ffcc3470a3
- Significant improvements in the planner. Removed or reordered repetitive and expensive calculations by order of importance: recalculating unchanged blocks, trig functions [sin(), cos(), tan()], sqrt(), divides, and multiplications. Blocks long enough for nominal speed to be guaranteed to be reached ignored by planner. Done by introducing two uint8_t flags per block. Reduced computational overhead by an order of magnitude. - Arc motion generation completely re-written and optimized. Now runs with acceleration planner. Removed all but one trig function (atan2) from initialization. Streamlined computations. Segment target locations generated by vector transformation and small angle approximation. Arc path correction implemented for accumulated error of approximation and single precision calculation of Arduino. Bug fix in message passing.
117 lines
3.7 KiB
C
117 lines
3.7 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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Modifications Copyright (c) 2011 Sungeun (Sonny) Jeon
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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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uint8_t iscomment = false;
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while((c = serial_read()) != SERIAL_NO_DATA)
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{
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if ((c == '\n') || (c == '\r')) { // End of block reached
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if (char_counter > 0) {// Line is complete. Then execute!
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line[char_counter] = 0; // terminate string
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status_message(protocol_execute_line(line));
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} else {
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// Empty or comment line. Skip block.
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status_message(STATUS_OK); // Send status message for syncing purposes.
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}
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char_counter = 0; // Reset line buffer index
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iscomment = false; // Reset comment flag
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} else {
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if (iscomment) {
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// Throw away all comment characters
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if (c == ')') {
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// End of comment. Resume line.
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iscomment = false;
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}
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} else {
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if (c <= ' ') {
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// Throw away whitepace and control characters
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} else if (c == '/') {
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// Disable block delete and throw away character
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// To enable block delete, uncomment following line. Will ignore until EOL.
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// iscomment = true;
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} else if (c == '(') {
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// Enable comments flag and ignore all characters until ')' or EOL.
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iscomment = true;
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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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}
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}
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