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Added gcode documentation and extraction tool

This commit is contained in:
Jens Ch. Restemeier 2011-06-02 14:59:05 +01:00 committed by Michael Moon
parent 47d8dedf24
commit 14afa84aca
2 changed files with 345 additions and 62 deletions
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17
extract.py Normal file
View File

@ -0,0 +1,17 @@
import re
# this could probably be hacked together from grep and sed, but as we're using python for other things
# we can assume that we have a python installation available.
# (additionally we could generate markers to inject changes made on the Wiki back into the source file)
re_comment = re.compile(r"\s*//\?\s?(.*)")
f = open("gcode_process.c", "rt")
doc = open("gcode_doc.txt", "wt")
for line in f.readlines():
m = re_comment.match(line)
if m:
doc.write(m.group(1) + "\n")
f.close()
doc.close()

390
gcode_process.c
View File

@ -125,8 +125,16 @@ void process_gcode_command() {
#endif #endif
// The GCode documentation was taken from http://reprap.org/wiki/Gcode .
if (next_target.seen_T) { if (next_target.seen_T) {
next_tool = next_target.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) { if (next_target.seen_G) {
@ -135,6 +143,12 @@ void process_gcode_command() {
// G0 - rapid, unsynchronised motion // G0 - rapid, unsynchronised motion
// since it would be a major hassle to force the dda to not synchronise, just provide a fast feedrate and hope it's close enough to what host expects // since it would be a major hassle to force the dda to not synchronise, just provide a fast feedrate and hope it's close enough to what host expects
case 0: case 0:
//? ==== G0: Rapid move ====
//?
//? 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; backup_f = next_target.target.F;
next_target.target.F = MAXIMUM_FEEDRATE_X * 2L; next_target.target.F = MAXIMUM_FEEDRATE_X * 2L;
enqueue(&next_target.target); enqueue(&next_target.target);
@ -143,6 +157,42 @@ void process_gcode_command() {
// G1 - synchronised motion // G1 - synchronised motion
case 1: case 1:
//? ==== G1: Controlled move ====
//?
//? 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.
//?
//? RepRap does subtle things with feedrates. Thus:
//?
//? <pre>
//? G1 F1500
//? G1 X90.6 Y13.8 E22.4
//? </pre>
//?
//? Will set a feedrate of 1500 mm/minute, then do the move described above at that feedrate. But
//?
//? <pre>
//? G1 F1500
//? G1 X90.6 Y13.8 E22.4 F3000
//? </pre>
//?
//? Will set a feedrate of 1500 mm/minute, then do the move described above accelerating to a feedrate of 3000 mm/minute as it does so. The extrusion will accelerate along with the X, Y movement so everything stays synchronized.
//?
//? RepRap thus treats feedrate as simply another variable (like X, Y, Z, and E) to be linearly interpolated. This gives complete control over accelerations and decelerations in a way that ensures that everything moves together and the right volume of material is extruded at all points.
//?
//? The first example shows how to get a constant-speed movement. The second how to accelerate or decelerate. Thus
//?
//? <pre>
//? G1 F1500
//? G1 X90.6 Y13.8 E22.4 F3000
//? G1 X80 Y20 E36 F1500
//? </pre>
//?
//? Will do the first movement accelerating as before, and the second decelerating from 3000 mm/minute back to 1500 mm/minute.
//?
//? To reverse the extruder by a given amount (for example to reduce its internal pressure while it does an in-air movement so that it doesn't dribble) simply use G1 to send an E value that is less than the currently extruded length.
enqueue(&next_target.target); enqueue(&next_target.target);
break; break;
@ -154,6 +204,13 @@ void process_gcode_command() {
// G4 - Dwell // G4 - Dwell
case 4: 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.
//?
// wait for all moves to complete // wait for all moves to complete
queue_wait(); queue_wait();
// delay // delay
@ -167,21 +224,51 @@ void process_gcode_command() {
// G20 - inches as units // G20 - inches as units
case 20: case 20:
//? ==== G20: Set Units to Inches ====
//?
//? Example: G20
//?
//? Units from now on are in inches.
//?
next_target.option_inches = 1; next_target.option_inches = 1;
break; break;
// G21 - mm as units // G21 - mm as units
case 21: 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; next_target.option_inches = 0;
break; break;
// G30 - go home via point // G30 - go home via point
case 30: case 30:
//? ==== G30: Go home via point ====
//?
//? Undocumented.
enqueue(&next_target.target); enqueue(&next_target.target);
// no break here, G30 is move and then go home // no break here, G30 is move and then go home
// G28 - go home // G28 - go home
case 28: case 28:
//? ==== G28: Move to Origin ====
//?
//? Example: G28
//?
//? This causes the RepRap machine to move back to its X, Y and Z zero endstops. It does so
//? accelerating, so as to get there fast. But when it arrives it backs off by 1 mm in each
//? direction slowly, then moves back slowly to the stop. This ensures more accurate positioning.
//?
//? If you add coordinates, then just the axes with coordinates specified will be zeroed. Thus
//?
//? G28 X0 Y72.3
//?
//? will zero the X and Y axes, but not Z. The actual coordinate values are ignored.
//?
queue_wait(); queue_wait();
if (next_target.seen_X) { if (next_target.seen_X) {
@ -206,71 +293,93 @@ void process_gcode_command() {
break; break;
// G90 - absolute positioning // G90 - absolute positioning
case 90: case 90:
next_target.option_relative = 0; //? ==== G90: Set to Absolute Positioning ====
break; //?
//? Example: G90
//?
//? All coordinates from now on are absolute relative to the origin of the machine. (This is the RepRap default.)
next_target.option_relative = 0;
break;
// G91 - relative positioning // G91 - relative positioning
case 91: case 91:
next_target.option_relative = 1; //? ==== G91: Set to Relative Positioning ====
break; //?
//? Example: G91
//?
//? All coordinates from now on are relative to the last position.
next_target.option_relative = 1;
break;
// G92 - set home // G92 - set home
case 92: case 92:
// wait for queue to empty //? ==== G92: Set Position ====
queue_wait(); //?
//? 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.
if (next_target.seen_X) { // wait for queue to empty
startpoint.X = current_position.X = next_target.target.X; queue_wait();
axisSelected = 1;
}
if (next_target.seen_Y) {
startpoint.Y = current_position.Y = next_target.target.Y;
axisSelected = 1;
}
if (next_target.seen_Z) {
startpoint.Z = current_position.Z = next_target.target.Z;
axisSelected = 1;
}
if (next_target.seen_E) {
#ifdef E_ABSOLUTE
startpoint.E = current_position.E = next_target.target.E;
#endif
axisSelected = 1;
}
if (axisSelected == 0) { if (next_target.seen_X) {
startpoint.X = current_position.X = next_target.target.X = startpoint.X = current_position.X = next_target.target.X;
startpoint.Y = current_position.Y = next_target.target.Y = axisSelected = 1;
startpoint.Z = current_position.Z = next_target.target.Z = 0; }
} if (next_target.seen_Y) {
break; startpoint.Y = current_position.Y = next_target.target.Y;
axisSelected = 1;
}
if (next_target.seen_Z) {
startpoint.Z = current_position.Z = next_target.target.Z;
axisSelected = 1;
}
if (next_target.seen_E) {
#ifdef E_ABSOLUTE
startpoint.E = current_position.E = next_target.target.E;
#endif
axisSelected = 1;
}
// G161 - Home negative if (axisSelected == 0) {
case 161: startpoint.X = current_position.X = next_target.target.X =
if (next_target.seen_X) startpoint.Y = current_position.Y = next_target.target.Y =
home_x_negative(); startpoint.Z = current_position.Z = next_target.target.Z = 0;
if (next_target.seen_Y) }
home_y_negative(); break;
if (next_target.seen_Z)
home_z_negative();
break;
// G162 - Home positive
case 162:
if (next_target.seen_X)
home_x_positive();
if (next_target.seen_Y)
home_y_positive();
if (next_target.seen_Z)
home_z_positive();
break;
// unknown gcode: spit an error // G161 - Home negative
default: case 161:
sersendf_P(PSTR("E: Bad G-code %d"), next_target.G); //? ==== G161: Home negative ====
// newline is sent from gcode_parse after we return //?
return; //? Find the minimum limit of the specified axes by searching for the limit switch.
if (next_target.seen_X)
home_x_negative();
if (next_target.seen_Y)
home_y_negative();
if (next_target.seen_Z)
home_z_negative();
break;
// G162 - Home positive
case 162:
//? ==== G161: Home positive ====
//?
//? Find the maximum limit of the specified axes by searching for the limit switch.
if (next_target.seen_X)
home_x_positive();
if (next_target.seen_Y)
home_y_positive();
if (next_target.seen_Z)
home_z_positive();
break;
// unknown gcode: spit an error
default:
sersendf_P(PSTR("E: Bad G-code %d"), next_target.G);
// newline is sent from gcode_parse after we return
return;
} }
#ifdef DEBUG #ifdef DEBUG
if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION))
@ -281,6 +390,9 @@ void process_gcode_command() {
switch (next_target.M) { switch (next_target.M) {
// M2- program end // M2- program end
case 2: case 2:
//? ==== M2: program end ====
//?
//? Undocumented.
timer_stop(); timer_stop();
queue_flush(); queue_flush();
x_disable(); x_disable();
@ -294,11 +406,17 @@ void process_gcode_command() {
// M6- tool change // M6- tool change
case 6: case 6:
//? ==== M6: tool change ====
//?
//? Undocumented.
tool = next_tool; tool = next_tool;
break; break;
// M3/M101- extruder on // M3/M101- extruder on
case 3: case 3:
case 101: case 101:
//? ==== M101: extruder on ====
//?
//? Undocumented.
if (temp_achieved() == 0) { if (temp_achieved() == 0) {
enqueue(NULL); enqueue(NULL);
} }
@ -320,6 +438,9 @@ void process_gcode_command() {
// M5/M103- extruder off // M5/M103- extruder off
case 5: case 5:
case 103: case 103:
//? ==== M103: extruder off ====
//?
//? Undocumented.
#ifdef DC_EXTRUDER #ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, 0); heater_set(DC_EXTRUDER, 0);
#elif E_STARTSTOP_STEPS > 0 #elif E_STARTSTOP_STEPS > 0
@ -335,6 +456,11 @@ void process_gcode_command() {
// M104- set temperature // M104- set temperature
case 104: 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). See also M109.
temp_set(next_target.P, next_target.S); temp_set(next_target.P, next_target.S);
if (next_target.S) if (next_target.S)
power_on(); power_on();
@ -342,12 +468,26 @@ void process_gcode_command() {
// M105- get temperature // M105- get temperature
case 105: case 105:
//? ==== M105: Get Extruder Temperature ====
//?
//? Example: M105
//?
//? Request the temperature of the current extruder and the build base in degrees Celsius. The temperatures are returned to the host computer. For example, the line sent to the host in response to this command looks like
//?
//? <tt>ok T:201 B:117</tt>
//?
temp_print(next_target.P); temp_print(next_target.P);
break; break;
// M7/M106- fan on // M7/M106- fan on
case 7: case 7:
case 106: case 106:
//? ==== M106: Fan On ====
//?
//? Example: M106
//?
//? Turn on the cooling fan (if any).
#ifdef HEATER_FAN #ifdef HEATER_FAN
heater_set(HEATER_FAN, 255); heater_set(HEATER_FAN, 255);
#endif #endif
@ -355,6 +495,12 @@ void process_gcode_command() {
// M107- fan off // M107- fan off
case 9: case 9:
case 107: case 107:
//? ==== M107: Fan Off ====
//?
//? Example: M107
//?
//? Turn off the cooling fan (if any).
#ifdef HEATER_FAN #ifdef HEATER_FAN
heater_set(HEATER_FAN, 0); heater_set(HEATER_FAN, 0);
#endif #endif
@ -362,6 +508,11 @@ void process_gcode_command() {
// M109- set temp and wait // M109- set temp and wait
case 109: case 109:
//? ==== M109: Set Extruder Temperature ====
//?
//? Example: M109 S190
//?
//? Set the temperature of the current extruder to 190<sup>o</sup>C and wait for it to reach that value before sending an acknowledgment to the host. In fact the RepRap firmware waits a while after the temperature has been reached for the extruder to stabilise - typically about 40 seconds. This can be changed by a parameter in the firmware configuration file when the firmware is compiled. See also M104 and M116.
if (next_target.seen_S) if (next_target.seen_S)
temp_set(next_target.P, next_target.S); temp_set(next_target.P, next_target.S);
if (next_target.S) { if (next_target.S) {
@ -376,16 +527,43 @@ void process_gcode_command() {
// M110- set line number // M110- set line number
case 110: case 110:
// this is a no-op in Teacup //? ==== 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; break;
// M111- set debug level // M111- set debug level
#ifdef DEBUG #ifdef DEBUG
case 111: 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_ECHO (1<<0)
//? #define DEBUG_INFO (1<<1)
//? #define DEBUG_ERRORS (1<<2)
//? </pre>
//?
//? Thus 6 means send information and errors, but don't echo commands. (This is the RepRap default.)
//? This command is only available in DEBUG builds of Teacup.
debug_flags = next_target.S; debug_flags = next_target.S;
break; break;
#endif #endif
// M112- immediate stop // M112- immediate stop
case 112: case 112:
//? ==== M112: Emergency Stop ====
//?
//? Example: M112
//?
//? Any moves in progress are immediately terminated, then RepRap shuts down. All motors and heaters are turned off.
//? It can be started again by pressing the reset button on the master microcontroller. See also M0.
timer_stop(); timer_stop();
queue_flush(); queue_flush();
power_off(); power_off();
@ -393,44 +571,81 @@ void process_gcode_command() {
// M113- extruder PWM // M113- extruder PWM
// M114- report XYZEF to host // M114- report XYZEF to host
case 114: 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>
sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%ld"), current_position.X * ((int32_t) UM_PER_STEP_X), current_position.Y * ((int32_t) UM_PER_STEP_Y), current_position.Z * ((int32_t) UM_PER_STEP_Z), current_position.E * ((int32_t) UM_PER_STEP_E), current_position.F); sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%ld"), current_position.X * ((int32_t) UM_PER_STEP_X), current_position.Y * ((int32_t) UM_PER_STEP_Y), current_position.Z * ((int32_t) UM_PER_STEP_Z), current_position.E * ((int32_t) UM_PER_STEP_E), current_position.F);
// newline is sent from gcode_parse after we return // newline is sent from gcode_parse after we return
break; break;
// M115- capabilities string // M115- capabilities string
case 115: 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:
//? ok PROTOCOL_VERSION:0.1 FIRMWARE_NAME:FiveD FIRMWARE_URL:http%3A//? reprap.org MACHINE_TYPE:Mendel EXTRUDER_COUNT:1
sersendf_P(PSTR("FIRMWARE_NAME:Teacup FIRMWARE_URL:http%%3A//github.com/triffid/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d"), 1, NUM_TEMP_SENSORS, NUM_HEATERS); sersendf_P(PSTR("FIRMWARE_NAME:Teacup FIRMWARE_URL:http%%3A//github.com/triffid/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d"), 1, NUM_TEMP_SENSORS, NUM_HEATERS);
// newline is sent from gcode_parse after we return // newline is sent from gcode_parse after we return
break; break;
// M116 - Wait for all temperatures and other slowly-changing variables to arrive at their set values. // M116 - Wait for all temperatures and other slowly-changing variables to arrive at their set values.
case 116: case 116:
//? ==== M116: Wait ====
//?
//? Example: M116
//?
//? Wait for ''all'' temperatures and other slowly-changing variables to arrive at their set values. See also M109.
enqueue(NULL); enqueue(NULL);
break; break;
// M130- heater P factor // M130- heater P factor
case 130: case 130:
//? ==== M130: heater P factor ====
//? Undocumented.
if (next_target.seen_S) if (next_target.seen_S)
pid_set_p(next_target.P, next_target.S); pid_set_p(next_target.P, next_target.S);
break; break;
// M131- heater I factor // M131- heater I factor
case 131: case 131:
//? ==== M131: heater I factor ====
//? Undocumented.
if (next_target.seen_S) if (next_target.seen_S)
pid_set_i(next_target.P, next_target.S); pid_set_i(next_target.P, next_target.S);
break; break;
// M132- heater D factor // M132- heater D factor
case 132: case 132:
//? ==== M132: heater D factor ====
//? Undocumented.
if (next_target.seen_S) if (next_target.seen_S)
pid_set_d(next_target.P, next_target.S); pid_set_d(next_target.P, next_target.S);
break; break;
// M133- heater I limit // M133- heater I limit
case 133: case 133:
//? ==== M133: heater I limit ====
//? Undocumented.
if (next_target.seen_S) if (next_target.seen_S)
pid_set_i_limit(next_target.P, next_target.S); pid_set_i_limit(next_target.P, next_target.S);
break; break;
// M134- save PID settings to eeprom // M134- save PID settings to eeprom
case 134: case 134:
//? ==== M134: save PID settings to eeprom ====
//? Undocumented.
heater_save_settings(); heater_save_settings();
break; break;
// M135- set heater output // M135- set heater output
case 135: case 135:
//? ==== M135: set heater output ====
//? Undocumented.
if (next_target.seen_S) { if (next_target.seen_S) {
heater_set(next_target.P, next_target.S); heater_set(next_target.P, next_target.S);
power_on(); power_on();
@ -439,11 +654,16 @@ void process_gcode_command() {
#ifdef DEBUG #ifdef DEBUG
// M136- PRINT PID settings to host // M136- PRINT PID settings to host
case 136: case 136:
//? ==== M136: PRINT PID settings to host ====
//? Undocumented.
//? This comand is only available in DEBUG builds.
heater_print(next_target.P); heater_print(next_target.P);
break; break;
#endif #endif
case 140: //Set heated bed temperature case 140: //Set heated bed temperature
//? ==== M140: Set heated bed temperature ====
//? Undocumented.
#ifdef HEATER_BED #ifdef HEATER_BED
temp_set(HEATER_BED, next_target.S); temp_set(HEATER_BED, next_target.S);
if (next_target.S) if (next_target.S)
@ -453,6 +673,8 @@ void process_gcode_command() {
// M190- power on // M190- power on
case 190: case 190:
//? ==== M190: Power On ====
//? Undocumented.
power_on(); power_on();
x_enable(); x_enable();
y_enable(); y_enable();
@ -462,6 +684,8 @@ void process_gcode_command() {
break; break;
// M191- power off // M191- power off
case 191: case 191:
//? ==== M191: Power Off ====
//? Undocumented.
x_disable(); x_disable();
y_disable(); y_disable();
z_disable(); z_disable();
@ -469,15 +693,48 @@ void process_gcode_command() {
power_off(); power_off();
break; break;
// M200 - report endstop status
case 200:
//? ==== M200: report endstop status ====
//? Report the current status of the endstops configured in the firmware to the host.
#if defined(X_MIN_PIN)
sersendf_P(PSTR("x_min:%d "), x_min());
#endif
#if defined(X_MAX_PIN)
sersendf_P(PSTR("x_max:%d "), x_max());
#endif
#if defined(Y_MIN_PIN)
sersendf_P(PSTR("y_min:%d "), y_min());
#endif
#if defined(Y_MAX_PIN)
sersendf_P(PSTR("y_max:%d "), y_max());
#endif
#if defined(Z_MIN_PIN)
sersendf_P(PSTR("z_min:%d "), z_min());
#endif
#if defined(Z_MAX_PIN)
sersendf_P(PSTR("z_max:%d "), z_max());
#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))
sersendf_P(PSTR("no endstops defined"));
#endif
break;
#ifdef DEBUG #ifdef DEBUG
// M240- echo off // M240- echo off
case 240: case 240:
//? ==== M240: echo off ====
//? Disable echo.
//? This command is only available in DEBUG builds.
debug_flags &= ~DEBUG_ECHO; debug_flags &= ~DEBUG_ECHO;
serial_writestr_P(PSTR("Echo off")); serial_writestr_P(PSTR("Echo off"));
// newline is sent from gcode_parse after we return // newline is sent from gcode_parse after we return
break; break;
// M241- echo on // M241- echo on
case 241: case 241:
//? ==== M241: echo on ====
//? Enable echo.
//? This command is only available in DEBUG builds.
debug_flags |= DEBUG_ECHO; debug_flags |= DEBUG_ECHO;
serial_writestr_P(PSTR("Echo on")); serial_writestr_P(PSTR("Echo on"));
// newline is sent from gcode_parse after we return // newline is sent from gcode_parse after we return
@ -485,6 +742,9 @@ void process_gcode_command() {
// DEBUG: return current position, end position, queue // DEBUG: return current position, end position, queue
case 250: case 250:
//? ==== M250: return current position, end position, queue ====
//? Undocumented
//? This command is only available in DEBUG builds.
sersendf_P(PSTR("{X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\t{X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\t"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F, movebuffer[mb_tail].c, movebuffer[mb_tail].endpoint.X, movebuffer[mb_tail].endpoint.Y, movebuffer[mb_tail].endpoint.Z, movebuffer[mb_tail].endpoint.E, movebuffer[mb_tail].endpoint.F, sersendf_P(PSTR("{X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\t{X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\t"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F, movebuffer[mb_tail].c, movebuffer[mb_tail].endpoint.X, movebuffer[mb_tail].endpoint.Y, movebuffer[mb_tail].endpoint.Z, movebuffer[mb_tail].endpoint.E, movebuffer[mb_tail].endpoint.F,
#ifdef ACCELERATION_REPRAP #ifdef ACCELERATION_REPRAP
movebuffer[mb_tail].end_c movebuffer[mb_tail].end_c
@ -498,6 +758,9 @@ void process_gcode_command() {
// DEBUG: read arbitrary memory location // DEBUG: read arbitrary memory location
case 253: case 253:
//? ==== M253: read arbitrary memory location ====
//? Undocumented
//? This command is only available in DEBUG builds.
if (next_target.seen_P == 0) if (next_target.seen_P == 0)
next_target.P = 1; next_target.P = 1;
for (; next_target.P; next_target.P--) { for (; next_target.P; next_target.P--) {
@ -507,8 +770,11 @@ void process_gcode_command() {
// newline is sent from gcode_parse after we return // newline is sent from gcode_parse after we return
break; break;
// DEBUG: write arbitrary memory locatiom // DEBUG: write arbitrary memory location
case 254: case 254:
//? ==== M254: write arbitrary memory location ====
//? Undocumented
//? This command is only available in DEBUG builds.
sersendf_P(PSTR("%x:%x->%x"), next_target.S, *(volatile uint8_t *)(next_target.S), next_target.P); sersendf_P(PSTR("%x:%x->%x"), next_target.S, *(volatile uint8_t *)(next_target.S), next_target.P);
(*(volatile uint8_t *)(next_target.S)) = next_target.P; (*(volatile uint8_t *)(next_target.S)) = next_target.P;
// newline is sent from gcode_parse after we return // newline is sent from gcode_parse after we return