Multistream communications

platformio.ini

@@ -11,7 +11,7 @@
 [platformio]
 include_dir=uCNC
 src_dir=uCNC
-default_envs = uno, ramps14, rambo, arduinoM0, bluepill_f103c8, blackpill_f401cc, d1, re_arm, d1_r32, rpi_pico_w
+default_envs = AVR-UNO, AVR-MEGA2560-RAMPS-V1_4, AVR-RAMBO, SAMD21-Wemos-M0, STM32F1-Bluepill-F103C8, STM32F4-Blackpill-F401CC, ESP8266-Wemos-D1-R2, LPC176X-RE-ARM, ESP32-Wemos-D1-R32, RP2040-PICO-W
 extra_configs = 
   uCNC/src/hal/boards/avr/avr.ini
   uCNC/src/hal/boards/samd21/samd21.ini

uCNC/src/README.md

@@ -42,7 +42,7 @@ __NOTE__: Not all event hooks might be listed here. To find all available event
 | gcode_before_motion | gcode_exec_args_t* | ENABLE_PARSER_MODULES | Fires before a motion group command is executed (G0, G1, G2, etc...). Arg is a pointer to a gcode_exec_args_t struct |
 | gcode_after_motion | gcode_exec_args_t* | ENABLE_PARSER_MODULES | Fires after a motion group command is executed (G0, G1, G2, etc...). Arg is a pointer to a gcode_exec_args_t struct |
 | grbl_cmd | grbl_cmd_args_t* | ENABLE_PARSER_MODULES | Fires when a custom/unknown '$' grbl type command is received. Arg is a pointer to a grbl_cmd_args_t struct |
-| parse_token | NULL | ENABLE_PARSER_MODULES | Fires when a custom/unknown token/char is received for further processing |
+| parse_token | NULL | ENABLE_PARSER_MODULES | Fires when a custom/unknown token/uint8_t is received for further processing |
 | parser_get_modes | uint8_t * | ENABLE_PARSER_MODULES | Fires when $G command is issued and the active modal states array is being requested (can be used to modify the active modes with extended gcodes). Arg is a pointer to an uint8_t array with the parser motion groups current values |
 | parser_reset | NULL | ENABLE_PARSER_MODULES | Fires on parser reset |
 | cnc_reset | NULL | ENABLE_MAIN_LOOP_MODULES | Fires when µCNC resets |
@@ -88,7 +88,7 @@ gcode_parse_args_t* - Pointer to a struct of type gcode_parse_args_t. The gcode_
 ```
 typedef struct gcode_parse_args_
 {
-	unsigned char word; // This is the GCode word being parsed (usually 'G' or 'M')
+	uint8_t word; // This is the GCode word being parsed (usually 'G' or 'M')
 	uint8_t code; // This is the GCode word argument converted to uint8_t format (example 98)
 	uint8_t error; // The parser current error code (STATUS_GCODE_EXTENDED_UNSUPPORTED)
 	float value; // This is the actual GCode word argument parsed as float. Useful if code has mantissa or is bigger then 255 (example 98.1)
@@ -123,9 +123,9 @@ grbl_cmd_args_t* - Pointer to a struct of type grbl_cmd_args_t. The grbl_cmd_arg
 typedef struct grbl_cmd_args_
 {
 	uint8_t *error; // current parser error state
-	unsigned char *cmd; // pointer to the command string
+	uint8_t *cmd; // pointer to the command string
 	uint8_t len; // command string length
-	char next_char; // next char to be read
+	uint8_t next_char; // next uint8_t to be read
 } grbl_cmd_args_t;
 ```
 

uCNC/src/cnc.c

@@ -126,7 +126,7 @@ void cnc_run(void)
 	// tries to reset. If fails jumps to error
 	while (cnc_unlock(false) != UNLOCK_ERROR)
 	{
-		serial_select(SERIAL_UART);
+		// serial_select(SERIAL_UART);
 		cnc_state.loop_state = LOOP_RUNNING;
 
 		do
@@ -150,7 +150,7 @@ void cnc_run(void)
 
 	do
 	{
-		if (!serial_rx_is_empty())
+		if (serial_available())
 		{
 			if (serial_getc() == EOL)
 			{
@@ -174,15 +174,15 @@ bool cnc_exec_cmd(void)
 	uint32_t exec_time;
 #endif
 	// process gcode commands
-	if (!serial_rx_is_empty())
+	if (serial_available())
 	{
 		uint8_t error = 0;
 		// protocol_echo();
 		uint8_t c = serial_peek();
 		switch (c)
 		{
 		case OVF:
-			serial_rx_clear();
+			serial_clear();
 			error = STATUS_OVERFLOW;
 			break;
 		case EOL: // not necessary but faster to catch empty lines and windows newline (CR+LF)
@@ -597,7 +597,7 @@ void cnc_reset(void)
 	cnc_state.alarm = EXEC_ALARM_NOALARM;
 
 	// clear all systems
-	serial_rx_clear();
+	serial_clear();
 	itp_clear();
 	planner_clear();
 	kinematics_init();
@@ -610,6 +610,7 @@ void cnc_reset(void)
 #ifdef ENABLE_MAIN_LOOP_MODULES
 	EVENT_INVOKE(cnc_reset, NULL);
 #endif
+	serial_broadcast(true);
 	protocol_send_string(MSG_STARTUP);
 }
 
@@ -1029,9 +1030,20 @@ static void cnc_io_dotasks(void)
 
 void cnc_run_startup_blocks(void)
 {
-	serial_select(SERIAL_N0);
-	cnc_exec_cmd();
-	serial_select(SERIAL_N1);
-	cnc_exec_cmd();
-	serial_select(SERIAL_UART);
+	serial_broadcast(true);
+	if (settings_check_startup_gcode(STARTUP_BLOCK0_ADDRESS_OFFSET))
+	{
+		serial_stream_eeprom(STARTUP_BLOCK0_ADDRESS_OFFSET);
+		cnc_exec_cmd();
+	}
+
+	serial_broadcast(true);
+	if (settings_check_startup_gcode(STARTUP_BLOCK1_ADDRESS_OFFSET))
+	{
+		serial_stream_eeprom(STARTUP_BLOCK1_ADDRESS_OFFSET);
+		cnc_exec_cmd();
+	}
+
+	// reset streams
+	serial_stream_change(NULL);
 }

uCNC/src/core/motion_control.c

@@ -705,7 +705,7 @@ uint8_t mc_home_axis(uint8_t axis_mask, uint8_t axis_limit)
 	motion_data_t block_data = {0};
 	uint8_t limits_flags;
 #ifdef ENABLE_MOTION_CONTROL_MODULES
-	homing_status_t homing_status __attribute__((__cleanup__(mc_home_axis_finalize))) = {axis, axis_limit, STATUS_OK};
+	homing_status_t homing_status __attribute__((__cleanup__(mc_home_axis_finalize))) = {axis_mask, axis_limit, STATUS_OK};
 #endif
 
 #ifdef ENABLE_G39_H_MAPPING

uCNC/src/core/parser.c

@@ -60,12 +60,12 @@ static float g92permanentoffset[AXIS_COUNT];
 static int32_t rt_probe_step_pos[STEPPER_COUNT];
 static float parser_last_pos[AXIS_COUNT];
 
-static unsigned char parser_get_next_preprocessed(bool peek);
-FORCEINLINE static void parser_get_comment(unsigned char start_char);
-FORCEINLINE static uint8_t parser_get_token(unsigned char *word, float *value);
+static uint8_t parser_get_next_preprocessed(bool peek);
+FORCEINLINE static void parser_get_comment(uint8_t start_char);
+FORCEINLINE static uint8_t parser_get_token(uint8_t *word, float *value);
 FORCEINLINE static uint8_t parser_gcode_word(uint8_t code, uint8_t mantissa, parser_state_t *new_state, parser_cmd_explicit_t *cmd);
 FORCEINLINE static uint8_t parser_mcode_word(uint8_t code, uint8_t mantissa, parser_state_t *new_state, parser_cmd_explicit_t *cmd);
-FORCEINLINE static uint8_t parser_letter_word(unsigned char c, float value, uint8_t mantissa, parser_words_t *words, parser_cmd_explicit_t *cmd);
+FORCEINLINE static uint8_t parser_letter_word(uint8_t c, float value, uint8_t mantissa, parser_words_t *words, parser_cmd_explicit_t *cmd);
 static uint8_t parse_grbl_exec_code(uint8_t code);
 static uint8_t parser_fetch_command(parser_state_t *new_state, parser_words_t *words, parser_cmd_explicit_t *cmd);
 static uint8_t parser_validate_command(parser_state_t *new_state, parser_words_t *words, parser_cmd_explicit_t *cmd);
@@ -152,7 +152,7 @@ void parser_init(void)
 uint8_t parser_read_command(void)
 {
 	uint8_t error = STATUS_OK;
-	unsigned char c = serial_peek();
+	uint8_t c = serial_peek();
 
 	if (c == '$')
 	{
@@ -307,8 +307,8 @@ void parser_update_probe_pos(void)
 static uint8_t parser_grbl_command(void)
 {
 	serial_getc(); // eat $
-	unsigned char c = serial_peek();
-	unsigned char grbl_cmd_str[GRBL_CMD_MAX_LEN + 1];
+	uint8_t c = serial_peek();
+	uint8_t grbl_cmd_str[GRBL_CMD_MAX_LEN + 1];
 	uint8_t grbl_cmd_len = 0;
 
 	// if not IDLE
@@ -330,7 +330,7 @@ static uint8_t parser_grbl_command(void)
 
 	do
 	{
-		c = serial_getc();
+		c = serial_peek();
 		// toupper
 		if (c >= 'a' && c <= 'z')
 		{
@@ -339,8 +339,14 @@ static uint8_t parser_grbl_command(void)
 
 		if (!(c >= 'A' && c <= 'Z'))
 		{
+			if (c < '0' || c > '9' || grbl_cmd_len) // replaces old ungetc
+			{
+				serial_getc();
+			}
 			break;
 		}
+
+		serial_getc();
 		grbl_cmd_str[grbl_cmd_len++] = c;
 	} while ((grbl_cmd_len < GRBL_CMD_MAX_LEN));
 
@@ -377,7 +383,7 @@ static uint8_t parser_grbl_command(void)
 			{
 				float val = 0;
 				setting_offset_t setting_num = 0;
-				serial_ungetc();
+				// serial_ungetc();
 				error = parser_get_float(&val);
 				if (!error)
 				{
@@ -444,24 +450,27 @@ static uint8_t parser_grbl_command(void)
 					return STATUS_INVALID_STATEMENT;
 				}
 
+				settings_save_startup_gcode(block_address);
+				// run startup block
+				serial_broadcast(true);
+				serial_stream_eeprom(block_address);
 				error = parser_fetch_command(&next_state, &words, &cmd);
-				if (error)
+				if (error == STATUS_OK)
 				{
-					return error;
+					error = parser_validate_command(&next_state, &words, &cmd);
 				}
-				error = parser_validate_command(&next_state, &words, &cmd);
-				if (error)
+
+				serial_broadcast(false);
+				// reset streams
+				serial_stream_change(NULL);
+
+				if (error != STATUS_OK)
 				{
-					return error;
+					// the Gcode is not valid then erase the startup block
+					mcu_eeprom_putc(block_address, 0);
 				}
-				// everything ok reverts string and saves it
-				do
-				{
-					serial_ungetc();
-				} while (serial_peek() != '=');
-				serial_getc();
-				settings_save_startup_gcode(block_address);
-				return STATUS_OK;
+
+				return error;
 			case EOL:
 				return GRBL_SEND_STARTUP_BLOCKS;
 			}
@@ -537,7 +546,7 @@ static uint8_t parser_grbl_command(void)
 	}
 
 #ifdef BOARD_HAS_CUSTOM_SYSTEM_COMMANDS
-	if (mcu_custom_grbl_cmd((char *)grbl_cmd_str, grbl_cmd_len, c) == STATUS_OK)
+	if (mcu_custom_grbl_cmd((uint8_t *)grbl_cmd_str, grbl_cmd_len, c) == STATUS_OK)
 	{
 		return STATUS_OK;
 	}
@@ -659,10 +668,9 @@ static uint8_t parser_fetch_command(parser_state_t *new_state, parser_words_t *w
 	uint8_t wordcount = 0;
 	for (;;)
 	{
-		unsigned char word = 0;
+		uint8_t word = 0;
 		float value = 0;
-		// this flushes leading white chars and also takes care of processing comments
-		parser_get_next_preprocessed(true);
+
 #ifdef ECHO_CMD
 		if (!wordcount)
 		{
@@ -1849,7 +1857,7 @@ uint8_t parser_get_float(float *value)
 	uint8_t fpcount = 0;
 	uint8_t result = NUMBER_UNDEF;
 
-	unsigned char c = parser_get_next_preprocessed(true);
+	uint8_t c = parser_get_next_preprocessed(true);
 
 	*value = 0;
 
@@ -1945,15 +1953,15 @@ uint8_t parser_get_float(float *value)
 */
 #define COMMENT_OK 1
 #define COMMENT_NOTOK 2
-static void parser_get_comment(unsigned char start_char)
+static void parser_get_comment(uint8_t start_char)
 {
 	uint8_t comment_end = 0;
 #ifdef PROCESS_COMMENTS
 	uint8_t msg_parser = 0;
 #endif
 	for (;;)
 	{
-		unsigned char c = serial_peek();
+		uint8_t c = serial_peek();
 		switch (c)
 		{
 			// case '(':	//error under RS274NGC (commented for Grbl compatibility)
@@ -2011,11 +2019,12 @@ static void parser_get_comment(unsigned char start_char)
 	}
 }
 
-static uint8_t parser_get_token(unsigned char *word, float *value)
+static uint8_t parser_get_token(uint8_t *word, float *value)
 {
-	unsigned char c = serial_getc();
+	// this flushes leading white chars and also takes care of processing comments
+	uint8_t c = parser_get_next_preprocessed(false);
 
-	// if other char starts tokenization
+	// if other uint8_t starts tokenization
 	if (c >= 'a' && c <= 'z')
 	{
 		c -= 32; // uppercase
@@ -2032,7 +2041,7 @@ static uint8_t parser_get_token(unsigned char *word, float *value)
 #ifdef ECHO_CMD
 		serial_putc(c);
 #endif
-		if (c >= 'A' && c <= 'Z') // invalid recognized char
+		if (c >= 'A' && c <= 'Z') // invalid recognized uint8_t
 		{
 			if (!parser_get_float(value))
 			{
@@ -2341,7 +2350,7 @@ static uint8_t parser_mcode_word(uint8_t code, uint8_t mantissa, parser_state_t
 	return STATUS_OK;
 }
 
-static uint8_t parser_letter_word(unsigned char c, float value, uint8_t mantissa, parser_words_t *words, parser_cmd_explicit_t *cmd)
+static uint8_t parser_letter_word(uint8_t c, float value, uint8_t mantissa, parser_words_t *words, parser_cmd_explicit_t *cmd)
 {
 	uint16_t new_words = cmd->words;
 	switch (c)
@@ -2492,7 +2501,7 @@ static uint8_t parser_letter_word(unsigned char c, float value, uint8_t mantissa
 #endif
 		break;
 	default:
-		if (c >= 'A' && c <= 'Z') // invalid recognized char
+		if (c >= 'A' && c <= 'Z') // invalid recognized uint8_t
 		{
 			return STATUS_GCODE_UNUSED_WORDS;
 		}
@@ -2509,9 +2518,9 @@ static uint8_t parser_letter_word(unsigned char c, float value, uint8_t mantissa
 	return STATUS_OK;
 }
 
-static unsigned char parser_get_next_preprocessed(bool peek)
+static uint8_t parser_get_next_preprocessed(bool peek)
 {
-	unsigned char c = serial_peek();
+	uint8_t c = serial_peek();
 
 	while (c == ' ' || c == '(' || c == ';')
 	{
@@ -2533,7 +2542,7 @@ static unsigned char parser_get_next_preprocessed(bool peek)
 
 static void parser_discard_command(void)
 {
-	unsigned char c = '@';
+	uint8_t c = '@';
 #ifdef ECHO_CMD
 	serial_putc(c);
 #endif

uCNC/src/core/parser.h

@@ -292,7 +292,7 @@ extern "C"
 	// generates a default delegate, event and handler hook
 	typedef struct gcode_parse_args_
 	{
-		unsigned char word;
+		uint8_t word;
 		uint8_t code;
 		uint8_t* error;
 		float value;
@@ -328,9 +328,9 @@ extern "C"
 	typedef struct grbl_cmd_args_
 	{
 		uint8_t *error;
-		unsigned char *cmd;
+		uint8_t *cmd;
 		uint8_t len;
-		char next_char;
+		uint8_t next_char;
 	} grbl_cmd_args_t;
 	DECL_EVENT_HANDLER(grbl_cmd);