/** 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;
}
void sim_gcode(const char msg[]) {
for ( ; *msg ; msg++ ) sim_gcode_ch(*msg);
sim_gcode_ch(0);
}
/// Character Received - add it to our command
/// \param c the next character to process
void 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
// 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, 25400);
else
next_target.target.X = decfloat_to_int(&read_digit, 1000);
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, 25400);
else
next_target.target.Y = decfloat_to_int(&read_digit, 1000);
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, 25400);
else
next_target.target.Z = decfloat_to_int(&read_digit, 1000);
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, 25400);
else
next_target.target.E = decfloat_to_int(&read_digit, 1000);
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);
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_uint16(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;
}
// 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
// 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;
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:
#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_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
serial_writestr_P(PSTR("ok "));
process_gcode_command();
serial_writechar('\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_G = 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
if (next_target.option_all_relative) {
next_target.target.X = next_target.target.Y = next_target.target.Z = 0;
}
if (next_target.option_all_relative || next_target.option_e_relative) {
next_target.target.E = 0;
}
}
}
