This version of the famous Grbl adds values in the work-coordinate-system (WCS) to the probing command. See x2grbl why you might want this.

print.c 5.1KB

    /* print.c - Functions for formatting output strings Part of Grbl v0.9 Copyright (c) 2012-2014 Sungeun K. Jeon Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. Grbl is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Grbl. If not, see <http://www.gnu.org/licenses/>. */ /* This file is based on work from Grbl v0.8, distributed under the terms of the MIT-license. See COPYING for more details. Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 Sungeun K. Jeon */ #include "system.h" #include "serial.h" #include "settings.h" void printString(const char *s) { while (*s) serial_write(*s++); } // Print a string stored in PGM-memory void printPgmString(const char *s) { char c; while ((c = pgm_read_byte_near(s++))) serial_write(c); } // void printIntegerInBase(unsigned long n, unsigned long base) // { // unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars. // unsigned long i = 0; // // if (n == 0) { // serial_write('0'); // return; // } // // while (n > 0) { // buf[i++] = n % base; // n /= base; // } // // for (; i > 0; i--) // serial_write(buf[i - 1] < 10 ? // '0' + buf[i - 1] : // 'A' + buf[i - 1] - 10); // } void print_uint8_base2(uint8_t n) { unsigned char buf[8]; uint8_t i = 0; for (; i < 8; i++) { buf[i] = n & 1; n >>= 1; } for (; i > 0; i--) serial_write('0' + buf[i - 1]); } void print_uint8_base10(uint8_t n) { if (n == 0) { serial_write('0'); return; } unsigned char buf[3]; uint8_t i = 0; while (n > 0) { buf[i++] = n % 10 + '0'; n /= 10; } for (; i > 0; i--) serial_write(buf[i - 1]); } void print_uint32_base10(unsigned long n) { if (n == 0) { serial_write('0'); return; } unsigned char buf[10]; uint8_t i = 0; while (n > 0) { buf[i++] = n % 10; n /= 10; } for (; i > 0; i--) serial_write('0' + buf[i-1]); } void printInteger(long n) { if (n < 0) { serial_write('-'); print_uint32_base10((-n)); } else { print_uint32_base10(n); } } // Convert float to string by immediately converting to a long integer, which contains // more digits than a float. Number of decimal places, which are tracked by a counter, // may be set by the user. The integer is then efficiently converted to a string. // NOTE: AVR '%' and '/' integer operations are very efficient. Bitshifting speed-up // techniques are actually just slightly slower. Found this out the hard way. void printFloat(float n, uint8_t decimal_places) { if (n < 0) { serial_write('-'); n = -n; } uint8_t decimals = decimal_places; while (decimals >= 2) { // Quickly convert values expected to be E0 to E-4. n *= 100; decimals -= 2; } if (decimals) { n *= 10; } n += 0.5; // Add rounding factor. Ensures carryover through entire value. // Generate digits backwards and store in string. unsigned char buf[10]; uint8_t i = 0; uint32_t a = (long)n; buf[decimal_places] = '.'; // Place decimal point, even if decimal places are zero. while(a > 0) { if (i == decimal_places) { i++; } // Skip decimal point location buf[i++] = (a % 10) + '0'; // Get digit a /= 10; } while (i < decimal_places) { buf[i++] = '0'; // Fill in zeros to decimal point for (n < 1) } if (i == decimal_places) { // Fill in leading zero, if needed. i++; buf[i++] = '0'; } // Print the generated string. for (; i > 0; i--) serial_write(buf[i-1]); } // Floating value printing handlers for special variables types used in Grbl and are defined // in the config.h. // - CoordValue: Handles all position or coordinate values in inches or mm reporting. // - RateValue: Handles feed rate and current velocity in inches or mm reporting. // - SettingValue: Handles all floating point settings values (always in mm.) void printFloat_CoordValue(float n) { if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(n*INCH_PER_MM,N_DECIMAL_COORDVALUE_INCH); } else { printFloat(n,N_DECIMAL_COORDVALUE_MM); } } void printFloat_RateValue(float n) { if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(n*INCH_PER_MM,N_DECIMAL_RATEVALUE_INCH); } else { printFloat(n,N_DECIMAL_RATEVALUE_MM); } } void printFloat_SettingValue(float n) { printFloat(n,N_DECIMAL_SETTINGVALUE); } // Debug tool to print free memory in bytes at the called point. Not used otherwise. void printFreeMemory() { extern int __heap_start, *__brkval; uint16_t free; // Up to 64k values. free = (int) &free - (__brkval == 0 ? (int) &__heap_start : (int) __brkval); printInteger((int32_t)free); printString(" "); }