eParseResult gcode_parse_line (tLineBuffer *pLine)
{
int j;
eParseResult result = PR_OK;
for (j=0; j < pLine->len; j++)
{
gcode_parse_char (pLine->data [j]);
}
// end of line
//if ((c == 10) || (c == 13))
{
if (
#ifdef REQUIRE_LINENUMBER
(next_target.N >= next_target.N_expected) && (next_target.seen_N == 1)
#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
)
{
if (sd_writing_file)
{
if (next_target.seen_M && (next_target.M >= 20) && (next_target.M <= 29))
{
if (next_target.seen_M && next_target.M == 29)
{
// M29 - stop writing
sd_writing_file = false;
sd_close (&file);
serial_writestr("Done saving file\r\n");
}
else
{
// else - do not write SD M-codes to file
serial_writestr("ok\r\n");
}
}
else
{
// lines in files must be LF terminated for sd_read_file to work
if (pLine->data [pLine->len-1] == 13)
{
pLine->data [pLine->len-1] = 10;
}
if (sd_write_to_file(pLine->data, pLine->len))
{
serial_writestr("ok\r\n");
}
else
{
serial_writestr("error writing to file\r\n");
}
}
}
else
{
// process
result = process_gcode_command();
// expect next line number
if (next_target.seen_N == 1)
{
next_target.N_expected = next_target.N + 1;
}
}
}
else
{
serial_writestr("Expected checksum ");
serwrite_uint8(next_target.checksum_calculated);
serial_writestr("\r\n");
request_resend();
}
}
else
{
serial_writestr("Expected line number ");
serwrite_uint32(next_target.N_expected);
serial_writestr("\r\n");
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_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;
next_target.chpos = 0;
last_field = 0;
read_digit.sign = read_digit.exponent = 0;
value = 0;
// dont assume a G1 by default
next_target.seen_G = 0;
next_target.G = 0;
if (next_target.option_relative)
{
next_target.target.x = next_target.target.y = next_target.target.z = 0.0;
next_target.target.e = 0.0;
}
}
return result;
}
void gcode_parse_char(uint8_t c) {
#ifdef ASTERISK_IN_CHECKSUM_INCLUDED
if (next_target.seen_checksum == 0)
next_target.checksum_calculated = crc(next_target.checksum_calculated, c);
#endif
// 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_flags & DEBUG_ECHO)
serwrite_uint8(next_target.G);
break;
case 'M':
next_target.M = read_digit.mantissa;
if (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, STEPS_PER_IN_X, 1);
else
next_target.target.X = decfloat_to_int(&read_digit, STEPS_PER_M_X, 1000);
if (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, STEPS_PER_IN_Y, 1);
else
next_target.target.Y = decfloat_to_int(&read_digit, STEPS_PER_M_Y, 1000);
if (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, STEPS_PER_IN_Z, 1);
else
next_target.target.Z = decfloat_to_int(&read_digit, STEPS_PER_M_Z, 1000);
if (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, STEPS_PER_IN_E, 1);
else
next_target.target.E = decfloat_to_int(&read_digit, STEPS_PER_M_E, 1000);
if (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, 254, 10);
else
next_target.target.F = decfloat_to_int(&read_digit, 1, 1);
if (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, 1);
// 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, 1);
else
next_target.S = decfloat_to_int(&read_digit, 1, 1);
if (debug_flags & DEBUG_ECHO)
serwrite_uint16(next_target.S);
break;
case 'P':
next_target.P = decfloat_to_int(&read_digit, 1, 1);
if (debug_flags & DEBUG_ECHO)
serwrite_uint16(next_target.P);
break;
case 'T':
next_target.T = read_digit.mantissa;
if (debug_flags & DEBUG_ECHO)
serwrite_uint8(next_target.T);
break;
case 'N':
next_target.N = decfloat_to_int(&read_digit, 1, 1);
if (debug_flags & DEBUG_ECHO)
serwrite_uint32(next_target.N);
break;
case '*':
next_target.checksum_read = decfloat_to_int(&read_digit, 1, 1);
if (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_flags & DEBUG_ECHO)
serial_writechar(c);
}
// process character
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:
// can't do ranges in switch..case, so process actual digits here.
if ( c >= '0'
&& c <= '9'
&& read_digit.mantissa < (DECFLOAT_MANT_MAX / 10)
&& read_digit.exponent < DECFLOAT_EXP_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++;
}
#ifdef DEBUG
else {
// invalid
serial_writechar('?');
serial_writechar(c);
serial_writechar('?');
}
#endif
}
} else if ( next_target.seen_parens_comment == 1 && c == ')')
next_target.seen_parens_comment = 0; // recognize stuff after a (comment)
#ifndef ASTERISK_IN_CHECKSUM_INCLUDED
if (next_target.seen_checksum == 0)
next_target.checksum_calculated = crc(next_target.checksum_calculated, c);
#endif
// end of line
if ((c == 10) || (c == 13)) {
if (debug_flags & DEBUG_ECHO)
serial_writechar(c);
if (
#ifdef REQUIRE_LINENUMBER
(next_target.N >= next_target.N_expected) && (next_target.seen_N == 1)
#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_writestr_P(PSTR("\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 = 0;
read_digit.sign = read_digit.mantissa = read_digit.exponent = 0;
// assume a G1 by default
next_target.seen_G = 1;
next_target.G = 1;
if (next_target.option_relative) {
next_target.target.X = next_target.target.Y = next_target.target.Z = 0;
}
// E always relative
next_target.target.E = 0;
}
}