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Teacup_Firmware/gcode_process.c

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#include "gcode_process.h"
#include <string.h>
#include "gcode_parse.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"
/****************************************************************************
* *
* Command Received - process it *
* *
****************************************************************************/
void process_gcode_command() {
uint32_t backup_f;
// convert relative to absolute
if (next_target.option_relative) {
next_target.target.X += startpoint.X;
next_target.target.Y += startpoint.Y;
next_target.target.Z += startpoint.Z;
}
// E ALWAYS relative, otherwise we overflow our registers after only a few layers
// next_target.target.E += startpoint.E;
// easier way to do this
// startpoint.E = 0;
// moved to dda.c, end of dda_create() and dda_queue.c, next_move()
if (next_target.seen_G) {
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:
backup_f = next_target.target.F;
next_target.target.F = MAXIMUM_FEEDRATE_X * 2;
enqueue(&next_target.target);
next_target.target.F = backup_f;
break;
// G1 - synchronised motion
case 1:
enqueue(&next_target.target);
break;
// G2 - Arc Clockwise
// unimplemented
// G3 - Arc Counter-clockwise
// unimplemented
// G4 - Dwell
case 4:
// wait for all moves to complete
for (;queue_empty() == 0;)
wd_reset();
// delay
delay_ms(next_target.P);
break;
// G20 - inches as units
case 20:
next_target.option_inches = 1;
break;
// G21 - mm as units
case 21:
next_target.option_inches = 0;
break;
// G30 - go home via point
case 30:
enqueue(&next_target.target);
// no break here, G30 is move and then go home
// G28 - go home
case 28:
/*
Home XY first
*/
// hit endstops, no acceleration- we don't care about skipped steps
startpoint.F = MAXIMUM_FEEDRATE_X;
SpecialMoveXY(-250L * STEPS_PER_MM_X, -250L * STEPS_PER_MM_Y, MAXIMUM_FEEDRATE_X);
startpoint.X = startpoint.Y = 0;
// move forward a bit
SpecialMoveXY(5 * STEPS_PER_MM_X, 5 * STEPS_PER_MM_Y, SEARCH_FEEDRATE_X);
// move back in to endstops slowly
SpecialMoveXY(-20 * STEPS_PER_MM_X, -20 * STEPS_PER_MM_Y, SEARCH_FEEDRATE_X);
// wait for queue to complete
for (;queue_empty() == 0;)
wd_reset();
// this is our home point
startpoint.X = startpoint.Y = current_position.X = current_position.Y = 0;
/*
Home Z
*/
// hit endstop, no acceleration- we don't care about skipped steps
startpoint.F = MAXIMUM_FEEDRATE_Z;
SpecialMoveZ(-250L * STEPS_PER_MM_Z, MAXIMUM_FEEDRATE_Z);
startpoint.Z = 0;
// move forward a bit
SpecialMoveZ(5 * STEPS_PER_MM_Z, SEARCH_FEEDRATE_Z);
// move back into endstop slowly
SpecialMoveZ(-20L * STEPS_PER_MM_Z, SEARCH_FEEDRATE_Z);
// wait for queue to complete
for (;queue_empty() == 0;)
wd_reset();
// this is our home point
startpoint.Z = current_position.Z = 0;
/*
Home E
*/
// extruder only runs one way and we have no "endstop", just set this point as home
startpoint.E = current_position.E = 0;
/*
Home F
*/
// F has been left at SEARCH_FEEDRATE_Z by the last move, this is a usable "home"
// uncomment the following or substitute if you prefer a different default feedrate
// startpoint.F = SEARCH_FEEDRATE_Z
break;
// G90 - absolute positioning
case 90:
next_target.option_relative = 0;
break;
// G91 - relative positioning
case 91:
next_target.option_relative = 1;
break;
// G92 - set home
case 92:
startpoint.X = startpoint.Y = startpoint.Z = startpoint.E =
current_position.X = current_position.Y = current_position.Z = current_position.E = 0;
startpoint.F =
current_position.F = SEARCH_FEEDRATE_Z;
break;
// unknown gcode: spit an error
default:
serial_writestr_P(PSTR("E: Bad G-code "));
serwrite_uint8(next_target.G);
serial_writechar('\n');
}
}
else if (next_target.seen_M) {
switch (next_target.M) {
// M101- extruder on
case 101:
if (temp_achieved() == 0) {
enqueue(NULL);
}
#if E_STARTSTOP_STEPS > 0
do {
// backup feedrate, move E very quickly then restore feedrate
backup_f = startpoint.F;
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = backup_f;
} while (0);
#endif
break;
// M102- extruder reverse
// M103- extruder off
case 103:
#if E_STARTSTOP_STEPS > 0
do {
// backup feedrate, move E very quickly then restore feedrate
backup_f = startpoint.F;
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(-E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = backup_f;
} while (0);
#endif
break;
// M104- set temperature
case 104:
temp_set(next_target.P, next_target.S);
if (next_target.S) {
power_on();
}
else {
disable_heater();
}
break;
// M105- get temperature
case 105:
temp_print(next_target.P);
break;
// M106- fan on
#if NUM_HEATERS > 1
case 106:
heater_set(1, 255);
break;
// M107- fan off
case 107:
heater_set(1, 0);
break;
#endif
// M109- set temp and wait
case 109:
temp_set(next_target.P, next_target.S);
if (next_target.S) {
power_on();
enable_heater();
}
else {
disable_heater();
}
enqueue(NULL);
break;
// M110- set line number
case 110:
next_target.N_expected = next_target.S - 1;
break;
// M111- set debug level
#ifdef DEBUG
case 111:
debug_flags = next_target.S;
break;
#endif
// M112- immediate stop
case 112:
timer_stop();
queue_flush();
power_off();
break;
// M113- extruder PWM
// M114- report XYZEF to host
case 114:
sersendf_P(PSTR("X:%ld,Y:%ld,Z:%ld,E:%ld,F:%ld\n"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F);
break;
// M115- capabilities string
case 115:
serial_writestr_P(PSTR("FIRMWARE_NAME:FiveD_on_Arduino FIRMWARE_URL:http%3A//github.com/triffid/FiveD_on_Arduino/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 HEATER_COUNT:1\n"));
break;
#if NUM_HEATERS > 0
// M130- heater P factor
case 130:
if (next_target.seen_S)
// p_factor = next_target.S;
pid_set_p(next_target.P, next_target.S);
break;
// M131- heater I factor
case 131:
if (next_target.seen_S)
// i_factor = next_target.S;
pid_set_i(next_target.P, next_target.S);
break;
// M132- heater D factor
case 132:
if (next_target.seen_S)
// d_factor = next_target.S;
pid_set_d(next_target.P, next_target.S);
break;
// M133- heater I limit
case 133:
if (next_target.seen_S)
// i_limit = next_target.S;
pid_set_i_limit(next_target.P, next_target.S);
break;
// M134- save PID settings to eeprom
case 134:
heater_save_settings();
break;
#endif /* NUM_HEATERS > 0 */
// M190- power on
case 190:
power_on();
#ifdef X_ENABLE_PIN
WRITE(X_ENABLE_PIN, 0);
#endif
#ifdef Y_ENABLE_PIN
WRITE(Y_ENABLE_PIN, 0);
#endif
#ifdef Z_ENABLE_PIN
WRITE(Z_ENABLE_PIN, 0);
#endif
steptimeout = 0;
break;
// M191- power off
case 191:
#ifdef X_ENABLE_PIN
WRITE(X_ENABLE_PIN, 1);
#endif
#ifdef Y_ENABLE_PIN
WRITE(Y_ENABLE_PIN, 1);
#endif
#ifdef Z_ENABLE_PIN
WRITE(Z_ENABLE_PIN, 1);
#endif
power_off();
break;
#ifdef DEBUG
// M140- echo off
case 140:
debug_flags &= ~DEBUG_ECHO;
serial_writestr_P(PSTR("Echo off\n"));
break;
// M141- echo on
case 141:
debug_flags |= DEBUG_ECHO;
serial_writestr_P(PSTR("Echo on\n"));
break;
// DEBUG: return current position
case 250:
serial_writestr_P(PSTR("{X:"));
serwrite_int32(current_position.X);
serial_writestr_P(PSTR(",Y:"));
serwrite_int32(current_position.Y);
serial_writestr_P(PSTR(",Z:"));
serwrite_int32(current_position.Z);
serial_writestr_P(PSTR(",E:"));
serwrite_int32(current_position.E);
serial_writestr_P(PSTR(",F:"));
serwrite_int32(current_position.F);
serial_writestr_P(PSTR(",c:"));
serwrite_uint32(movebuffer[mb_tail].c);
serial_writestr_P(PSTR("}\n"));
serial_writestr_P(PSTR("{X:"));
serwrite_int32(movebuffer[mb_tail].endpoint.X);
serial_writestr_P(PSTR(",Y:"));
serwrite_int32(movebuffer[mb_tail].endpoint.Y);
serial_writestr_P(PSTR(",Z:"));
serwrite_int32(movebuffer[mb_tail].endpoint.Z);
serial_writestr_P(PSTR(",E:"));
serwrite_int32(movebuffer[mb_tail].endpoint.E);
serial_writestr_P(PSTR(",F:"));
serwrite_int32(movebuffer[mb_tail].endpoint.F);
serial_writestr_P(PSTR(",c:"));
#ifdef ACCELERATION_REPRAP
serwrite_uint32(movebuffer[mb_tail].end_c);
#else
serwrite_uint32(movebuffer[mb_tail].c);
#endif
serial_writestr_P(PSTR("}\n"));
print_queue();
break;
// DEBUG: read arbitrary memory location
case 253:
if (next_target.seen_P == 0)
next_target.P = 1;
for (; next_target.P; next_target.P--) {
serwrite_hex8(*(volatile uint8_t *)(next_target.S));
next_target.S++;
}
serial_writechar('\n');
break;
// DEBUG: write arbitrary memory locatiom
case 254:
// serwrite_hex8(next_target.S);
// serial_writechar(':');
// serwrite_hex8(*(volatile uint8_t *)(next_target.S));
// serial_writestr_P(PSTR("->"));
// serwrite_hex8(next_target.P);
// serial_writechar('\n');
sersendf_P(PSTR("%x:%x->%x\n"), next_target.S, *(volatile uint8_t *)(next_target.S), next_target.P);
(*(volatile uint8_t *)(next_target.S)) = next_target.P;
break;
#endif /* DEBUG */
// unknown mcode: spit an error
default:
/* serial_writestr_P(PSTR("E: Bad M-code "));
serwrite_uint8(next_target.M);
serial_writechar('\n');*/
sersendf_P(PSTR("E: Bad M-code %d\n"), next_target.M);
}
}
}
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