print((int)code->G);
out.print(' ');
}
if(GCODE_HAS_T(code)) {
out.print('T');
out.print((int)code->T);
out.print(' ');
}
if(GCODE_HAS_X(code)) {
out.print_float_P(PSTR(" X"),code->X);
}
if(GCODE_HAS_Y(code)) {
out.print_float_P(PSTR(" Y"),code->Y);
}
if(GCODE_HAS_Z(code)) {
out.print_float_P(PSTR(" Z"),code->Z);
}
if(GCODE_HAS_E(code)) {
out.print_float_P(PSTR(" E"),code->E,4);
}
if(GCODE_HAS_F(code)) {
out.print_float_P(PSTR(" F"),code->F);
}
if(GCODE_HAS_S(code)) {
out.print_long_P(PSTR(" S"),code->S);
}
if(GCODE_HAS_P(code)) {
out.print_long_P(PSTR(" P"),code->P);
}
if(GCODE_HAS_I(code)) {
out.print_float_P(PSTR(" I"),code->I);
}
if(GCODE_HAS_J(code)) {
out.print_float_P(PSTR(" J"),code->J);
}
if(GCODE_HAS_R(code)) {
out.print_float_P(PSTR(" R"),code->R);
}
if(GCODE_HAS_STRING(code)) {
out.print(' ');
out.print(code->text);
}
}
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