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#include "gcode_process.h"
/** \file
\brief Work out what to do with received G-Code commands
*/
#include <string.h>
#ifdef __AVR__
#include <avr/interrupt.h>
#endif
#include "gcode_parse.h"
#include "dda.h"
#include "dda_queue.h"
#include "watchdog.h"
#include "delay.h"
#include "serial.h"
#include "sermsg.h"
#include "temp.h"
#include "heater.h"
#include "timer.h"
#include "sersendf.h"
#include "pinio.h"
#include "debug.h"
#include "clock.h"
#include "config_wrapper.h"
#include "home.h"
#include "sd.h"
/// the current tool
uint8_t tool;
/// the tool to be changed when we get an M6
uint8_t next_tool;
/************************************************************************//**
\brief Processes command stored in global \ref next_target.
This is where we work out what to actually do with each command we
receive. All data has already been scaled to integers in gcode_process.
If you want to add support for a new G or M code, this is the place.
*//*************************************************************************/
void process_gcode_command() {
uint32_t backup_f;
// convert relative to absolute
if (next_target.option_all_relative) {
next_target.target.axis[X] += startpoint.axis[X];
next_target.target.axis[Y] += startpoint.axis[Y];
next_target.target.axis[Z] += startpoint.axis[Z];
}
// E relative movement.
// Matches Sprinter's behaviour as of March 2012.
if (next_target.option_all_relative || next_target.option_e_relative)
next_target.target.e_relative = 1;
else
next_target.target.e_relative = 0;
// implement axis limits
#ifdef X_MIN
if (next_target.target.axis[X] < (int32_t)(X_MIN * 1000.))
next_target.target.axis[X] = (int32_t)(X_MIN * 1000.);
#endif
#ifdef X_MAX
if (next_target.target.axis[X] > (int32_t)(X_MAX * 1000.))
next_target.target.axis[X] = (int32_t)(X_MAX * 1000.);
#endif
#ifdef Y_MIN
if (next_target.target.axis[Y] < (int32_t)(Y_MIN * 1000.))
next_target.target.axis[Y] = (int32_t)(Y_MIN * 1000.);
#endif
#ifdef Y_MAX
if (next_target.target.axis[Y] > (int32_t)(Y_MAX * 1000.))
next_target.target.axis[Y] = (int32_t)(Y_MAX * 1000.);
#endif
#ifdef Z_MIN
if (next_target.target.axis[Z] < (int32_t)(Z_MIN * 1000.))
next_target.target.axis[Z] = (int32_t)(Z_MIN * 1000.);
#endif
#ifdef Z_MAX
if (next_target.target.axis[Z] > (int32_t)(Z_MAX * 1000.))
next_target.target.axis[Z] = (int32_t)(Z_MAX * 1000.);
#endif
// The GCode documentation was taken from http://reprap.org/wiki/Gcode .
if (next_target.seen_T) {
//? --- T: Select Tool ---
//?
//? Example: T1
//?
//? Select extruder number 1 to build with. Extruder numbering starts at 0.
next_tool = next_target.T;
}
if (next_target.seen_G) {
uint8_t axisSelected = 0;
switch (next_target.G) {
case 0:
//? G0: Rapid Linear Motion
//?
//? Example: G0 X12
//?
//? In this case move rapidly to X = 12 mm. In fact, the RepRap firmware uses exactly the same code for rapid as it uses for controlled moves (see G1 below), as - for the RepRap machine - this is just as efficient as not doing so. (The distinction comes from some old machine tools that used to move faster if the axes were not driven in a straight line. For them G0 allowed any movement in space to get to the destination as fast as possible.)
//?
backup_f = next_target.target.F;
next_target.target.F = MAXIMUM_FEEDRATE_X * 2L;
enqueue(&next_target.target);
next_target.target.F = backup_f;
break;
case 1:
//? --- G1: Linear Motion at Feed Rate ---
//?
//? Example: G1 X90.6 Y13.8 E22.4
//?
//? Go in a straight line from the current (X, Y) point to the point (90.6, 13.8), extruding material as the move happens from the current extruded length to a length of 22.4 mm.
//?
enqueue(&next_target.target);
break;
// G2 - Arc Clockwise
// unimplemented
// G3 - Arc Counter-clockwise
// unimplemented
case 4:
//? --- G4: Dwell ---
//?
//? Example: G4 P200
//?
//? In this case sit still doing nothing for 200 milliseconds. During delays the state of the machine (for example the temperatures of its extruders) will still be preserved and controlled.
//?
queue_wait();
// delay
if (next_target.seen_P) {
for (;next_target.P > 0;next_target.P--) {
clock();
delay_ms(1);
}
}
break;
case 20:
//? --- G20: Set Units to Inches ---
//?
//? Example: G20
//?
//? Units from now on are in inches.
//?
next_target.option_inches = 1;
break;
case 21:
//? --- G21: Set Units to Millimeters ---
//?
//? Example: G21
//?
//? Units from now on are in millimeters. (This is the RepRap default.)
//?
next_target.option_inches = 0;
break;
case 30:
//? --- G30: Go home via point ---
//?
//? Undocumented.
enqueue(&next_target.target);
// no break here, G30 is move and then go home
case 28:
//? --- G28: Home ---
//?
//? Example: G28
//?
//? This causes the RepRap machine to search for its X, Y and Z
//? endstops. It does so at high speed, so as to get there fast. When
//? it arrives it backs off slowly until the endstop is released again.
//? Backing off slowly ensures more accurate positioning.
//?
//? If you add axis characters, then just the axes specified will be
//? seached. Thus
//?
//? G28 X Y72.3
//?
//? will zero the X and Y axes, but not Z. Coordinate values are
//? ignored.
//?
queue_wait();
if (next_target.seen_X) {
#if defined X_MIN_PIN
home_x_negative();
#elif defined X_MAX_PIN
home_x_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Y) {
#if defined Y_MIN_PIN
home_y_negative();
#elif defined Y_MAX_PIN
home_y_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Z) {
#if defined Z_MIN_PIN
home_z_negative();
#elif defined Z_MAX_PIN
home_z_positive();
#endif
axisSelected = 1;
}
// there's no point in moving E, as E has no endstops
if (!axisSelected) {
home();
}
break;
case 90:
//? --- G90: Set to Absolute Positioning ---
//?
//? Example: G90
//?
//? All coordinates from now on are absolute relative to the origin
//? of the machine. This is the RepRap default.
//?
//? If you ever want to switch back and forth between relative and
//? absolute movement keep in mind, X, Y and Z follow the machine's
//? coordinate system while E doesn't change it's position in the
//? coordinate system on relative movements.
//?
// No wait_queue() needed.
next_target.option_all_relative = 0;
break;
case 91:
//? --- G91: Set to Relative Positioning ---
//?
//? Example: G91
//?
//? All coordinates from now on are relative to the last position.
//?
// No wait_queue() needed.
next_target.option_all_relative = 1;
break;
case 92:
//? --- G92: Set Position ---
//?
//? Example: G92 X10 E90
//?
//? Allows programming of absolute zero point, by reseting the current position to the values specified. This would set the machine's X coordinate to 10, and the extrude coordinate to 90. No physical motion will occur.
//?
queue_wait();
if (next_target.seen_X) {
startpoint.axis[X] = next_target.target.axis[X];
axisSelected = 1;
}
if (next_target.seen_Y) {
startpoint.axis[Y] = next_target.target.axis[Y];
axisSelected = 1;
}
if (next_target.seen_Z) {
startpoint.axis[Z] = next_target.target.axis[Z];
axisSelected = 1;
}
if (next_target.seen_E) {
startpoint.axis[E] = next_target.target.axis[E];
axisSelected = 1;
}
if (axisSelected == 0) {
startpoint.axis[X] = next_target.target.axis[X] =
startpoint.axis[Y] = next_target.target.axis[Y] =
startpoint.axis[Z] = next_target.target.axis[Z] =
startpoint.axis[E] = next_target.target.axis[E] = 0;
}
dda_new_startpoint();
break;
case 161:
//? --- G161: Home negative ---
//?
//? Find the minimum limit of the specified axes by searching for the limit switch.
//?
#if defined X_MIN_PIN
if (next_target.seen_X)
home_x_negative();
#endif
#if defined Y_MIN_PIN
if (next_target.seen_Y)
home_y_negative();
#endif
#if defined Z_MIN_PIN
if (next_target.seen_Z)
home_z_negative();
#endif
break;
case 162:
//? --- G162: Home positive ---
//?
//? Find the maximum limit of the specified axes by searching for the limit switch.
//?
#if defined X_MAX_PIN
if (next_target.seen_X)
home_x_positive();
#endif
#if defined Y_MAX_PIN
if (next_target.seen_Y)
home_y_positive();
#endif
#if defined Z_MAX_PIN
if (next_target.seen_Z)
home_z_positive();
#endif
break;
// unknown gcode: spit an error
default:
sersendf_P(PSTR("E: Bad G-code %d\n"), next_target.G);
// newline is sent from gcode_parse after we return
return;
}
}
else if (next_target.seen_M) {
uint8_t i;
switch (next_target.M) {
case 0:
//? --- M0: machine stop ---
//?
//? Example: M0
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//? Unimplemented, especially the restart after the stop. Fall trough to M2.
//?
case 2:
case 84: // For compatibility with slic3rs default end G-code.
//? --- M2: program end ---
//?
//? Example: M2
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//?
queue_wait();
for (i = 0; i < NUM_HEATERS; i++)
temp_set(i, 0);
power_off();
serial_writestr_P(PSTR("\nstop\n"));
break;
case 6:
//? --- M6: tool change ---
//?
//? Undocumented.
tool = next_tool;
break;
#ifdef SD
case 20:
//? --- M20: list SD card. ---
sd_list("/");
break;
case 21:
//? --- M21: initialise SD card. ---
//?
//? Has to be done before doing any other operation, including M20.
sd_mount();
break;
case 22:
//? --- M22: release SD card. ---
//?
//? Not mandatory. Just removing the card is fine, but results in
//? odd behaviour when trying to read from the card anyways. M22
//? makes also sure SD card printing is disabled, even with the card
//? inserted.
sd_unmount();
break;
case 23:
//? --- M23: select file. ---
//?
//? This opens a file for reading. This file is valid up to M22 or up
//? to the next M23.
sd_open(gcode_str_buf);
break;
case 24:
//? --- M24: start/resume SD print. ---
//?
//? This makes the SD card available as a G-code source. File is the
//? one selected with M23.
gcode_sources |= GCODE_SOURCE_SD;
break;
case 25:
//? --- M25: pause SD print. ---
//?
//? This removes the SD card from the bitfield of available G-code
//? sources. The file is kept open. The position inside the file
//? is kept as well, to allow resuming.
gcode_sources &= ! GCODE_SOURCE_SD;
break;
#endif /* SD */
case 82:
//? --- M82 - Set E codes absolute ---
//?
//? This is the default and overrides G90/G91.
//? M82/M83 is not documented in the RepRap wiki, behaviour
//? was taken from Sprinter as of March 2012.
//?
//? While E does relative movements, it doesn't change its
//? position in the coordinate system. See also comment on G90.
//?
// No wait_queue() needed.
next_target.option_e_relative = 0;
break;
case 83:
//? --- M83 - Set E codes relative ---
//?
//? Counterpart to M82.
//?
// No wait_queue() needed.
next_target.option_e_relative = 1;
break;
// M3/M101- extruder on
case 3:
case 101:
//? --- M101: extruder on ---
//?
//? Undocumented.
if (temp_achieved() == 0) {
enqueue(NULL);
}
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);
#endif
break;
// M5/M103- extruder off
case 5:
case 103:
//? --- M103: extruder off ---
//?
//? Undocumented.
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, 0);
#endif
break;
case 104:
//? --- M104: Set Extruder Temperature (Fast) ---
//?
//? Example: M104 S190
//?
//? Set the temperature of the current extruder to 190<sup>o</sup>C
//? and return control to the host immediately (''i.e.'' before that
//? temperature has been reached by the extruder). For waiting, see M116.
//?
//? Teacup supports an optional P parameter as a zero-based temperature
//? sensor index to address (e.g. M104 P1 S100 will set the temperature
//? of the heater connected to the second temperature sensor rather
//? than the extruder temperature).
//?
if ( ! next_target.seen_S)
break;
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
temp_set(next_target.P, next_target.S);
break;
case 105:
//? --- M105: Get Temperature(s) ---
//?
//? Example: M105
//?
//? Request the temperature of the current extruder and the build base
//? in degrees Celsius. For example, the line sent to the host in
//? response to this command looks like
//?
//? <tt>ok T:201 B:117</tt>
//?
//? Teacup supports an optional P parameter as a zero-based temperature
//? sensor index to address.
//?
#ifdef ENFORCE_ORDER
queue_wait();
#endif
if ( ! next_target.seen_P)
next_target.P = TEMP_SENSOR_none;
temp_print(next_target.P);
break;
case 7:
case 106:
//? --- M106: Set Fan Speed / Set Device Power ---
//?
//? Example: M106 S120
//?
//? Control the cooling fan (if any).
//?
//? Teacup supports an optional P parameter as a zero-based heater
//? index to address. The heater index can differ from the temperature
//? sensor index, see config.h.
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
if ( ! next_target.seen_P)
#ifdef HEATER_FAN
next_target.P = HEATER_FAN;
#else
next_target.P = 0;
#endif
if ( ! next_target.seen_S)
break;
heater_set(next_target.P, next_target.S);
break;
case 110:
//? --- M110: Set Current Line Number ---
//?
//? Example: N123 M110
//?
//? Set the current line number to 123. Thus the expected next line after this command will be 124.
//? This is a no-op in Teacup.
//?
break;
#ifdef DEBUG
case 111:
//? --- M111: Set Debug Level ---
//?
//? Example: M111 S6
//?
//? Set the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits:
//?
//? <Pre>
//? #define DEBUG_PID 1
//? #define DEBUG_DDA 2
//? #define DEBUG_POSITION 4
//? </pre>
//?
//? This command is only available in DEBUG builds of Teacup.
if ( ! next_target.seen_S)
break;
debug_flags = next_target.S;
break;
#endif /* DEBUG */
case 112:
//? --- M112: Emergency Stop ---
//?
//? Example: M112
//?
//? Any moves in progress are immediately terminated, then the printer
//? shuts down. All motors and heaters are turned off. Only way to
//? restart is to press the reset button on the master microcontroller.
//? See also M0.
//?
timer_stop();
queue_flush();
power_off();
cli();
for (;;)
wd_reset();
break;
case 114:
//? --- M114: Get Current Position ---
//?
//? Example: M114
//?
//? This causes the RepRap machine to report its current X, Y, Z and E coordinates to the host.
//?
//? For example, the machine returns a string such as:
//?
//? <tt>ok C: X:0.00 Y:0.00 Z:0.00 E:0.00</tt>
//?
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
update_current_position();
sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%lu\n"),
current_position.axis[X], current_position.axis[Y],
current_position.axis[Z], current_position.axis[E],
current_position.F);
if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) {
sersendf_P(PSTR("Endpoint: X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\n"),
movebuffer[mb_tail].endpoint.axis[X],
movebuffer[mb_tail].endpoint.axis[Y],
movebuffer[mb_tail].endpoint.axis[Z],
movebuffer[mb_tail].endpoint.axis[E],
movebuffer[mb_tail].endpoint.F,
#ifdef ACCELERATION_REPRAP
movebuffer[mb_tail].end_c
#else
movebuffer[mb_tail].c
#endif
);
print_queue();
}
// newline is sent from gcode_parse after we return
break;
case 115:
//? --- M115: Get Firmware Version and Capabilities ---
//?
//? Example: M115
//?
//? Request the Firmware Version and Capabilities of the current microcontroller
//? The details are returned to the host computer as key:value pairs separated by spaces and terminated with a linefeed.
//?
//? sample data from firmware:
//? FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/traumflug/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 TEMP_SENSOR_COUNT:1 HEATER_COUNT:1
//?
sersendf_P(PSTR("FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/traumflug/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d\n"), 1, NUM_TEMP_SENSORS, NUM_HEATERS);
// newline is sent from gcode_parse after we return
break;
case 116:
//? --- M116: Wait ---
//?
//? Example: M116
//?
//? Wait for temperatures and other slowly-changing variables to arrive at their set values.
enqueue(NULL);
break;
case 119:
//? --- M119: report endstop status ---
//? Report the current status of the endstops configured in the
//? firmware to the host.
power_on();
endstops_on();
delay_ms(10); // allow the signal to stabilize
{
const char* const open = PSTR("open ");
const char* const triggered = PSTR("triggered ");
#if defined(X_MIN_PIN)
serial_writestr_P(PSTR("x_min:"));
x_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(X_MAX_PIN)
serial_writestr_P(PSTR("x_max:"));
x_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Y_MIN_PIN)
serial_writestr_P(PSTR("y_min:"));
y_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Y_MAX_PIN)
serial_writestr_P(PSTR("y_max:"));
y_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Z_MIN_PIN)
serial_writestr_P(PSTR("z_min:"));
z_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Z_MAX_PIN)
serial_writestr_P(PSTR("z_max:"));
z_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if ! (defined(X_MIN_PIN) || defined(X_MAX_PIN) || \
defined(Y_MIN_PIN) || defined(Y_MAX_PIN) || \
defined(Z_MIN_PIN) || defined(Z_MAX_PIN))
serial_writestr_P(PSTR("No endstops defined."));
#endif
}
endstops_off();
serial_writechar('\n');
break;
#ifdef EECONFIG
case 130:
//? --- M130: heater P factor ---
//? Undocumented.
// P factor in counts per degreeC of error
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_p(next_target.P, next_target.S);
break;
case 131:
//? --- M131: heater I factor ---
//? Undocumented.
// I factor in counts per C*s of integrated error
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_i(next_target.P, next_target.S);
break;
case 132:
//? --- M132: heater D factor ---
//? Undocumented.
// D factor in counts per degreesC/second
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_d(next_target.P, next_target.S);
break;
case 133:
//? --- M133: heater I limit ---
//? Undocumented.
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_i_limit(next_target.P, next_target.S);
break;
case 134:
//? --- M134: save PID settings to eeprom ---
//? Undocumented.
heater_save_settings();
break;
#endif /* EECONFIG */
#ifdef DEBUG
case 136:
//? --- M136: PRINT PID settings to host ---
//? Undocumented.
//? This comand is only available in DEBUG builds.
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
heater_print(next_target.P);
break;
#endif /* DEBUG */
case 140:
//? --- M140: Set heated bed temperature ---
//? Undocumented.
#ifdef HEATER_BED
if ( ! next_target.seen_S)
break;
temp_set(HEATER_BED, next_target.S);
#endif
break;
#ifdef DEBUG
case 240:
//? --- M240: echo off ---
//? Disable echo.
//? This command is only available in DEBUG builds.
debug_flags &= ~DEBUG_ECHO;
serial_writestr_P(PSTR("Echo off"));
// newline is sent from gcode_parse after we return
break;
case 241:
//? --- M241: echo on ---
//? Enable echo.
//? This command is only available in DEBUG builds.
debug_flags |= DEBUG_ECHO;
serial_writestr_P(PSTR("Echo on"));
// newline is sent from gcode_parse after we return
break;
#endif /* DEBUG */
// unknown mcode: spit an error
default:
sersendf_P(PSTR("E: Bad M-code %d"), next_target.M);
// newline is sent from gcode_parse after we return
} // switch (next_target.M)
} // else if (next_target.seen_M)
} // process_gcode_command()
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