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gcode_process.c: get rid of duplicate comments and those ===='s 

These ==== are nasty if you grep a directory for patch conflicts.
This commit is contained in:
Markus Hitter 2011-08-22 18:12:31 +02:00
parent dcc2255526
commit a241ef2fa3
1 changed files with 105 additions and 114 deletions
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219
gcode_process.c
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@ -105,7 +105,7 @@ void process_gcode_command() {
// The GCode documentation was taken from http://reprap.org/wiki/Gcode .
if (next_target.seen_T) {
//? ==== T: Select Tool ====
//? --- T: Select Tool ---
//?
//? Example: T1
//?
@ -127,28 +127,26 @@ void process_gcode_command() {
if (next_target.seen_G) {
uint8_t axisSelected = 0;
switch (next_target.G) {
// 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
case 0:
//? ==== G0: Rapid move ====
//? 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;
// G1 - synchronised motion
case 1:
//? ==== G1: Controlled move ====
//? --- 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;
@ -158,16 +156,13 @@ void process_gcode_command() {
// G3 - Arc Counter-clockwise
// unimplemented
// G4 - Dwell
case 4:
//? ==== G4: Dwell ====
//? --- 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
queue_wait();
// delay
for (;next_target.P > 0;next_target.P--) {
@ -178,9 +173,8 @@ void process_gcode_command() {
}
break;
// G20 - inches as units
case 20:
//? ==== G20: Set Units to Inches ====
//? --- G20: Set Units to Inches ---
//?
//? Example: G20
//?
@ -189,9 +183,8 @@ void process_gcode_command() {
next_target.option_inches = 1;
break;
// G21 - mm as units
case 21:
//? ==== G21: Set Units to Millimeters ====
//? --- G21: Set Units to Millimeters ---
//?
//? Example: G21
//?
@ -200,17 +193,15 @@ void process_gcode_command() {
next_target.option_inches = 0;
break;
// G30 - go home via point
case 30:
//? ==== G30: Go home via point ====
//? --- G30: Go home via point ---
//?
//? Undocumented.
enqueue(&next_target.target);
// no break here, G30 is move and then go home
// G28 - go home
case 28:
//? ==== G28: Home ====
//? --- G28: Home ---
//?
//? Example: G28
//?
@ -256,35 +247,34 @@ void process_gcode_command() {
}
break;
// G90 - absolute positioning
case 90:
//? ==== G90: Set to Absolute Positioning ====
//? --- 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.)
//?
next_target.option_relative = 0;
break;
// G91 - relative positioning
case 91:
//? ==== G91: Set to Relative Positioning ====
//? --- G91: Set to Relative Positioning ---
//?
//? Example: G91
//?
//? All coordinates from now on are relative to the last position.
//?
next_target.option_relative = 1;
break;
// G92 - set home
case 92:
//? ==== G92: Set Position ====
//? --- 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.
//?
// wait for queue to empty
queue_wait();
if (next_target.seen_X) {
@ -313,11 +303,11 @@ void process_gcode_command() {
}
break;
// G161 - Home negative
case 161:
//? ==== G161: Home negative ====
//? --- G161: Home negative ---
//?
//? 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)
@ -326,11 +316,11 @@ void process_gcode_command() {
home_z_negative();
break;
// G162 - Home positive
case 162:
//? ==== G162: Home positive ====
//? --- G162: 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)
@ -352,31 +342,32 @@ void process_gcode_command() {
}
else if (next_target.seen_M) {
switch (next_target.M) {
// M0- machine stop
case 0:
//? ==== M0: machine stop ====
//? --- M0: machine stop ---
//?
//? Example: M112
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//? Unimplemented, especially the restart after the stop. Fall trough to M2.
//?
// M2- program end
case 2:
//? ==== M2: program end ====
//? --- M2: program end ---
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//?
queue_wait();
power_off();
break;
// M112- immediate stop
case 112:
//? ==== M112: Emergency Stop ====
//? --- 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();
queue_flush();
@ -390,9 +381,8 @@ void process_gcode_command() {
wd_reset();
break;
// M6- tool change
case 6:
//? ==== M6: tool change ====
//? --- M6: tool change ---
//?
//? Undocumented.
tool = next_tool;
@ -407,7 +397,7 @@ void process_gcode_command() {
// M3/M101- extruder on
case 3:
case 101:
//? ==== M101: extruder on ====
//? --- M101: extruder on ---
//?
//? Undocumented.
if (temp_achieved() == 0) {
@ -431,7 +421,7 @@ void process_gcode_command() {
// M5/M103- extruder off
case 5:
case 103:
//? ==== M103: extruder off ====
//? --- M103: extruder off ---
//?
//? Undocumented.
#ifdef DC_EXTRUDER
@ -447,22 +437,21 @@ void process_gcode_command() {
#endif
break;
// M104- set temperature
case 104:
//? ==== M104: Set Extruder Temperature (Fast) ====
//? --- 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.
//? Teacup supports an optional P parameter as a sensor index to address (eg M104 P1 S100 will set the bed temperature rather than the extruder temperature).
//?
temp_set(next_target.P, next_target.S);
if (next_target.S)
power_on();
break;
// M105- get temperature
case 105:
//? ==== M105: Get Extruder Temperature ====
//? --- M105: Get Extruder Temperature ---
//?
//? Example: M105
//?
@ -471,21 +460,21 @@ void process_gcode_command() {
//? <tt>ok T:201 B:117</tt>
//?
//? Teacup supports an optional P parameter as a sensor index to address.
//?
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
temp_print(next_target.P);
break;
// M7/M106- fan on
case 7:
case 106:
//? ==== M106: Fan On ====
//? --- M106: Fan On ---
//?
//? Example: M106
//?
//? Turn on the cooling fan (if any).
//?
#ifdef ENFORCE_ORDER
// wait for all moves to complete
@ -495,14 +484,15 @@ void process_gcode_command() {
heater_set(HEATER_FAN, 255);
#endif
break;
// M107- fan off
case 9:
case 107:
//? ==== M107: Fan Off ====
//? --- M107: Fan Off ---
//?
//? Example: M107
//?
//? Turn off the cooling fan (if any).
//?
#ifdef ENFORCE_ORDER
// wait for all moves to complete
@ -513,15 +503,15 @@ void process_gcode_command() {
#endif
break;
// M109- set temp and wait
case 109:
//? ==== M109: Set Extruder Temperature ====
//? --- 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.
//?
//? Teacup supports an optional P parameter as a sensor index to address.
//?
if (next_target.seen_S)
temp_set(next_target.P, next_target.S);
if (next_target.S) {
@ -534,19 +524,19 @@ void process_gcode_command() {
enqueue(NULL);
break;
// M110- set line number
case 110:
//? ==== M110: Set Current Line Number ====
//? --- 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;
// M111- set debug level
#ifdef DEBUG
case 111:
//? ==== M111: Set Debug Level ====
//? --- M111: Set Debug Level ---
//?
//? Example: M111 S6
//?
@ -563,10 +553,11 @@ void process_gcode_command() {
debug_flags = next_target.S;
break;
#endif
// M113- extruder PWM
// M114- report XYZEF to host
case 114:
//? ==== M114: Get Current Position ====
//? --- M114: Get Current Position ---
//?
//? Example: M114
//?
@ -575,6 +566,7 @@ void process_gcode_command() {
//? 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();
@ -582,9 +574,9 @@ void process_gcode_command() {
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
break;
// M115- capabilities string
case 115:
//? ==== M115: Get Firmware Version and Capabilities ====
//? --- M115: Get Firmware Version and Capabilities ---
//?
//? Example: M115
//?
@ -593,13 +585,14 @@ void process_gcode_command() {
//?
//? sample data from firmware:
//? FIRMWARE_NAME:Teacup FIRMWARE_URL:http%%3A//github.com/triffid/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%%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
break;
// M116 - Wait for all temperatures and other slowly-changing variables to arrive at their set values.
case 116:
//? ==== M116: Wait ====
//? --- M116: Wait ---
//?
//? Example: M116
//?
@ -607,61 +600,61 @@ void process_gcode_command() {
enqueue(NULL);
break;
// M130- heater P factor
case 130:
//? ==== M130: heater P factor ====
//? --- M130: heater P factor ---
//? Undocumented.
if (next_target.seen_S)
pid_set_p(next_target.P, next_target.S);
break;
// M131- heater I factor
case 131:
//? ==== M131: heater I factor ====
//? --- M131: heater I factor ---
//? Undocumented.
if (next_target.seen_S)
pid_set_i(next_target.P, next_target.S);
break;
// M132- heater D factor
case 132:
//? ==== M132: heater D factor ====
//? --- M132: heater D factor ---
//? Undocumented.
if (next_target.seen_S)
pid_set_d(next_target.P, next_target.S);
break;
// M133- heater I limit
case 133:
//? ==== M133: heater I limit ====
//? --- M133: heater I limit ---
//? Undocumented.
if (next_target.seen_S)
pid_set_i_limit(next_target.P, next_target.S);
break;
// M134- save PID settings to eeprom
case 134:
//? ==== M134: save PID settings to eeprom ====
//? --- M134: save PID settings to eeprom ---
//? Undocumented.
heater_save_settings();
break;
// M135- set heater output
case 135:
//? ==== M135: set heater output ====
//? --- M135: set heater output ---
//? Undocumented.
if (next_target.seen_S) {
heater_set(next_target.P, next_target.S);
power_on();
}
break;
#ifdef DEBUG
// M136- PRINT PID settings to host
case 136:
//? ==== M136: PRINT PID settings to host ====
//? --- M136: PRINT PID settings to host ---
//? Undocumented.
//? This comand is only available in DEBUG builds.
heater_print(next_target.P);
break;
#endif
case 140: //Set heated bed temperature
//? ==== M140: Set heated bed temperature ====
case 140:
//? --- M140: Set heated bed temperature ---
//? Undocumented.
#ifdef HEATER_BED
temp_set(HEATER_BED, next_target.S);
@ -670,10 +663,11 @@ void process_gcode_command() {
#endif
break;
// M190- power on
case 190:
//? ==== M190: Power On ====
//? --- M190: Power On ---
//? Undocumented.
//? This one is pointless in Teacup. Implemented to calm the RepRap gurus.
//?
power_on();
x_enable();
y_enable();
@ -681,10 +675,11 @@ void process_gcode_command() {
e_enable();
steptimeout = 0;
break;
// M191- power off
case 191:
//? ==== M191: Power Off ====
//? --- M191: Power Off ---
//? Undocumented.
//? Same as M2. RepRap obviously prefers to invent new numbers instead of looking into standards.
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
@ -696,46 +691,44 @@ void process_gcode_command() {
power_off();
break;
// M200 - report endstop status
case 200:
//? ==== M200: report endstop status ====
//? --- 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
#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
// M240- echo off
case 240:
//? ==== M240: echo off ====
//? --- 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;
// M241- echo on
case 241:
//? ==== M241: echo on ====
//? --- M241: echo on ---
//? Enable echo.
//? This command is only available in DEBUG builds.
debug_flags |= DEBUG_ECHO;
@ -743,9 +736,8 @@ void process_gcode_command() {
// newline is sent from gcode_parse after we return
break;
// DEBUG: return current position, end position, queue
case 250:
//? ==== M250: return current position, end position, queue ====
//? --- 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,
@ -759,9 +751,8 @@ void process_gcode_command() {
print_queue();
break;
// DEBUG: read arbitrary memory location
case 253:
//? ==== M253: read arbitrary memory location ====
//? --- M253: read arbitrary memory location ---
//? Undocumented
//? This command is only available in DEBUG builds.
if (next_target.seen_P == 0)
@ -773,9 +764,8 @@ void process_gcode_command() {
// newline is sent from gcode_parse after we return
break;
// DEBUG: write arbitrary memory location
case 254:
//? ==== M254: write arbitrary memory location ====
//? --- 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);
@ -783,6 +773,7 @@ void process_gcode_command() {
// 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);