void jog(AXIS a, float increment){
char gcode[20];
char float_str[20];
switch(a){
case X:
sprintf(gcode, "%s%s%s",JOG_GCODE_BASE,"X", ftoa(float_str, increment, 5));
printString(gcode);
protocol_execute_line(gcode);
printString("\n");
break;
case Y:
sprintf(gcode, "%s%s%s",JOG_GCODE_BASE,"Y", ftoa(float_str, increment, 5));
printString(gcode);
protocol_execute_line(gcode);
printString("\n");
break;
case Z:
sprintf(gcode, "%s%s%s",JOG_GCODE_BASE,"Z", ftoa(float_str, increment, 5));
printString(gcode);
protocol_execute_line(gcode);
printString("\n");
break;
default:
printString("Incorrect axis\n");
break;
}
}
// Process and report status one line of incoming serial data. Performs an initial filtering
// by removing spaces and comments and capitalizing all letters.
void protocol_process()
{
uint8_t c;
while((c = serial_read()) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
// Runtime command check point before executing line. Prevent any furthur line executions.
// NOTE: If there is no line, this function should quickly return to the main program when
// the buffer empties of non-executable data.
protocol_execute_runtime();
if (sys.abort) {
return; // Bail to main program upon system abort
}
if (char_counter > 0) {// Line is complete. Then execute!
line[char_counter] = 0; // Terminate string
report_status_message(protocol_execute_line(line));
}
else {
// Empty or comment line. Skip block.
report_status_message(STATUS_OK); // Send status message for syncing purposes.
}
protocol_reset_line_buffer();
}
else {
if (iscomment) {
// Throw away all comment characters
if (c == ')') {
// End of comment. Resume line.
iscomment = false;
}
}
else {
if (c <= ' ') {
// Throw away whitepace and control characters
}
else
if (c == '/') {
// Block delete not supported. Ignore character.
}
else
if (c == '(') {
// Enable comments flag and ignore all characters until ')' or EOL.
iscomment = true;
}
else
if (char_counter >= LINE_BUFFER_SIZE-1) {
// Report line buffer overflow and reset
report_status_message(STATUS_OVERFLOW);
protocol_reset_line_buffer();
}
else
if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
}
else {
line[char_counter++] = c;
}
}
}
}
}
// Process one line of incoming serial data. Remove unneeded characters and capitalize.
void protocol_process()
{
uint8_t c;
while((c = serial_read()) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
// Runtime command check point before executing line. Prevent any furthur line executions.
// NOTE: If there is no line, this function should quickly return to the main program when
// the buffer empties of non-executable data.
protocol_execute_runtime();
if (sys.abort) { return; } // Bail to main program upon system abort
if (char_counter > 0) {// Line is complete. Then execute!
line[char_counter] = 0; // Terminate string
status_message(protocol_execute_line(line));
} else {
// Empty or comment line. Skip block.
status_message(STATUS_OK); // Send status message for syncing purposes.
}
char_counter = 0; // Reset line buffer index
iscomment = false; // Reset comment flag
} else {
if (iscomment) {
// Throw away all comment characters
if (c == ')') {
// End of comment. Resume line.
iscomment = false;
}
} else {
if (c <= ' ') {
// Throw away whitepace and control characters
} else if (c == '/') {
// Disable block delete and throw away characters. Will ignore until EOL.
#if BLOCK_DELETE_ENABLE
iscomment = true;
#endif
} else if (c == '(') {
// Enable comments flag and ignore all characters until ')' or EOL.
iscomment = true;
} else if (char_counter >= LINE_BUFFER_SIZE-1) {
// Throw away any characters beyond the end of the line buffer
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
} else {
line[char_counter++] = c;
}
}
}
}
}
void reset_axis(AXIS a){
char gcode[20];
switch(a){
case X:
sprintf(gcode, "%s%s",RESET_AXIS_BASE,"X0");
printString(gcode);
protocol_execute_line(gcode);
break;
case Y:
sprintf(gcode, "%s%s",RESET_AXIS_BASE,"Y0");
printString(gcode);
protocol_execute_line(gcode);
break;
case Z:
sprintf(gcode, "%s%s",RESET_AXIS_BASE,"Z0");
printString(gcode);
protocol_execute_line(gcode);
break;
default:
printString("Incorrect axis\n");
break;
}
}
// Process one line of incoming serial data. Remove unneeded characters and capitalize.
void protocol_process()
{
char c;
while((c = serial_read()) != SERIAL_NO_DATA)
{
if ((c == '\n') || (c == '\r')) { // End of line reached
if (char_counter > 0) {// Line is complete. Then execute!
line[char_counter] = 0; // Terminate string
status_message(protocol_execute_line(line));
} else {
// Empty or comment line. Skip block.
status_message(STATUS_OK); // Send status message for syncing purposes.
}
char_counter = 0; // Reset line buffer index
iscomment = false; // Reset comment flag
} else {
if (iscomment) {
// Throw away all comment characters
if (c == ')') {
// End of comment. Resume line.
iscomment = false;
}
} else {
if (c <= ' ') {
// Throw away whitepace and control characters
} else if (c == '/') {
// Disable block delete and throw away character
// To enable block delete, uncomment following line. Will ignore until EOL.
// iscomment = true;
} else if (c == '(') {
// Enable comments flag and ignore all characters until ')' or EOL.
iscomment = true;
} else if (char_counter >= LINE_BUFFER_SIZE-1) {
// Throw away any characters beyond the end of the line buffer
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
} else {
line[char_counter++] = c;
}
}
}
}
}
/*
GRBL PRIMARY LOOP:
*/
void protocol_main_loop()
{
// ------------------------------------------------------------
// Complete initialization procedures upon a power-up or reset.
// ------------------------------------------------------------
// Print welcome message
report_init_message();
// Check for and report alarm state after a reset, error, or an initial power up.
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_LOCK);
} else {
// All systems go! But first check for safety door.
#ifndef DEFAULTS_TRINAMIC
if (system_check_safety_door_ajar()) {
bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
} else {
sys.state = STATE_IDLE; // Set system to ready. Clear all state flags.
}
#endif
system_execute_startup(line); // Execute startup script.
}
// ---------------------------------------------------------------------------------
// Primary loop! Upon a system abort, this exits back to main() to reset the system.
// ---------------------------------------------------------------------------------
uint8_t comment = COMMENT_NONE;
uint8_t char_counter = 0;
uint8_t c;
for (;;) {
// Process one line of incoming serial data, as the data becomes available. Performs an
// initial filtering by removing spaces and comments and capitalizing all letters.
// NOTE: While comment, spaces, and block delete(if supported) handling should technically
// be done in the g-code parser, doing it here helps compress the incoming data into Grbl's
// line buffer, which is limited in size. The g-code standard actually states a line can't
// exceed 256 characters, but the Arduino Uno does not have the memory space for this.
// With a better processor, it would be very easy to pull this initial parsing out as a
// seperate task to be shared by the g-code parser and Grbl's system commands.
while((c = serial_read()) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
line[char_counter] = 0; // Set string termination character.
protocol_execute_line(line); // Line is complete. Execute it!
comment = COMMENT_NONE;
char_counter = 0;
} else {
if (comment != COMMENT_NONE) {
// Throw away all comment characters
if (c == ')') {
// End of comment. Resume line. But, not if semicolon type comment.
if (comment == COMMENT_TYPE_PARENTHESES) { comment = COMMENT_NONE; }
}
} else {
if (c <= ' ') {
// Throw away whitepace and control characters
} else if (c == '/') {
// Block delete NOT SUPPORTED. Ignore character.
// NOTE: If supported, would simply need to check the system if block delete is enabled.
} else if (c == '(') {
// Enable comments flag and ignore all characters until ')' or EOL.
// NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.
// In the future, we could simply remove the items within the comments, but retain the
// comment control characters, so that the g-code parser can error-check it.
comment = COMMENT_TYPE_PARENTHESES;
} else if (c == ';') {
// NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST.
comment = COMMENT_TYPE_SEMICOLON;
// TODO: Install '%' feature
// } else if (c == '%') {
// Program start-end percent sign NOT SUPPORTED.
// NOTE: This maybe installed to tell Grbl when a program is running vs manual input,
// where, during a program, the system auto-cycle start will continue to execute
// everything until the next '%' sign. This will help fix resuming issues with certain
// functions that empty the planner buffer to execute its task on-time.
} else if (char_counter >= (LINE_BUFFER_SIZE-1)) {
// Detect line buffer overflow. Report error and reset line buffer.
report_status_message(STATUS_OVERFLOW);
comment = COMMENT_NONE;
char_counter = 0;
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
} else {
line[char_counter++] = c;
}
}
}
}
// If there are no more characters in the serial read buffer to be processed and executed,
// this indicates that g-code streaming has either filled the planner buffer or has
// completed. In either case, auto-cycle start, if enabled, any queued moves.
protocol_auto_cycle_start();
protocol_execute_realtime(); // Runtime command check point.
if (sys.abort) { return; } // Bail to main() program loop to reset system.
}
return; /* Never reached */
}
