412 lines
13 KiB
C
412 lines
13 KiB
C
#include "gcode_parse.h"
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/** \file
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\brief Parse received G-Codes
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*/
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#include <string.h>
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#include "serial.h"
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#include "sermsg.h"
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#include "dda_queue.h"
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#include "debug.h"
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#include "heater.h"
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#include "sersendf.h"
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#include "gcode_process.h"
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/*
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Switch user friendly values to coding friendly values
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This also affects the possible build volume. We have +/- 2^31 numbers available and as we internally measure position in steps and use a precision factor of 1000, this translates into a possible range of
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2^31 mm / STEPS_PER_MM_x / 1000
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for each axis. For a M6 threaded rod driven machine and 1/16 microstepping this evaluates to
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2^31 mm / 200 / 16 / 1000 = 671 mm,
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which is about the worst case we have. All other machines have a bigger build volume.
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*/
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#define STEPS_PER_M_X ((uint32_t) ((STEPS_PER_MM_X * 1000.0) + 0.5))
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#define STEPS_PER_M_Y ((uint32_t) ((STEPS_PER_MM_Y * 1000.0) + 0.5))
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#define STEPS_PER_M_Z ((uint32_t) ((STEPS_PER_MM_Z * 1000.0) + 0.5))
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#define STEPS_PER_M_E ((uint32_t) ((STEPS_PER_MM_E * 1000.0) + 0.5))
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/*
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mm -> inch conversion
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*/
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#define STEPS_PER_IN_X ((uint32_t) ((25.4 * STEPS_PER_MM_X) + 0.5))
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#define STEPS_PER_IN_Y ((uint32_t) ((25.4 * STEPS_PER_MM_Y) + 0.5))
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#define STEPS_PER_IN_Z ((uint32_t) ((25.4 * STEPS_PER_MM_Z) + 0.5))
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#define STEPS_PER_IN_E ((uint32_t) ((25.4 * STEPS_PER_MM_E) + 0.5))
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/// current or previous gcode word
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/// for working out what to do with data just received
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uint8_t last_field = 0;
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/// crude crc macro
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#define crc(a, b) (a ^ b)
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/// crude floating point data storage
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decfloat read_digit __attribute__ ((__section__ (".bss")));
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/// this is where we store all the data for the current command before we work out what to do with it
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GCODE_COMMAND next_target __attribute__ ((__section__ (".bss")));
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/*
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decfloat_to_int() is the weakest subject to variable overflow. For evaluation, we assume a build room of +-1000 mm and STEPS_PER_MM_x between 1.000 and 4096. Accordingly for metric units:
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df->mantissa: +-0..1048075 (20 bit - 500 for rounding)
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df->exponent: 0, 2, 3 or 4 (10 bit)
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multiplicand / denominator: 20..4194303 / 1000 (22 bit - 10 bit) or
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0..4095 / 1 (12 bit - 0 bit)
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imperial units:
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df->mantissa: +-0..32267 (15 bit - 500 for rounding)
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df->exponent: 0, 2, 3 or 4 (10 bit)
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multiplicand: 1..105000 (17 bit)
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denominator: 1 or 10 ( 4 bit)
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*/
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// accordingly:
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#define DECFLOAT_EXP_MAX 4
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#define DECFLOAT_MANT_MM_MAX 1048075
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#define DECFLOAT_MANT_IN_MAX 32267
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/*
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utility functions
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*/
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extern const uint32_t powers[]; // defined in sermsg.c
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const int32_t rounding[DECFLOAT_EXP_MAX] = {0, 5, 50, 500};
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/// convert a floating point input value into an integer with appropriate scaling.
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/// \param *df pointer to floating point structure that holds fp value to convert
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/// \param multiplicand multiply by this amount during conversion to integer
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/// \param denominator divide by this amount during conversion to integer
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///
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/// lots of work has been done in exploring this function's limitations in terms of overflow and rounding
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/// this work may not be finished
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static int32_t decfloat_to_int(decfloat *df, uint32_t multiplicand, uint32_t denominator) {
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uint32_t r = df->mantissa;
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uint8_t e = df->exponent;
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// e=1 means we've seen a decimal point but no digits after it, and e=2 means we've seen a decimal point with one digit so it's too high by one if not zero
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if (e)
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e--;
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uint32_t rnew1 = r * (multiplicand / denominator);
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if (e)
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{
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uint32_t rnew2 = r * (multiplicand % denominator) / denominator;
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r = rnew1 + rnew2;
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r = (r + rounding[e]) / powers[e];
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}
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else
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{
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uint32_t rnew2 = (r * (multiplicand % denominator) + (denominator / 2)) / denominator;
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r = rnew1 + rnew2;
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}
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return df->sign ? -(int32_t)r : (int32_t)r;
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}
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/// Character Received - add it to our command
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/// \param c the next character to process
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void gcode_parse_char(uint8_t c) {
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// uppercase
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if (c >= 'a' && c <= 'z')
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c &= ~32;
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// process previous field
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if (last_field) {
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// check if we're seeing a new field or end of line
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// any character will start a new field, even invalid/unknown ones
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if ((c >= 'A' && c <= 'Z') || c == '*' || (c == 10) || (c == 13)) {
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switch (last_field) {
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case 'G':
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next_target.G = read_digit.mantissa;
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if (debug_flags & DEBUG_ECHO)
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serwrite_uint8(next_target.G);
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break;
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case 'M':
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next_target.M = read_digit.mantissa;
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if (debug_flags & DEBUG_ECHO)
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serwrite_uint8(next_target.M);
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break;
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case 'X':
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if (next_target.option_inches)
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next_target.target.X = decfloat_to_int(&read_digit, STEPS_PER_IN_X, 1);
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else
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next_target.target.X = decfloat_to_int(&read_digit, STEPS_PER_M_X, 1000);
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if (debug_flags & DEBUG_ECHO)
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serwrite_int32(next_target.target.X);
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break;
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case 'Y':
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if (next_target.option_inches)
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next_target.target.Y = decfloat_to_int(&read_digit, STEPS_PER_IN_Y, 1);
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else
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next_target.target.Y = decfloat_to_int(&read_digit, STEPS_PER_M_Y, 1000);
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if (debug_flags & DEBUG_ECHO)
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serwrite_int32(next_target.target.Y);
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break;
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case 'Z':
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if (next_target.option_inches)
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next_target.target.Z = decfloat_to_int(&read_digit, STEPS_PER_IN_Z, 1);
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else
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next_target.target.Z = decfloat_to_int(&read_digit, STEPS_PER_M_Z, 1000);
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if (debug_flags & DEBUG_ECHO)
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serwrite_int32(next_target.target.Z);
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break;
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case 'E':
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if (next_target.option_inches)
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next_target.target.E = decfloat_to_int(&read_digit, STEPS_PER_IN_E, 1);
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else
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next_target.target.E = decfloat_to_int(&read_digit, STEPS_PER_M_E, 1000);
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if (debug_flags & DEBUG_ECHO)
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serwrite_uint32(next_target.target.E);
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break;
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case 'F':
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// just use raw integer, we need move distance and n_steps to convert it to a useful value, so wait until we have those to convert it
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if (next_target.option_inches)
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next_target.target.F = decfloat_to_int(&read_digit, 254, 10);
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else
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next_target.target.F = decfloat_to_int(&read_digit, 1, 1);
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if (debug_flags & DEBUG_ECHO)
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serwrite_uint32(next_target.target.F);
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break;
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case 'S':
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// if this is temperature, multiply by 4 to convert to quarter-degree units
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// cosmetically this should be done in the temperature section,
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// but it takes less code, less memory and loses no precision if we do it here instead
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if ((next_target.M == 104) || (next_target.M == 109) || (next_target.M == 140))
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next_target.S = decfloat_to_int(&read_digit, 4, 1);
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// if this is heater PID stuff, multiply by PID_SCALE because we divide by PID_SCALE later on
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else if ((next_target.M >= 130) && (next_target.M <= 132))
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next_target.S = decfloat_to_int(&read_digit, PID_SCALE, 1);
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else
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next_target.S = decfloat_to_int(&read_digit, 1, 1);
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if (debug_flags & DEBUG_ECHO)
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serwrite_uint16(next_target.S);
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break;
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case 'P':
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next_target.P = decfloat_to_int(&read_digit, 1, 1);
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if (debug_flags & DEBUG_ECHO)
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serwrite_uint16(next_target.P);
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break;
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case 'T':
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next_target.T = read_digit.mantissa;
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if (debug_flags & DEBUG_ECHO)
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serwrite_uint8(next_target.T);
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break;
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case 'N':
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next_target.N = decfloat_to_int(&read_digit, 1, 1);
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if (debug_flags & DEBUG_ECHO)
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serwrite_uint32(next_target.N);
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break;
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case '*':
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next_target.checksum_read = decfloat_to_int(&read_digit, 1, 1);
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if (debug_flags & DEBUG_ECHO)
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serwrite_uint8(next_target.checksum_read);
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break;
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}
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// reset for next field
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last_field = 0;
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read_digit.sign = read_digit.mantissa = read_digit.exponent = 0;
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}
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}
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// skip comments
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if (next_target.seen_semi_comment == 0 && next_target.seen_parens_comment == 0) {
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// new field?
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if ((c >= 'A' && c <= 'Z') || c == '*') {
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last_field = c;
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if (debug_flags & DEBUG_ECHO)
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serial_writechar(c);
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}
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// process character
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switch (c) {
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// each currently known command is either G or M, so preserve previous G/M unless a new one has appeared
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// FIXME: same for T command
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case 'G':
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next_target.seen_G = 1;
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next_target.seen_M = 0;
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next_target.M = 0;
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break;
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case 'M':
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next_target.seen_M = 1;
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next_target.seen_G = 0;
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next_target.G = 0;
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break;
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case 'X':
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next_target.seen_X = 1;
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break;
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case 'Y':
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next_target.seen_Y = 1;
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break;
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case 'Z':
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next_target.seen_Z = 1;
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break;
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case 'E':
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next_target.seen_E = 1;
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break;
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case 'F':
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next_target.seen_F = 1;
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break;
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case 'S':
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next_target.seen_S = 1;
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break;
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case 'P':
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next_target.seen_P = 1;
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break;
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case 'T':
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next_target.seen_T = 1;
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break;
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case 'N':
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next_target.seen_N = 1;
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break;
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case '*':
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next_target.seen_checksum = 1;
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break;
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// comments
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case ';':
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next_target.seen_semi_comment = 1;
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break;
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case '(':
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next_target.seen_parens_comment = 1;
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break;
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// now for some numeracy
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case '-':
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read_digit.sign = 1;
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// force sign to be at start of number, so 1-2 = -2 instead of -12
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read_digit.exponent = 0;
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read_digit.mantissa = 0;
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break;
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case '.':
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if (read_digit.exponent == 0)
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read_digit.exponent = 1;
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break;
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#ifdef DEBUG
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case ' ':
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case '\t':
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case 10:
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case 13:
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// ignore
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break;
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#endif
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default:
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// can't do ranges in switch..case, so process actual digits here.
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if (c >= '0' && c <= '9') {
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if (read_digit.exponent < DECFLOAT_EXP_MAX &&
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((next_target.option_inches == 0 &&
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read_digit.mantissa < DECFLOAT_MANT_MM_MAX) ||
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(next_target.option_inches &&
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read_digit.mantissa < DECFLOAT_MANT_IN_MAX)))
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{
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// this is simply mantissa = (mantissa * 10) + atoi(c) in different clothes
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read_digit.mantissa = (read_digit.mantissa << 3) + (read_digit.mantissa << 1) + (c - '0');
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if (read_digit.exponent)
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read_digit.exponent++;
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}
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}
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#ifdef DEBUG
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else {
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// invalid
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serial_writechar('?');
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serial_writechar(c);
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serial_writechar('?');
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}
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#endif
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}
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} else if ( next_target.seen_parens_comment == 1 && c == ')')
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next_target.seen_parens_comment = 0; // recognize stuff after a (comment)
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if (next_target.seen_checksum == 0)
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next_target.checksum_calculated = crc(next_target.checksum_calculated, c);
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// end of line
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if ((c == 10) || (c == 13)) {
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if (debug_flags & DEBUG_ECHO)
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serial_writechar(c);
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if (
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#ifdef REQUIRE_LINENUMBER
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((next_target.N >= next_target.N_expected) && (next_target.seen_N == 1)) ||
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(next_target.seen_M && (next_target.M == 110))
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#else
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1
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#endif
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) {
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if (
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#ifdef REQUIRE_CHECKSUM
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((next_target.checksum_calculated == next_target.checksum_read) && (next_target.seen_checksum == 1))
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#else
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((next_target.checksum_calculated == next_target.checksum_read) || (next_target.seen_checksum == 0))
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#endif
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) {
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// process
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serial_writestr_P(PSTR("ok "));
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process_gcode_command();
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serial_writestr_P(PSTR("\n"));
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// expect next line number
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if (next_target.seen_N == 1)
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next_target.N_expected = next_target.N + 1;
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}
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else {
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sersendf_P(PSTR("rs N%ld Expected checksum %d\n"), next_target.N_expected, next_target.checksum_calculated);
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// request_resend();
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}
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}
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else {
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sersendf_P(PSTR("rs N%ld Expected line number %ld\n"), next_target.N_expected, next_target.N_expected);
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// request_resend();
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}
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// reset variables
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next_target.seen_X = next_target.seen_Y = next_target.seen_Z = \
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next_target.seen_E = next_target.seen_F = next_target.seen_S = \
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next_target.seen_P = next_target.seen_T = next_target.seen_N = \
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next_target.seen_M = next_target.seen_checksum = next_target.seen_semi_comment = \
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next_target.seen_parens_comment = next_target.checksum_read = \
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next_target.checksum_calculated = 0;
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// last_field and read_digit are reset above already
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// assume a G1 by default
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next_target.seen_G = 1;
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next_target.G = 1;
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if (next_target.option_relative) {
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next_target.target.X = next_target.target.Y = next_target.target.Z = 0;
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#ifdef E_ABSOLUTE
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next_target.target.E = 0;
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#endif
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}
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#ifndef E_ABSOLUTE
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// E always relative
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next_target.target.E = 0;
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#endif
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}
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}
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/***************************************************************************\
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* *
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* Request a resend of the current line - used from various places. *
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* *
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* Relies on the global variable next_target.N being valid. *
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* *
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\***************************************************************************/
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void request_resend(void) {
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serial_writestr_P(PSTR("rs "));
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serwrite_uint8(next_target.N);
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serial_writechar('\n');
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}
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