/** \brief Simplified printf \param format pointer to output format specifier string stored in FLASH. \param ... output data Implements only a tiny subset of printf's format specifiers :- %[ls][udcx%] l - following data is (32 bits)\n s - following data is short (8 bits)\n none - following data is 16 bits. u - unsigned int\n d - signed int\n c - character\n x - hex\n % - send a literal % character Example: \code sersendf_P(PSTR("X:%ld Y:%ld temp:%u.%d flags:%sx Q%su/%su%c\n"), target.X, target.Y, current_temp >> 2, (current_temp & 3) * 25, dda.allflags, mb_head, mb_tail, (queue_full()?'F':(queue_empty()?'E':' '))) \endcode */ void sersendf_P(PGM_P format, ...) { va_list args; va_start(args, format); uint16_t i = 0; uint8_t c = 1, j = 0; while ((c = pgm_read_byte(&format[i++]))) { if (j) { switch(c) { case 's': j = 1; break; case 'l': j = 4; break; case 'u': if (j == 4) serwrite_uint32(va_arg(args, uint32_t)); else serwrite_uint16(va_arg(args, uint16_t)); j = 0; break; case 'd': if (j == 4) serwrite_int32(va_arg(args, int32_t)); else serwrite_int16(va_arg(args, int16_t)); j = 0; break; case 'c': serial_writechar(va_arg(args, uint16_t)); j = 0; break; case 'x': serial_writestr_P(str_ox); if (j == 4) serwrite_hex32(va_arg(args, uint32_t)); else if (j == 1) serwrite_hex8(va_arg(args, uint16_t)); else serwrite_hex16(va_arg(args, uint16_t)); j = 0; break; /* case 'p': serwrite_hex16(va_arg(args, uint16_t));*/ default: serial_writechar(c); j = 0; break; } } else { if (c == '%') { j = 2; } else { serial_writechar(c); } } } va_end(args); }
/// Character Received - add it to our command /// \param c the next character to process void gcode_parse_char(uint8_t 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, STEPS_PER_IN_X, 0); else next_target.target.X = decfloat_to_int(&read_digit, STEPS_PER_M_X, 1); 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, STEPS_PER_IN_Y, 0); else next_target.target.Y = decfloat_to_int(&read_digit, STEPS_PER_M_Y, 1); 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, STEPS_PER_IN_Z, 0); else next_target.target.Z = decfloat_to_int(&read_digit, STEPS_PER_M_Z, 1); 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, STEPS_PER_IN_E, 0); else next_target.target.E = decfloat_to_int(&read_digit, STEPS_PER_M_E, 1); 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, 1); else next_target.target.F = decfloat_to_int(&read_digit, 1, 0); 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, 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 = decfloat_to_int(&read_digit, PID_SCALE, 0); else next_target.S = decfloat_to_int(&read_digit, 1, 0); if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO)) serwrite_uint16(next_target.S); break; case 'P': next_target.P = decfloat_to_int(&read_digit, 1, 0); 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, 0); if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO)) serwrite_uint32(next_target.N); break; case '*': next_target.checksum_read = decfloat_to_int(&read_digit, 1, 0); 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 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') { if (read_digit.exponent < DECFLOAT_EXP_MAX && ((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++; } } #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) if (next_target.seen_checksum == 0) next_target.checksum_calculated = crc(next_target.checksum_calculated, c); // 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 #ifdef DEBUG sersendf_P(PSTR("received line %lu\n"),next_target.N); #endif serial_writestr_P(PSTR("ok ")); process_gcode_command(); serial_writechar('\n'); #ifdef DEBUG print_queue(); serial_writechar('\n'); #endif // 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_relative) { next_target.target.X = next_target.target.Y = next_target.target.Z = 0; #ifdef E_ABSOLUTE next_target.target.E = 0; #endif } #ifndef E_ABSOLUTE // E always relative next_target.target.E = 0; #endif } }
/** Character received - add it to our command. \param c The next character to process. \return Whether end of line was reached. This parser operates character by character, so there's no need for a buffer holding the entire line of G-code. */ uint8_t gcode_parse_char(uint8_t c) { uint8_t checksum_char = c; // uppercase if (c >= 'a' && c <= 'z') c &= ~32; #ifdef SIMULATOR sim_gcode_ch(c); #endif // An asterisk is a quasi-EOL and always ends all fields. if (c == '*') { next_target.seen_semi_comment = next_target.seen_parens_comment = next_target.read_string = 0; } // Skip comments and strings. if (next_target.seen_semi_comment == 0 && next_target.seen_parens_comment == 0 && next_target.read_string == 0 ) { // Check if the field has ended. Either by a new field, space or EOL. if (last_field && (c < '0' || c > '9') && c != '.') { 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; #ifdef SD if (next_target.M == 23) { // SD card command with a filename. next_target.read_string = 1; // Reset by string handler or EOL. str_buf_ptr = 0; last_field = 0; } #endif if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO)) serwrite_uint8(next_target.M); break; case 'X': if (next_target.option_inches) next_target.target.axis[X] = decfloat_to_int(&read_digit, 25400); else next_target.target.axis[X] = decfloat_to_int(&read_digit, 1000); if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO)) serwrite_int32(next_target.target.axis[X]); break; case 'Y': if (next_target.option_inches) next_target.target.axis[Y] = decfloat_to_int(&read_digit, 25400); else next_target.target.axis[Y] = decfloat_to_int(&read_digit, 1000); if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO)) serwrite_int32(next_target.target.axis[Y]); break; case 'Z': if (next_target.option_inches) next_target.target.axis[Z] = decfloat_to_int(&read_digit, 25400); else next_target.target.axis[Z] = decfloat_to_int(&read_digit, 1000); if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO)) serwrite_int32(next_target.target.axis[Z]); break; case 'E': if (next_target.option_inches) next_target.target.axis[E] = decfloat_to_int(&read_digit, 25400); else next_target.target.axis[E] = decfloat_to_int(&read_digit, 1000); if (DEBUG_ECHO && (debug_flags & DEBUG_ECHO)) serwrite_int32(next_target.target.axis[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_int32(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; } } // new field? if ((c >= 'A' && c <= 'Z') || c == '*') { last_field = c; read_digit.sign = read_digit.mantissa = read_digit.exponent = 0; 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; // Reset by EOL. break; case '(': next_target.seen_parens_comment = 1; // Reset by ')' or EOL. 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); // Assume G1 for unspecified movements. if ( ! next_target.seen_G && ! next_target.seen_M && ! next_target.seen_T && (next_target.seen_X || next_target.seen_Y || next_target.seen_Z || next_target.seen_E || next_target.seen_F)) { next_target.seen_G = 1; next_target.G = 1; } 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 process_gcode_command(); // Acknowledgement ("ok") is sent in the main loop, in mendel.c. // 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_G = next_target.seen_M = next_target.seen_checksum = \ next_target.seen_semi_comment = next_target.seen_parens_comment = \ next_target.read_string = next_target.checksum_read = \ next_target.checksum_calculated = 0; last_field = 0; read_digit.sign = read_digit.mantissa = read_digit.exponent = 0; if (next_target.option_all_relative) { next_target.target.axis[X] = next_target.target.axis[Y] = next_target.target.axis[Z] = 0; } if (next_target.option_all_relative || next_target.option_e_relative) { next_target.target.axis[E] = 0; } return 1; } #ifdef SD // Handle string reading. After checking for EOL. if (next_target.read_string) { if (c == ' ') { if (str_buf_ptr) next_target.read_string = 0; } else if (str_buf_ptr < STR_BUF_LEN) { gcode_str_buf[str_buf_ptr] = c; str_buf_ptr++; gcode_str_buf[str_buf_ptr] = '\0'; } } #endif /* SD */ return 0; }