Mass reformat
No code changes other than what clang-format mandates. This is breaking
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Imbus
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a1c041481c
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38 changed files with 7094 additions and 6574 deletions
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@ -21,10 +21,8 @@
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#include "grbl.h"
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#define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float)
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// Extracts a floating point value from a string. The following code is based loosely on
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// the avr-libc strtod() function by Michael Stumpf and Dmitry Xmelkov and many freely
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// available conversion method examples, but has been highly optimized for Grbl. For known
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@ -32,159 +30,163 @@
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// Scientific notation is officially not supported by g-code, and the 'E' character may
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// be a g-code word on some CNC systems. So, 'E' notation will not be recognized.
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// NOTE: Thanks to Radu-Eosif Mihailescu for identifying the issues with using strtod().
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uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr)
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{
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char *ptr = line + *char_counter;
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unsigned char c;
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uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr) {
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char *ptr = line + *char_counter;
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unsigned char c;
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// Grab first character and increment pointer. No spaces assumed in line.
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c = *ptr++;
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// Capture initial positive/minus character
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bool isnegative = false;
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if (c == '-') {
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isnegative = true;
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// Grab first character and increment pointer. No spaces assumed in line.
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c = *ptr++;
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} else if (c == '+') {
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c = *ptr++;
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}
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// Extract number into fast integer. Track decimal in terms of exponent value.
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uint32_t intval = 0;
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int8_t exp = 0;
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uint8_t ndigit = 0;
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bool isdecimal = false;
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while(1) {
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c -= '0';
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if (c <= 9) {
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ndigit++;
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if (ndigit <= MAX_INT_DIGITS) {
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if (isdecimal) { exp--; }
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intval = (((intval << 2) + intval) << 1) + c; // intval*10 + c
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} else {
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if (!(isdecimal)) { exp++; } // Drop overflow digits
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}
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} else if (c == (('.'-'0') & 0xff) && !(isdecimal)) {
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isdecimal = true;
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// Capture initial positive/minus character
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bool isnegative = false;
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if (c == '-') {
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isnegative = true;
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c = *ptr++;
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} else if (c == '+') {
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c = *ptr++;
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}
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// Extract number into fast integer. Track decimal in terms of exponent value.
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uint32_t intval = 0;
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int8_t exp = 0;
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uint8_t ndigit = 0;
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bool isdecimal = false;
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while (1) {
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c -= '0';
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if (c <= 9) {
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ndigit++;
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if (ndigit <= MAX_INT_DIGITS) {
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if (isdecimal) {
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exp--;
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}
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intval = (((intval << 2) + intval) << 1) + c; // intval*10 + c
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} else {
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if (!(isdecimal)) {
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exp++;
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} // Drop overflow digits
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}
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} else if (c == (('.' - '0') & 0xff) && !(isdecimal)) {
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isdecimal = true;
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} else {
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break;
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}
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c = *ptr++;
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}
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// Return if no digits have been read.
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if (!ndigit) {
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return (false);
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};
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// Convert integer into floating point.
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float fval;
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fval = (float)intval;
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// Apply decimal. Should perform no more than two floating point multiplications for the
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// expected range of E0 to E-4.
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if (fval != 0) {
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while (exp <= -2) {
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fval *= 0.01;
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exp += 2;
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}
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if (exp < 0) {
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fval *= 0.1;
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} else if (exp > 0) {
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do {
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fval *= 10.0;
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} while (--exp > 0);
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}
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}
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// Assign floating point value with correct sign.
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if (isnegative) {
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*float_ptr = -fval;
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} else {
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break;
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*float_ptr = fval;
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}
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c = *ptr++;
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}
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// Return if no digits have been read.
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if (!ndigit) { return(false); };
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*char_counter = ptr - line - 1; // Set char_counter to next statement
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// Convert integer into floating point.
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float fval;
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fval = (float)intval;
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// Apply decimal. Should perform no more than two floating point multiplications for the
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// expected range of E0 to E-4.
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if (fval != 0) {
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while (exp <= -2) {
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fval *= 0.01;
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exp += 2;
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}
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if (exp < 0) {
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fval *= 0.1;
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} else if (exp > 0) {
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do {
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fval *= 10.0;
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} while (--exp > 0);
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}
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}
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// Assign floating point value with correct sign.
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if (isnegative) {
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*float_ptr = -fval;
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} else {
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*float_ptr = fval;
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}
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*char_counter = ptr - line - 1; // Set char_counter to next statement
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return(true);
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return (true);
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}
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// Non-blocking delay function used for general operation and suspend features.
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void delay_sec(float seconds, uint8_t mode)
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{
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uint16_t i = ceil(1000/DWELL_TIME_STEP*seconds);
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while (i-- > 0) {
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if (sys.abort) { return; }
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if (mode == DELAY_MODE_DWELL) {
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protocol_execute_realtime();
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} else { // DELAY_MODE_SYS_SUSPEND
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// Execute rt_system() only to avoid nesting suspend loops.
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protocol_exec_rt_system();
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if (sys.suspend & SUSPEND_RESTART_RETRACT) { return; } // Bail, if safety door reopens.
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}
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_delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
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}
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void delay_sec(float seconds, uint8_t mode) {
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uint16_t i = ceil(1000 / DWELL_TIME_STEP * seconds);
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while (i-- > 0) {
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if (sys.abort) {
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return;
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}
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if (mode == DELAY_MODE_DWELL) {
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protocol_execute_realtime();
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} else { // DELAY_MODE_SYS_SUSPEND
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// Execute rt_system() only to avoid nesting suspend loops.
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protocol_exec_rt_system();
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if (sys.suspend & SUSPEND_RESTART_RETRACT) {
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return;
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} // Bail, if safety door reopens.
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}
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_delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
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}
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}
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// Delays variable defined milliseconds. Compiler compatibility fix for _delay_ms(),
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// which only accepts constants in future compiler releases.
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void delay_ms(uint16_t ms)
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{
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while ( ms-- ) { _delay_ms(1); }
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void delay_ms(uint16_t ms) {
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while (ms--) {
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_delay_ms(1);
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}
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}
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// Delays variable defined microseconds. Compiler compatibility fix for _delay_us(),
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// which only accepts constants in future compiler releases. Written to perform more
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// efficiently with larger delays, as the counter adds parasitic time in each iteration.
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void delay_us(uint32_t us)
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{
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while (us) {
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if (us < 10) {
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_delay_us(1);
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us--;
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} else if (us < 100) {
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_delay_us(10);
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us -= 10;
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} else if (us < 1000) {
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_delay_us(100);
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us -= 100;
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} else {
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_delay_ms(1);
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us -= 1000;
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void delay_us(uint32_t us) {
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while (us) {
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if (us < 10) {
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_delay_us(1);
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us--;
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} else if (us < 100) {
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_delay_us(10);
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us -= 10;
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} else if (us < 1000) {
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_delay_us(100);
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us -= 100;
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} else {
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_delay_ms(1);
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us -= 1000;
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}
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}
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}
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}
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// Simple hypotenuse computation function.
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float hypot_f(float x, float y) { return(sqrt(x*x + y*y)); }
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float convert_delta_vector_to_unit_vector(float *vector)
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{
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uint8_t idx;
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float magnitude = 0.0;
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for (idx=0; idx<N_AXIS; idx++) {
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if (vector[idx] != 0.0) {
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magnitude += vector[idx]*vector[idx];
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}
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}
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magnitude = sqrt(magnitude);
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float inv_magnitude = 1.0/magnitude;
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for (idx=0; idx<N_AXIS; idx++) { vector[idx] *= inv_magnitude; }
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return(magnitude);
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float hypot_f(float x, float y) {
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return (sqrt(x * x + y * y));
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}
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float limit_value_by_axis_maximum(float *max_value, float *unit_vec)
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{
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uint8_t idx;
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float limit_value = SOME_LARGE_VALUE;
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for (idx=0; idx<N_AXIS; idx++) {
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if (unit_vec[idx] != 0) { // Avoid divide by zero.
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limit_value = min(limit_value,fabs(max_value[idx]/unit_vec[idx]));
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float convert_delta_vector_to_unit_vector(float *vector) {
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uint8_t idx;
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float magnitude = 0.0;
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for (idx = 0; idx < N_AXIS; idx++) {
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if (vector[idx] != 0.0) {
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magnitude += vector[idx] * vector[idx];
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}
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}
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}
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return(limit_value);
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magnitude = sqrt(magnitude);
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float inv_magnitude = 1.0 / magnitude;
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for (idx = 0; idx < N_AXIS; idx++) {
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vector[idx] *= inv_magnitude;
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}
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return (magnitude);
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}
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float limit_value_by_axis_maximum(float *max_value, float *unit_vec) {
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uint8_t idx;
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float limit_value = SOME_LARGE_VALUE;
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for (idx = 0; idx < N_AXIS; idx++) {
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if (unit_vec[idx] != 0) { // Avoid divide by zero.
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limit_value = min(limit_value, fabs(max_value[idx] / unit_vec[idx]));
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}
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}
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return (limit_value);
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}
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