diff --git a/Grbl_Esp32/src/Error.h b/Grbl_Esp32/src/Error.h index 14b443eb9..f4f316567 100644 --- a/Grbl_Esp32/src/Error.h +++ b/Grbl_Esp32/src/Error.h @@ -64,6 +64,7 @@ enum class Error : uint8_t { GcodeG43DynamicAxisError = 37, GcodeMaxValueExceeded = 38, PParamMaxExceeded = 39, + GcodeChecksumFailed = 40, FsFailedMount = 60, // SD Failed to mount FsFailedRead = 61, // SD Failed to read file FsFailedOpenDir = 62, // SD card failed to open directory diff --git a/Grbl_Esp32/src/Exec.h b/Grbl_Esp32/src/Exec.h index 23d7110d2..73d74c9ee 100644 --- a/Grbl_Esp32/src/Exec.h +++ b/Grbl_Esp32/src/Exec.h @@ -52,6 +52,7 @@ enum class ExecAlarm : uint8_t { HomingFailPulloff = 8, HomingFailApproach = 9, SpindleControl = 10, + ChecksumFailed = 11, }; extern std::map AlarmNames; diff --git a/Grbl_Esp32/src/GCode.cpp b/Grbl_Esp32/src/GCode.cpp index bd1bf2b93..d49ad77c1 100644 --- a/Grbl_Esp32/src/GCode.cpp +++ b/Grbl_Esp32/src/GCode.cpp @@ -58,17 +58,47 @@ void gc_sync_position() { // Edit GCode line in-place, removing whitespace and comments and // converting to uppercase -void collapseGCode(char* line) { +Error collapseGCode(char* line) { // parenPtr, if non-NULL, is the address of the character after ( char* parenPtr = NULL; + // outPtr is the address where newly-processed characters will be placed. // outPtr is alway less than or equal to inPtr. char* outPtr = line; char c; - for (char* inPtr = line; (c = *inPtr) != '\0'; inPtr++) { + + // Skip insignificant newlines at the start + char* inPtr = line; + for (; *inPtr != '\0' && (*inPtr == '\n' || *inPtr == '\r'); ++inPtr) {} + + int checksum = 0; + for (; (c = *inPtr) != '\0'; inPtr++) { + if (c == '*') { + if ((checksum & 0xFF00) == 0) { + *outPtr = '\0'; // Terminate gcode statement; the parser doesn't understand '*'. + + auto checksumFound = atoi(inPtr + 1); + + if ((checksum & 0xFF) != (checksumFound & 0xFF)) { + grbl_msg_sendf( + CLIENT_ALL, MsgLevel::Debug, "Checksum mismatched. Expected %d, but checksum is %d", checksumFound, checksum); + sys.state = State::Alarm; // Ensure alarm state is active. + report_alarm_message(ExecAlarm::ChecksumFailed); + return Error::GcodeChecksumFailed; + } else { + return Error::Ok; + } + } + } + + if ((checksum & 0xFF00) == 0) { + checksum = checksum ^ uint8_t(c); + } + if (isspace(c)) { continue; } + switch (c) { case ')': if (parenPtr) { @@ -82,6 +112,7 @@ void collapseGCode(char* line) { case '(': // Start the comment at the character after ( parenPtr = inPtr + 1; + checksum |= 0x200; break; case ';': // NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST. @@ -89,7 +120,8 @@ void collapseGCode(char* line) { report_gcode_comment(inPtr + 1); #endif *outPtr = '\0'; - return; + checksum |= 0x200; + return Error::Ok; case '%': // TODO: Install '%' feature // Program start-end percent sign NOT SUPPORTED. @@ -105,6 +137,7 @@ void collapseGCode(char* line) { if (!parenPtr) { *outPtr++ = toupper(c); // make upper case } + break; } } // On loop exit, *inPtr is '\0' @@ -113,6 +146,8 @@ void collapseGCode(char* line) { report_gcode_comment(parenPtr); } *outPtr = '\0'; + + return Error::Ok; } // Executes one line of NUL-terminated G-Code. @@ -123,7 +158,10 @@ void collapseGCode(char* line) { // coordinates, respectively. Error gc_execute_line(char* line, uint8_t client) { // Step 0 - remove whitespace and comments and convert to upper case - collapseGCode(line); + auto error = collapseGCode(line); + if (error != Error::Ok) { + return error; + } #ifdef REPORT_ECHO_LINE_RECEIVED report_echo_line_received(line, client); #endif diff --git a/Grbl_Esp32/src/tests/arcs_arrows_checksum.nc b/Grbl_Esp32/src/tests/arcs_arrows_checksum.nc new file mode 100644 index 000000000..cc72ee3cc --- /dev/null +++ b/Grbl_Esp32/src/tests/arcs_arrows_checksum.nc @@ -0,0 +1,2904 @@ +G21 *100 +G90 *110 +G94 *106 +M03 S24000 *43 +G00 Z5.0000 *6 +G00 X1.9476 Y14.0382 *87 +G00 Z0.5000 *6 +G01 Z-0.0100 F1200 S24000 *14 +G01 Y14.0544 F3500 *81 +G01 X2.1168 Y14.2092 *87 +G01 X1.9692 Y14.0364 *86 +G01 X1.9476 Y14.0220 *95 +G01 Y14.0382 *61 +G01 X1.7640 Y13.9659 *82 +G01 Y14.1336 *51 +G02 X4.8888 Y16.9596 I52.0491 J-54.4117 *115 +G03 X1.7640 Y13.5216 I57.2768 J-55.1980 *116 +G01 Y13.9659 *48 +G01 X1.5804 Y13.9240 *82 +G01 Y14.2128 *61 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